MÁSTER UNIVERSITARIO EN INGENIERÍA DE TELECOMUNICACIÓN TRABAJO FIN DE MASTER Analysis and Implementation of New Techniques for the Enhancement of the Reliability and Delay of Haptic Communications LUIS AMADOR GONZÁLEZ 2017 MASTER UNIVERSITARIO EN INGENIERÍA DE TELECOMUNICACIÓN TRABAJO FIN DE MASTER Título: Analysis and Implementation of New Techniques for the Enhancement of the Reliability and Delay of Haptic Communications Autor: D. Luis Amador González Tutor: D. Hamid Aghvami Ponente: D. Santiago Zazo Bello Departamento: MIEMBROS DEL TRIBUNAL Presidente: D. Vocal: D. Secretario: D. Suplente: D. Los miembros del tribunal arriba nombrados acuerdan otorgar la calificación de: ……… Madrid, a de de 20… UNIVERSIDAD POLITÉCNICA DE MADRID ESCUELA TÉCNICA SUPERIOR DE INGENIEROS DE TELECOMUNICACIÓN MASTER UNIVERSITARIO EN INGENIERÍA DE TELECOMUNICACIÓN TRABAJO FIN DE MASTER Analysis and Implementation of New Techniques for the Enhancement of the Reliability and Delay of Haptic Communications LUIS AMADOR GONZÁLEZ 2017 CONTENTS LIST OF FIGURES .....................................................................................2 LIST OF TABLES ......................................................................................3 ABBREVIATIONS .....................................................................................4 SUMMARY ............................................................................................5 RESUMEN .............................................................................................6 ACKNOWLEDGEMENTS .............................................................................7 1. INTRODUCTION .................................................................................8 1.1 Context .......................................................................................................................................... 8 1.2 Basics of a communication system ............................................................................................... 9 1.3 Encoding and decoding ............................................................................................................... 10 1.4 Research Objectives and Contribution ....................................................................................... 11 1.5 Thesis Organization ..................................................................................................................... 12 2. BACKGROUND ................................................................................ 15 2.1 Introduction to error control coding........................................................................................... 15 2.2 Linear Block Codes ...................................................................................................................... 16 2.2.1 Generator matrix for encoding ............................................................................................ 17 2.2.2 Parity Check Matrix .............................................................................................................. 17 2.2.3 Error Syndrome Testing ....................................................................................................... 18 2.2.4 Error Detection and Correction ........................................................................................... 19 2.2.5 Capabilities of Error Detection and Correction .................................................................... 20 2.3 Well-Known Block Codes ............................................................................................................ 22 2.3.1 Hamming codes.................................................................................................................... 22 2.3.2 Cyclic Codes .......................................................................................................................... 22 2.3.3 BCH Codes ............................................................................................................................ 27 2.3.4 Low Density Parity Check (LDPC) Codes............................................................................... 29 2.4 Haptics Communications ............................................................................................................ 31 2.4.1 Architecture ......................................................................................................................... 32 2.4.2 Haptic devices: Problems and challenges ............................................................................ 33 2.5 Explanation of the Patent to analyze and Implement ................................................................ 34 3. LDPC CODES ................................................................................. 36 3.1 Implementation .......................................................................................................................... 36 3.1.1 Parity check matrices: .......................................................................................................... 36 3.1.2 Encoding ............................................................................................................................... 37 3.1.3 Decoding .............................................................................................................................. 38 3.1.4 Block Size .............................................................................................................................. 38 3.2 LDPC Results for an AWGN Channel ........................................................................................... 38 3.2.1 First Embodiment: Haptic data sampled at 16 bit per DoF (6 DoF) ..................................... 38 3.2.2 Second Embodiment: Haptic data sampled at 32 bit per DoF (6DoF) ................................. 41 3.2.3 Third Embodiment: Haptic data sampled at 32 bit per DoF (7DoF) .................................... 43 3.3 Comparison of the three different block sizes for the BER and CWER ....................................... 45 3.4 Analysis of the Patent-Technique for LDPC ................................................................................ 46 4. SHORT LENGTH BCH CODES AND ITS COMPARISON WITH LDPC ................. 47 4.1 Implementation .......................................................................................................................... 47 4.1.1 Background information ...................................................................................................... 47 4.1.2 BCH Encoder and Decoder ................................................................................................... 48 4.1.3 Block Size .............................................................................................................................. 50 4.2 Results for an AWGN Channel .................................................................................................... 50 4.2.1 Comparing different block sizes for BCH ............................................................................. 50 4.2.2 Comparing the Patent-new technique and the normal-one-path case ............................... 51 4.2.3 Comparing BCH and LDPC over an AWGN Channel ............................................................. 52 5. ANALYSIS OF FADING CHANNELS ......................................................... 55 5.1 Challenge ..................................................................................................................................... 55 5.2 Classification ............................................................................................................................... 55 5.3 Fading Channel Models ............................................................................................................... 56 5.3.1 Frequency non selective: Flat fading channels .................................................................... 56 5.3.2 Frequency selective fading channels ................................................................................... 56 5.3.3 Slow versus Fast Fading Channels ........................................................................................ 57 5.4 Fading in Haptic Communications. Simulation Results. .............................................................. 58 5.4.1 Fading Environment: slow Rayleigh fading throughout bursts ............................................ 58 5.4.2 BCH Codes for Error Correction over a Rayleigh Channel .................................................... 59 5.4.3 BCH vs. LDPC Codes for Error Correction over a Rayleigh Channel ..................................... 60 5.4.4 Analysis of the Patent technique over a Rayleigh Channel with BCH Codes ....................... 61 6. IMPLEMENTATION OF DIVERSITY COMBINING TECHNIQUES ........................ 63 6.1 Diversity Combining Techniques ................................................................................................. 63 6.1.1 Maximum Ratio Combining ................................................................................................. 64 6.2 Increasing the number of RF paths for the Traditional Technique ............................................. 65 6.3 Increasing the number of paths for the Patent Technique......................................................... 67 6.4 Increasing the number of paths for both technique up to 4 (Traditional) and 8 (Patent) scaling the energy ........................................................................................................................................