In this paper, we aim to develop an analytical framework for design and analysis of new generation mobile networks fronthaul/backhaul links based on the application of free-space optical (FSO) technology. Taking the receiver hardware imperfections into account, we present an efficient analytical approach in analyzing average symbol error probability (SEP) of the coherent FSO system employing M-ary phase-shift keying (PSK). Optical signal transmission is influenced by pointing errors and atmospheric turbulence. The signal intensity fluctuations caused by atmospheric turbulence are modeled by general Málaga ($\mathcal{M}$) distribution, which takes into account the effect of multiple scattered components. We estimate the range of the signal-to-noise ratio at which the SEP floor appears, as well as the value of this non-removable error floor. The results illustrate that the effect of imperfect phase error compensation on the SEP is more critical under weaker turbulence conditions and for higher order modulation formats. Based on the analytical tools presented here, it is possible to estimate tolerable value of standard deviation of phase noise for the given value of SEP. This value of standard deviation is an important parameter in designing the phase-locked loop filter in the receiver.

We examine the effects of imperfect phase estimation of a reference signal on the bit error rate and mutual information over a communication channel influenced by fading and thermal noise. The Two-Wave Diffuse-Power (TWDP) model is utilized for statistical characterization of propagation environment where there are two dominant line-of-sight components together with diffuse ones. We derive novel analytical expression of the Fourier series for probability density function arising from the composite received signal phase. Further, the expression for the bit error rate is presented and numerically evaluated. We develop efficient analytical, numerical and simulation methods for estimating the value of the error floor and identifying the range of acceptable signal-to-noise ratio (SNR) values in cases when the floor is present during the detection of multilevel phase-shift keying (PSK) signals. In addition, we use Monte Carlo simulations in order to evaluate the mutual information for modulation orders two, four and eight, and identify its dependence on receiver hardware imperfections under the given channel conditions. Our results expose direct correspondence between bit error rate and mutual information value on one side, and the parameters of TWDP channel, SNR and phase noise standard deviation on the other side. The results illustrate that the error floor values are strongly influenced by the phase noise when signals propagate over a TWDP channel. In addition, the phase noise considerably affects the mutual information.

Robotization is one of the crucial directions of modernizing today's industrial production. Robotic systems offer solutions to many different challenges. However, their implementation is constrained by limited accuracy, which is inferior to conventional machine tools. A way to improve industrial robots' accuracy is to calibrate them, i.e., eliminate factors that affect accuracy by refining the mathematical models for software correction of manufacturing and assembly errors, as well as elastic and thermal deformations.