2003.11c
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A personal low-frequency stimulator is a portable device to relax muscle pains of a person. The stimulator generates combined low-frequency pulses to be applied to pads attached to painful muscles. This paper reports a development of such device with its characteristic analyses. The major components of our stimulator are MCU, high-voltage generating circuit part, high-voltage switching circuit part, input switch part and display unit. High-voltage generating circuit is designed by using a boost converter circuit and allows user control of the output voltage. High-voltage switching circuit, controlled by MCU, generates output voltage to be applied to pads. Input switch part is composed of power supply, intensity selection, mode selection and memory. Display unit adopts a text LCD module to display modes, Intensity, output frequency and user set-up time. Our designed safety circuit, to protect human body from possible electric shock, slowly increases the output voltage to the selected output intensity. It continuously checks the output pulse shape and disable the output when dangerous pulses are detected. This paper also shows some experimental results.
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본 논문은 이동로봇의 다양한 작업들 중에 선행하는 물체를 안정하게 추종하는 동작중 예기치 못한 움직이는 장애물의 효과적인 회피 방법을 고려한다. 센서 기반의 이동로보트에서는 이동물체 추종과 충돌회피를 센서정보에 의존해서 해결해야 하는데 동일한 센서 정보로 추종물체와 충돌물체를 구분하는 것이 쉽지 않은 문제이다. 또한 명확히 규정되지 않은 환경에서 적용하기 어렵다. 따라서 본 논문에서는 이와 같이 명확히 규정되지 않은 환경에서 선행물체의 안정한 추종과 추종 중에 마주치는 이동 장애물에 대한 충돌회피를 위하여 이동로봇의 상태 판단에 따라 구분된 행동 선택 모드를 제안하고 실험적으로 확인한다.
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Improvement is required to solve problems depending on long term use of signal equipment in the existing city railroad and to raise quality of passenger services. Accordingly, for more efficient improvement, we examined the procedure of executing construction of the communication based train control system in Korean city railroads, which is globally studied. The procedure of executing construction of the system is to present a plan for construction first of ail and then to prepare a strategy for construction of the system. It is required to establish a procedure for execution in each step depending on the prepared strategy and then to establish a detailed execution plan. We studied such an execution procedure, divided the execution procedure for application of the train control system through five steps to prepare the execution procedure.
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In this paper, a high-resolution multibit sigma-delta modulator implemented in a.0.35-um CMOS technology is introduced. This modulator consists of two switched capacitor integrators, 3-bits A/D converter, and 3-bits D/A converter For the verification of the internal function blocks, HSPICE simulator is used. This circuit is normally operated at 130 MHz clock and the total power dissapation is 70 mW.
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In this study, we studied the change plan essentially used for improving the existing railroad signal system. For mixed installation with the existing equipment by introducing new equipment in the city railroad currently operated, it is required to establish a plan depending on the change and to present a plan for change. For the change, since it is necessary to classify ground equipment and onboard equipment and change must be carried out considering performance and functions of each equipment, we classified and studied each equipment for plans of change.
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In this paper, we present a way that can implement the vector control Algorithm of induction motor and PWM signal generation on the condition Matlab/Simulink. The overall system model is designed by Simulink toolbox for vector control in induction motor. and then implement experiment with the DS1103 board of dSPACE. Although we are not coding the system, it is capable of doing simulation and experiment simultaneously. That is why Matlab and dSPACE board compiler can generate the "*.c" and "*.obj" files on the designed system automatically. After considering about hardware structure and driving system in DS1103 board. we verify the availability of proposed method through making a comparison/analysis between simulation and experiment.
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Using disturbance observer is effective to enhance tracking performance of system in the presence of disturbances. Various types of disturbance observers have been proposed to improve sensitivity of systems, but they tend to bring poor transient response due to cross coupling of inter-loops. In this paper, we propose dual disturbance observer(Dual DOB) which is designed to reduce the cross coupling. Dual DOB is consist of an internal DOB and an external DOB, that are designed for different object. The Dual DOB is applied to Optical Disk Drive tracking system. It is shown that the Dual DOB has improved performance over conventional DOB via experimental result. There is good agreement between simulation and experimental results.
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DNA computing based DNA sequence Is operated through the biology experiment. Biology experiment used as operator causes illegal reactions through shifted hybridization, mismatched hybridization, undesired hybridization of the DNA sequence. So, it is essential to design DNA sequence to minimize the potential errors. This paper proposes method of the DNA sequence generation based evolutionary operation processor. Genetic algorithm was used for evolutionary operation and extra hardware, namely genetic algorithm processor was implemented for solving repeated evolutionary process that causes much computation time. To show efficiency of the Proposed processor, excellent result is confirmed by comparing between fitness of the DNA sequence formed randomly and DNA sequence formed by genetic algorithm processor. Proposed genetic algorithm processor can reduce the time and expense for preparing DNA sequence that is essential in DNA computing. Also it can apply design of the oligomer for development of the DNA chip or oligo chip.
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This paper proposes a new and simple input prediction method for robust servo system. This servo system uses robust tracking control system based on both Coprime Factorization(CF) and Zero Phase Error Tracking control system. The CF control system can be designed simply and systematically. Moreover, this system has not only stability but also robustness and disturbance rejection ability The optical disk tracking servo system can detect only the tracking error. So the new and simple input prediction system proposed in this paper estimates the reference input signal from the tracking error. Numerical simulation results show that the proposed method is effective.
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In this paper, we have designed the integrated wire and wireless P2P framework using mobile agents to share efficiently resources as media file. Most of the P2P applications are used on the wire network. We propose the integrated wire and wireless P2P framework. Proposed P2P platform is based on JXTA of Sun Microsystems. But JXTA is pure peer-to-peer network model, so it sends message other peers as broadcast style to request resources. In this way, there are some problems as massage overload, bandwidth loss, etc. In order to solve this problem, we propose a hybrid peer-to-peer network model using mobile agent. Proposed scheme also solve existing hybrid pEp model's flaws which have the delay and low rate due to concentrated server. In proposed scheme, mobile agents that have autonomy and mobility are used to search the location of resources. Besides, mobile agents could solve the loss problem of the search result. To improve P2P QoS(Quality of Service), we could monitor peer's state information using PIP(Peer Information Protocol) of JXTA.
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Disturbance observer(DOB) is effective to enhance the performance of system in the presence of disturbances. Various types of disturbance observer have been proposed to improve sensitivity function of system. However, it has been observed that current DOBs tend to bring poor transient response due to cross-couplings. This paper proposes a new type of disturbance observer to reduce effect of cross-couplings and provide simpler structure than Dual DOB. Finally, we verify the performance of the proposed DOB through numerical simulations.
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This paper describes a new iris segmentation and recognition method, which is robust to noises. Combining statistical classification and elastic boundary fitting, the iris is first segmented. Then, the localized iris image is smoothed by a convolution with a Gaussian function, down-sampled by a factor of filtered with a Laplacian operator, and quantized using the Lloyd-Max method. Since the quantized output is sensitive to a small shift of the full-resolution iris image, the outputs of the Laplacian operator are computed for all space shifts. The quantized output with maximum entropy is selected as the final feature representation. An appropriate formulation of similarity measure is defined for the classification of the quantized output. Experimentally we showed that the proposed method produces superb performance in iris segmentation and recognition.
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This paper proposes a simple digital image stabilization(DIS) algorithm for roll motion, which has not been compensated in the 2-axes mechanical stabilization system, using aero-crossing of the rotational motion vectors. The 2-axes stabilization system cannot stabilize rolled images, which causes the deteriorated performance of the object detection and recognition. In this paper, we propose the rotational motion stabilization algorithm which estimates and compensates global motion in terms of rotational center and rotational angle. Both the synthetic images with undesirable rotational disturbance and the real images from 2-axes stabilization system are used to evaluate the proposed algorithm. The results show that our proposed algorithm suppresses the undesirable rotational disturbance effectively.
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This paper presents the signal processing of the panoramic thermal warning system that detects the small target such as aircraft and helicopter from afar. We develope the all round looking thermal imaging system which can scan all the way. This system acquires the panoramic images to reconstruct the IR images by revolving head of sensor typed line sensor at high speed. For detection, where the object of interest may be small, it is sometimes difficult to specify from object and background by conventional contrast enhancement methods. Therefore we use the adaptive plateau equalization algorithm each region to improve the contrast and make the hardware system which consists of the signal processing board for real-time display. We can verify the proposed method by the computer simulation and the hardware implementation.
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In this paper, we have designed the humanoid robot's leg parts with 12 D.O.F. This robot uses ankle's joints to confirm stability of walking performance. It is less movable to use ankle's joints than to do upper body's balancing joints like IWR-III, which needs three parts of via points, support leg, swing leg and balancing joints. Instead, the proposed humanoid robot needs support leg and swing leg via points. ZMP(Zero Moment Point) is utilized to guarantee the stability of robot's walking. The humanoid robot uses the ankle's joints to compensate for IWR-III's balancing joints movement. Actually we concern about a motor performance when making a real humanoid robot. So a simulator is employed to know each joint torque of humanoid robot. This simulator needs D-H(Denavit-Hartenberg) parameters, robot's mass property and two parts of via points. The simulation results are robot's walking trajectories and each motor torque. Using the walking trajectories, we can see the robot's walking scene with 3D simulator. Before we develop the humanoid robot, simulation of the humanoid robot's walking performance is very helpful. And the torque data will be used to make humanoid's joint module.
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There are many types of BOM in the industrial world. Types of BOM include EBOM, MBOM, As-Built BOM, As-Designed BOM, Generic BOM, Customized BOM, etc. We should define an adequate BOM for a given need or application. In this paper, we proposed BOM structure for EMU Maintenance Information System. The proposed BOM structure is composed of Location BOM, Equipment BOM, and Maintenance BOM. Location BOM is functional structure for someone to achieve specific works. Equipment BOM is a bill of an independent object to be repaired, and maintained. Maintenance BOM includes all parts to compose Equipment BOM. The BOM structure will be applied to configure sales orders, explode aggregate forecasts, and calculate standard cost.
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본 논문에서는 ARM922T Core와 주변장치를 설계할 수 있는 100만 게이트의 FPGA를 내장한 알데라(Altera)사의 엑스칼리버(Excalibur)를 이용하여 DC모터 제어용 SoC를 설계하였다. SoC란 System on Chip의 약자로 하나의 칩 안에 프로세서와 다양한 목적의 주변장치들을 집적하는 것을 말한다. 모터를 구동하기 위한 PWM신호 생성기를 하드웨어 설계언어(Hardware Description Language)로 구현하고 시뮬레이션을 통해 설계모듈을 검증하였다. 이렇게 검증한 PWM 생성기 모듈과 ARM922T Core를 합성하여 SoC를 설계하였다. PWM 생성기 모들을 구성하는 내부의 각 분분을 VerilogHDL로 코딩하여 심볼로 만들어 통합하는 방식으로 설계를 하였으며 실제 모터를 구동하기 위해서 프로세서가 동작할 수 있도록 C언어로 프로그램하여 함께 칩에 다운로드하여 테스트를 하였다. SoC를 기반으로한 시스템 설계의 장점은 시스템이 간단해지고 고속의 동작이 가능하며 회로의 검증 및 다양한 시뮬레이션이 용이하다는데 있다.
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메모리 제품의 사용 환경은 점차적으로 High Speed/High Density화됨에 따라 현 Comp. Test 환경으로 Field 환경을 모두 수용하기가 어려워지고 있다. 따라서, Component Level에서 다양한 실장 System을 이용한 Screen 방법이 요구 되고 있다. 다양한 환경에서 Test를 실시하기 위해서 필수 불가결한 조건은 온도(Temperature)를 자동으로 제어(Control)할 수 있는 기능이 필요하게 되었다. 이에, 현재 사용하고 있는 방법은 Chamber나 히터를 이용하고 있으나 온도 제어가 보다 용이하고 정밀한 기능이 요구됨에 따라 열전반도체(Thermoelectric semiconductor)원리를 이용한 온도 제어 장치 도입을 위한 연구가 진행되었다. 본 논문에서는 그 개발 현황 및 평가 결과를 근거로 신규 Component실장 Tester에 효율적으로 도입 적용 가능함을 제시 하고자 한다. 또한, 향후 기타 Tester 및 산업용 설비 등에 까지 확대적용 가능함으로써 전자부품(메모리)의 품질 향상 및 설비투자 Cost절감 효과가 기대 된다.
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In this paper, we have designed the ground faults detection and disconnection algorithm at normal rendition of AC 120V to 240V rating voltage. Ground faults in electrical network have the characteristics of low current, 60Hz frequency to 2kHz frequency. The load rendition are no load and 20A load. The controller have the trip level are 6mA with ground faults. Conventional controller does not have the miswiring condition. The Controller algorithm using pic16c71 microprotessor.
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This paper proposes the generalized predictive control(GPC) method of chaotic systems using a self-recurrent wavelet neural network(SRWNN). The reposed SRWNN, a modified model of a wavelet neural network(WNN), has the attractive ability such as dynamic attractor, information storage for later use. Unlike a WNN, since the SRWNN has the mother wavelet layer which is composed of self-feedback neurons, mother wavelet nodes of the SRWNN can store the past information of the network. Thus the SRWNN can be used as a good tool for predicting the dynamic property of nonlinear dynamic systems. In our method, the gradient-descent(GD) method is used to train the SRWNN structure. Finally, the effectiveness and feasibility of the SRWNN based GPC is demonstrated with applications to a chaotic system.
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In this paper, the stabilization of an inverted pendulum system is studied. Here, the PID control method is adopted to make the system stable. In order to adjust the PID gains, a three-layer neural network, which is based on the back propagation method, is used. Meanwhile, the time for training the neural network depends on the initial values of PID gains and connection weights. Hence, the genetic algorithm Is considered to shorten the time to find the desired values. Simulation results show the effectiveness of the proposed approach.
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In this paper, a novel neural network approach is proposed for cleaning robot to complete coverage path planning with obstacle avoidance in stationary and dynamic environments. The dynamics of each neuron in the topologically organized neural network is characterized by a shunting equation derived from Hodgkin and Huxley's membrane equation. There are only local lateral connections among neurons. The robot path is autonomously generated from the dynamic activity landscape of the neural network and the previous robot location without any prior knowledge of the dynamic environment.
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The estimation of the position and the orientation for the mobile robot constitutes an important problem in mobile robot navigation. Although the odometry can be used to describe the motions of the mobile robots, there inherently exist the gaps between the real robots and the mathematical model, which may be caused by a number of error sources contaminating the encoder outputs. Hence, applying the standard extended Kalman filter for the nominal model is not supposed to give the satisfactory performance. As a solution to this problem, a new robust extended Kalman filter is proposed based on the Krein space approach. We consider the uncertain discrete time nonlinear model of the mobile robot that contains the uncertainties represented as sum quadratic constraints. The proposed robust filter has the merit of being constructed by the same recursive structure as the standard extended Kalman filter and can, therefore, be easily designed to effectively account for the uncertainties. The simulations will be given to verify the robustness against the parameter variation as veil as the reliable performance of the proposed robust filter.
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Recently, the study on the design of NCS(Network Control System) using Ethernet is being rapidly progressed. NCS can be extensively applied in manufacturing automation, office automation, home automation, remote control and ect. A merit of NCS on based Ethernet is to make good use of advanced Internet environment and to apply a application of abundant TCP/IP upper layer to NCS. The purpose of this paper is to control a speed of DC-motor using NCS on based Ethernet. The control system is divided into a server part and a client part. A server transfers a value of reference speed of a DC-motor. A client receives a output signal of DC-motor and a reference input obtained from the server. A client computes a error of two signals and then makes a control input. The control input is transferred to a actuator In this pater, A controller uses a classical control using a general feedback. In this paper, a viewpoint is to compare performance of NCS with performance of a classical control and to analyze the cause of that.
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Network uncertainties such as data loss and time delay can vary the stability property of networked control system. Therefore, these uncertainties must be considered first in designing networked control system. In this paper, we present a new stability analysis method of networked control system with data loss and time delay. The proposed method can determine maximum allowable time delay and minimum allowable transmission rate that preserves stability performance of networked control system. The results of the simulation validate effectiveness of our stability analysis method.
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This paper presents a novel iris recognition method using wavelet transform and curve simplification. One-dimensional signals, which are calculated over circles on the iris, are decomposed into a multiple frequency bands. Each decomposed signal is approximated by a piecewise linear curve connecting node points. The curve is simplified by progressively removing unimportant node points while keeping the shape of the curve. Finally, a small number of node points represent features of each signal. Experiment results show that the presented method results in good performance in various noise environments.
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The estimation of time-series data is fundamental process in many data analysis cases. However, the unwanted measurement error is usually added to true data, so that the exact estimation depends on efficient method to eliminate the error components. The wavelet transform method nowadays is expected to improve the accuracy of estimation, because it is able to decompose and analyze the data in various resolutions. Therefore, the wavelet based Kalman filter method for the estimation of time-series data is proposed in this paper. The wavelet transform separates the data in accordance with frequency bandwidth, and the detail wavelet coefficient reflects the stochastic process of error components. This property makes it possible to obtain the covariance of measurement error. We attempt the estimation of true data through recursive Kalman filtering algorithm with the obtained covariance value. The procedure is verified with the fundamental example of Brownian walk process.
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Based on a field-oriented model of induction motor, adaptive backstepping approach using neural network(RBFN) is proposed for the control of induction motor in this paper. In order to achieve the speed regulation with the consideration of avoiding singularity and improving power efficiency, rotor angular speed and flux amplitude tracking objectives are formulated. rotor resistance uncertainty is compensated by adaptive backstepping and mechanical lumped uncertainty such as load torque disturbance, inertia moment, friction by RBFN. Simulation is provided to verify the effectiveness of the proposed approach.
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This paper deal with the biped walking stability by inverted pendulum type balancing joints. This model is hard to interpretation for the nonlinearity caused by upper direction movement then conventional model which have roll and prismatic joints. We can interpret this model by a linear approximation or interpolation method. This paper use a linear approximation method that can decide a movement of upper direction. Inverted pendulum type balancing joints have a advantage of less movement for keep stability and similar with human than conventional model and this model can be used for humanoid robot. We can see a stability of biped by ZMP(Zero Moment Point). Genetic algorithm is used for trajectory planning that is important for stable walking of biped.
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의료영상에서의 혈관의 분할은 심혈관계질환의 진단 및 시술을 위한 3차원 가시화 및 가상내시경을 하기위한 필수 선행 단계로 이에 대한 연구가 많이 이루어 지고 있다. 조영제를 투여한 환자의 CT데이터에서 혈관분할의 가장 큰 문제점은 혈관의 밝기값이 뼈의 밝기값과 비슷하기 때문에 기존의 3차원 SRG방법으로 분할하는 경우 새나감의 문제를 가지고 있었다. 본 논문에서는 Cubic SRG라는 방법을 통해 기존의 3차원 SRG가 가지는 깔끔한 분할결과와 적응적인 특성등의 여러 장점을 그대로 취하며 Cubic이라는 구조적 특징을 이용하여 혈관을 빠르고 강인하게 분할하는 방법을 제안한다. Cubic SRG는 SRG가 픽셀단위의 성장을 통해 동질 영역을 분할하는 방법을 사용함에 반해 Cubic이라는 부피 단위를 지정하여 이를 SRG의 픽셀과 같이 퍼트리는 방식으로 기존의 3차원 SRG에 비해 2
$\sim$ 5배 정도의 빠른 수행속도를 보이며 3차원 SRG의 장점인 적응적인 특성을 그대로 가질수 있도륵 구현되었다. 또한 복셀들을 Cubic이라는 단위로 묶음으로서 혈관의 구조적인 분석을 수행하여 혈관을 트리형태의 구조로 그룹화가 가능하기 때문에 혈관을 가지별로 분할하기에 용이한 특징을 가지도록 하였으며, 이를 통해 새나감이 시작된 가지를 찾아서 잘라내는 방법을 통하여 SRG의 가장 큰 문제인 새나감 방법을 효과적으로 해결하는 방법을 제시한다. 최종적으로 위의 방법을 기본으로 하여 적응형 임계값 기반의 분할 방법을 혼합하여 사용자가 지정한 두 지점사이의 혈관을 강인하게 분할할수 있도록 구현하였고, 제안한 방법으로 여러 환자의 CT데이터에 실험하여 좋은 결과를 얻을 수 있었다. -
본 논문에서는 워터마킹을 응용한 동적 캐릭터 기술을 제안한다. 오디오 신호에 임의의 동작을 위한 일련의 동작코드를 들리지 않게 삽입하면, 이 캐릭터는 선행 처리된 오디오 파일이 재생될 때 마이크를 통해 얻은 소리를 처리하고 은닉된 코드를 추출함으로써 그 코드에 지정된 행동을 할 수 있다. 예를 들어 로봇이 동작코드가 은닉된 음악에 맞추어 지시된 춤을 출 수 있는 것이다. 이를 위해 우리는 워터마킹 기술을 적절히 응용하였으며, 제안된 기술은 공기(air)를 매질로 삼는 아날로그 채널에서 발생하는 잡음, 로봇과 음원의 거리에 따른 음의 감쇄, 그리고 동기화 등과 같은 문제들을 해결하였다. 여러 가지 상황에 따른 제안된 기술의 실험을 통해 제안된 기술의 성능을 입증하였다.
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In this paper, a second order sliding mode control that combines with a fuzzy adaptation technique is presented for a nonlinear system with unknown dynamics. The chattering effect that is a representative disadvantage of the sliding mode control is avoided by using the second order sliding mode control instead of the first order sliding mode control. The proposed controller is composed of the equivalent control that is approximated by an online adaptation scheme and the hitting control that is used to constrain the states to maintain on the sub-sliding surface and used to guarantee the system robustness. Simulation results are presented to show the effectiveness of the proposed controller.
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현재 광 정렬 시스템에 채용하고 있는 다채널 광 파워미터는 측정 채널의 수가 증가하는 상황이다. 그러나 기존 시스템 제어를 통한 각 채널의 정밀한 정렬은 다 채널 광 파워미터 기술에 적합하지 않은 방식이다. 그러므로 본 논문에서는 기존 방식을 채택한 광 정렬 방식을 개선하기 위해 하다마스 변환 복원 알고리즘을 이용한 광 능동 정렬 검출 방법을 제안한다. 다채널 광학 정렬 시스템에서 가장 중요한 문제는 채널의 증가에 따라 채널별 정렬의 정밀도가 떨어진다. 기존 정렬 시스템에서 채용하고 있는 다채널 광 파워미터의 기술 수준은 약 4채널까지 동시 측정이 가능하였다. 이 방법은 채널 양쪽에 검출기를 설치하여 광량의 최대 지점을 최적 정렬 위치로 결정한다. 그러나 시스템 채널이 증가할 수록 안쪽에 위치한 광소자를 정렬을 무시하기 때문에 정확한 정렬에 적합하지 않다. 그리고 고속, 대용량의 데이터 처리요구에 맞추기 위한 64채널 광소자 생산을 위해서는 16개의 4채널 광 파워미터를 사용하는 방법이 있으나 이는 신뢰할 만한 수준의 측정치를 제공하지 못한다. 따라서 새로운 개념을 적용한 다채널 동시측정을 위한 광소자 측정 기술 및 광 파워미터의 개발이 절실히 요구되고 있는 실정이다. 하다마드 변환 복원 알고리즘을 이용한 광 능동 정렬 검출 시스템은 이러한 요구를 충족시킬 수 있다. 그러므로 본 논문은 하다마드 변환 복원 알고리즘을 이용한 광 능동 정렬 검출 시스템이 기존의 시스템보다 우수한 알고리즘과 성능을 가지고 있음을 실험을 통해 입증한다.
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Recently, Bluetooth has been regarded as a new technology for short-range wireless connection. Although initial application of Bluetooth technology has been focused mainly on replacing cables between hand-held devices due to a limited packet size and short-range, general wireless telecommunication such as PAN and Ad hoc networks via Bluetooth-equipped devices is expected to be one of the most popular applications. Wireless equipments have been used to exchange data between host and mobile unit. The exchanging data may be several bytes of control command and the value of sensors with ultra-sonic, vision sensor, and encoder from mobile robot. However, most wireless equipments have some drawbacks such as lack of authentication, large size and high price. On the other hand, the benefits of Bluetooth are small size, low power, low price except short-range. Especially, there are some difficulties when wireless modules are used in indoor environments. In this paper, a method of using wire network in Bluetooth network is investigated as a solution to overcome the short-range problem of Bluetooth and difficulty in indoor environment.
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This paper deals with speed control of Sensorless DC servo motor using a FTHGO(FuzEy-Tuning High Gain observer). In this paper, we improved the problem from row speed section, the problem of sensor for detecting speed of motor, using FTHGO(Fuzzy-Tuning High-Gain Observer) with fuzzy control technique which is a class of adaptive control technique. In order to verify the performance of the FTHGO(Fuzzy-Tuning High Gain Observer) which is proposed in this paper, it is proved from the experiment to compare the case with a speed sensor to the case with FTHGO(Fuzzy-Tuning High Gain observer) in the speed control of DC servo motor.
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In this paper describes a design of Adaptive high gain observer. The gain of the observer is properly set up using the fuzzy control and adaptive high gain observer that have a superior transient characteristic and is easy to implement compared the existing method is designed. In order to verify the performance of the Adaptive high gain observer which is proposed in this paper, it is compared estimate performance of High-gain Observer and Adaptive High Gain Observer with the computer simulation. Effectiveness of the proposed high gain observer is proved from the simulation to compare the case with a speed sensor to the case with Adaptive high gain observer in the speed control of DC servo motor.
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Biochip-based diagnostic technology is an effective, time- and money- saving way. But, biochip analyzer including CCD imaging system has a complete optical system. It is one of reasons that the cost of biochip analyzer is expensive with CCD imaging system. In this paper, We suggested the simple and effective optical system for biochip analyzer with CCD imaging system. It consists of two parts with the same structure but opposite direction. Each part consists of achromatic doublet and meniscus. Suggested optical system has less lenses than existing system and more efficiently.
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최근들어 내장형 시스템의 설계에 있어서 고도의 집적화와 동작주파수 증가 및 이동형 시스템 수요 증가로 인해 전력 소모에 대한 중요성이 계속적으로 증가하고 있다. 이러한 제약을 해결하기 위해 태스크 형태의 소프트웨어가 나타나기 시작했다. 기존의 일반적인 내장형 시스템에서는 슈퍼루프(Super-loop) 형태의 소프트웨어가 기반을 이루고 있는데 이 구조내에 서는 저전력 모드 구현이 어렵다. 저전력 모드 진입 시점과 복귀 시점을 정하기가 어럽고 바꾸더라도 전체 시스템에 영향을 미치기 때문에 전체를 다 수정해주어야 한다. 하지만 태스크 형태의 내장형 소프트웨어에서는 각 태스크들이 독립적으로 돌아가고 태스크 내에서만 저전력 모드를 적용하게 되면 쉽게 저전력 모드 구현이 가능하다 이는 기능의 다양화와 복잡성에도 쉽게 대응할 수 있다는 일반적인 태스크 형태의 소프트웨어가 갖는 특징을 잘 나타내준다. 일반적으로 태스크 구조의 소프트웨어는 재사용성이 높아지고 실시간 운영체제를 사용함으로서 실시간 성능이 향상된다. 본 논문에서 보여주는 모델은 디바이스에 의존적이면서 빠른 응답시간을 요구하는 평면 디스플레이를 위한 소프트웨어이다. 태스크 기반의 소프트웨어에서 유휴 상태(idle state)를 활용하는 것을 기반으로 구현하였고, 이는 기존 슈퍼루프형태의 소프트웨어에 비하여 전력소모량이 줄어듬을 보여준다.
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Leem, Chae-Sung;Shim, Il-Joo;Chang, Kyung-Bae;Baek, Sang-Min;You, Jong-Il;Jung, Eui-Kuk;Park, Gwi-Tae 496
System Integration is significant role in building, because it is that the more building system is integrated, the more they can save management costs and energy costs. Nowadays system protocols in building use BACnet, LonWorks, etc. to integrate effectively, but their interoperability is not perfect. Therefore, we propose system integration using Ethernet and TCP/IP for perfect harmony. When data network protocol, Ethernet and TCP/IP is used for control network, there are several problems. But there have been solved by many researches. therefore it is possible that building system integrate to use Ethernet and TCP/IP. Finally, we show that Ethernet and TCP/IP can be used for building automation system integration. -
In this paper, we have designed a platform with MSC8101 processor for networked converter monitoring and diagnosis. MSC8101 is a dual processor type SOC(System On a Chip), which is consist of 16bit DSP and 32bit RISK CPM. As it have DSP and CPM, MSC8101 is competent for networking and data processing application. This MSC8101 platform is designed for networked monitoring and diagnosis, so it is important processing ability and networking capability.
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In this paper, we present the results of parameter estimation for do-dc converter model by system identification. The parameter estimation for dc-dc converter aims at the diagnosis of its operating status. we applied the system identification method for parameter estimation. For verification of estimated parameter, we compare bode plot of estimated system transfer function and measurement results of HP4194 instrument.
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In this paper, optical sensor system using PSD(Position Sensitive Detection) is proposed to obtain the three dimensional position of moving markers attached to human body. To find the coordinates of an moving marrer with stereo vision system, two different sight rays of an moving marker are required. Usually, those are acquired with two optical sensors synchronized at the same time. PSD sensor is used to measure the position of an incidence light in real-time. To get the three-dimension position of light source on moving markers, a conventional camera calibration method are used. In this research, we realized a low cost motion capture system. The proposed system shows high three-dimension measurement accuracy and fast sampling frequency.
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The human being uses speech signals to exchange information. When background noise is present, speech recognizers experience performance degradations. Speech recognition through speech enhancement in the noisy environment was studied. Histogram method as a reliable noise estimation approach for spectral subtraction was introduced using MFCC method. The experiment results show the effectiveness of the proposed algorithm.
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The electrical current generated by heart creates not only electric potential but also a magnetic field. In this paper, we have designed the multiplexing data acquisition system for multichannel bio-magnetic signal measurement. The system consists of VXI rack which is organized MUX and AD board, Industrial rack which is mounted single board computer and DSP board. This system enable to realtime monitoring of multichannel data simultaneously. The number of channel could be increased simply added each module and firmware could be upgraded easily using host port interface of DSP.
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This paper describes the communication system of sequencing sorter. Generally sequencing sorter is a machine that sorts mails by delivery order. And designed sequencing sorter is composed of 5 physical modules. So, it is necessary to communicate with each module and to control this communication. A computer called Machine Management Computer, controls this. This paper is about the communication system with MMC and module controllers. This is PC-based, asynchronous full-duplex 4-wire serial systems. 3 protocol layers are presented and stop-and-wait flow control is adopted. Because designed sequencing sorter has to be operated high speed about 27,000 letters per hour, we analyzed the network traffic in the worst case. So, we could find that the communication system has to use above 115,200bps speed.
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This paper proposes speed control system using a Fuzzy Logic Controller(FLC) in order to realize the speed control of Permanent Magnet AC Motor with no sensor. FLC based MRAS(Model Reference Adaptive System) estimates the speed of Permanent Magnet AC Motor. Using the estimated speed, speed control is performed. The experiment is executed to verify the propriety and the effectiveness of the proposed system.
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Recognition of licence plate becomes a key issue to many traffic related application such as road traffic monitoring or parking lots access control. In this paper, the brightness, YIQ and HSI methods were used to locate a license. After the characters in license plate were extracted, template matching method was applied for character recognitions. To test the performance of the proposed algorithm, images of seventy vehicle were tested. The success rates for license plate and character recognition were approximately 99%, and 96%, respectively
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In this paper, we propose a new algorithm that can enhance the speed of template matching of hand vascular pattern person verification or recognition system. Various template matching algorithms have advantages in the matching accuracy, but most of the algorithms suffer from computational burden. To reduce the computational amount, with accuracy maintained, we propose following template matching scenario as follows. firstly, original hand vascular image is re-sampled in order to reduce spatial resolution. Secondly, reconstructed image is projected to vertical and horizontal direction, being converted to two one dimensional (1D) data. Thirdly, converted data is used to estimate spatial discrepancy between stored template image and target image. Finally, matching begins from where the estimated order is highest, and finishes when matching decision function is computed to be over certain threshold. We've applied the proposed algorithm to hand vascular pattern identification application for biometrics, and observed dramatic matching speed enhancement. This paper presents detailed explanation of the proposed algorithm and evaluation results.
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This paper presents a study of position tracing system for Underwater Vehicle Robots(UVR) that is inspecting an atomic furnace. This system development is the basic research for the purpose of position estimation of UVR and preventing that UVR crash into the wall of an atomic furnace. For this purpose, Pan/Tilt Unit that is attached Laser is pointing PSD(Position Sensitive Detector) Sensor which is stuck to the upper side of UVR. Through this action, we can find the Position of UVR. In this paper, we construct the system for aiming the laser pointer at PSD Sensor using pan/tilt and study the optimum algorithm for finding the optional position that is located at the space which is pointable area by Laser device.
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This paper presents design and manufacture of RF type non-contact radiological dosage measuring device. It also concerns on the broad out-line and the ways of improvement about RF type non-contact radiation measuring device. Measuring radiological dosage with non-contact RF, the stability and efficiency of the measure have been improved by reforming constant current circuit. Furthermore, applying communication protocol in process makes it possible to achieve faster and more accurate communication than old circuit. On the base of those, RF type non-contact radiological dosage measuring device which consists of radiological dosage measuring module and Reader module has been designed and manufactured. While testing communication against embodied device, the possibility of the field application could be confirmed.
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The owner of water pipeline has a burden of responsibility for the protection of corrosion and the prevention against leakage of water. So, they have been installed a CP(Cathodic Protection) System in odor to protect corrosion. And they also have been measured and analyzed the data about P/S(Pipe to Soil) potential of water pipeline. The P/S potential is basic data of evaluation for water pipeline corrosion. They need remote automatic corrosion monitoring system for easy maintenance. In this paper, The communication method was studied mainly. And the specifications of proposed TRS (Truncked Radio System ) terminal for corrosion monitoring are introduced briefly.
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The adaptive filter is proposed for removing EOG from measured EEG on the frontal lobe. The proposed adaptive filter has been implemented and the feedback output control algorithm has been employed to control the alpha wave ratio on the basis of TMS320C31 DSP board with the on-line and real time performance. The feedback algorithm controls the input voltage of stimulating devices on the portable bio-feedback system. The EEG data are acquired at the
$F_{p1}$ and$F_{p2}$ localization and are processed by the proposed adaptive filter. We demonstrated that the proposed adaptive filter could effectively remove EOG from the measured EEG on the frontal lobe and the feedback algorithm is proper to control the output voltage of DSP board using the ratio of the alpha wave. -
This paper is about the method by which Power Control Unit(PCU) of Control Rod Control System(CRCS) logs events in the system and the real-time monitoring display. This method enables the functions like the event logging of Control Rod Drive Mechanism(CRDM)/power Cabinet, the off-line show of the event data logged and the on-line show by communication between the PCU and the monitoring display. Operators in a nuclear power plant must be able to grasp any possible abnormal states correctly. Because our newly designed system has a good ability to log and display the kinds, tine, and the prior and posterior states of urgent or non-urgent events, the operators can judge, maintain and repair the abnormal event more easily.
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When a fault relating to the urgent alarm occurs, we must prevent control rods from dropping and make one of two grippers in Control Rod Drive Mechanism (CRDM) grip the drive rod laking a control rod assembly. If a gripper with any problem is ordered to grip the drive rod, the gripper which cannot latch the rod stably will fail to take the rod. On the purpose of escaping this bad case, we order two grippers to hold the drive rod and enhance the reliability of holding control rods. This action is called the double hold. In the middle of the movement of the drive rod, the latching of the drive rod can cause friction between a gripper and the drive rod. This state may give damage to both the gripper and the drive rod. In this paper, we have devised the method which can have two grippers hold the drive rod more stably, without damaging the equipment.
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In this paper, we introduce a new method detecting thyristor faults of the power converter module in Control Rod Control System. When we control the currents in each coil of Control Rod Drive Mechanism by using the current control method, the current value can follow the current reference despite the faults like the missing phase or the diode acting. Comparing the fault current values with the normal current values, the bad transient characteristics of the abnormal current can make the operations of control rods incorrect. In this case, the information from the current trends cannot be enough to detect the fault occurrence in thyristors. Instead of the coil currents, the state of thyristors can be watched by measuring the coil voltages. In the existing system of Westinghouse type, the ripple detector takes charge of this task. But this detector has some shortcomings in the point of time for fault detection, we come to devise a new fault detection method solving the problems which belong to the ripple detector.
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We have designed the power control unit which belongs to the power cabinet and controls the power supplied to Control Rod Drive Mechanism(CRDM) as a digital system based on Digital Signal Processor(DSP). The power control unit dualized as the form of Master/Slave has had its increased reality. The Central Process Unit(CPU) board of a power control unit possesses two Digital Signal Processors(DSPs) of the control DSP for performing the tasks of power control and system monitoring and the communication of the Control DSP and the Communication DSP. To accomplish the functions requested in the power control unit effectively, we have installed Field Programmable Gate Arrays(FPGAS) on the CPU board and have FPGAs perform the memory mapping, the generation of each chip selection signal, the giving and receiving of the signals between the power controllers dualized, the fault detection and the generation of the firing signals.
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Lee, Jong-Mu;Kim, Chun-Gyeong;Kim, Seok-Ju;Cheon, Jong-Min;Park, Min-Guk;Gwon, Sun-Man;Nam, Jeong-Han 567
This paper deals with the design, implementation, and test of a CRCS for nuclear power plants. Although CRCS is still classified into non-safety class, much attention on its reliability issue has been given so far because of its importance for the stable operation of the reactor in the plant. In terms of technical aspects, our system adopts a full-duplex configuration to enhance reliability in contrast to the existing systems that are all simplex. -
This paper proposes a detection method for mechanically stuck control rod drive mechanism (CRDM) faults. During the normal operation of a CRDM, disturbance voltage is induced due to the change of the airgap flux between the stator and the armature of a CRDM. This disturbance voltage is estimated by using
$H_\infty$ filtering method, and generalized plant is used in linear fractional transform (LFT) framework.$H_\infty$ filtering is described and solved in terms of linear matrix inequalities (LMIs). Simulation results are shown. -
In this paper, we describe a Duplex Power Controller for Control Rod Control System(CRCS). A Duplex Power Controller has the various functions for the reliable operations of Control Rod Drive Mechanism(CRDM). Also we have implemented the diverse functions by utilizing the developed Duplex Power Controller. Due to the developed Duplex Power Controller, we are assured that the commercial operation by this system be made before long.
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The general time optimal control law provides the optimal solution for a minimum time control problem. But in most real systems with disturbances and model uncertainties, the time optimal control law leads to chattering effect. This chattering effect can cause the system to be unstable. Therefore, we propose a robust optimal control algorithm for the nonlinear second order systems with model uncertainty. The proposed algorithm is combined with bang-bang control and sliding mode control. Thus the proposed algorithm has two state space regions to implement to control algorithm. In each region, the appropriate linear or nonlinear feedback control law is used satisfying the dynamic system equations. Simulation results show the superiority of the proposed controller in comparison with pure time optimal control(bang-bang control).
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UICC는 애플리케이션, 파일 시스템, 보안 메커니즘, 암호 알고리즘 등을 포함하고 있는 일종의 스마트 카드이다. UICC의 파일은 ISO7816-4 표준에서 정의한 파일들과 애플리케이션의 최상 위 파일인 Application Dedicated file등이 있다. UICC가 자바 카드 기반에서 구현되 었을 때 모든 파일은 객체로서 구체화될 수 있다. 이 때 각 파일 객체는 파일에 대한 정보들과 정보 조작과 관련된 메소드를 제공하게 된다. 자바 카드는 일반 컴퓨터와 유사하지만 제한적인 메모리와 처리속도 등으로 인하여 구현 상 많은 제약사항이 따른다. 자바카드는 저장 공간을 ROM, RAM, EEPROM로 구분할 수 있으며, 파일이나 애플릿, 데이터 등은 EEPROM 영역에 저장된다. 하지만 자바 카드가 지원하는 EEPROM영역이 2.2.1 버전에서 확장되었다 할지라도 여전히 많은 데이터를 저장하기에는 부족한 메모리 공간을 갖는다. 이것은 메모리 사용에 있어 신중을 기해야 한다는 것을 의미하며 효율적인 메모리 사용은 카드 사용자에게 보다 많은 가용 메모리를 제공할 수 있다는 점에서 중요하다. 본 논문에서 는 이러한 점을 고려하여 자바 카드에서 UICC의 파일 시스템을 Linked List 방식을 이용하여 구현하는 방법과 배열을 이용하여 구현하는 방법을 제시하고 파일 시스뎀의 전체적인 구조를 효율적으로 구성하는 방법을 제시한다.
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This paper presents a new short-term load forecasting system using data mining. Since the electric load has very different pattern according to the day, it definitely gives rise to the forecasting error if only one forecasting model is used. Thus, to resolve this problem, the fuzzy model-based classifier and predictor are proposed for the forecasting of the hourly electric load. The proposed classifier is the multi-input and multi-output fuzzy system of which the consequent part is composed of the Bayesian classifier. The proposed classifier attempts to categorize the input electric load into Monday, Tuesday
$\sim$ Friday, Saturday, and Sunday electric load, Then, we construct the Takagi-Sugeno (T-S) fuzzy model-based predictor for each class. The parameter identification problem is converted into the generalized eigenvalue problem (GEVP) by formulating the linear matrix inequalities (LMIs). Finally, to show the feasibility of the proposed method, this paper provides the short-term load forecasting example. -
In this paper, we have designed a Home Networking System using an embedded linux board. The system based on the World-Wide-Web is composed of three parts - a Server, a Client and a Simulator. The Home Networking Server is built in an embedded board using an embedded linux kernel. A web-server and Home Networking Server Seryice Demon programming with a Jaya-Language is included in the board. Clients can connect to the server board using a web-browser in the desktop computer, PDA or any other machines which include a web-browser. For this purpose, we made the client program using a Java-Applet. So, the clients who connect to the server for the control of the applications, download the class-file and execute the client-program in the web-browser. So, the clients don't need any other programs to control the applications from a remote place. The size of server board is very small (86.3
$\times$ 74mm), which makes it very useful not only for the Home-Networking-System but also in many other fields, e.g., embedded robot control system, etc. Using an embedded board instead of a desktop computer is good for a simple network environment and it occupies only a small space to make the system. -
In this paper, we designed the digital pulse motor control chip including a circular interpolation function. The proposed algorithm in this paper is a nonparametric cure generation algorithm (Jordan's algorith) and a very simple algorithm. So the design for this algorithm used a small number of gates. Also an average error is fairly low. The max output speed is 4Mpps(Pulse per second), the max input frequency is 16MHz and the chip is useful for the stepping and servo motors. The software contains one or two, and many axes linear interpolation algorithm and two axes circular interpolation algorithm.
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Energy spectrum modulation of X-ray source in digital mammography has been studied. In this study, we calculated various filtered spectra using the scattering data. Primary spectra were generated by Molybdenum (Mo) and Tungsten (W) targets. The materials of added filters are Molybdenum and Rhodium (Rh) for 40 kVp Mo. primary spectrum, the amounts of photons over whole energy ranges are attenuated to 0.43 with 0.03 mm Mo filter and 0.38 with 0.06 mm Mo filter while the photons of energy ranged from 17 keV to 20 keV. The photons of low energy ranged below 17 keV are considerably attenuated. This effect brings out reducing the scattered radiation and dose to the patient, and enhancing subject contrast in the image. The results show that filtered spectra are not seriously affected by X-ray tube loadability. Because the energy range from 17 keV to 20 keV is directly transmitted although low and high energies are mainly filtered.
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Most recommendation systems recommend the products or other information satisfying preferences of users on the basis of the users' previous profile information and other information related to product searches and purchase of users visiting web sites. This study aims to apply these application categories to e-mail more necessary to users. The E-Mail System has the strong personality so that there will be some problems even if e-mails are automatically classified by category through the learning on the basis of the personal rules. In consideration with this aspect, we need the semi-automatic system enabling both automatic classification and recommendation method to enhance the satisfaction of users. Accordingly, this paper uses two approaches as the solution against the misclassification that the users consider as the accuracy of classification itself using the dynamic threshold in Bayesian Learning Algorithm and the second one is the methodological approach using the recommendation agent enabling the users to make the final decision.
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A large part of the embedded system, compared with the PC, have low performance CPU and small memory. So the embedded operating system fits the condition of that hardware system. A Single Address Space (SAS) OS has the operating system and all applications in the single address space. The SAS architecture enhances sharing and co-operation, because addresses have a unique interpretation. Thus, pointer-based date structures can be directly communicated and shared between programs at any time, and can be stored directly on storage. The key point of the SAS OS on the embedded system is the low overhead inter-action between programs in process and usage. So SAS OS can be ported on the low performance CPU. In this paper, we design the SAS OS (named emNOS, Embedded Network Operating System) on the ARMTTDMI processor. Finally we show the benefits of the SAS OS on the embedded system.
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In this paper, a design of radiation detector for gamma column scanner is introduced. Distillation column is important unit in Petro-chemical industries, and its on-line diagnose is very important. To get density profile measured by the radiation transmitted through column is well method for on-line diagnose as gamma scanning. For this purpose radiation detection circuit, radiation source and mechanical system for moving source and detector are required. Conventional radiation detection circuit for this application is sensitive to electric noise because of interface between the radiation circuit and the controller for mechanical system. The radiation detection system introduced here is using loop coil instead of slip ring to remove contact noise. Radiation detection system designed here for gamma scanning consist of BGO detector, high voltage circuit, PHA circuit and FSK modem. The BGO detector is used as radiation sensor, high voltage circuit and peak height analysis circuit is essential to process the signal generated from BGO detector. Micro controller convert measured data into ASCII data. FSK modem transmit ASCII data. Transmitted ASCH data is picked up in antenna coil and processed for combined function with mechanical system. This method gives good result by isolating the controlling circuit of mechanical system from radiation detecting circuit which is sensitive to noise.
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Brake action is important in train operation. In case of diesel motor cas, coachs and wagon, the brake system is only act on the stop of train, but it is emphasis on safety and convenience in urban transit system such as EMU, subwar, AGT, etc. Brake of EMU has two types. one is called service brake that is used at normal operation. The other is called emergency brake. it is used at emergency operation. Service brake bring a EMU to a halt through a blending brake that form electronic brake and frictional brake. Generally EMU compose motor car and trailer car. Blending brake bring a EMU to a halt through a blending brake that form electronic brake of motor car and frictional brake of trailer car. Blending braking technology have different characteristics each nations or manufacturing companies. but deceleration command that is parameter decide blending brake. According to deceleration command, electronic brake and frictional brake are applied differently So braking power is different. electronic brake and frictional brake must be used appropriately as deceleration command. Also braking facilities must be stopped EMU more economically and safely through revision of algorism about blending brake according to output diagram. Thus The purpose of paper is to propose blending braking control way as consideration of braking output diagram used deceleration command that influence blending brake of EMU.
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For real world applications of reinforcement learning techniques, function approximation or generalization will be required to avoid curse of dimensionality. For this, an improved function approximation-based reinforcement learning method is proposed to speed up convergence by using CA-CMAC(Credit-Assigned Cerebellar Model Articulation Controller). To show that our proposed CACRL(CA-CMAC-based Reinforcement Learning) performs better than the CRL(CMAC-based Reinforcement Learning), computer simulation results are illustrated, where a swing-up control problem of an acrobot is considered.
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This paper proposes a fuzzy expert system for the fault diagnosis of Hard Disk Drive(HDD) test systems. The purposes of this system are diagnosis of HDD test systems, detection of system faults using test history, and presentation of the way of repair. Proposed Expert system is designed with Fuzzy logic and Binary Logic to present the way of repair using HDD tort result, HDD test history. The proposed system is simulated with actual data from SAMSUNG HDD product line in KUMI, KOREA, and show effective results.
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Piezo actuators are mainly used in precision position control system because of their high position resolution. Although there have been many approaches in open loop control of this, those method turn out to be not effective in precision control due to hysteresis and creep. To overcome the problems, closed loop PI control method is used in commercial products. However, it is very difficult to obtain fast response with conventional PI control although piezo actuator has fast response. In this paper, we propose a fuzzy PI control method with the proposed fuzzy PI controller, we obtains faster settling response over the conventional PI controller. We verify the effectiveness of the proposed method with experimental results.
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Most of maritime metallic structures are adopted a CP(Cathodic Protection) System for protection of corrosion in advanced country. So, we had been developed a remote corrosion monitoring control system. And we want to know the characteristics of efficiency, reliability, durability and so on. On the view point of it, we have to test in real field. in terms of design, cathodic protection systems, corrosion monitoring systems and optimal corrosion control systems compare to general commercial products. So, these systems have being studied to improve their capability. In this paper, the result of field testing center design of intelligent cathodic protection system including anodes, a real-time wireless remote corrosion monitoring and corrosion control system are described in naval ports.
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The owner of water pipeline has a burden of responsibility for the protection of corrosion and the prevention against leakage of water. So, they have been installed a CP(Cathodic Protection) System in oder to protect corrosion. And they also have been measured and analyzed the data about P/S(Pipe to Soil) potential of water pipeline. The P/S potential is basic data of evaluation for water pipeline corrosion. In this paper, results of development about remote wireless corrosion monitoring system for water pipe line are presented briefly.
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본 논문은 RTOS(Real-Time Operation System, 리턴어드레스를 위한 유저스택사용 RTOS가 탑재된 CE(Consumer Electronic)제품상에서 리턴어드레스가 유저스택으로 저장하는 것을 지원하지 않는 컴파일러를 위한 알고리즘이며 실험을 위하여 제안된 알고리즘을 상용 컴파일러에 적용하여 비교해보도록 하겠다. 우선 기존 컴파일러 알고리즘으로는 Task마다 할당된 유저스택영역이 존재하며 Task가 수행중 발생된 리턴어드레스는 즉시 할당된 유저스택으로 저장하는 알고리즘을 갖고있다. 이런 알고리즘으로 인하여 인스트럭션이 수행중 빈번한 메모리 접근(external memory)가 발생한다. 그러나 제안된 알고리즘은 Task 수행중에는 리턴어드레스를 시스템스택(internal memory)에 저장한 후 Task 전환이 발생할 경우 일시에 시스템 스택에 저장된 리턴어드레스를 유저스택으로 이동하게 되므로 Task 수행중에는 시스템 스택만을 접근하므로 task의 수행시간을 단축할 수가 있다. 그리고 실험을 위하여 상용 컴파일러들에 본 알고리즘을 적용하였다. 상용 컴파일러로는 매번 리턴어드레스를 자동으로 Task별 할당된 유저스택에 저장할 수 있도록 지원해주는 TASKING 컴파일러(Altium 사)와 그렇지 않은 KEIL컴파일러(KEIL사)가 있으며 본 알고리즘을 KEIL 컴파일러에 적용하여 실험을 하여 TASKING 컴파일러와 비교한 결과 유저스택을 지원하는 TASKING(Altium사) 컴파일러에서 구현한 CE제품의 Response time이 KEIL 컴파일러에서 구현한 CE제품의 Response time 값이 같게 나왔다. 그러므로 KEIL 컴파일러상에 본 알고리즘을 적용시킬 경우 RTOS가 탑재된 CE제품을 보다 용이하게 구현할 수가 있다.
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Induction motors are a critical component of industrial processes. Sudden failures of such machines can cause the heavy economical losses and the deterioration of system reliability. Based on the reliability and cost competitiveness of driving system (motors), the faults detection and the diagnosis of system are considered very important factors. In order to perform the faults detection and diagnosis of motors, the vibration monitoring method and motor current signature analysis (MCSA) method are emphasized. In this paper, MCSA method is used for induction motor fault diagnosis. This method analyses the motor's supply current. since this diagnoses faults of the motor. The diagnostic algorithm is based on the principal component analysis(PCA), and the diagnosis system is programmed by using LabVIEW and MATLAB.
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In this paper, we presents a vector control method for the parallel-connected motor drive system. The new estimation scheme of rotor flux position is presented to reduce sensitivity due to load difference between the motors. To confirm the validity of the proposed control method. we compare a simulation result of the proposed control method with that of the conventional indirect vector control method. The simulation results show that the proposed control method is more effective for change in load torque and motor parameters.
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We have designed embedded web sewer system and ported Linux operating system version 2.4.5 at our system. And then We implemented to control and monitor widely separated hardware and implemented to monitor widely separated image using CMOS image sensor HV7131B. Web server is the Boa web server with General Public License. We designed for this system using of Intel's SA1110 ARM core base processor and connecting input and output device at GPIO port of SA1110. Device driver of General purpose I/O for Embedded Linux OS is designed. And then the application program controlling driver is implemented to use of common gate interface C language. User is available to control and monitor at client PC. This method have benefit to reduce the Expenditure of hardware design and development time against PC base system and have various and capacious application against firmware base system.
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Control of multi-link robot arms is a very difficult problem because of the highly nonlinear dynamics. Decentralized control scheme is developed for control of robot manipulators based on RBF(Radial Basis Function) Neural Networks. RBF Neural Networks is used to approximate the coupling forces among the joints, coriolis force, centrifugal force, gravitational force, and frictional force. The compensation controller is also proposed to estimate the bound of approximation error so that the chattering effect of the control effort can be reduced. The proposed scheme does not require an accurate manipulator dynamic, and it is proved that closed-loop system is asymptotic stable despite the gross robot parameter variations. Numerical simulations for two-link robot manipulator are included to show the effectiveness of controller.
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This paper presents a computer image processing system, which inspects the measurement of the ALC block on a real-time basis. The Image processing system was established with a CCD camera, an image grabber, and a personal computer without using assembled measurement equipment. The image obtained by the system was analyzed by a devised algorithm, specially designed for the enhanced measurement accuracy. From the experimental results, we could find that the required measurement accuracy specification is sufficiently satisfied using our proposed method.
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In this paper, we have designed and implemented the RAID controller board which connects to the host computer with serial ATA interface and connects to the disks with parallel ATA interface. Serial ATA interface is proposed to overcome the design limitation of parallel ATA while enabling the storage interface to scale with the slowing media rate demands for PC platforms. Serial ATA is to replace parallel ATA with the compatibility with existing operating systems and drivers, adding performance headroom for years to come. It Moreover, serial ATA provides even faster transfer rate of 150 Mbytes/s which is larger than that of current parallel ATA. The RAID controller board designed in this paper combines up to 4 disks with parallel ATA interface, and connects to PC host computer with serial ATA interface. We have implemented RAID controller using Verilog HDL language with FPGA chip. The RAID controller supports RAID level 0 and 1 functionality. Experimently, the average read/write performance of parallel ATA interface is about 30 Mbytes/s. Therefore, when 4 parallel disks is connected to the RAID controller board, we can get almost full throughput of serial ATA protocol using the RAID level 0 configuration with 4 disks.
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This paper proposes a tracking algorithm for receiving satellite signal. Tracking algorithm uses the angular velocity of vehicle and the slope of received satellite signal for searching the maximum level of signal. The tracking algorithm is composed of two parts. One is the routine to maintain the acceptable signal in spite of the variation of angular velocity. The other is the fine tuning routine to search the maximum signal level by giving the weight factors to the slope of signal. Experimental results show that the proposed algorithm is efficient and stable.
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In this paper, we designed the embedded system used for wireless LAN communication. Embedded system kernel is made from general linux kernel 2.4.18 by applying the ARM patch (2.4.18-rmk7) and the SA1100 patch(2.4.18-rmk7), then porting board level suitable to target system. The SA-1110 PCMCIA interface provides controls for one PCMCIA card slot with a PSKTSEL pin for support of a second slot. The embedded system requires external logic to complete the PCMCIA socket interface. For dual-voltage support, level shifting buffers are required for all SA-1110 input signals. Hot insertion capability requires that each socket be electrically isolated from each other, and from the remainder of the memory system. embedded system is for socket services approaching PCMCIA socket, detecting number of sockets, sensing insertion and removal, and applying power. It also provides interface with Card services. Embedded system supports Host driver for lucent chips that is installed orinoco driver cross compiled. The meaning can say that is doing wireless LAN communication through wireless LAN in imbedded system.
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In this paper, the analysis of practical end-to-end delay in worst case is performed for distributed control system considering the implementation of the system. The control system delay is composed of the delay caused by multi-task scheduling of operating system, the delay caused by network communication, and the delay caused by the asynchronous between them. Through simulation tests based on CAN(Controller Area Network), the proposed end-to-end delay in worst case is validated. Additionally, online clock synchronization algorithm is proposed here for the control system. Through another simulation test, the online algorithm is proved to have better performance than offline one in the view of network bandwidth utilization.
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정보 가전 분야에 있어서 급속한 기술 발전으로 인해 하루가 다르게 새로운 기능이 추가됨에 따라 내장형 시스템 소프트웨어의 크기 및 복잡도 또한 함께 증가하고 있고 이를 개발하고 유지보수 하는데 있어서도 막대한 비용과 노력이 요구된다. 이를 해결하기 위한 방안으로 소프트웨어의 재사용성을 높이기 위한 노력이 이어지고 있다. 본 논문에서는 실시간 제약 특성을 지닌 평면 디스플레이 시스템 소프트웨어의 재사용성을 높이기 위하여 기존 내장형 시스템 소프트웨어에서 사용되던 순차적 구조에서 탈피하여 마이크로 커널 기반 태스크 구조를 제안하고 각각의 구조에 따른 소프트웨어의 재사용성을 측정하기 위한 기준(Metrics)과 그 측정 결과를 통하여 제안된 구조가 재사용에 적합함을 보이고자 한다.
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In this paper, a performance comparison between two blind signal estimation algorithms in a LTI channel is considered. The two algorithms, Iterative Least-Squares with Projection (ILSP) and a modified ILSP, are based on the finite-alphabet property of input symbols. This case typically arises in a multiple access system with a sensor array antenna at the receiving end. We start with the formulation of a maximum-likelihood (ML) estimation problem under an additive white Gaussian noise assumption. A blind ML estimator is derived with its iterative algorithm for calculation. Then we narrow down the consideration of this problem to QPSK case so that a modified algorithm is proposed for
$\pi$ /4-QPSK case. The modified version is compared with the original ILSP algorithm in terms of the rate of the convergence to global minima. A computer simulation shows that the modified algorithm gives a better performance. This result implies that the performance of the blind separation algorithms may be greatly improved by adopting a smart coding scheme with rich structure. -
In this paper, we propose an adaptive beamforming algorithm for array antenna. The proposed beamforming algorithm, based on Block LMS (Block - Least Mean Squares) algorithm, has a variable step size from coefficient update. This method shows some advantages that the convergence speed is fast and the calculation time can reduced using a block LMS algorithm from frequency domain. As the adaptive parameter approaches a stationary state, it could reduce the number of filter coefficient update with the help of various step size. In this paper we compared the efficiency of the proposed algorithm with a standard LMS algorithm which is a representative method of adaptive beamforming.
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Among many servo control systems in steel making plant, AGC system in hot rolling mill is very important to get a accurate strip thickness for good quality. AGC (Auto Gauge Control) system controls the roll gap to maintain the required thickness by using the variation of roll force and the measure of output thickness. In this paper, a simulator of AGC system which unifies both hydraulic servo control system and AGC algorithm is suggested. After proving the concurrence of algorithms between the simulator and real system, main actuator system is added. Instead of usual PI system used in present system, DOB control scheme is applied and shows the effect of disturbance attenuation well.
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The home network system of ubiquitous computing concept is changing present our home life as more comfortable and safe. Also, it permits that we can connect the home network system and control the appliance which is linked to the home network system without limitation in time and place. But, as other systems that use the public network like the Internet, remote control/monitoring of the home network system that use the Internet includes problems such as user's access which is not admitted and information changing. This paper presents the efficient solution about the security problem that is recognized to important problem of the home network system. Also this paper implements the security of the home network system based on the UPnP (Universal Plug and Play), adding VPN (Virtual Private Network) router that uses the IPsec to the home network system which is consisted of the ARM9 and the Embedded Linux.
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In this paper, we have evaluated the methods to generate the reference signal for the diagnosis of multi-channel signals. The channel signal integrity can be known by the difference between the reference signal and each channel value. The generation method of reference signal is important in the diagnosis of multi-channel measurement system. The continuous weighting average method rejects the abnormal signal using weighting method and makes the reference signal using sumation of all channel values. This gives the simple and reasonable reference signal. The principle component analysis, one of the multivariate analysis methods, and the neural network method give the reliable reference signal by using signal models, and learning algorithm. Two methods can make the reliable reference if all signals are normal, but any signal having the drift have an effect on the reference.
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In this research, we port the RT-Linux to MVME 5100 board which is driven by VxWorks or Vertex until now. And, we developed the data logging modules by using the RT-Linux. This module gathers two different scan timing data from plant and sends this data to the host controller with real time.
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In recent, the contactless IC card is widely used in traffic, access control system and so forth. Contactless smart cards use a technology that enables card readers to provide power for transactions and communications without making physical contact with the cards. Usually electromagnetic signal is used for communication between the card and the reader. Contactless card is highly suitable for large quantity of card access and data transaction. And its use becomes a general tendency more and more because of the development of RF technology and improvement of requirement for user convenience. This paper describes the hardware module to process contactless protocol for implementation contactless IC card. And the hardware module consists of specific digital logic circuits that analyze digital signal from analog circuit and then generate data & status signal for CPU, and that convert the data from CPU into digital signal for analog circuit.
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Recently Neural Network techniques have widely used in adaptive and learning control schemes for production systems. However, generally it costs a lot of time for learning in the case applied in control system. Furthermore, the physical meaning of neural networks constructed as a result is not obvious. And in practice since it is difficult to the PID gains suitably lots of researches have been reported with respect to turning schemes of PID gains. A Neural Network-based PID control scheme is proposed, which extracts skills of human experts as PID gains. This controller is designed by using three-layered neural networks. The effectiveness of the proposed Neural Network-based PID control scheme is investigated through an application for a production control system. This control method can enable a plant to operate smoothy and obviously as the plant condition varies with any unexpected accident.
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Electric stimulation of teeth is used for assessing pulp vitality. Because of very high and wide range of impedance of the enamel, electric pulp testers use high voltage, high output impedance and alternative current source. Most pulp testers use voltage stimulation method and their stimulating threshold levels significantly depend on each individual. Therefore, a constant current stimulator is necessary to minimize the effect of wide variation in enamel thickness. In this study, we constructed a constant current source type of pulp tester with the maximum current of 150 uA.
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Electric pulp test is a method to examine the vitality of dental pulp using the electrical stimulation. During the pulp test, the current stimulates intradental nerve, and makes patients painful. Some studies were accomplished to measure the responses of subjects by stimulating over the sensory threshold. In this study, we examined the time delay between pain feeling and stimulation stop in clinical situation. And we measured the activated responses(EMG in anterior belly of digastric muscle, voice, and finger span). As a result, it was verified that the minimum and maximum delay was EMG and voice, respectively. By reducing the excessive stimulus time, the unnecessary pain can be minimized using EMG that has the minimum delay.
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In present, most of metallic structures(gas pipeline, oil pipeline, water pipeline, etc) are running parallel with subway and power line in seoul. Moreover subway system and power line make a stray current due to electrical corrosion on metallic structures. The owner of metallic structures has a burden of responsibility for the protection of corrosion and the prevention against big accident such as gas explosion or soil pollution and so on. So, they have to measure and analyze the data about P/S(Pipe to Soil) potential, amplitude of stray current, point of source of stray current and so. In this paper, results of development about data logger apparatus for measurement stray current of subway and power line are presented.
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This paper presents a direct seek control algorithm for swing-arm type dual stage servo system that consists of a coarse actuator and a fine actuator. The proposed scheme is to design a control system that attenuates the effect of dynamic coupling between the two actuators so that the seek operation can be performed in a single-shot with stability. In an optical drive system with dual stage servo mechanism, the effect of dynamic coupling between the two actuators needs to be handled during the coarse seek operation due to its inherent structure. In an extreme case, the two actuators can collide each other, which leads to critical degradation of the seek performance. To handle this problem, our proposed control scheme is to generate the drive signals such that the two actuators behave as if they are a single fixed body. To this end, a feedforward controller and two feedback controllers are designed that enable the current drive system perform wide range of track seek. Simulation results are provided to show the validity and feasibility of our proposed algorithm.
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The service robot, with stereo vision system and dual manipulator of four degree of freedom, has been designed. A fuzzy controller has been implemented for effectively actuating the manipulator of the robot. The fuzzy controller determines operation mode(single or dual manipulators) and orientation from the information of object position and distance. Through actual experimentation, we have confirmed that the robot system with human-like movement of grabber has been executed a rapid and effective motion.
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인간은 시각기관을 통해 영상을 읽어 들이고, 그 데이터로부터 대상 물체의 여러 정보를 취득한다. 물체가 놓여져 있는 빛 환경 하에서 반사, 굴절, 흡수, 투과 및 간섭 등과 같은 매우 복잡한 빛 작용의 결과인 영상이 눈에 입력된다. 이 여러 정보 가운데 깊이와 색상 정보는 매우 중요한 인간의 시각 식별 인지 능력이다. 이 논문은 깊이와 색상의 상관관계를 실험을 통해 규명하고자 하였다. 색상 변화는 grey tone으로 한정하였다. 깊이와 색상을 각각 독립변수로 설정한 실험 조건 하에서 디지털 영상신호 데이터를 취득, 분석하였다. 색상을 상수로 처리한 다음, 깊이를 변수로 등간격으로 변화시켜 실험한 후, 변수를 바꾸어 깊이를 상수로 놓고 색상을 다단계로 변화시켜 영상 데이터를 취득하였다. 빛의 조사(照射) 작도는 90도로 일정하게 두어 그림자 효과를 배제하였다. 디지털 영상 입력 과정에서 포함되기 쉬운 노이즈와 떨림, 초점 흐림 등을 전처리로 처리한 후 색도 변화를 분석하였다. 분석 결과, 이미지 속에 내재된 깊이와 색상 정보의 상호 이중적 구조 형태로의 존재를 규명하였다.
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In this paper, we have developed the web-based management system for greenhouse teleoperation. The remote control system consists of database, web-server, controller in greenhouse, and clients. The database in the server stores user informations and greenhouse conditions, and is used to manage user login and conditioning data. The management system developed by using Java applet, which is a client program for effective and easy management of greenhouse, monitors the greenhouse in real time. Master and driver boards installed in greenhouse control unit. Database on flowering to collect and analyze data exchanges data with the server. The greenhouse can be managed effectively by timer routine, repeat control within setting time, and algorithm of setting points. Also, the greenhouse conditions can be controlled by manual or remote controller (PC) through web browser in internet. Furthermore, all of the control devices of the greenhouse are managed by remote control using PC and checked via camera installed in greenhouse.
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The implementation of home network systems In ubiquitous computing environments requires middleware that provides a method to control and operate home appliance devices. The Universal Plug and Play (UPnP), which is based on the IPv4 protocol and running on a PC, consists of UPnP devices that provide relevant services and control points that control the devices. However, It is inappropriate to Implement UPnP devices on a PC, since the implementation on a PC requires much space and electrical power. In this paper, a small embedded home network device equipped with UPnP middleware is implemented on an embedded GNU/Linux system running on an ARM9 platform, in order to deal with such problems.
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금석문의 영상데이터를 디지털 형태로 검출하고, 영상신호처리 알고리즘을 사용하여 신호의 특성을 분석하고 그 결과를 제시하였다. 대상체는 비석에 음각된 문자로 하였다. 대전 주변의 백제권에서 몇몇 유형의 음각 문자를 형태별로 분류하여 디지털 이미지화한 다음, 문자가 각인된 정보영역과 바탕영역의 신호패턴을 추출하였다. 먼저 칼라 이미지를 grey tone으로 변환한 후, 전처리 과정을 거쳐 이미지의 노이즈나 불명확성을 제거하고 히스토그램 전 영역에 걸쳐 스케일 확장시켰다. 문자가 각인된 정보영역과 바탕영역을 구분하여 무작위로 소이미지 샘플을 취득하고 각 소이미지의 신호패턴을 분석하였다. 그 결과를 중첩의 원리를 이용하여 합성한 후 영역별 신호분석 패턴을 정형화하였다. 유형별로 다소 차이를 보이나 두 영역의 이미지 분석 결과는 차별성을 보였다. 문자 영역은 grey level 범위가 좁고 한정되며 일관성을 보이는데 비해, 바탕영역은 범위가 넓고 광범위하였다. 두 영역의 교차 레벨 범위는 극히 제한적이었으며 패턴 분리에 큰 영향을 끼치지 못하였음이 밝혀졌다. 이 일련의 과정은 알고리즘화되어, 1-2분 정도의 사전 작업만 하면 프로그램에 의해 문자를 추출할 수 있다. 이러한 사실들은 종래 무리한 탁본 작업에만 전적으로 의존하던 금석학 분야의 디지털화를 가능케 할 수 있다.
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최근 들어 무선 IP 네트워크 환경 하에서 빠른 이동속도를 갖는 이동체를 위한 핸드오프 지원 관련한 기술들에 대한 연구가 활발히 진행되고 있다. 기존의 유선 네트워크에 적용되는 IP 프로토콜에 이동성 지원을 위한 Mobile IP 프로토콜이 제안되었다. 이 Mobile IP는 이동성 지원이 가능하지만 핸드오버 시 많은 지연시간이 발생하고 데이터의 전송 시 홈 에이전트를 거쳐 데이터 패킷이 전달됨으로 인해 열차와 같은 빠른 이동성을 갖는 물체에서는 적용이 어렵다. 이러한 이동성 문제의 극복을 위해 다양한 Fast 핸드오프 기술들이 제안 및 연구되고 있다. 본 논문에서는 이러한 Mobile IP를 기반으로 빠른 Handoff를 위한 여러 가지 Fast Handoff 방법들의 비교분석을 위해 성능평가를 위한 메트릭을 도출하고 이들에 대한 모델을 연구하였다.
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금속이나 암석에 음각(陰角)으로 각인된 문자나 그림들은 날씨나 주변 빛 환경에 따라 시각으로 입력되는 정보에 큰 차이를 보인다. 이를 이미지검출장치를 통해 읽어드려 디지털 이미지 신호로 만들고자 할 때는 더욱 그 정도가 심하여 대상체가 위치하는 빛 환경이나 검출기 특성에 각별한 신경을 써야한다. 자연광이나 전구 그리고 기후나 날씨에 의해 조성되는 빛 환경은 조도(照度), 조사각도(照射角度), 그림자 및 대상체 표면 상태 등이 중요한 결정 인자들이다. 빛 환경이 디지털 이미지 질(質)에 끼치는 영향을 최소화하기 위한 실험실 차원의 빛환경조정실을 구축하였다. 외부 유입 광선을 모두 차단하고 지향성이 있는 조명에 의해서만 대상체에 빛이 조사되도록 하고 디지털 카메라로 대상체의 이미지를 담았다. 음각 문자를 새긴 샘플석문(石文)을 제작하고 실험실 안의 정량화된 빛환경 하에서 석문의 이미지를 취득하였다. 전처리 과정을 통해 노이즈를 제거하고 이미지의 질을 향상시켰다. 처리된 이미지를 분석하여 문자영역과 바탕영역의 신호패턴을 추출한 다음 룩업 테이블, 조도 레벨 슬라이징, 중첩의 원리 및 Morphology 등의 기법을 알고리즘화하여 2진 형태의 음각문자를 판독 및 복원하는데 성공하였다.
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Middleware enables different networking devices and protocols to inter-operate in ubiquitous home network environments. The UPnP(Universal Plug and Play) middleware, which runs on a PC and is based on the IPv4 protocol, has attracted much interest in the field of home network research since it has versatility. The UPnP, however, cannot be easily accessed via the public Internet since the UPnP devices that provide services and the Control Points that control the devices are configured with non-routable local private or Auto IP networks. The critical question is how to access UPnP network via the public Internet. The purpose of this study is to deal with the non-routability problem in local private and Auto IP networks by improving the conventional Control Point used in UPnP middleware-based home networks. For this purpose, this paper proposes an improved Control Point for accessing and controlling the home network from remote sites via the public Internet, by adding a web server to the conventional Control Point. The improved Control Point is implemented in an embedded GNU/Linux system running on an ARM9 platform.
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This paper presents new hardware implementation of the ECC(Elliptic Curve Cryptography) algorithm that is improved in speed and stability. We proposed new datapath that changed square's position so that we can reduce required number of cycles for addition operation between two points by more than 30%. We used Massey-Omura parallel multiplier adopted Normal basis for fast scalar multiplications. Also the use of the window non-adjacent form (WNAF) method can reduce addition operation of each other different points. We implemented ECC system with GF(
$2^{196}$ ), and this system was designed and verified by VHDL. -
We have tried to create a vision system like human eye for a long time. We have obtained some distinguished results through many studies. Stereo vision is the most similar to human eye among those. This is the process of recreating 3-D spatial information from a pair of 2-D images. In this paper, we have designed a stereo matching algorithm based on systolic array architecture using edges and pixel data. This is more advanced vision system that improves some problems of previous stereo vision systems. This decreases noise and improves matching rate using edges and pixel data and also improves processing speed using high integration one chip FPGA and compact modules. We can apply this to robot vision and automatic control vehicles and artificial satellites.
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전원품질은 전원의 전압, 전류 및 주파수 성질을 나타낸다. 이러한 품질은 전력시스템에 대한 광범위한 전력외란이나 신호간섭 등에 의해 변화한다. 전력반도체에 의한 인버터, 컨버터, 제어기 등의 기술이 다양해지고 그 응용범위가 확대됨에 따라, 전원계통에 고조파에 의한 전력품질에 오염이 많이 발생한다. 전력전자기술이 응용하는 다양한 전력기기 들은 고조파 발생원이 되어, 전력에너지를 사용하는 모든 분야에서 전력품질 문제가 대두되었고 이 문제를 해결하기 위해 많은 노력을 기울여왔다. 본 논문에서는 무효전력보상과 고조파전류를 보상하기 위한 3상 능동전력필터의 모델을 제안한다. 제안된 시스템은 PWM 전압원 인버터의 구조로 되어있으며 두 가지의 특징을 가지고 있다. 첫째는 고정된 주파수로 동작한다는 점이며 둘째는 비선형 부하 하에서 부하전류의 무효성분을 검출 및 계산을 하지 않고 무효전력과 고조파전류를 보상할 수 있다는 점이다. 또한 시간영역에서 제어를 함으로써 간단하게 제어기를 설계할 수 있다.
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Many application in robotics, telecommunication, automation systems etc require powerful actuator. The powerful actuator have Speeds up to high speed and high output torque efficiencies. To accomplish a powerful actuator, these powerful motor have to be combined with gearheads of the same outer diameter. So, we have developed BLDC motor and planetary type gearheads as powerful actuator. The BLDC motor have advantages that compact structure, high efficiency, high reliability. The Planetary type gearheads have advantages that same-axle structure, high torque transmission, low noise in comparison with spur gearheads. In this study included BLDC motor and planetary type gearheads design, manufacture. This time study performed for actuator of precision mechanism.
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pMOSFET having 10
${\mu}um$ thickness Gd layer has been tested to be used as a slow neutron sensor. The total thermal neutron cross section for the Gd is 47,000 barns and the cross section value drops rapidly with increasing neutron energy. When slow neutrons are incident to the Gd layer, the conversion electrons are emitted by the neutron absorption process. The conversion electrons generate electron-hole pairs in the$SiO_2$ layer of the pMOSFET. The holes are easily trapped in Oxide and act as positive charge centers in the$SiO_2$ layer. Due to the induced positive charges, the threshold turn-on voltage of the pMOSFET is changed. We have found that the voltage change is proportional to the accumulated slow neutron dose, therefore the pMOSFET having a Gd nuclear reaction layer can be used for a slow neutron dosimeter. The Gd-pMOSFET were tested at HANARO neutron beam port and$^{60}CO$ irradiation facility to investigate slow neutron response and gamma response respectively. Also the pMOSFET without Gd layer were tested at same conditions to compare the characteristics to the Gd-pMOSFET. From the result, we have concluded that the Gd-pMOSFET is very sensitive to the slow neutron and can be used as a slow neutron dosimeter. It can also be used in a mixed radiation field by subtracting the voltage change value of a pMOSFET without Gd from the value of the Gd-pMOSFET. -
The electronics of a mobile robot ill nuclear facilities is required to satisfied the reliability to sustain survival in its radiation environment. To know how much radiation the robot has been encountered to replace sensitive electronic parts, a dosimeter to measure total accumulated dose is necessary. Among many radiation dosimeters or detectors, semiconductor radiation sensors have advantages in terms of power requirements and their sires over conventional detectors. This paper describes the use of the radiation-induced threshold voltage change of a commercial power pMOSFET as an accumulated radiation dose monitoring mean and that of the photo-current of a commercial PIN Diode as a dose-rate measurement mean. Commercial p-type power MOSFETs and PIN Diodes were tested in a Co-60 gamma irradiation facility to see their capabilities as radiation sensors. We found an inexpensive commercial power pMOSFET that shows good linearity in their threshold voltage shift with radiation dose and a PIN diode that shows good linearity in its photo-current change with dose-rate. According to these findings, a radiation hardened hybrid electronic radiation dosimeter for nuclear robots has been developed for the first time. This small hybrid dosimeter has also an advantage in the point of view of reliability improvement by using a diversity concept.
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In this paper, a real-time communication method using a PICNET-NP (Plant Instrumentation and Control Network for Nuclear Power plant) is proposed with an analysis of the control network requirements of DCS (Distributed Control System) in nuclear power plants. The method satisfies deadline in case of worst data traffics by considering aperiodic and periodic real-time data and others.
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The aim of this paper is to provide a guide to those methods of train detection which are available, or are likely to become available, to the designer of train control or other relevant systems. In broad terms, train detection may be defined as the process of generating information which describes the location and movement of trains. Train detection information is difficult to define in isolation. Consider, for example, the train detection information required in a modern train control system. This may vary considerably : in a future high performance train control system, it might be necessary to know the precise position, direction of movement, speed, and possibly even the acceleration or braking, of all trains in the control area : in a less demanding application, it might be sufficient to know only the location of trains in terms of the occupation of sections of track.
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Digital controllers have developed rapidly in recent years. This paper describes the synchronized signal generation circuits for control of Multiple Controllers and test results. Also this paper describes configuration and functions of digital excitation system. The digital excitation system is made up of triple redundancy and has control and protection functions.
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The present headway on KNR(Korea National Railway) lines varies from 6 to 10 minutes depending on the each line and by the operation of High Speed line in 2004, the bottleneck would be expected within a few sections such as Daejeon-Daejeon shunting yard which will be the common mute between KTX(Korea Train Express) and conventional trains. Therefore, KNR would like to reduce the headway of the all lines by 4 minutes with the implementation of ERTMS/ETCS on-board system. Where ETCS(European Train Control system), the subsystem of ERTMS, is Automatic Train Protection system for safety train running. This study will be analyze expected braking distance and running time depending on characteristics of conventional passenger and freight trains and high speed train will be operated within electrified conventional line for comparing the headways of ATS(Automatic Train Stop) system and ETRMS/ETCS system within the Daejeon-Daejeon shunting yard section.
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Assuming that life of urban transit signalling is about 20 years with the flow of technology development, Seoul urban transit will be required to prepare for improvement soon. The highly developed countries preceding several levels rather than Korea are faced with commercial service which uses RF, ATC and ATO in Train Control System. European highly developed countries in the field of railroad have been progressing standardization and technology development of signalling associated with related manufacturers for direct operation between nations. For that, a effective train control system with radio beyond control levels by the existing wayside-onboard communication is in a developed and used stage. The systems which advanced countries have been progressing seem to be applied to domestic within 5 years from now. At present, there are no countries using CBTC for service throughout the world. So, this is investigated to focus on the routes ready to be installed with completed CBTC and trying to introduce the technology. Especially, considerations for economic aspect are mainly reviewed about controlling ability of headway, flexibility, extension aspect and construction cost on the basis of paper examined in NYCT.
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We propose a software-reliability growth model incoporating the amount of uniform and Weibull testing efforts during the software testing phase in this paper. The time-dependent behavior of testing effort is described by uniform and Weibull curves. Assuming that the error detection rate to the amount of testing effort spent during the testing phase is proportional to the current error content, the model is formulated by a nonhomogeneous Poisson process. Using this model the method of data analysis for software reliability measurement is developed. The optimum release time is determined by considering how the initial reliability R(x|0) would be. The conditions are
$R(x|0) > R_o$ ,$R_o > R(x|0) > R_o^d$ and$R(x|0) < R_o^d$ for uniform testing efforts. Ideal case is$R_o > R(x|0) > R_o^d$ . Likewise, it is$R(x|0){\geq}R_o$ ,$R_o > R(x|0) > R_o^{\frac{1}{g}$ and$R(x\mid0) < R_o^{\frac{1}{g}}$ for Weibull testing efforts. Ideal case is$R_o > R(x|0) > R_o^{\frac{1}{g}}$ . -
A sensor system was designed to measure real time vibro displacement of civil structure. The He-Ne laser is used for the displacement measuring method, because it guarantees short time stabilization, long time output power stability. Also, it guarantees simple maintenances and repairs under actual using condition. The line CCD image sensor(Tcd-142d) is used to detect the displacement of Ne-Ne laser responding to the vibro of civil structure. For accurate measurement and comparison, CDP-50 is used. Usually CDF-50 (Strain type displacement device) is used for the standard correction device of optical measurement equipments. The data processing part is consists of Optical sensor part, Wireless data transmission device, DAQp-1200, and LapView program. The displacement data of vibro from optical sensor part inputted to wireless data transmission device and then transmitted to DAQp-1200 in main control room. DAQp-1200 performs A/D conversion for the receiving data. After that the converted data inputted to computer system using LapView program for user display. The significance of this paper is to develope a convenient, accurate and lost saving real time displacement measurement system for the civil structure.
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This paper describes the architecture and development of real-time monitoring system for ILRT (Integrated Leakage Rate Test). Object Oriented approach is used during the analysis and design. The architecture can be spited into two modules. First one is the Interface module, which, takes care of the communication between the server and the clients, and the second module is the Graphical User Interface (GUI) module, which takes care of the GUI in the web browser of the client. The technologies used includes Java, Java Bean and Java Applet. Etc.
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This paper describes a sonic polygonal multiple reflection range sensor (SPMRS), which uses multiple reflection properties usually ignored in ultrasonic sensors as disturbances or noises. Targets such as a plane, corner, edge, or cylinder in indoor environments can easily be detected by the multiple reflection patterns obtained with a SPMRS system. Target classification and feature data extraction, such as distance and azimuth to the target, are computed simultaneously by considering the geometrical relationships between the detected targets, and finally the environment model is generated by refining the detected targets. In addition, the narrow field of view of a sonar range sensor is increased and the scanning time is reduced by active motion of the SPMRS stepping servomechanism.
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In this paper, we implement a language model by a bigram and evaluate proper smoothing technique for unit of low perplexity. Word, morpheme, clause units are widely used as a language processing unit of the language model. We propose VCCV units which have more small vocabulary than morpheme and clauses units. We compare the VCCV units with the clause and the morpheme units using the perplexity. The most common metric for evaluating a language model is the probability that the model assigns the derivative measures of perplexity. Smoothing used to estimate probabilities when there are insufficient data to estimate probabilities accurately. In this paper, we constructed the N-grams of the VCCV units with low perplexity and tested the language model using Katz, Witten-Bell, absolute, modified Kneser-Ney smoothing and so on. In the experiment results, the modified Kneser-Ney smoothing is tested proper smoothing technique for VCCV units.
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본 논문은 임의의 입력지연을 갖는 Takagi-Sugeno (T-S) 퍼지 시스템의 관측기 기반 출력궤환 제어 시스템을 논의한다. 설계된 연속시간 T-S 퍼지 관측기 시스템을 영차의 샘플/홀드 함수를 이용하여 이산시간 관측기를 설계한다. 이때 플랜트와 관측기의 출력에러가 제어기를 통하여 궤환되기 때문에 이산화 과정에서 발생한 에러를 보정할 수 있다. 여기에서 시스템의 제어 입력은 임의로 변화하는 유한개의 상태를 갖는 마코프 확률과정으로 표현한다. 생성된 시스템의 확률적 안정 가능성 조건은 선형 행렬 부등식의 형태로 표현한다. 이러한 결과를 2자유도 헬리콥터의 모델에 대한 모의실험을 통하여 효용성을 확인한다.
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Display devices are becoming increasingly important as an interface between humans and machines in the growing information society. In display devices, PDP (Plasma Display Panel) has many advantages in that it has wide screen, wide viewing angle and is light weight, thin. In PDP driving method, if the brightness of input image is high, applying the fixed sustain pulse to the PDP panel will raise the PDP power consumption and may damages the PDP panel. To overcome these problems, the Plasma AI driving method was introduced by the Matshushita co. in Japan. The Plasma AI driving module calculates the peak value and average value of 1 frame image and adjusts the gradation and sustain pulses for 1 frame sustain. In this paper, the proposed PDP driving module is based on the Plasma AI driving module. The proposed driving module calculates peak value and average value, and the brightness distribution of 1 frame image. Using brightness distribution, the proposed driving module divides 1 frame input image into 15 image patterns. For each image pattern, minimum sustain pulses and sub-frames are used for the brightness of 1 frame image and the sustain weight for 64, 128, 192 gradation is proposed. Therefore, the sustain power consumption can be reduced.
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Display devices are becoming increasingly important as an interface between humans and machines in the growing information society In display device, PDP(Plasma Display Panel) has many advantages in that wide screen, light weight, thin, wide viewing angle and unaffected by magnetic field. In this paper, modified ramp waveform is suggested by Vt Close Curve, and PDP driving circuit is designed by modified ramp waveform, this modified ramp waveform have more addressing wall voltage better then the old ramp waveform.
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This paper reports the RFC(Recursive Flow Classification) algorithm that is available on multiple fields. It is easy to be implemented by both software and hardware. For high speed classification of packets, the implementation of RFC is essential by hardware. Hence, in this paper, RFC algorithm is simulated by Verilog-HDL, and it verify the efficiency of the algorithm. The result shows that the algorithm can perform a packet classification within several cycles. It is not only much faster than software implementation but also enough to support OC192c.
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In this paper high power SMU(Source Measurement Unit) having 50V/1.5A source/measure range has been designed and implemented. The SMU has two operation mode, voltage mode and current mode. The SMU can be used as variable voltage source, variable current source, voltage meter, or current meter. Combining two different unit, output power can be doubled as 100V/1.5A. The developed SMU tan be used many semiconductor testing system and electronic device inspecting system.
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In this study, a controller which has a feedforward controller and two additional PI integrators was designed. But if a controller is used by only the integration of a feedforward controller and two additional PI integrators, the capability of a controller will decrease because the decoupling terms of current is feedback as the disturbance. Therefore the feedforward method with the decoupling compensation was proposed. The two additional PI integrators were replaced by two decoupling terms to simplify the calculation. The simulation and experimental using SynRM driving system were performed to verify the design of a improved decoupling feedforward controller.
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In this paper, I have implemented the security system using shell script that periodically checking the security elements of unix system for security it transmit to a monitoring server and monitoring many clients. Agent of client executing by crontab scheduler, Environment of server to receive data use restricted TFTP in SunOS. And then, Because of using shell script, apply shell to system with flexible, control performance, and can meet on a sudden situation.
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The T-5 Lamps developed in 1996 is the high efficiency fluorescent lamps, the lamps voltage is high, and the lamps current small because the lamps are slender tube of 16mm diameter. And so, the electrical characteristics of the Ballast for the lamps are different from of the Ballast for T-10 or T-8 lamps. Therefore, the know-how of the exclusive Ballast for the T-5 fluorescent lamps should be as soon as possible. We described the electrical and optical characteristics of the Electronic Ballast for T-5 Circular Fluorescent lamps. The developed Electronic dimming Ballast for T-5 Circular Fluorescent lamps has the 45% energy saving effects than the T-10 lamps. And it has the promotion of the THD less than 10%, CF less than 1.5%, Flickering less than 5% and 99% power factor. And it is available for two T-5 Circular fluorescent Lamps dimming, 22W and 40W.
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This paper use fault location algorithm for single-phase-to-ground faults on the teed circuit of a parallel transmission line that use only local end voltage and current information. When Newton-Raphson iteration method is used, the Initial value may cause error or cause not suitable result. Suggested new calculation model uses NVP methodology, which is one of the fault tolerance technology to solve this problem. EMTP simulation result has shown effectiveness of the algorithm under various conditions.
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To acquire an appointed speaker's clear voice signal from inspect-camera, picture-conference or hands free microphone eliminating interference noises needs to be preceded speaker's position automatically. Presumption of sound source position's basic algorithm is about measuring TDOA(Time Difference Of Arrival) from reaching same signals between two microphones. This main project uses ADF(Adaptive Delay Filter) [4] and CPS(Cross Power Spectrum) [5] which are one of the most important analysis of TDOA. From these analysis this project proposes presumption of real time sound source position and improved model NI-ADF which makes possible to presume both directions of sound source position. NI-ADF noticed that if auditory sense of humankind reaches above to some specified level in specified frequency, it will accept sound through activated nerve. NI-ADF also proposes practicable algorithm, the presumption of real time sound source position including both directions, that when microphone loads to some specified system, it will use sounds level difference from external system related to sounds of diffraction phenomenon. In accordance with the project, when existing both direction adaptation filter's algorithm measures sound source, it increases more than twice number by measuring one way. Preserving this weak point, this project proposes improved algorithm to presume real time in both directions.
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In this paper, nonlinear echo cancellation using a correlation LMS (CLMS) algorithm is proposed to cancel the undesired nonlinear echo signals generated in the hybrid system of the telephone network. In the telephone network, the echo signals may result the degradation of the network performance. Furthermore, digital to analog converter (DAC) and analog to digital converter (ADC) may be the source of the nonlinear distortion in the hybrid system. The adaptive filtering technique based on the nonlinear Volterra filter has been the general technique to cancel such a nonlinear echo signals in the telephone network. But in the presence of the double-talk situation, the error signal for tap adaptations will be greatly larger, and the near-end signal can cause any fluctuation of tap coefficients, and they may diverge greatly. To solve a such problem, the correlation LMS (CLMS) algorithm can be applied as the nonlinear adaptive echo cancellation algorithm. The CLMS algorithm utilizes the fact that the far-end signal is not correlated with a near-end signal. Accordingly, the residual error for the tap adaptation is relatively small, when compared to that of the conventional normalized LMS algorithm. To demonstrate the performance of the proposed algorithm, the DAC of hybrid system of the telephone network is considered. The simulation results show that the proposed algorithm can cancel the nonlinear echo signals effectively and show robustness under the double-talk situations.
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In this paper a design of educational robot based on a PC and/or a microprocessor is discussed. The educational robot has 5 DOF and Is made with Swiss Mini Servomotor and Motor Controller IC LM629N. Also, a GUI(Graphical User Interface) is programmed by Visual Basic. This system is completed to consider control properties of the educational robot with 5-DOF that can be changed the parameter of controller by software.
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In this paper, we have designed the fractional-N frequency synthesizer for bluetooth system using 0.35-um CMOS technology and 3.3-V single power supply. The designed synthesizer consist of phase-frequency detector (PFD), charge pump, loop filter, voltage controlled oscillator (VCO), frequency divider, and sigma-delta modulator. A dead zone free PFD is used and a modified charge pump having active cascode transistors is used. A Multi-modulus prescaler having CML D flip-flop is used and VCO having a tuning range from 746 MHz to 2.632 GHz at 3.3 V power supply is used. Total power dissipation is 32 mW and phase noise is -118 dBc/Hz at 1 MHz offset.
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Recently, the rapid growth of mobile radio system has led to an increasing demand of low-cost high performance communication IC's. In this paper, we have designed RF front end for wireless LAN receiver employ zero-IF architecture. A low-noise amplifier (LNA) and double-balanced mixer is included in a front end. The zero-IF architecture is easy to integrate and good for low power consumption, so that is coincided to requirement of wireless LAN. But the zero-IF architecture has a serious problem of large offset. Image-reject mixer is a good structure to solve offset problem. Using offset compensation circuit is good structure, too. The front end is implemented in 0.25
${\mu}m$ CMOS technology. The front end has a noise figure of 5.6 dB, a power consumption of 16 mW and total gain of 22 dB. -
In this paper we proposes a new technique for identification of breast cancer by classification of proteome pattern generated from 2-D polyacrylamide gel electrophoresis (2-D PAGE) and development of cancer diagnosis system : HABIT. Proteome patterns reflect the underlying pathological state of a human organ and it is believed that the anomalies or diseases of human organs are identified by the analysis or classification of the patterns. Proteome patterns consist of quantitative information of the spots such as their size, position, and density in the proteome image produced from 2-D PAGE, for the Image mining of proteome pattern, SVM(support vector machine) and GA(genetic algorithm) are used to generate a decision model for the identification of breast cancer The decision model was then used to classify an independent set of test proteome patterns into the affecter and unaffecter classes. The proposed technique was tested by actual clinical test samples and showed a good performance of a hit ratio of 90%.
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In this paper, adaptive high-order neural network controller(AHONNC) is adopted to control of an induction servomotor. A algorithm is developed by combining compensation control and high-order neural networks. Moreover, an adaptive bound estimation algorithm was proposed to estimate the bound of approximation error. The weight of the high-order neural network can be online tuned in the sense of the Lyapunov stability theorem; thus, the stability of the closed-loop system can be guaranteed. Simulation results for induction servomotor drive system are shown to confirm the validity of the proposed controller.
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This paper proposes an algorithm of CAD data extraction for the computer controlled making system. In general logo is directly designed at the marking controller, but that is not an effective method because of the very limited working area. In this paper, for the data extraction we used a general PC and Auto CAD for logo design, and developed the software with GUI(Graphic User Interface) method. Then the data is transferred to the marking controller for marking on the object. With experimental result we showed the proposed algorithm to be very effective in the computer controlled marking system.
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This paper describes the design of a 2-phase stepping motor driver using CPLD(Complex Programmable Logic Device). The driver IC such as L297 (SGS-Thomson Microelectronics), which is mostly used has some problems in PWM control because of the switching noise of power MOSFETs. It causes current ripple and acoustic noise. To improve theses characteristics, we proposed a new current control method that the output PWM frequency is almost constant using a digital filter. Also we proposed constant current method for 1-2 phase(half step) excitation. The proposed method is implemented with CPLD(Xilinx, XC9572-PC44). Experimental results show the effectiveness of the proposed method.
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In this paper, we deal with a development of measurement system to apply the leakage rates test of primary containment in nuclear power plant. The measurement test about leakage rates in primary containment is one sort of test to prove safety of nuclear power plant. The parameters which are measured to calculate leakage rates are drybulb temperature, dew point temperature(or relative humidity), absolute pressure and flow. Overall, the measurement system consists of sensor module for data acquisition of the parameters, transfer module for wireless data communication and control module to control system and to calculate leakage rates. Because existing measurement systems are difficult to set in field, we pursued convenience of use, we applied wireless data communication and individual form module using battery. We also changed for the better in confidence. Recently, we are developing a drybulb temperature and a dew point temperature sensor module. We describe about function of developed measurement system, its standard and an plan for verification of measurement system.
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An wearable electrocardiogram (ECG) monitoring system is a widely used non-invasive diagnostic tool for ambulatory patient who may be at risk from latent life-threatening cardiac abnormalities. In this paper, we have a portable ECG monitoring system with conductive fiber which was characterized by the small-size and the low power consumption. The system consists of conductive fibers, one-chip microcontroller, ECG preprocessing circuit, and monitoring software to be able to record and analyze in PC. ECG preprocessing circuit is made of pre-amplifier with gain of 10, band-pass filter with bandwidth of 0.5-120Hz and 2.5V offset circuit for A/D conversion. ECG signals obtained by sensor are included with corrupted noises such as a baseline wandering, 60 Hz power noise and interference noise by body movement. For cancellation corrupted noises in signals obtained by conductive fiber, we used the wavelet decomposition of wavelet transforms in MATLAB toolbox.
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In this paper, we design the memory tester chip set playing an important role in the memory tester as central parts. Memory tester has the sixteen inner instructions to control the test sequence and the address and data signals to DUT. These instructions are saved in memory with each chip such as sequence chip and address/data generator chip. Sequence chip controls the test sequence according to instructions saved in the memory. And Generator chip generates the address and data signals according to instructions saved in the memory, too.
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This paper presents a digit-serial/parallel multiplier for finite fields GF(2m). The hardware requirements of the implemented multiplier are less than those of the existing multiplier of the same class, while processing time and area complexity. The implemented multiplier possesses the features of regularity and modularity. Thus, it is well suited to VLSI implementation. If the implemented digit-serial multiplier chooses the digit size D appropriately, it can meet the throughput requirement of a certain application with minimum hardware. The multipliers and squarers analyzed in this paper can be used efficiently for crypto processor in Elliptic Curve Cryptosystem.
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AVLS is nowadays pretty considered on one of important parts in telematics service with a computerization of vehicle. However, with an implementation of commercial OS, individual OS and firmware on AVLS terminals, the cost and developing period are significantly increased. In this paper, we present the effective log-file creation methode about automobile status and location information within a restricted memory through designing AVLS terminals based on embedded linux. The proposed method shows 0.8% better performance on bzip2 compressor comparing to gzip compressor in the compressibility. In addition, bzip2 is faster than gzip about 2.14 times in the speed of compression.
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This paper describes the possibility of analyzing gait pattern from the variation of the lower leg electrical impedance. This impedance is measured by the four-electrode method. Two current electrodes are applied to the thigh and foot, and two potential electrodes are applied to the lateral aspect, medial aspect, and posterior position of lower leg. We found the optimal electrode position for knee and ankle joint movements based on high correlation coefficient, least interference, and maximum magnitude of impedance change. From such features of the lower leg impedance, it has been made clear that different movement patterns exhibit different impedance patterns and impedance level.
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This study is to evaluate the change of intra-abdominal pressure related with intravesical and intrarectal pressure in patients with spinal cord injury according to daily activities and postural changes which make the abdominal pressure elevated. The intravesical and the intrarectal pressures were obtained during patient's speech, sneeze, cough, valsalva and various postural changes with supine to decubitus, derubitus to supine, supine to sit, and sit to supine according to empty and full bladders, respectively. The order of higher intravesical and intrarectal pressure rise during various maneuvers were valsalva, sneeze, supine to sit and cough, respectively. Higher correlation coefficient between the intrvesical and intrarectal pressures were noted during cough, sneeze, valsalva and supine to sit in empty bladder than full one. These results demonstrated that the intravesical and intrarectal pressures were influenced by daily activities and postural changes of increasing the intra-abdominal pressure. The intrarectal pressures according to daily activities such as cough, sneeze, valsalva and postural change were significantly related with intravesical pressures.
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In this paper, a DDFS(Direct Digital Frequency Synthesis)chip has been designed focusing on the reduction of ROM size and implemented using FPGA. When calculating the sine value for the input phase value, we used the Taylor series expansion approximation method to reduce the number of addresses of ROM. We also used the piecewise straight line approximation method, ie, the stored value int the ROM is the difference of the sine value and the straight line approximation. Using this method, we could reduce four bits for each ROM data.
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In this paper, sigma-delta A/D converter for ADSL modems using oversampling technique is designed. Conventionally, the oversampling A/D converter is consist of opamps, switched capacitors, quantizers, infernal D/A converters, and decimation filters. 3-bit flash A/D converter, 3-bit thermometer-based D/A converters, and sub-blocks are used for high speed operation. HSPICE simulator and CADENCE tool are used for verification and layout of the designed modulator. The internal A/D converter and D/A converters are operated at 130 MHz. In design of decimation filter Matlab is used for calculating coefficients and ModelSim and VHDL are used for design.
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새로운 에너지원인 풍력 발전에 대한 연구가 세계적으로 활발히 진행되고 있는 가운데 본 논문에서는 풍력 발전의 핵심 부분인 풍력 터빈에 관한 모의실험을 다루고자 한다. 실제 기상조건과 유사한 바람데이터를 실시간으로 생성, 이를 이용하여 풍력터빈 시뮬레이터용 DC motor의 토크제어 시스뎀을 설계 구현하였다. 본 연구는 기존의 단순 토크제어 시스템과는 달리 실시간으로 생성되는 데이터를 이용하여 보다 실제 풍력발전에 가까운 모의실험을 가능하게 한다. M/G Set를 기반으로한 DC motor 토크 제어 시스템은 바람데이터의 변화에 따른 풍력터빈의 토크와 발전단의 부하의 상관관계를 명확히 하는데 크게 이바지 할 것이며 더 나아가 발전기로의 정확한 토크 전달로써 계통 연계 연구에 많은 기여를 하고자 한다.
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In this paper, we describe implemented DMAC (Direct Memory Access Controller) architecture on Altera's
$Excalibur^{TM}$ that includes industry-standard$ARM922T^{TM}$ 32-bit RISC processor core operating at 200 MHz. We implemented DMAC based on AMBA (Advanced Micro-controller Bus Architecture) AHB (Advanced Micro-performance Bus) interface. Implemented DMAC has 8-channel and can extend supportable channel count according to user application. We used round-robin method for priority selection. Implemented DMAC supports data transfer between Memory-to-Memory, Memory-to-Peripheral and Peripheral-to-Memory. The max transfer count is 1024 per a time and it can support byte, half-word and word transfer according to AHB protocol (HSIZE signals). We implemented with VHDL and functional verification using$ModelSim^{TM}$ . Then, we synthesized using$LeonardoSpectrum^{TM}$ with Altera$Excalibur^{TM}$ library. We did FPGA P&R and targeting using$Quartus^{TM}$ . We can use implemented DMAC module at any system that needs high speed and broad bandwidth data transfers. -
In this paper, development of portable power interrupt tester to evaluate microprocessor based control circuits for an endurance under abnormal power source. 89C2051 micro-controller is performed to make power interrupt signal, and software controls peripheral hardwares and built-in functions. Experimental results of this study will offer a good application to electronic appliance maker as a test device of hardware and software debugging use.
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Fuzzy Controller is a system that displays a person's thoughts using membership function and IF-THEN rules. With the help of specialists' knowledge, rule bases can be explained in easy language. Furthermore Fuzzy Controller has strong resistance against turbulence. Its performance is especially prominent when targets cannot be measured in mathematic methods because the fuzzy controller can measure the output using only the relations between the input and output. With the increasing influence of multimedia on our daily lives, vision plays bigger role both in industries and personal lives. Like wise vision is being used in many areas such as detecting and identifying objects. It is difficult to detect and control targets because there is a delay in the calculating when using vision in detecting and controlling objects in large quantity. In this paper we showed how to use fuzzy controller in minimizing the calculation process, controlling target objects and moving view window instead of applying input variation through vision. Ball beam, which has strong nonlinear, was used as the target object and DSP320C6711 IDK by TI(Texas Instruments) company was for the benefit of speedy calculation and vision data operation.
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Fuzzy Controller is a system that displays a person's thoughts using membership function and IF-THEN rules. With the help of specialists' knowledge, rule bases can be explained in easy language. Furthermore Fuzzy Controller has strong resistance against turbulence. Its performance is especially prominent when targets cannot be measured in mathematic methods because the fuzzy controller can measure the output using only the relations between the input and output. But Fuzzy System has a problem that is calculation speed. I suggest you a theory to solve it. I applied a theory to inverted pendulum. Because it is represent of nonlinear system.
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본 논문은 DC Motor의 속도 제어를 위해서는 속도를 결정해주는 PWM 출력과 Motor의 속도를 측정할 수 있는 고속카운터가 필요하며 설정한 값과 실제 출력되는 값을 동일하게 만들어주는 제어부분을 구현하여야 하며 시스템을 구성하기 위한 주변 I/O도 구성되어야 한다. 기존 마이크로프로세서로 구현을 하게 되면 PWM 출력과 제어 알고리즘에 대한 연산 및 주변 I/O에 대한 구현이 용이하겠지만 DC Motor의 Encoder에서 나오는 신호를 카운터하기에는 부족한 측면이 많으며 마이크로프로세서의 연산처리 과정에 따라 제어 알고리즘 연산에 소비되는 시간도 FPGA로 구현한 시스템보단 상대적으로 여유가 없다. 본 논문에서는 FPGA만을 이용하여 PWM, HSC, PID, 주변 I/O등을 하나의 Chip에 System On Chip화함으로 실제 시스템에 적용할 때 제어시스템의 소형화와 제어대상을 고속의 정확성있는 제어시스템을 연구 하였다.
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본 논문에서는 주변의 잡음에 의해 통신 환경이 나쁜 시스템에서 통신의 안정성과 고속성과 원거리 통신의 구현을 중점으로 연구하였다 전동차와 같이 Serial Communication을 이용해 차량사이 통신을 하는 경우 주변의 고전압, 고전류의 잡음에 의해 통신 Packet이 파손될 수 있으며 심지어 통신 모들이 파괴되는 현상도 발생한다. 이를 위해 펄스트랜스 포머를 사용해 Hardware의 보호 뿐아니라 고속의 안정적인 통신을 현 할 수 있다. 이는 펄스트랜스 포머의 특성상 하드웨어적으로 분리된 통신선과 통신모듈로 인한 안정성과 원거리 통신을 실현 하였으며 동기통신을 통한 빠른 속도와 FM0, FM1, Manchester 부호 방식에 의한 빠르고 안정한 통신을 제공하기 때문이다.
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본 논문은 단상 또는 3상의 AC 전원의 전류나 전압 또는 전력을 계측하기 위해 Analog Signal들을 Digital Signal로 변환하여 특정 Algorithm의 연산을 수행하여 결과를 얻는 과정을 Microprocessor를 이용하여 처리하는 방법은 산업현장이나 연구개발에서 흔히 사용하는 방법이다. 본 논문에서는 Microprocessor를 이용하여 보편화된 3가지의 계측 Algorithm인 DFT, True RMS, Summation Algorithm을 사용하여 동일 System에 3상 AC의 전류 부하를 일정 범위에서 가변 하여 인가시키면서 계측 값을 사용하여 Algorithm의 계측 결과의 오차율과 연산에 소요되는 시간과 외부 잡음인 Surge, Impulse, 정전기, 방파, 고조파에 대한 System의 처리 효율을 연구 하였다.
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본 논문에서는 TCP/IP 기반에서 JPEG 변환과 마이크로프로세서 8051을 이용 원거리에 있는 Device를 PDA로 제어하는 영상감시 시스템에 대해 연구하였다. 우선 서버는 카메라를 이용하여 영상을 획득하고 획득한 영상에 대해 JPEG Encoding을 한 후, 인터넷을 통해 PDA로 전송한다. PDA는 수신한 JPEG Data를 가지고 Decoding을 하고 사용자에게 영상을 보여주게 된다. Device는 카메라, 서보모터, 마이크로프로세서 8051로 구성되어 있으며 8051에 의해서 서보모터를 제어해서 카메라의 방향을 변경한다. 사용자는 서버에서 보내는 영상을 PDA로 수신 실시간으로 영상을 감시한다. 그리고 용 원거리에 있는 서버에 제어신호를 보내 자신이 원하는 방향으로 카메라의 위치를 제어 할 수 있는 시스템을 구현하였다.
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산업현장에서의 인터넷환경 및 원격 제어를 위한 시스템 개발에서 신뢰성이 있고 경제적이며 지능적인 Power Supply가 요구되고 있다. 최근 통신시스템의 Power Supply는 수 kA이상의 출력전류를 가지고 있으며 최소 10개 이상의 모듈로 이루어져 있다. High-End 서버 시스템과 같이 수백 개의 마이크로프로세서를 내장한 시스템은 수십 kW의 전력을 소모한다. 이들이 사용하는 Power Supply는 별도의 시스템 제어기와의 통신으로 시스템에서 발생하는 발열, 소모전력, Total Harmonic Distortion (THD)에 대한 정보를 바탕으로 시스템이 갖는 각각의 Module에 대해 효과적이고 신뢰성 있는 전력공급을 하여야 만다. Distributed Power System (DPS)에서 가장 중요만 역할을 담당하는 Power Factor Correction (PFC) AC-DC Converter의 디지털 제어는 시스템 제어기와의 통신능력을 충분히 고려하면서 DPS를 위한 적합한 솔루션을 제공할 것이다. 본 논문에서는 Digital Signal Processor (DSP)를 사용하여 PFC 제어에 필요한 전파정류전압, 입력전류, 출력전압을 계측하여 역률개선과 THD의 저감을 위한 전류의 추종을 제어하면서 이들 제어기에서의 파라미터를 PC를 통해 모니터하여 최근의 추세를 만족시킬 수 있는 시스템을 구현할 수 있을 것으로 사료된다.
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Tilting trains are now an established feature of railway operations throughout the world. For intercity traffic, tilt provides operators with increasing speeds, and therefore enhanced competitiveness, on existing routes where insufficient traffic or a lack of funds precludes the construction of a dedicated new high-speed railway. Appling the tilting train, we can expect 30% of speed up on existing lines, but the stability of the electric current would be low because of tilting the train. Also, the spark between the catenary and pantagraph cause environmental problems such as noise, radio wave malfunction. Therefore, the tilting on pantagraph for the power suppling device is very essential for stable electric power supply.
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This Paper presents a study of the performance of a DC servo motor with a model reference adaptive fuzzy speed controller (MRAFSC) in the presences of load disturbances. MRAFSC comprised inner feedback loop consisting of the fuzzy logic controller (FLC) and plant, and outer loop consisting of an adaptation mechanism which is designed for tuning a control rule of the FLC. Experimental results show the good performance in the DC servo motor system with the proposed adaptive fuzzy controller.
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In this paper, a entertainment biped robot controlled by R/C servo motors is built using the embedded RTOS (Real Time Operating System). uC/OS-II V2.00 is used for RTOS and control algorithm of R/C servo motors is proposed based on uC/OS-II's preemptive and deterministic property without any extra PWM module. The realized biped robot has 19 DOF, and a board 80C196KC as main CPU. To verify the proper walking process, ZMP(Zero Moment Point) theory is applied and ADAMS is used for simulation.
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This paper presents a new template matching method for finding facial feature points. Instead of matching each template to its corresponding feature point separately the present method matches a set of element templates simultaneously. The set of templates can be placed on the space predefined by the geometrical characteristics of human faces. As a result, the search area for template matching is very small compared with a conventional method. This makes the presented method very robust and accurate. Experiment results show that the presented method results in good performance In various illuminance environments and poses.
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In this paper, we propose a technique of the recognition of partial face. Most of the research is concentrated on the recognition of whole face Since part of the face area in an image can be damaged or overlapped, face recognition based on partial face is required. PCA and LDA technique is applied to the recognition of partial face. Also, a new method to combine the results of the recognition of parts of the face.
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This paper describes an algorithm for determining robot location using appearance-based paradigm. This algorithm compress the image set using PCA(principal component analysis) to obtain a low-dimensional subspace, called the eigenspace, and it makes a manifold that represent a continuous-appearance function. To determine robot location, given an unknown input image, the recognition system first projects the image to eigenspace. Neural network use coefficients of the eigenspace to estimate the location of the mobile robot. The algorithm has been implemented and tested on a mobile robot system. In several trials it computes location accurately.
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In this paper, after the crypto acceleration board of the server-termination type is designed, we implement the Elliptic Curve Digital Signature Algorithm on the board that serves data integrity and user authentication. For implementing ECDSA, we use crypto co-processor, MPC180, to reduce the computation burden of main Processor (MPC860) on the board. By using crypto co-processor, the computation efficiency in case prime field is improved more between 90 and 100 times than the software library and between 20 and 90 times in case binary field. Our result is expect to apply for SSL acceleration board.
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This dissertation is reference to measure visual information about the configuration of magnetic field automatically and materialize the new magnetic field mapping system for the rapid and clear measure by using of the mediocrity orthogonal robot in the three- dimensional space required the measure of magnetic field concurrently. The measuring sensor is composed to be available for the measure of three-dimensional direction of magnetic field by vertically conjoining each of three hall sensors utilized of the hall effect and installed Gaussmeter, which is devised to receive the sensor result and the robot controller, away from the measuring robot in order to minimize the affection of magnetic field. Also, the controller and Gaussmeter are composed of Use interface, RS-232C and IEEE-488.2 communication. Interface system is written in NI's LabVIEW and composed to be able to set up a measuring area, the measuring number of times, two and three-dimensional graph, the velocity of robot and the magnetic field distribution graph of each element by inputting parameters. The materialized magnetic field mapping system expert the collection of the data easily and the effect of utilizing data.
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In this paper we propose a efficient offset curve construction algorithm for
$C^0$ -continuous Open and Closed 2D sequence curve with line segment in the plane. One of the most difficult problems of offset construction is the loop problem caused by the interference of offset curve segments. Prior work[1-10] eliminates the formation of local self-intersection loop before constructing a intermediate(or raw) offset curve, whereas the global self-intersection loop are detected and removed explicitly(such as a sweep algorithm[13]) after constructing a intermediate offset curve. we propose an algorithm which removes global as well as local intersection loop without making a intermediate offset curve by forward tracing of tangential circle. Offset of both open and closed poly-line segment sequence curve in the plane constructs using the proposed approach.