Vessel boundary detection and modeling is a difficult but a necessary task in analyzing the mechanics of inflammation and the structure of the microvasculature. In this paper we present a method of analyzing the structure by means of an active contour model(using GVF Snake) for vessel boundary detection and 3D reconstruction. For this purpose we used a virtual vessel model and produced a phantom model. From these phantom images we obtained the contours of the vessel by GVF Snake and then reconstructed a 3D structure by using the coordinates of snakes.

Study that uses geometrical information in computer vision is lively. Problem that should be preceded is matching problem before studying. Feature point should be extracted for well matching. There are a lot of methods that extract feature point from former days are studied. Because problem does not exist algorithm that is applied for all images, it is a hot water. Specially, it is not easy to find feature point in endoscope image. The big problem can not decide easily a point that is predicted feature point as can know even if see endoscope image as eyes. Also, accuracy of matching problem can be decided after number of feature points is enough and also distributed on whole image. In this paper studied algorithm that can apply to endoscope image. SIFT method displayed excellent performance when compared with alternative way (Affine invariant point detector etc.) in general image but SIFT parameter that used in general image can't apply to endoscope image. The gual of this paper is abstraction of feature point on endoscope image that controlled by contrast threshold and curvature threshold among the parameters for applying SIFT method on endoscope image. Studied about method that feature points can have good distribution and control number of feature point than traditional alternative way by controlling the parameters on experiment result.

We propose a new content-based image retrieval using a block color co-occurrence matrix (BCCM) and pattern correlogram. In the proposed method, the color feature vectors are extracted by using BCCM that represents the probability of the co-occurrence of two mean colors within blocks. Also the pattern feature vectors are extracted by using pattern correlogram which is combined with spatial correlation of pattern. In the proposed pattern correlogram method. after block-divided image is classified into 48 patterns with respect to the change of the RGB color of the image, joint probability between the same pattern from the surrounding blocks existing at the fixed distance and the center pattern is calculated. Experimental results show that the proposed method can outperform the conventional methods as regards the precision and the size of the feature vector dimension.

In this paper, we proposed an temporal error concealment (EC) using the proposed boundary matching method and the adaptive block matching method. The proposed boundary matching method improves the spatial correlation of the macroblocks (MBs) by reusing the pixels of the concealed MB to estimate a motion vector of a error MB. The adaptive block matching method inspects the horizontal edge and the vertical edge feature of a error MB surroundings, and it conceals the error MBs in reference to more stronger edge feature. This improves video quality by raising edge connection feature of the error MBs and the neighborhood MBs. In particular, we restore a lost MB as the unit of 8${\times}$16 block or 16${\times}$8 block by using edge feature from the surrounding macroblocks. Experimental results show that the proposed algorithm gives better results than the conventional algorithms from a subjective and an objective viewpoint.

In this paper, using B-splines as universial approximators, we have obtained a plant parametrization which permits the construction of an adaptive observer. The particular property of this parametrization is that the dynamic order of the filters in this design does not depend on the number of parameters in the plant parametrization. This appears to be a beneficial property especially because the number of such parameters tends to be very high for universial approximator based designs.

In this paper, we propose a novel stability criterion for switched linear systems. The proposed method employs the results on the upper bound of the solution of LME(Lyapunov Matrix Equation) and on the stability of hybrid system. The former guarantees the existence of Lyapunov-like energy functions and the latter shows that the stability of switched linear systems by using these energy functions. The proposed criterion releases the restriction on the stability of switched linear systems comparing with the existing methods and provides us with easy implementation way for pole assignment.

This paper is devoted to the passivity based control in bilateral teleoperation for varying time delay. Toimprove the stability and task performance, master and slave in bilateral teleoperation must be coupled via the network through which the force and velocity are communicated. However, time delay existing in the transmission channel is a long standing impediment to bilateral control and can destabilize the system, even if the system is stable without time delay, In this paper, we investigate how the varying time delay affects the advanced teleoperation stability and results in an out-of-control status. A new approach based on passivity control has been bilaterally designed for both the master and slave sites and the simulation result will verify that our approach is better and effective for passive bilateral teleoperation.

Detection methods for atrial tachycardia and fibrillation on the time axis have the advantages of light operational load and are easy to apply to various applications. Despite these advantages, arrhythmia detection algorithm on the time axis cannot stand much noise such as motion artifacts, moreover the peak detection algorithm has high complexity. In this paper, we use a spectrum analysis method for the detection of atrial tachycardia and fibrillation. By applying spectrum analysis and digital filtering on obtained electrogram signals, we can diagnose heart arrhythmia without using peak detection algorithm.

This paper describes a new baseline wandering elimination algorithm for ECG based on waveform morphology analysis. The algorithm uses two slope tracing waves to separate the baseline wandering from ECG and approximates the separated baseline wandering to a corresponding sinusoid, and finally, subtracts the approximated sinusoid from the original ECG. The two slope tracing waves, the descending slope tracing wave and the ascending slope tracing wave, were developed for efficient determination of slope inverting points and sudden slope changing points. The algorithm has been applied to MIT/BIH database to verify its efficacy and validity in practical applications.

In this study, a P- and T-wave detection algorithm in ECG, obtained by minimized filtering to prevent waveform distortion, has been realized. The algorithm uses two slope tracing waves, the descending slope tracing wave and the ascending slope tracing wave, developed for efficient determination of slope inverting points and sudden slope changing points. The algorithm generates the slope tracing waves which trace the original ECG wave, and subtracts one tracing wave from the other to detect P- and T-waves. The algorithm has been applied to MIT/BIH database in order to verify its efficacy and validity in practical applications.

Microdrive with high precision and light mass enough to install on mouse head was fabricated for recording the reliable signal of neuron cell to understand the brain study. The proposed microdrive has three H-form PZT actuators and its guide structure. The microdrive operation principle is based on the well known inchworm principle. The synchronization of three PZT actuators is able to produce the linear motion along the guide structure. Our proposed microdrive has a precise accuracy of about 100nm and a long stroke of about 5mm. The electrode which is used for the recording of the action potential of the neuron cell was fixed at one of PZT actuators. The proposed microdrive was suited to acquisition of signals from in vivo extra-cellular single-unit recoding. On the condition of the anesthetized mouse, the single-unit signals could be recorded by using the proposed microdrive. In addition, applying the PZT microdrive to an alert mouse, we try to implant it on a mouse brain skull to explore single neuron firing.

PDA-based monitoring is used to acquire continuously the patient's vital signs, including electrocardiography, activity, heart rate and $SpO_2$. In this paper, A biomedical signal acquisition device was designed using 3-axial MEMS accelerometer and 1-ch ECG amplifier, to have the function of monitoring activity and electrocardiography. The proposed system is composed of transmitter and receiver. Through the Zigbee communication, subject's biosignals can be transmitted in real-time to receiver, and transmitted data confirmed using PDA. The packet size used in this device was set not to exceed a maximum payload size of 116 byte. One packet consists of two segments. The transmission speed was 21 packet per second, 420 ECG samples per second, and 42 acceleration samples per second. The proposed method can be used to develop Activities of Daily Living(ADL} monitoring devices for the elderly or movement impaired people and enables patients to be monitored without any constraints. Also, this method will reduce medical costs in the aged society.

This paper presents a robust speed control method of induction motors(IM) using a Non-linear PI controller(NPI), NPI is high gain controller in region of small error, and low gain controller in region of large error. so in steady state, system will be robust against variation of load torque. The simulation and experiment results confirm the validity of proposed control scheme.

Research interests in PQ(Power Quality) measurement and monitoring system have been increased. This paper describes an experimental result for monitoring system that monitors power quality and undesirable accidents when distributed generations are connected to the power grid. Prior to develop a physical monitoring system for distributed generation applications, we constitute a mesuring system for the general PQ factors. In this paper, an approach to how to measure the PQ elements is presented by using TMS320C6701 processor. Simulation results using the PSCAD and the power system simulation equipment Dobel have verified the proposed measurement system.

In electrical railway system, power supplied to electrical locomotive by catenary is returned to sub-station on track. The current returned to sub-station on track is return current, which is an essential factor for the safety of the wayside electrical equipment and maintenance staff. Therefore, earth system acts an important role to protect wayside electrical equipment and maintenance staff against return current. In general, individual earth system protects partially the electrical railway system, but common earth system does the whole electrical railway system and minimizes the flow of return current. In this paper, we are compared the effect of return current according to earth type by actual measurement in existing electrical railway system. The measurement was conducted at Shinchungju sub~station in high speed trains, and Guro sub-station, which is electrified section in classical line.

This paper for the Train control system which has been used in the railway system for the purpose of headway control is regarded as safety-critical system, which is based on embedded controller. Therefore, for the maintainability, the maintenance time shall be predicted correctly in order to improve availability of railway system and the predictive values shall be proved through the test. In conclusion, for the maintainability of train control system, the solution for exact prediction based on related international standard and the system for justification of derived predictive values shall be proposed.

Retreiving indoor scene reference image from database using visual information is important issue in Robot Navigation. Scene matching problem in navigation robot is not easy because input image that is taken in navigation process is affinly distorted. We represent probabilistic framework for the feature matching between features in input image and features in database reference images to guarantee robust scene matching efficiency. By reconstructing probabilistic scene matching framework we get a higher precision than the existing feaure-feature matching scheme. To construct probabilistic framework we represent each image as Gaussian Mixture Model using Expectation Maximization algorithm using SIFT(Scale Invariant Feature Transform).

In this paper, some automatic inspection algorithms for LCD module are suggested. Human eyes are very good for the inspection in many industrial areas. However, very bright LCD back lighting may cause permanent damage to the human eyes. Also, the growing size of the LCD make it more difficult for the human inspectors. Therefore, using camera set, automatic inspection process becomes very essential for the future LCD industry.

This paper is for the design and implementation of the reader which can recognize the tag of the band that we do not become internationally the standardization. RFID Reader uses the software and specifies the class of UHF band. And then, it can recognize UHF band tags controlling the hardware.

The present paper designed a weight measuring instrumentation system in which data conversion and a series of signal processing were totally equipped. 16 loadcell are incoming sensors and each output of the loadcell was amplified and filtered for proper analog signal processing. Several measuring instrumentation OP amps and general purposed OP amps were used. 12 bits AID converters converted analog signals to digital bits and a PIC microprocessor controlled the 16 channels of loadcell. RF RS232 modules were used for wireless communication between the PIC microprocessor and an ethernet host for a remote sensor monitoring system development.

When measuring impedance of electronic component and so on, even the small size can reject the interference to shielding object. But, the interference through human body is grown when measuring bioimpedance without establishing shield specially. Consequently, when measuring bioimpedance in this paper, it proposed impedance measurement method to take advantage of spread spectrum technology, so that can reject the interference without establishing shield specially. Spread spectrum impedance measurement method to propose in this paper can reject the interference signal that occurring from medical instruments in the human body, the interference signal that is flowed in from surrounding environment when measuring impedance. It improved SJR(signal to jamming ratio) about 22dB than conventional method that actually realize and experiment spread spectrum impedance measurement method.

Haptic interface apparatus is the device which can offer users virtual reality not only by visualization of virtual space but also by force or tactile feedback. In this paper, we designed and fabricated a 2D haptic interface device that can be used for various purposes, and implemented a virtual air-hockey system that users can easily find in game rooms. By suitable modeling and haptic rendering, users can feel the impact and the reaction force with his/her hand holding the handle through 2D haptic interface device when he/she hit an air-hockey puck with the handle. Through the trial demonstration. we observed the reasonable effect of direction and speed of a ball like doing in reality.

Exploration involving mapping and localization in an unknown environment is an important task in mobile robots. For this, robot must be able to build a reliable map of surroundings and to estimate the position of it. In this paper, we developed technique for gird-based localization of a mobile robot with ultrasonic sensors using EKF(Extended Kalman Filter). We also describe the information about landmarks detected in the environment. Finally, the robot experiments show the efficiency of our approach in the real environment.

An autonomous semantic-map building method is proposed, with the robot localized in the semantic-map. Our semantic-map is organized by objects represented as SIFT features and vision-based relative localization is employed as a process model to implement extended Kalman filters. Thus, we expect that robust SLAM performance can be obtained even under poor conditions in which localization cannot be achieved by classical odometry-based SLAM

In this paper, we propose a robust visual feedback controller with integral action for tracking control of n-link robot manipulators in the presence of constant bounded parametric uncertainties. The proposed control input has robustness to the parametric uncertainty and reduces tracking error in the steady-state. The stability of the closed-loop system is shown by Lyapunov method. The effectiveness of the proposed method is shown by simulation results on the 5-link robot manipulators with two degree of freedom.

Unmanned ground vehicles(UGVs) are expected to play a key role in the future army. These UGVs would be used for weapons platforms. logistics carriers, reconnaissance, surveillance, and target acquisition in the rough terrain. Most of path planning methodologies for UGVs offer an optimal or sub-optimal shortest-path in a 20 space. However, those methodologies do not consider increment and reduction effects of relative distance when a UGV climbs up or goes down in the slope of rough terrain. In this paper, we propose a novel path planning methodology using the modified distance transform algorithm. Our proposed path planning methodology employs two kinds of map. One is binary obstacle map. The other is the DEM. With these two maps, the modified distance transform algorithm in which distance between cells is increased or decreased by weighting function of slope is suggested. The proposed methodology is verified by various simulations on the randomly generated DEM and obstacle map.

This paper deals with the implementation of walking for a humanoid robot by ZMP measurement using wireless sensor network. ZMP is measured by FSR sensors which are mounted at each corner of a sole. The wireless sensor network collects the sensor data according and exchanges robot information between host PC and a robot system. The master controller mounted on robot body receives trajectory data from the host PC via sensor network and drives the joint motor based on trajectory data. The time scheduler of the master controller controls the events at the ratio of 100ms. With this configuration, the walking of the humanoid robot KHR-1 could be realized successfully.

This paper designs a CDU(Control Disaply Unit) for commercial high precision INS(Inertial Navigation System). The CDU is designed using GUI(Graphic User Interface) programming running on Windows operating system. Since the designed CDU provides standard functions of the Windows operating systems and has a modular structure, it is easy to modify and extend. The CDU has been interfaced to the H-726 INS, from which it's usefulness can be seen.

In this work, a PWR reactor core dynamics is identified online by a recursive least squares method. Based on this identified reactor model consisting of the control rod position and the core average coolant temperature, the future average coolant temperature is predicted. A model predictive control method is applied to design an automatic controller for thermal power control in PWRs. The basic concept of the model predictive control is to solve an optimization problem for a finite future at current time and to implement as the current control input only the first optimal control input among the solutions of the finite time steps. At the next time step, the procedure to solve the optimization problem is then repeated. The objectives of the proposed model predictive controller are to minimize both the difference between the predicted core coolant temperature and the desired one, and the variation of the control rod positions. Also, the objectives are subject to maximum and minimum control rod positions and maximum control rod speed. Therefore, the genetic algorithm that is appropriate to accomplish multiple objectives is used to optimize the model predictive controller. A 3-dimensional nuclear reactor analysis code, MASTER that was developed by Korea Atomic Energy Research Institute (KAERI), is used to verify the proposed controller for a nuclear reactor. From results of numerical simulation to check the performance of the proposed controller at the 5%/min ramp increase or decrease of a desired load and its 10% step increase or decrease which are design requirements, it was found that the nuclear power level controlled by the proposed controller could track the desired power level very well.

BACnet(Building Automation and Control networks) is a standard data communication protocol designed specifically for building automation and control systems. BACnet provides BACnet/IP Protocol for data communication through the internet. BACnet device transmits BACnet broadcast messages and BACnet/IP messages using conventional IP technologies. Specially, BBMD(BACnet Broadcasting Management Device) is used to deliver BACnet broadcast messages. In this study, we propose a mechanism of fault tolerant BBMD in the BACnet/IP protocol. The Fault Tolerant BBMD mechanism(FTBM) improves the connectivity of BACnet/IP networks by inheriting the operation of BBMD in the networks. The FTBM is implemented with added functions to the original BACnet/IP protocol so that it can be applied together with original BACnet/IP devices. We also prove the FTBM's backward compatibility with original BACnet/IP protocol using experimental analysis.

In this paper, an improved AE (auto exposure) system for digital still camera is proposed. The AE system is the most important part in camera to get high quality picture image. However, there is no remarkable progress in this field until this time in spite of its importance. In recent, some researchers try to develop an AE system with signal processing technique. But it has some problems in exposure time and sometimes generates oscillation in brightness. Therefore, we develop a new system using a control technology to remove such phenomena. This new system shows about 30% improved performance than conventional one.

To explore the seafloor, an observation instrument should be laid there for a long time and it should be again withdrawn. This system must be designed low power consumption model because it operates for a long period, but because power control don't execute or simply control algorithm executes, power efficiency is low. Hereupon, a power control algorithm for retrieval system using the ultrasonic communication that was improved its controllability and movability was presented in this paper. Likewise, the logicality of control algorithm and remote control system were ascertained by experiments.

In this paper, we propose the PLL system of the local oscillator system for the millimeter wave band's radio astronomy receiving system. The development of the proposed local oscillator system based on the YIG oscillator VCO with 26.5 ${\sim}$ 40GHz specification. This system consists of the oscillator part including the YIG VCO, the harmonic mixer, and the isolator, the RF processing part including the triplexer, limiter, and RF discrimination processor. and the PLL system including YIG modulator and controller. Based on this configuration. we verify the frequency and power stability of the developed local oscillator system according to some temperature variation. From this test results we confirm the stable output frequency and power characteristic performance of the developed La system at constant temperature.

The IEEE 1451.4 standards defines an architectural model for interfacing smart transducers for sensors & actuators. This standard allows analogue transducers to communicate their identification and calibration data in a digital format. A digital format is called TEDS(transducer electronic data sheet). However, the standard template of IEEE 1451.4 TEDS do not supports gas sensors to use in electronic nose system, such as array sensors. In this paper, a solution to standardize sensors for electronic nose systems is presented.

본 연구에서는 백라이트 유닛의 검사를 위한 머신비전 시스템을 구축한다. 시스템은 크게 하드웨어와 소프트웨어로 나눌 수 있고 하드웨어는 조명부, 영상획득부, 로봇 암 제어부로 분류된다. 조명부는 36W FPL램프로 구성되었고 조명부의 상판에 아크릴판을 거치대로 이용하여 백라이트 유닛을 거치한다. 로봇 암 제어부는 2축 로봇 암을 제어하여 로봇 암의 센서부착 지지대에 부착된 CCD 센서를 이동시킨다. 이와 동시에 영상획득부에서는 이미지를 획득하여 PC로 전송한다. 소프트웨어의 화상처리 검사 알고리즘은 일정 패턴이 있는 도광판에 대한 검사 알고리즘과 일정패턴이 없근 백라이트 유닛에 대한 검사 알고리즘으로 분리된다. 일정 패턴이 인쇄되어 있는 패널에 대한 검사 알고리즘은 모폴로지 연산을 이용하는 템플릿 체크방법과 블록 매칭 방법이 사용되었고 일정패턴이 없는 유닛에 대한 검사는 개선된 Otsu 방법을 이용하여 얼룩이나 흐릿한 결함에 대한 결함을 검출하였다. 실험결과 불균일한 결함과 밝기가 일정하지 않은 결함일지라고 90% 이상의 검출율로 뛰어난 성능을 입증하였다.

This paper presents two ART-based neural networks for the identification of gas mixtures subject to the drift. A fuzzy ARTMAP neural network is used for classifying $H_2S$, $NH_3$ and their mixture gases including a reference gas. The other fuzzy ART neural network is utilized to detect the drift of a tin oxide gas sensor by tracking a cluster center of the reference gas. After detecting the drift, the previous cluster center of each gas is updated as much as the drift of the reference gas. By the simulations, the proposed method is shown to compensate the drift on-line without making many categories of target gases compared with the previous studies.

In this paper, we investigate visual and quantitative analysis of different tastes in the liquids using multi-array chemical sensor (MACS) based on the ion-selective electrodes (ISEs), which is so called the electronic tongue (E-Tongue) system. We apply the Fuzzy C-means (FCM) algorithm combined with Principal Component Analysis (PCA), which can be used to reduce multi-dimensional data to two- or three-dimensional data, to classify visually data patterns detected by E-Tongue system. The proposed technique can be determined the cluster centers and membership grade of patterns through the unsupervised way. The membership grade of an unknown pattern, which does not shown previously, can be visually and analytically determined. Throughout the experimental trails, the E-tongue system combined with the proposed algorithms is demonstrated robust performance for visual and quantitative analysis for different tastes in the liquids.

A fuzzy ARTMAP neural network and a fuzzy ART neural network are proposed to identify $H_2S$, $NH_3$ and their mixtures and to estimate their concentrations, respectively. Features are extracted from a micro gas sensor array operated in a thermal modulation plan. After dimensions of the features are reduced by a preprocessing scheme, the features are fed into the proposed fuzzy neural networks. By computer simulations, the proposed methods are shown to be fast in learning and accurate in concentration estimating. The results are compared with other methods and discussed.

In this paper, an empirical study result on pattern estimation method is devoted to reveal underlying data patterns with a relatively reduced computational cost. Presented method performs crisp type clustering with given n number of data samples by means of the sequential agglomerative hierarchical nested model (SAHN). Conventional SAHN based clustering requires large computation time in the initial step of algorithm. To deal with this concern, we modified overall process with a partial approach. In the beginning of this method, we divide given data set to several sub groups with uniform sampling and then each divided sub data group is applied to SAHN based method. The advantage of this method reduces computation time of original process and gives similar results. Proposed is applied to several test data set and simulation result with conceptual analysis is presented.

In this paper, we propose a genetically optimized identification of information granulation(IG)-based fuzzy model. To optimally design the IG-based fuzzy model we exploit a hybrid identification through genetic alrogithms(GAs) and Hard C-Means (HCM) clustering. An initial structure of fuzzy model is identified by determining the number of input, the seleced input variables, the number of membership function, and the conclusion inference type by means of GAs. Granulation of information data with the aid of Hard C-Means(HCM) clustering algorithm help determine the initial paramters of fuzzy model such as the initial apexes of the membership functions and the initial values of polyminial functions being used in the premise and consequence part of the fuzzy rules. And the inital parameters are tuned effectively with the aid of the genetic algorithms and the least square method. And also, we exploite consecutive identification of fuzzy model in case of identification of structure and parameters. Numerical example is included to evaluate the performance of the proposed model.

In this paper, we propose the Optimal Polynomial Neural Networks(PNN) for nonlinear process. The PNN is based on Group Method of Data Handling(GMDH) method and its structure is similar to feedforward Neural Networks. But the structure of PNN is not fixed like in conventional Neural Networks and can be generated. The each node of PNN structure uses several types of high-order polynomial such as linear, quadratic and modified quadratic, and is connected as various kinds of multi-variable inputs. The conventional PNN depends on experience of a designer that select No. of input variable, input variable and polynomial type. Therefore it is very difficult a organizing of optimized network. The proposed algorithm identified and selected No. of input variable, input variable and polynomial type by using Genetic Algorithms(GAs). In the sequel the proposed model shows not only superior results to the existing models, but also pliability in organizing of optimal network. Medical Imaging System(MIS) data is simulated in order to confirm the efficiency and feasibility of the proposed approach in this paper.

In this paper, we propose a new architecture of Fuzzy Polynomial Neural Networks(FPNN) by means of genetically optimized Fuzzy Polynomial Neuron(FPN) and discuss its comprehensive design methodology involving mechanisms of genetic optimization, especially Genetic Algorithms(GAs). The design of the network exploits the extended Group Method of Data Handling(GMDH) with some essential parameters of the network being provided by the designer and kept fixed throughout the overall development process. This restriction may hamper a possibility of producing an optimal architecture of the model. The proposed FPNN gives rise to a structurally optimized network and comes with a substantial level of flexibility in comparison to the one we encounter in conventional FPNNs. It is shown that the proposed genetic algorithms-based Fuzzy Polynomial Neural Networks is more useful and effective than the existing models for nonlinear process. We experimented with Medical Imaging System(MIS) dataset to evaluate the performance of the proposed model.

We propose a new category of hybrid multi-layer neural networks with hetero nodes such as Fuzzy Set based Polynomial Neurons (FSPNs) and Polynomial Neurons (PNs). These networks are based on a genetically optimized multi-layer perceptron. We develop a comprehensive design methodology involving mechanisms of genetic optimization and genetic algorithms, in particular. The augmented genetically optimized HFPNN (namely gHFPNN) results in a structurally optimized structure and comes with a higher level of flexibility in comparison to the one we encounter in the conventional HFPNN. The GA-based design procedure being applied at each layer of HFPNN leads to the selection of preferred nodes (FPNs or PNs) available within the HFPNN. In the sequel, two general optimization mechanisms are explored. First, the structural optimization is realized via GAs whereas the ensuing detailed parametric optimization is carried out in the setting of a standard least square method-based learning. The performance of the gHFPNNs quantified through experimentation where we use a number of modeling benchmarks-synthetic and experimental data already experimented with in fuzzy or neurofuzzy modeling.

This paper presents a new approach to the problem of designing a cascaded three-parameters controller for a given linear time invariant (LTD plant in unity feedback system. We consider a proportional-integral-derivative (PID) and a first-order controller with specified overshoot and settling time. This problem is difficult to solve because there may be no analytical solution due to the use of low-order controller and furthermore. the zeros of controller just appear in the zeros of feedback system. The key idea of our method is to impose a constraint on the controller parameters so that the zeros of resulting controller are distant from the dominant pole of closed-loop system to the left as far as the given interval. Two methods realizing the idea are suggested. We have employed the characteristic ratio assignment (CRA) in order to deal with the time response specifications. It is noted that the proposed methods are accomplished only in parameter space. Several illustrative examples are given.

This paper is concerned with an Adaptive Fuzzy Sliding Mode Control(AFSMC) that the fuzzy systems are used to approximate the unknown functions of nonlinear system. In the adaptive fuzzy system. we adopt the adaptive law to approximate the dynamics of the nonlinear plant and to adjust the parameters of AFSMC. The stability of the suggested control system is proved via Lyapunov stability theorem. and convergence and robustness properties are demonstrated. The simulation results demonstrate that the performance is improved and the system also exhibits stability.

We consider a web transport system. The objective of this paper is to design the controller such that desired tension and processing on web transport system. We propose the new design method which is independent with operating condition. The proposed method used a nonlinear feedback to transform to linear system. We show a performance of controller via the simulation.

This paper proposes an optimum tuning which improves the tuning effect of IMC-PID and guarantees the performance and robustness of controller system by considering gain margin, phase margin, sensitivity functions and integral square error(ISE) for IMC-PID controller.

This paper presents an Fuzzy-Neuro Observer system for an ac servo motor dirve to track periodic commands using a neuro-fuzzy observer. AC servo motor drive system is rather similar to a linear system. However, the uncertainties, such as machanical parametric variation, external disturbance, uncertainty due to nonideal in transient state. therefore an intelligent control system that isan on-line trained neural network controller with adaptive learning rates.

This treatise studies composing process that renew information mastered by interactive experience between environment and system via network among individuals. In the previous study map information regarding free space is learned by using of reinforced learning algorithm, which enable each individual to construct optimal action policy. Based on those action policy each individuals can obtain optimal path. Moreover decision process to distinguish best optimal path by comparing those in the network composed of each individuals is added. Also information about the finally chosen path is being updated. A self renewing method of each system information by sharing the each individual data via network is proposed Data enrichment by shilling the information of many maps not in the single map is tried Numerical simulation is conducted to confirm the propose concept. In order to prove its suitability experiment using micro-mouse by integrating and comparing the information between individuals is carried out in various types of map to reveal successful result.

This paper suggests a high-speed blurred blob image inspection algorithm. When we inspect some products using high-resolution camera, the detected blob images usually have severe blur. And the blur makes it hard to detect an object. There are many blur-processing algorithms, but most of them have no real-time property for high-speed applications at all. In this paper, an MMX technology based algorithm is suggested. The suggested algorithm was found to be effective to detect the blurred blob images via many simulations and long time real-plant experiments.

Fingerprint-based identification is known to be used for a very long time. Owing to their uniqueness and immutability, fingerprints are today the most widely used biometric features. Therefore, recognition using fingerprints is one of the safest methods as a way of personal identification. But fingerprint identification system has a critical weakness. Since the fingerprint identification time dramatically increase when we compare the unknown fingerprint's minutiae with fingerprint database's minutiae. In this paper, a ridge orientation extraction method using Index table is proposed to solve the problem. The goal of fast direction image extraction is to reduce the identification time and to improve the clarity of ridge and valley structures of input fingerprint image.

현재 모든 IT산업의 중요 키워드는 융합이다. 그중에서도 가장 두드러진 것은 방송과 통신의 융합이다. 하지만, 사업자간의 이해득실이 얽혀있는 상황에서 방통융합은 결코 쉽지 않을 전망이다. 주요원인은 통신망을 통해 방송을 서비스하게되면 방송산업의 구조조정이 본격화될 것이 틀림없기 때문이다. 특히 우리나라와 같이 거대통신회사가 있는 경우에는 더욱더 방송산업의 타격이 클 것으로 예상된다. 이에 본 논문에서는 방송망을 통해 통신서비스를 지원하는 방통융합 서비스에 관한 연구이다.

Hand region detection in images is an important process in many computer vision applications. It is a process that usually starts at a pixel-level, and that involves a pre-process of color space transformation followed by a classification process. A color space transformation is assumed to increase separability between skin classes for hands and non-skin classes for other parts, to increase similarity among different skin tones, and to bring a robust performance under varying illumination conditions, without any sound reasonings. In this work, we examine if the color space transformation does bring those benefits to the problem of hand region detection on a dataset of images with different hand postures, backgrounds, people, and illuminations. Results indicate that best of the color space is the normalized RGB.

In the scalable extension of H.264/AVC, the codec is based on a layered approach to enable spatial scalability. In each layer, the basic concepts of motion compensated prediction and intra prediction are employed as in standard H.264/AVC. Additionally inter-layer prediction algorithm between successive spatial layers is applied to remove redundancy. In the inter-layer prediction, as the prediction we can use the signal that is the upsampled signal of the lower resolution layer. In this case, coding efficiency can be variable as the kinds of interpolation filter. In this paper, we investigate the approach to select the interpolation filter for residual signal in order to optimal prediction.

Acceptance of the international standards for video compression, such as H.261, MPEG-1 and MPEG-2, along with the developments in video codec hardware, has created an explosion of application. Among these, the long time quest for long-distance digital video transmission causes an increasing interest in transporting compressed video over networks which are nontraditional for this purpose, including asynchronous transfer mode networks, the Internet, and cellular and wireless channels. Transmission of compression video over packet network is improved for error resilience. And layered video coding techniques improves error resilience. We present a efficient method of scalable video coding for low bandwidth.

In the scalable extension of H.264/AVC, spatial scalability is provided residual information as encoding layered spatial resolution between layers. We use the inter-layer prediction to remove this redundancy. In the inter-layer prediction, as the prediction we can use the signal that is the upsampled signal of the lower resolution layer. In this case, coding efficiency can be different from optimal prediction by kinds of interpolation filter. This paper indicates technique to choose the interpolation filter and to enhance coding efficiency for finding more correct prediction in intra macroblock.

Recently, intellectual property problem caused by illegal copy or circulation of digital contents with computer and advance of network. it will lose producer's desire and cause economic losses. so we need to demand ownership protection technology for prevent illegal copy without an owner consent and protect ownership with effect. in this paper, we change digital image at frequency domain and choose a factor choosing frequency area with human perceptibility. we inserted repetitive and adaptive watermark on the whole image by Labview Machine Vision. watermark inserted into the high frequency concentrated textual area with Wavelet Transform and then reduced damage of image by human visual feature after inserted watermark

The best method to study language is to talking with a native speaker. A voice recognition technology can be used to develope a language study machine. SD(Speaker dependant) and SI(speaker independant) voice recognition method is used for the language study machine. MP3 Player. FM Radio. Alarm clock functions are added to enhance the value of the product. The machine is designed with a DSP(Digital Signal Processing) chip for voice recognition. MP3 encoder/decoder chip. FM tumer and SD flash memory card. This paper deals with the application of SD ad SD voice recognition. flash memory file system. PC download function using USB ports, English conversation text function by the use of SD flash memory. LCD display control. MP3 encoding and decoding, etc. The study contents are saved in SD flash memory. This machine can be helpful from child to adult by changing the SD flash memory.

In this paper, we have designed a Fingerprint Recognition System based on the Embedded LINUX. The fingerprint is captured using the AS-S2 semiconductor sensor. To extract a feature vector we transform the image of t10he fingerprint into a column vector. The image is row-wise filtered with the low-pass filter of the Haar wavelet. The feature vectors of the different fingerprints are compared by computing with the probabilistic neural network the distance between the target feature vector and the stored feature vectors in advance. The system implemented consists of a server PC based on the LINUX and a client based on the Embedded LINUX. The client is a Tynux box-x board using a PXA-255 CPU. The algorithm is simple and fast in computing and comparing the fingerprints.

IT839 프로젝트 시행에 따라 유비쿼터스 사회를 만들기 위해 임베디드 시스템과 같은 소형 시스템이 대두되고있다. 과거 임베디드 시스템은 통신 및 제어분야에 주로 사용하였으나 현재는 홈네트워크 분야로 확대 되고 있다. 본 논문에서는 임베디드 시스템간의 연결을 통하여 소규모 망을 구성하고 실시간으로 접근 가능한 통신 프로그램을 구현하였다. 시스템 구현을 위해 PXA255 CPU가 내장된 XHYPER255B 보드에 임베디드 리눅스 및 OT기반으로 만든 통신 프로그램을 포팅하였으며 홈네트워크 시스템에 범용 시스템이 아닌, 임베디드 시스템이 적용 가능함을 테스트하여 겯과를 도출하였다.

The personal video recorder is a consumer electronics device that records television shows to a hard disk in digital format. In this paper, we propose an implementation method of personal video recorder for digital TV. The proposed personal video recorder includes cpu and system control modules, graphics and display module, audio DSP module, digital I/O module, NIM module, graphic software library, and embedded software modules for providing a lot of PVR functions such as live or reserved recordings, browsing of recorded content list, trick play and time shifting. Especially, combining trick play with time shifting makes much more convenient functions such as pausing live TV, instant replay of interesting scenes, and skipping advertising.

본 논문의 목표는 일체형 디지털 방송 과 데이터 방송 그리고 아날로그 방송을 수신할 수 있는 일체형 디지털 방송 수신기 구현과 일체형 디지털 방송 수신기에서 아날로그 방송과 영상을 입력 받았을때 화질저하의 원인이되는 De-interlace 알고리즘과3-D Noise를 적절하게 제거할 수 있는 알고리즘에 관한 연구가 목표이다. 또한, 디지털 방송의 수신된 컨텐츠를 다른 저장매체로 불법적으로 복사, 재생을 막기 위한 디지털 컨텐츠 복사를 방지할 수 있는 알고리즘에 관한 연구이다. 현재, 우리나라에서는 기존의 아날로그 방송과 고품질 디지털 방송 서비스을 위한 디지털 방송이 시험적으로 실시되고 있는 상황이다. 이러한 환경하에서 디지털 방송 수신만을 위한 수신기는 아직 시기상조이며, 아날로그 방송과 디지털 방송을 동시에 수신할 수 있근 일체형 수신기가 필요하다. 일체형 수신기에서 가장 문제가 되는 부분이 아날로그 방송을 수신하여 디지털 영상으로 인코딩한 후 화면에 뿌려줄때 Even Field와 Odd Field를 분리하여 뿌려주기 때문에 많은 영상의 열화가 발생하게 된다. 이러한 문제를 해결하기 위하여 많은 방법들이 연구되고 있는 실정이다. 본 연구에서 사용된 시스템을 간략하게 소개하면 디지털 방송 수신을 위한 SoC로는 Zoran의 G9 Ellete 채택하였고 아날로그 영상의 Decoder로는 AMI의 ADV7401을 선택하였다. 이에 대한 운영체제는 실시간 운영체제인 Thread-X를 선택하였다.

This paper present a new approach to a noise robust recognizer for WPS interface. In noisy environments, performance of speech recognition is decreased rapidly. To solve this problem, We propose the recognition system using vocal-cord signal instead of speech. Vocal-cord signal has low quality but it is more robust to environment noise than speech signal. As a result, we obtained 75.21% accuracy using MFCC with CMS and 83.72% accuracy using ZCPA with RASTA.

Various adjustment devices which present automobile uses electric motion motor of reducer built-in type for user's convenience are increasing. The example are seat control motor, sunroof motor, power windows motor etc. To get low noise, high effectiveness special quality in automobile DC motor of reducer built-in type, reducer department's transmission efficiency and noise, vibration quality are very important. The reducer used to DC motor of automobile reducer built-in type use worm gear for enough torque and proper number of rotation. We need optimization design technology of deceleration module including worm gear and housing for reducer development that have special quality of good quality.

In the development of Antiskid Brake System(ABS) for a fixed-wing aircraft, the braking efficiency is the most essential parameters to evaluate the ABS, especially in slippery road conditions. The braking distance and landing distance of the aircraft depends on it. Since the ABS has been designed and implemented as a subsystem of the aircrafts, the braking performance was evaluated under dynamometer test, where the dynamometer emulates the aircraft mass. Under simulated wet road conditions, the dynamometer starts to be braked. This paper suggests practical braking efficiency calculation methods and the results and finally compares each method.

The in-core neutron Flux Mapping System in a pressurized water reactor yields information on the neutron flux distribution in the reactor core at selected core locations by means of movable detectors. The obtained data are used to verify the reactor core design parameters. The detector cables run through guide tubes(thimbles), and typically thirty-six to fifty-eight thimbles are allocated in the reactor depending on the number of fuel assemblies. These thimbles are inserted into nuclear fuel assemblies through conduits connected from the bottom of the reactor vessel to a seal table. During the plant refueling outage period, the thimbles are withdrawn up to 4m from the seal table, the height of a nuclear fuel. In spite of their importance, however, the thimble handling work has been performed by only human operators. In addition, its efficiency is very low due to narrow working environments on the seal table, thereby resulting in the excessive radiation exposure of maintenance personnel. To solve these problems, a new thimble handling equipment for in-core flux mapping system was developed, and we confirmed its effectiveness through experiments.

In this paper, we address an active vibration control system, which suppresses the vibration engaged by magnetically levitated stage. The stage system consists of a levitating platen with four permanent magnetic linear synchronous motors in parallel. Each motor generates vertical force for suspension against gravity and propulsion force horizontally as well. This stage can generate six degrees of freedom motion via the vertical and horizontal forces. In the stage system, which represents the settling-time critical system, the motion of the platen vibrates mechanically. We designed an active vibration control system for suppressing vibration due to the stage moving. The command feedforward with inertial feedback algorithm is used for solving stage system's critical problems. The components of the active vibration control system are accelerometers for detecting stage tables's vibrations, a digital controller with high precise signal converters. and electromagnetic actuators.

For the low-power design of the mobile multimedia system architecture, this paper modeling the mobile multimedia system and analysis the power consumption profile about the whole communication environment. The mobile system model consist of air interface, RIP front-end, base-band processing module and human interface. For the result of power consumption profile analysis, the power consumption of multimedia processing is above 60% compare to the whole power consumption in mobile multimedia system. To minimize the power consumption in processing module which consumes the large power, this paper proposed the Microscopic DVS technique which applies the optimum voltage for the each multimedia frame. For the simulation result, proposed power minimization technique reduce the power consumption about 30%.

본 논문에서는 high-quality의 멀티미디어 통신을 위한 전력 소모 프로파일을 도출하였다. 전력 소모 블록을 크게 세가지로 나누어 RF Front-end, baseband와 멀티미디어 신호처리를 위한 디지털 프로세싱, LCD등의 사용자 인터페이스로 크게 나눌 수 있다. 각 기능 블록들이 소모한 전력을 분석하였으며, 모바일 단말 채널 환경에서의 OFDM의 성능을 분석하여 멀티미디어 처리를 위한 괌대역 멀티미디어 단말에서의 전력절감 효율을 분석하였다.

In this paper PLC Power Circuit with Hot-Swap Function is proposed for stable power supplies. The power modules of the proposed devices are implemented by CRM flyback converter using new synchronous rectifier circuit for high efficiency. By a variable switching frequency controller, this converter is operated with a reduced turn-on switching loss. Also, the load current in these power modules are shared by auto master / slave method using Outer loop. The proposed devices are analyzed in detail and optimized for high performance. Experimental results for a 100W power module at the variable switching frequency of 30$^{\sim}$70kHz were obtained to show the performance of the proposed device.

It is well known that the PD (Partial Discharge) signals are generated if insulators have some defects such as voids in electrical facility and various PD detection methods are developed for preventing electrical troubles. So, an interest for the PD signals is higher and higher according to the high concern for the defects detection method of the aging electrical facility. When the equipment to detect PD signals installed at site and it works, a lot of noises flow in the equipment from surrounding situation and it will be mixed with original PD waveform. So we can not get the desired PD waveform. Therefore, there are many trial to reject or suppress the noise from the PD signals from long times ago. The greater of them used the hardware such as bridge circuits and frequency filters to suppress the noise. This paper proposed a novel noise rejection method in acquired data from PD detection equipment. The noise has the irregular phase and higher signal level than real PD, and noise decision is performed after inspection of pulse distribution in ${\Phi}$-q-n graph of acquired data from PD detection equipments. By experimental results on high voltage electric equipments, it is shown that proposed method has good performance. It is expected that this noise rejection technology is useful in numeric calculation and trend management of PD level.

This paper presents a wired and wireless linked remote control system. Ethernet based network communication is used for long distance management and 2.4GHz RF network is adopted for the local area communication between the main network and the ballast. For the effective remote control and management including dimming using wired and wireless linked digital communication networks, control circuit of the ballast is implemented with fully digital circuit using MCU and EPLD. In this paper, the proper frame structure is proposed for the digital-remote lighting-control system and the detailed system configurations including fully digital controlled ballast for the induction lamp are described.

The Controller Area Network (CAN) is being widely used for real-time control application and small-scale distributed computer controller systems. However, CAN may exhibit unfair behavior under heavy traffic conditions. When there are both high and low priority messages ready for transmission, the proposed precedence priority filtering method allows one low priority message to be exchanged between any two adjacent higher priority messages. In this way, the length of each transmission delays is upper bounded. These procedures are implemented as local controllers for the ISHURO (Inha Semyung Humanoid RObot).

For walking patterns of biped robots, knee-bent patterns are used in most cases. However, humans are mostly walking with their knees nearly stretched. In this paper, a human-like walking algorithm using hybrid system is proposed for biped robots, The hybrid system consists of the logically constituted discrete system, in which the discrete states are defined by considering the walking characteristics, and the continuous state system used for motor control. It is shown that the proposed algorithm is effective by experimental studies.

In this paper, we present a design for URC (Ubiquitous Robotics Companion) robot S/W platform. The URC robot S/W platform is based on the Qplus/Esto which is developing in ETRI and applied for URC robot reference S/W platform that we use it in case of many different robots with same interface. We expect the platform to save the developing time, to improve the compatibility and to reuse the developed contents.

This paper deals with the design and the realization of a small humanoid robot, which is called SERO_VI. The design concept and the mechanical structure including kinematics for the robot are presented. The humanoid robot consisted of 25 DOF with legs 12 DOF, arms 8 DOF, waists 3 DOF and heads 2 DOF for the purpose of vision system. The controller structure was also suggested such as modular joint actuators, DSP interface and their communication method. Simple experiment was done and its validness was investigated in order to verify the kinematic result.

With the start of terrestrial digital broadcast, we can view HD digital contents in TV. Also we can record, play, redistribute digital contents over the various way. Therefore the protection of Digital Contents Right became the important issue. In this paper, we implement a manager that prevents indiscriminate digital contents redistribution of the terrestrial digital broadcast contents. For protection of Digital contents Right, we use BF(Broadcast Flag) that we can control viewing or copy digital contents with.

In this paper, we implement an identification system using the vein image of the hand. The vein pattern is obtained in the grey-scale 2D image through the infrared-red imaging from back of the hand. Since the frame has lack of clearance, we use some enhancing methods such as the complement, addition, and multiplication to the image to increase the contrast. After Wiener filtering for smoothness of the vein pattern, we transform the image into the binary image with mean function. The binarized image is session thinned and the cross-points in the vein tree are obtained by calculating the number of pixels connected because the image is shaped as a tree. We choose the point and find the nearest to the center if it has majority, where we find the two end points of the selected line. We can get the angle between the two lines joined at the cross-point and store its coordinates, angle, and label the values. The values are used as the feature vector of the vein pattern. This procedure is similar to the human cognition sequences. It is shown that the proposed method is simple for the vein recognition.

Recently, on-line diagnosis methods through wired and wireless networks are widely adopted in the diagnosis of industrial Electric Facilities, such as generators, transformers and motors. Also smart sensors which includes sensors, signal conditioning circuits and micro-controller in one board are widely studied in the field of condition monitoring. This paper suggests an self-powered system suitable for condition-monitoring smart sensors, which uses parasitic vibrations of the facilities as energy source. First, vibration-driven noise patterns of the electric facilities are presented. And then, an electromagnetic generator which uses mechanical mass-spring vibration resonance are suggested and designed. Finally energy consumption of the presented smart sensor, which consists of MEMS vibration sensors, signal conditioning circuits, a low-power consumption micro-controller, and a ZIGBEE wireless tranceiver, are presented. The usefulness and limits of the presented electromagnetic generators in the field of electric facility monitoring are also suggested.

This paper describes a consideration on the sampling in linearly time-varying (LTV) systems in view of the convenience in digital signal processing. The relation between a continuous-time and a discrete-time system models is investigated for a simple linear time-invariant system. Based on the results of the investigation, we first consider discrete-time models for LTV systems, Then the simplicity of the models in terms of microprocessor-based digital signal processing is compared.

In this paper, we proposed a new method detecting actions of some components driven by the coil excitation. Nuclear power reactors are typically controlled by the movement of several neutron-absorbing control rods into or out of the reactor core. For moving control rods, we use an electromagnetic-jack-typed mechanism, which is called Control Rod Drive Mechanism. This mechanism moves control rods by the step composed of sequential actions of components. In case any mechanical problems happen in the mechanism, the orders for the control rod movement from the higher system cannot be performed properly. This abnormal state must be monitored and the sequential actions of the components can be the monitoring target. The actions of components generate some deviations in the profiles of the currents flowing into the coils in the mechanism. We focused on this phenomena and devised a new method of detecting the actions of the components in Control Rod Drive Mechanism by using the wavelet transform for observing the current profile.

Active thermography is being used since several years for remote non-destructive testing. It provides thermal images for remote detection and imaging of damages. Also, it is based on propagation and reflection of thermal waves which are launched from the surface into the inspected component by absorption of modulated radiation. For energy deposition, it use external heat sources (e.g., halogen lamp or convective heating) or internal heat generation (e.g., microwaves, eddy current, or elastic wave). Among the external heat sources, the ultrasound is generally used for energy deposition because of defect selective heating up. The heat source generating a thermal wave is provided by the defect itself due to the attenuation of amplitude modulated ultrasound. A defect causes locally enhanced losses and consequently selective heating up. Therefore amplitude modulation of the injected ultrasonic wave turns a defect into a thermal wave transmitter whose signal is detected at the surface by thermal infrared camera. This way ultrasound thermography(UT) allows for selective defect detection which enhances the probability of defect detection in the presence of complicated intact structures. In this paper the applicability of UT for fast defect detection is described. Examples are presented showing the detection of defects in PCB material. Measurements were performed on various kinds of typical defects in PCB materials (both Cu metal and non-metal epoxy). The obtained thermal image reveals area of defect in row of thick epoxy material and PCB.

This paper introduces the testbed configuration for telematics wireless communications using WiBro network, one of the next generation wireless communication networks. We review the architecture and core technology of WiBro network, and investigate WiBro based telematics services, WiBro testbed configuration, and function verification and test method for WiBro wireless communication access module.

A real-time measurement and control system was developed, This system is used for nurses at hospitals to check the residual quantity and changing time of Ringer's solution in nurses' room. Load Cell is utilized as a sensor to check the residual quantity of Ringer's solution, This Load Cell detects the physical changes of Ringer's solution and transfers electronic signal to the amplifier. Amplified analog signal is converted into digital signal by NO converter. Developed Embedded system, which computes these data with microprocess(8052) then makes it possible to monitor the residual quantity of Ringer's solution real-time on a server computer. A Checking system on Residual Quantity of Ringer's Solution Using Load cell cut costs using a simple design for a circuit

If the ubiquitous computing times come before long, Context Awareness will be prominent among improved computing functions which are serviced to user. It is the very sense network, new technology, that makes it possible to recognize circumstances.In a lot of research projects about sensor network, this paper proposes the efficient method of localization for sensor network. I propose the possibility of localization using wireless RSS with no modification of hardware for sensor node and then suggest the limitation factors of method for efficiently improving performance.

If we are to realize the everyday benefits promised by pervasive computing and context-aware applications, we must first develop the infrastructure to provide contextual location and orientation information through pervasive computing elements. We have implement indoor positioning system to supply orientation information. We have used ultrasound in indoor positioning system for distance and orientation measurements, then propose a set of methods to calculate orientation from an array of well placed ultrasonic sensors operating in the indoor positioning system. We have design and implement a indoor positioning system using a combination of hardware and software and demonstrate end-to-end functionality of the system.

Even though a lot of routing algorithms have been proposed, an omnipotent algorithm of routing technique, which has optimal efficiency, does not exist. Therefore, A routing algorithm in a sensor network is an application oriented; the best effective routing algorithm depends on which application it is used to. In this paper, the routing algorithm is proposed for the purpose of monitoring a movement of Assets in office. This Paper proposes a new multi-hop routing algorithm, that is, RSS(Received Signal Strength) value which was used in a localization of sensor network is applied to routing algorithm.

The emerging peer-to-peer (P2P) model has recently gained a significant attention due to its high potential of sharing various resources among networked users. Super-peer unstructured P2P systems have been found very effective by dividing the peers into two layers, super-peer and edge peer. Super peer deal with all Queries instead of edge peers. The existing P2P systems assume all super peers have equal roles and capabilities. However, all super peers don't so that edge peers should select the best super peer in order to handle Queries well. In this paper, we suggest the ISP2P (Intelligent Super-peer based P2P) which allows to select the best super peer to the edge peers. We classify super peers according as the capacity of a edge peer to a super peer. We show that considering the quality of a edge peer to a super peer can improve the performance of the response time and bandwidth.

As multi-application smart cards have become very attractive mobile devices, card users are able to add and to remove card-applets after card issuance. However, because of constrained memory on a smart card, it is necessary to manage card-resident applets. In this paper, we propose an adaptive applet management algorithm in order to recommend card-resident applets which can be removed. This algorithm's goal is to select card-resident applets in a way minimizes the number of applet downloads. To serve this purpose, our algorithm identifies the applets that are most likely to be executed again, and based on that, decides which should be kept in the memorY and which can be discarded.

There are several types of communication method which is used for providing the supply of electric power stably. But the communication methods used in KEPCO have weak points in the viewpoint of economy, technology and management. Therefore the power plant located in the island could not be provided the communication service because of above reasons. Because the Satellite communication systems have competitive power in price and technology nowdays, the utility could provide the communication service in even back land. This paper presents some of design efforts for the satellite communication systems as the voice network in the island.

In MMORPG, gamers can engage in a variety of activities with other players from all over the world. So, this kind of games has unprecedented heavy load. There are so many kind of method to balance the load of MMORPG. But. many of them are not adaptable to dynamic load variation. In this paper, we propose a dynamic map-partition method based on VML. By use of dynamic map-partition based on VML, we can easily adapt to dynamic load variation. And by changing VML. we can manage field servers within game system.

The vehicle detection method using pulse radar has the advantage of maintenance in comparison with loop detection method. We have the information about the vehicle being and position by dividing the signals into sectors in accordance with SSC method, and by applying the discriminant function based on stochastical data. We also reduce the signal processing time.

In general, for specific applications, customized hardware showed better performance than general processor in terms of processing time and power consumption. However, customized hardware systems have lacks of flexibility in nature and it leads the difficulties for debugging and architecture level revision for performance enhancement. To solve this problem, reconfigurable hardware is developed. Proposed reconfigurable hardware architecture for FIR filter system can easily change the architecture of filter blocks including filter tap size and their signal path. Proposed FIR filter architecture was implemented on FPGA using several MUXs and registers and it showed the reconfigurablility and reusability in several examples.

We have implement indoor positioning system to supply orientation information, We have used ultrasound in indoor positioning system for distance and orientation measurements, then propose a set of methods to calculate orientation from an array of well placed ultrasonic sensors operating in the indoor positioning system, We have design and implement a indoor positioning system using a combination of hardware and software and demonstrate end-to-end functionality of the system, We have implement ZigBee based home automation system using location-aware System.

This paper characterizes the performance for a remote path tracking control of the mobile robot in IP network viamiddleware. The middleware is used to alleviate the effect of the delay time on a mobile robot path tracking in Network-Based Control environment. The middleware also can be implemented in a modular structure. Thus, a controller upgrade or modification for other types of network protocols or different control objectives can be achieved easily. A case study on a mobile robot path-tracking with IP network delays is described. The effectiveness of the proposed approach is verified by experimental results.

한국천문연구원에서는 한국우주전파관측망(Korean VLBI Network; KVN)에서 사용할 관측 시스템 중에서 소규모 자료획득시스템(DAS) 구축을 위하여 기가비트 고속샘플러, PC-VSI 보드, 소프트웨어 상관기를 도입하였다. 고속샘플러는 기가비트급 ADS1000, PC-VSI 보드는 VSI-H(VLBI Standard Interface Hardware) 표준을 따른 PCI 버스를 채택하고 있어 일반 컴퓨터에 설치하여 동작되며, 이 규격을 갖춘 시스템과의 데이터 입출력이 가능하다. 소프트웨어 상관기는 일본 NILT와의 연구협력을 통하여 본 연구원에서도 사용할 수 있게 되었으며, FX와 XF 형 2가지를 모두 갖추고 있다. 하지만 현재 구현된 소프트웨어 상관기는 측지 VLBI 관측을 위해 설계되어 있어, 향후 KVN의 하드웨어 상관기와 함께 천문 VLBI 관측을 위한 3기선 분의 소프트웨어 상관기로 개량하려고 한다. 이상에서 소개한 시스템을 좁은 의미로 K5 시스템이라고도 한다. 본 논문에서는 PC-VSI 보드에 대해 간략히 소개하고, K5 시스템을 이용하여 관측한 결과를 빨리 관측자가 원하는 정보를 얻을 수 있는 소프트웨어 상관기의 구조에 대해서도 소개하고자 한다.

In this paper, we introduce the advanced Self-Organizing Fuzzy Polynomial Neural Network based on optimized FPN by evolutionary algorithm and discuss its comprehensive design methodology involving mechanisms of genetic optimization, especially genetic algorithms (GAs). The proposed model gives rise to a structurally and parametrically optimized network through an optimal parameters design available within Fuzzy Polynomial Neuron(FPN) by means of GA. Through the consecutive process of such structural and parametric optimization, an optimized and flexible the proposed model is generated in a dynamic fashion. The performance of the proposed model is quantified through experimentation that exploits standard data already used in fuzzy modeling. These results reveal superiority of the proposed networks over the existing fuzzy and neural models.

In this paper, we propose the design of active queue management (AQM) control system using the self-recurrent wavelet neural network (SRWNN). By regulating the queue length close to reference value, AQM can control the congestions in TCP network. The SRWNN is designed to perform as a feedback controller for TCP dynamics. The parameters of network are tunes to minimize the difference between the queue length of TCP dynamic model and the output of SRWNN using gradient-descent method. We evaluate the performances of the proposed AQM approach through computer simulations.

Most of the water level controllers of the actual plant are PID controllers. But they have limitations in appling for tracking the set point and getting rid of disturbances, so there are some defects to apply in the actual ground even though many research works represented the resolution to solve it. In this paper, we design a fuzzy logic system (FLS) for controlling the steam generator water level in nuclear power plants. Some computer simulations reveal similar performance with the conventional PID controller.

In this paper, we implemented the monitoring and control of geothermal heating and cooling system using mobile devices. The main idea of this system is to provide the convenience if the system can be controled in remote place with monitoring using the mobile devices like PDA. Basically, the system consists of the Server-Client structure divided into two parts, one is PDA and PC, the other is PC and PLC(Programmable Logic Controller). The PDA, which is equipped with Windows CE as as, monitors the status of the devices (motors and sensors, etc) attached to PLC and controls them. This does the system to be controled by the commands, which we assume to control, with wireless transmission between PC and PLC. The PDA parts are responsible for monitoring and control the devices connected to the PLC, and the PC part which equipped with the application is to provide the relation between PDA and PLC. The Ladder Program is used to control the sequences of the PLC..

According as quality of life improves, pursuit of agreeable iife became realistic problem. Specially, noise had been appraised to element that infiuence in human life directly and indirectly Therefore, necessity of study about noise control is increased for better labor conditions and agreeable habitat. In this paper, implementation of active mufflers using recursive LMS algorithms is presented. Analyze exhaust pipe noise of a gasoline and Diesel car and use adaptation IIR filter algorithm that stability is solidified and controled exhaust pipe noise of a car. computer simulation is performed to show the effectiveness of a proposed algorithm.

The demand for a real-time image surveillance system using network camera server is increasing as the network infra has been grown and digital video compression techniques have been developed. The image surveillance system using network camera server has several merits compared to existing real-time image surveillance system using CCTV. It would be more convenient if wireless realtime image transmission were possible. In this paper, a bluetooth module is designed and implemented for a real-time image surveillance system to send and receive informations wirelessly. It may simplify the system development procedures and increase the productivity by low power consumption, low cost, and simple wireless installation. A scatter-net formation is proposed using dynamic and distributed algorithm so that the network connection is reliable.

This paper describes the speed-sensorless vector control system of a three-phase induction motor using sliding mode flux/speed observer. The sliding mode observer estimates the rotor speed. The error between the actual and observed currents converges to zero which guarantees the accuracy of the flux observer. The convergence of nonlinear time-varying observer along with the asymptotic stability of the controller was analyzed. To define the control action which maintains the motion on the sliding manifold, an "equivalent control" concept was used. It was simulated and implemented on a sensorless indirect vector drive for 750[W] three-phase induction motor. The simulation and experimental results demonstrated the effectiveness of the proposed estimation method.

In the study, the noise involved on the active circuit is identified using correlation function. In order to figure out the unknown location of noise source, signals from each sections in the system are collected and the location is identified by a concept called "Noise Source SUI-face". Experiment is conducted to confirm the validity of the proposed method. Also a method to reduce and control the noise in the system signal by using Matrix Pencil Method is introduced. Experiment is attempted to prove that the total noise of system can be reduced by controlling the external noise.

In this paper, we designed a vehicle active suspension controller. Vehicle suspensions have various design objects with tradeoff among them and these objects cannot be satisfied under all driving conditions. We need to design a controller adapted to variable driving conditions changing the objects of vehicle suspensions. To design such a controller, we must be able to detect the current driving conditions and focus on the road frequencies giving us useful and important information about driving conditions. Detecting the road frequencies, we use the Fourier Transform. A unexpected driving change like a speed bump was also included to items the new designed controller must consider.

현재 다양한 인터넷 콘텐츠들에 의해 많은 정보가 공유되고 있으며, 유익한 정보들과 더불어 성인물과 같은 유해한 정보들이 있다. 이로 인하여 여러 문제점들이 야기되고 있으며, 이를 해결하기 위해 다양한 방법들이 제안되고 있다. 그 중에서 성인 영상 차단을 위한 연구도 많이 행해지고 있으며 주로 색상을 이용한 방법을 사용하고 있다. 그러나 살색과 유사한 영상이나 노출이 심한 영상에는 성인 영상 검출의 신뢰성이 떨어지는 단점을 갖는다. 본 논문에서는 이런 문제점을 해결하기 위해 새로운 성인 영상 차단 방법을 제안한다. 기존의 제안된 살색 검출을 이용한 방법을 기반으로 성인 영상물로 판정될 수 있는 신체 부위를 검출함으로써 강인한 성인 영상 차단을 한다. 신체 부위에 대한 판별을 위해 여러 기저 영상에서 특징 벡터를 추출하고. 이 벡터를 Back Propagation(BP) 신경망의 데이터로 이용하여 학습한다. 제안한 성인 영상 차단 방법의 성능을 여러 장의 살색과 유사한 색상의 물체 영상과 노출이 심한 영상, 성인 영상을 이용한 종합적인 실험 결과인 성인 영상 검출률을 통해 증명한다.

As further Studies on 4th generation mobile telecommunication are progressed, the importance of a Cross-Layer is being increased. However, it has focused on coordination model only between MAC layer and PHY layer. It is necessary to expand into II' layer and upper layers. In this paper, we introduce a Cross-layer optimization which can be used to transmit video data with effect by managing resources among layers. It can gives further more adaptive method to solve QoS model problem than single layer.

The distance between objects and a service robot can be measured by stereo vision system, but the two cameras need the same number of image grabber boards. In this paper, an approach to measure the distance is presented by using one camera which moves horizontally via motor position control. Images are captured at two different places where we know, and distance calculation is performed with the images and the camera position data. With a simple algorithm the proposed system requires only one image grabber board and no camera sequence controls are necessary, which resuces the system costs.

The DSD(Direct Stream Digital) encoder, which is a standard for SACD(Super Audio Compact Disc) proposed by Sony and philips, uses 1 bit representation with a sampling frequency of 2.8224MHz (64${\times}$44.1kHz). For multi-rate PCM (Pulse Code Modulation) input such as 8${\sim}$192kHz, a external sample-rate converter is necessary to the DSD encoder. This paper has been proposed a digital mter structure composed of sample-rate converter and interpolaton filter for the DSD encoder with multi-rate (8${\sim}$192kHz) PCM input, without a external sample-rate converter.

본 논문에서는 MPEG-4 Version2 Audio 표준에 근거하여 낮은 연산부담을 갖는 독자적인 엘고리즘을 적용한 MPEG-4 BSAC Audio 디코더를 개발하였다. 개발된 BSAC 디코더는 32bit RISC 구조를 갖는 Intel Xscale Processor 기반 시스템에 최적화하여 구현 및 평가를 수행하였다. 수행속도 증가 및 연산 정밀도 향상을 위해 각 기능 블록별 기능 및 구현 원리 연구와 32 bit 연산 구조를 파악하여, 이를 고정소수점 연산 구조로 구현함으로써 성능을 향상시켰다. 유한비트에 따른 오차 영향을 최소화하기 위해 데이터의 표현 범위에 대한 연구를 통해 근사한 오차를 최소화 하여 연산 정밀도를 향상 시키고자 하였다. 비선형 양자화기 및 filter bank 등 상대적으로 높은 연산 부담을 갖는 기능 블록은 Table look-up, 보간법, 지수연산 제거, pre/post scrambling 기법 등을 적용하여 최적화 하였다. 최종적으로 개발된 BSAC 디코더는 32 bit 연산 구조의 X-scale 프로세서를 탑재한 Development Board와 WindowsCE OS로 구성된 타겟 system에 이식하여 performance 평가하였으며, 높은 연산 정밀도 및 다른 수행속도를 확인할 수 있었다. 주관적인 청각 평가에서도 MPEG-4 reference 디코더와의 음원의 차이가 거의 없음을 확인하였다.

From the 90's, the image information retrieval methods have been on progress. As good examples of the methods, Conventional histogram method and merged-color histogram method were introduced. They could get good result in image retrieval. However, Conventional histogram method has disadvantages if the histogram is shifted as a result of intensity change. Merged-color histogram, also, causes more process so, it needs more time to retrieve images. In this paper, we propose an improved new method using Adaptive Color Histogram Bin Matching(AHB) in image retrieval. The proposed method has been tested and verified through a number of simulations using hundreds of images in a database. The simulation results have Quickly yielded the highly accurate candidate images in comparison to other retrieval methods. We show that AHB's can give superior results to color histograms for image retrieval.

In this paper, we present a new method for the detection of spiculation on digital mammograms. Traditional methods have defects; sensitive to noise, fixed size processing, and long processing time, however, the proposed method has merits; not sensitive to noise, adaptive size processing, and fast processing time. Experimental results show that the spiculation detection performance of the proposed method is improved much compared to the other methods.

Inconveniences which might arise in transmitting measured biological data based on cable protocols generally are recognized critical points in tele-monitoring environment and also restrict the mobility of the user. a. Especially, activity monitoring which is importantly recognized as a core parameter in ubiquitous healthcare arena and weight management, pervasive and wireless measuring technology is most needed. In this paper, we would like to suggest lower power, miniaturized communication system in order to solve the above problems. The suggested system is powered by small coin-size battery. Also, The suggested system is compared with a blue-tooth module which is generally available in the commercial market. Even though, the suggested system didn't have higher transmission rate, its low power consumption make the suggested system would be feasible in ubiquitous monitoring of biological signals in ubiquitous healthcare arena.

The purpose of this paper is to develop the Plastic Cortex Stimulator(PCS) for stroke patients using ZigBee technology. The PCS consists of an implantable neuro-stimulator and a user controller, The neuro-stimulator has the stimulus circuit which is the H-bridge circuit to generate a bipolar pulse. The bipolar pulse is known to be effective for stroke recovery. The user controller sends several wave-shape parameters (amplitude, pulse width, cycle, etc.) to the neuro-stimulator for variable stimulation using ZigBee technology. The CC2420 and atmega128L was used to implement ZigBee protocol stack. The wireless control of PCS based on ZigBee can help the tele-rehabilitation of the stroke patients. The most effective pulse shape parameters are being investigated through animal experiments. The bio-compatibility and user-friendly interface are supposed to be handled in further study.

In this study, we have evaluated and classified arthritic pathology using the acoustical analysis of knee joint sounds. Six normal subjects and 11 patients with knee problems were enrolled. Patients were divided into the 1st patient group which required an orthopeadic surgery and the 2nd patient group of osteoarthritis. During sitting and standing periods, subjects' active knee flexion and extension were monitored. Fundamental frequency, mean amplitude of pitch, jitter and shimmer were analyzed according to the position and the joint angle. The result showed that the fundamental frequency of the 2nd patient group and standing position was higher than the others, and that the pitch of sounds changed unstably.

Urodynamics describes a collection of tests designed to evaluate lower urinary tract function and can be performed using retrograde filling of the bladder within a room. In this study, we designed and calibrated the potable urodynamics monitoring system using DSP chip (TMS320VC33, Texas InstrumentTM, U.S.) and obtained signals of bladder(Pves) and bladder neck pressure(Pneck) and EMG using calibration kit (DPT9022K0122, MedtronicsTM, U.s,). This system monitor spontaneous urination during daily life and can make patients more comportable.

When a hearing aid' s user is listening through telephone or cellular phone, he/she usually suffers from severe electrical magnetic interference noise. It is because hearing aids amplify voice signal as well as background noise. A telecoil, an induction coil, is a possible solution for the problem. Because a telecoil has the characteristic of high pass filter, it has some problem of resulting increased high frequency noise. For solving this problem, we can use a capacitor connected with the telecoil in parallel. According to capacitance, receiving signal quality may change. In this paper, proper capacitor values for the best sound quality are investigated by experimental work.

In this study, we tried to implement a PDA (Personal Digital Assistant)-based audiometric system to test hearing disorder. Due to the inherent handy nature of PDA system, our hearing test system can be easily performed in a local environment and consequently the measured audiometric data are stored and queryed via a built-in a PDA database system.

In this paper, a new rehabilitation training system was developed to improve equilibrium sense by combining virtual reality technology with a fixed exercise bicycle. The subjects consisted of two groups. A group of young people, was compared against a group of elderly. We measured three different running modes of virtual bicycle system with two successive sets. The parameters measured were running time, velocity, the weight movement, the degree of the deviation from the road, and the variables about the center of pressure. The repeated training, our results showed that the running capability of the elderly improve compared, In addition, it was found out that the ability of postural control and the equilibrium sense was improved with the presentation of the visual feedback information of the distribution of weight. From the results of this experiment, we showed that our newly developed system might be useful in the diagnosis of equilibrium sense or in the improvement of the sense of sight and, somatic, and vestibular sense of the elderly in the field of rehabilitation training.

Automatic guided vehicle(AGV) in the factory has an important role to advance the flexible manufacturing system. In this paper, we propose a novel object-transportation control algorithm of cooperative AGV systems to apply decentralized control scheme based on virtual-passivity. It is shown that the cooperative AGV systems ensure stability and the convergence to scaled multiple of each desired velocity field for multiple AGV systems. Finally, the application of proposed virtual passivity-based decentralized control algorithm via system augmentation is applied to be the tracking a circle. Also. the simulation results for the object-transportation by two AGV systems illustrate the validity of the proposed control scheme.

In this paper, we propose an adaptive tracking control method of a mobile manipulator for contour following with a kinematic model to have several unknown dimension parameters. Moreover, we will use the decentralized control method to design two independent controllers for two subsystems. The proposed controllers in this paper are based on the Lyapunov function in order to guarantee the stability of whole system for contour following task. The updated laws are also designed to estimated the unknown dimension parameters. Finally, the simulation results are presented to show the validity of the proposed controllers in this paper.

Handover is one of the most important factors that may degrade the performance of TCP connections and real-time applications in wireless data networks. We proposed a seamless handover with Motion Prediction in IEEE 802.16e-based broadband wireless access networks. By intergrating MAC and network layer handovers efficiently, this scheme minimizes the handover delay and eliminates packet losses during handover Simulations show that this scheme achieves loss-free packet delivery without packet duplication and increases TCP throughput significantly.

본 논문에서는 양방향환경에서의 메타데이터 서비스를 제공하는 TV-Anytime 시스템에서의 개인 맞춤형 서비스를 위한 오퍼레이션들을 설계 밋 구현한다. TV-Anytime 포럼에서는 양방향 환경에서의 메타데이터 서비스를 위해 get_Data 와 submit_Data 오퍼레이션을 정의 하였으나, 이 두 오퍼레이션은 양방향 환경에서의 맞춤형 서비스를 제공할 수가 없다. 이에 본 논문에서는 사용자 프로파일 정보를 활용한 개인 맞춤형 서비스를 위해 새로운 오퍼레이션을 제안한다. 제안된 오퍼레이션을 통해 사용자는 양방향 환경에서의 SOAP 프로토콜을 통해 콘텐츠의 검색, 저장, 탐색 및 개인 맞춤형 서비스가 가능하다.

광대역통합망(BcN: Broadband convergence Network)은 IT839에서 정의하는 8대 핵심 서비스를 위한 인프라 기술이며, 이들 핵심 서비스들이 요구하는 가장 중요한 사항은 각 서비스에서 요구하는 단말 및 망의 서비스 주소이다. 이러한 주소의 결정은 서비스 성능을 결정하는 가장 기본적인 사항이다. 따라서 BcN에서는 최종적으로 IPv6 주소에 의한 네트워크 구성으로 이들 8대 핵심서비스의 서비스 품질을 보장할 수 있는 망을 구성하고 서비스 사용자의 망 접속 편리성 제공과 향후 새로운 서비스 확장성을 제공하고자 한다. 따라서 본 논문에서는 IPv6 주소를 이용한 망 구성에 있어서 패킷 포워딩에 가장 큰 영향을 미치는 글로벌 라우팅 테이블과 이를 구성하는 BGP 라우팅 프로토콜의 관련 기능을 살펴보고, 이 라우팅 테이블을 가장 효율적으로 구성할 수 있는 주소 할당 방식에 대하여 기술한다.

A passive Optical Network (PON) is famous for the most cost-efficient solution among the optical networks. This is because there is no active device between a central office and subscribers. A wavelength division multiplexing (WDM) offers each subscriber to feel unlimited bandwidth. A WDM-PON, however, has a cost problem that WDM-PON is used commercially. To solve this trouble, it is surveyed that a Sub-Carrier Multiplexing (SCM) used in a WDM-PON increases the number of subscribers. The performance of WDM/SCM-PON varies with various noises. The several FEC Codes can reduce the effects of noise and improve the performance of the system. Thus, Choosing a suitable FEC code is important work. This paper describes that a Reed-Solomon (RS) code is the most suitable code for WDM/SCM-PON at the object of 100 Mbps and $10^{-9}$ BER

본 논문에서는 HD급 멀티미디어 streaming을 처리할 수 있는 DSP 플랫폼을 개발하였다. DSP 플랫폼은 Tl사의 C6400계열 DSP를 사용하였고 다채널의 오디오와 HD급 화질의 비디오_ 데이터를 처리할 수 있다. DSP가 decoder의 기능을 부담함으로써 하드웨어의 재구성이 용이하며 코덱을 다운로드하기 때문에 유연한 멀티미디어 컨텐츠의 재생이 가능하다. 개발한 DSP 플랫폼을 호스트 PC에 설치하여 PC로부터 DSP Configuration 파일과 멀티미디어 스트리밍 데이터를 전송받는 구조를 가진다. 소프트웨어는 실시간으로 demux를 실행하여 오디와 비디오_ 데이터를 분리하석 DSP 플랫폼의 외부메모리에 저장하고 동시에 비디오와 오디오의 디코딩을 실행한다. 오디오와 비디오 데이터의 버퍼 언더런/오버런을 극할 수 있는 buffer control 기법을 적용하였다. 호스트 PC에서 DSP 플랫폼으로의 스트리밍을 하기 위하여 Open Architecture 기반의 Windows OS에서 스트리밍 서비스 프로그램을 구현 하였다. 마지막으로 MPEG-2 video MP@ML인 비디오 코덱과 5.1ch 48kHz AC3인 오디오 코덱으 구성된 streaming 데이터를 사용하여 DSP 플랫폼을 검증하였다.

Multimeda service is very big capacity and use not a little network for provide cots. Because in paper introduce new method adaptive to merit of Unicast and Multicast. Propose method service possibility that now Multicast have merit which live broadcasting and Unicast have merit which can provide individually customer manage and good quality by data statistics. And network use to efficient

This paper proposes tracking control method using pseudo-backstepping control for wheeled mobile robots with nonholonomic constraints. First, the pseudo commands for forward linear velocity and angular velocity are chosen based on the kinematics. Then, the actual torque control inputs are designed to make the actual forward linear velocity and angular velocity follow the pseudo commands. Both semi-global practical posture(position and heading direction angle) stabilization and trajectory tracking are achieved for reference trajectories such as straight line and sinusoidal curve. The stability and performance analysed and numerical simulations are performed to confirm the effectiveness of the proposed scheme.

This paper proposed ultrasonic distance measurement module development for correct distance detection with collision escaping or obstacle of mobile robot is traveling self-regulation. Representative ultrasonic module applied in existing was Polaroid company's 6500 series and Devantech company's SRF04/SRF08 series. This ultrasonic sensors are corrupted by systematic errors due mainly to the dependency of sound speed upon surrounding conditions and random errors of uncertain origin. Therefore Ultrasonic distance detecting means of error compensation method and high definition, narrow beam angle, board area distance detecting means to apply to ultrasonic mobile robot control urgently need. In this paper use internal type temperature compensation method to improve problem of ultrasonic distance measurement method instead of that volume that have shortcoming of used correct temperature compensation methods applied big addition device. Compensate error by environment change of temperature. Humidity density etc. and is applicable to mobile robot offering various interface and real-time processing developed possible distance measurement module.

Power transmission lines have been playing a key role as the mainstay of national industry. When a power failure occurs, it can have severe effects on national security as well as national industry and economy. In this paper, we consider an insulator failure, which is one of the main causes of such a power failure. In spite of its importance, however, a shortage of manpower in the insulator maintenance field is getting more serious due to working environments with a high voltage and a high place. For this reason, a new active maintenance technique using a robot system is required to prevent such an insulator failure. In this paper, a new robot mechanism for insulator cleaning and inspection was developed. We confirmed its effectiveness through experiments.

We propose an analytic trajectory planning method using a wavelet neural network (WNN) for a natural and stable locomotion of the 9-link biped robot. We design a appropriate locomotion, which have a kick-action, by means of a ballastic walking model condition. In this paper, a WNN is used to interpolate the trajectory planed by the analytic method. Finally, we show the proposed trajectories through the computer simulation.

This paper presents the use of Point Number Algorithm (PNA) for real-time image processing for position identification of mobile robot. PNA can get how many points in the image gotten from the robot vision and can calculate the distance between the robot and the wall by the number of the points. The algorithm can be applied to a robot vision system enable to identify where it is in the workspace. In the workspace, the walls are made up by white background with many black points on them evenly. The angle of the vision is set invariable. So the more black points in the vision, the longer the distance is from the robot to the wall. But when the robot does not face the wall directly, the number of the black points is different. When the robot faces the wall, the least number of the black points can be gotten. The simulation results are presented at the end of this paper.

저에너지 중성자가 가톨리늄(Gd) 막에 입사되면 중성자 포획과정에서 전환전자가 생성된다. 이 전환전자에 의해 pMOSFET $SiO_2$ 산화층에서 발생된 전자-전공쌍이 발생되고, 이 가운데 정공은 산화층 내부에 쉽게 붙잡혀(Trap) 양전하 센터로 작용하게 된다. 이 축적된 전하는 pMOSFET의 문턱전압(Threshold voltage)을 변화시킨다. 본 연구에서는 이러한 간접측정 원리를 이용하여 열중성자를 실기간 탐지할 수 있는 반도체형 탐지소자를 개발하고 하나로(HANARO) 방사선장에서의 시험을 통해 성능을 검증하였다. 그리고 감도관련 변수의 최적화를 통하여 작업자가 사용 가능한 범위의 고감도 열중성자 선량계로 개선 제작하였다. 개발된 선량계는 소형으로 실시간 열중성자 측정이 가능하며 감마방사선으로부터 독립적으로 열중성자를 측정할 수 있는 장점도 지니고 있다.

광변환 물질을 사용하여 X-선이나 감마방사선을 가시광으로 변환한 다음 CCD 카메라를 통하여 광량을 측정하면 방사선의 양을 간접적으로 측정할 수 있다. 본 연구에서는 CCD형 비상대용 로봇용 고속 삼차원 방사선 위치 탐지장치에서 방사선 위치 센싱의 핵심 역할을 수행하는 CCD 방사선 탐지부를 간접 방사선 측정 방법을 응용하여 고안하고 구현한 다음 이에 대한 방사선 특성시험을 수행하였다. 시험 결과로 부터 구현한 CCD형 방사선 센서가 방사선 위치 및 선량 탐지장치로 활용 가능성이 충분함 확인하였다.

본 논문에서는 전력선 위상 측정을 위해 A/D 변환기 및 위상계측 연산장치를 집적한 하이브리드 센서칩의 구현 기법을 제시하였다. 개발한 위상계측 연산장치는 recursive sliding-DFT에 기반하였으며 곱셈기의 시분할 공유 구조를 사용하여 칩의 구현 면적을 최소화 하였다. 60Hz의 전력선 신호를 중심주파수로 하는 AD 변환장치는 sigma-delta ADC를 기반으로 하여 8-bit 정밀도를 제공하며 아날로그부의 구현을 최소화하도륵 설계하였다. 설계한 하이브리드 센서칩은 컴퓨터 시뮬레이션 및 FPGA 구현을 통해 동작을 검증하였으며, 검증 완료후 $0.35{\mu}m$ CMOS 공정기술로 구현하였다. 전력선 위상을 측정하기 위해 구현된 4채널 하이브리드 센서 칩의 설계면적은 $5{\times}5m^2$ 의 약 20%정도를 차지하였다.

A kernel regression filter with adaptive bandwidth is developed and successfully applied to digital reactivity meter for neutron signal measurement in nuclear reactors. The purpose of this work is not only reduction of the measurement noise but also the edge preservation of the reactivity signal. The performance of the filtering algorithm is demonstrated comparing with well known smoothing methods of conventional low-pass and bilateral filters. The developed method gives satisfactory filtering performance and edge preservation capability.

방사선을 센싱하는 센서들에는 어려 종류가 있으며, 그 센서에 따라서 감도나 센싱방식이 다양하다. 본 연구에서는 해상도가 높은 범용 CCD 센서를 이용하여 방사선을 검출하는데, 감도를 높이기 위해서 신실레이터라는 물질을 CCD CHIP 앞에 부착하였고, 들어오는 영상에서 방사선에 반응하여 생기는 백색량을 처리하여 방사선량을 측정할 수 있다는 것을 보여주고 있다. 또한 Panning을 하며 공간상에서 방사선이 가장 많이 나오는 포인터를 제시할 수 있다. 추후 스테레오 카메라 방식을 구현하여 방사선원까지의 거리 산출과 영상을 합성하여 입체화 시키는 연구도 진행할 예정이다. 논 연구의 결과물로 예기치 않은 방사선 사고의 경우 효과적인 사고처리에 활용될 수 있을 것이다.

MCMA(modified constant modulus algorithm) accomplishes blind equalization and carrier phase recovery simultaneously. But, the error level of MCMA is not zero when the equalizer converges completely. Because the MCMA uses a special signal point instead of a original signal point. MCMA-DO(decision-directed) improves the steady-state performance but the performance of equalizer is decided by switching time between the MCMA and the DD. In this paper, according to the residual ISI(intersymbol interference) of the equalizer output, the most suitable switching time is decided automatically.

A ubiquitous network allows all users to access and exchange information of any kind freely at any time, from anywhere, and from any appliance through the use of broadband and mobile access. Bluetooth commincation can provide the missing wireless extension to the heterogeneous network, allowing a more ubiquitous access. In this point of view, the BT specifications define ways for which each BT device can set up multiple connections with neighboring devices to communicate in a multi-hop fashion. this paper provides insights on the Bluetooth technology and on some limitations of the scatternet formations. so that, we describe a new multi-hop routing protocol for the establishment of scatternets. this protocol defines rules for forming a multi-hop topology in two phases. the first phase, topology discovery, concerns the discovery of the node's depth from a root node initiating inquiry process. the second phase forms scatternet topology based on the result of topology discovery.

In this paper, a preamble structure and a timing synchronization method for 802.16e based system are developed. The performances of the timing offset estimation in multipath fading channel is compared in terms of absolute mean. The simulation result shows that the proposed method has smaller mean.

This paper is a study on the application of the most suitable wireless communication system in nuclear plant. Chapter. 1 is the point at issue because of using of only wire communications and present states of wireless communications in nuclear plant of the world. Chapter. 2 is guides of wireless communications in nuclear plant, a case of EMI/RFI, EMC measuring and review of the best wireless communication in nuclear plant in Korea. Chapter. 3 is advantages and good reasons on the using of wireless LAN in nuclear plant.

In this paper the BER consideration of a quadrature receiver that has an autocalibration method is considered. The analysis is based on the derivation of the statistical characteristics of the imbalances in gain and phase between in-phase and quadrature components that may cause severe performance degradation of the receiver. The density. mean and variance functions of the estimates of gain and phase imbalances are discussed. Then it is shown that the estimates are asymptotically minimum variance unbiased with respect to the integration time in sampling. A brief consideration on the BER calculation follows.

Our society experiences a big change recently for ten years. The public of multimedia by development of a PC and Internet diffusion is it. this situation was applied in the field of industry. HMI of an industrial field experienced a big change these days. it comes out in new general ideas one after another, for example Interface of an Internet base, the animated graphic object, etc.. A study of a book is contents about animation function development of Human Interface Station(HIS) which is HMI of existing DCS system.

MMORPG enables thousands of players to play in an evolving virtual world at the same time over the internet. So, the load of this kind of games is heavier than that of any other precedents. One of load balancing methods is map-partition to divide the load of entire system which is vulnerable to delay message between clients and servers. In this paper, we propose a game architecture using MigAgent to help migration of player character between field servers and to reduce message traffic between clients and field servers.

Paper searches Neighbor Discovery Protocol's IPv6 address AutoConfiguration function that is IPv6's point technology. Also, I study plan to apply Router Advertisement function to Router. Router is formed whole system by Routing Process Card that do manager and Line Card that take charge of Packet Forwarding. Present plan that embody Router Advertisement function to Line Card.

In WDM/SCM-PON system more than thousand signals must be gathered to monitor for operation. We have implemented IEEE STD 1149.1 JTAG serial interface bus to gather and monitor analog signals. Required area is just $5{\times}5mm^2$. Gathering time per one signal is $1.75{\mu}$ second. Performance to gather is better than that defined in SFF-8472.

We simulated 3rd order intermodulation distortion (IMD3) induced Carrier-to-Intermodulation Ratio (CIR) of laser diodes over a wide range of optical modulation index, and compared the results with commercial IMD3 induced CIR specification such as Composite Triple Beat (CTB) of DFB laser transmitter for CATV networks. It shows that the simulation results are in good agreement with the CATV CTB specification within 3dB margin. The results can be used to predict IMD3 induced CIR performance for various analog optical transmission systems with given optical modulation index and the number of transmission channels.

The AIS(Automatic Identification System) transmits the position of ships and other information to prevent accidents which could occur in the sea. It has to be developed SOTDMA(Self-Organized Time Division Multiple Access) Algorithm which is important on wireless communication method for the AIS because It is based on ITU(International Telecommunication Union) M.1371-1 of the international standard therefore, we need to develop a performance evaluation simulator efficiently to develop and analyze SOTDMA Algorithm. This paper shows the method of designing it. Real ships access The VHF maritime mobile band but in this performance evaluation simulator several ship objects access the shared memory. Real ships are designed as the object and the wireless communication channel is designed as the shared memory. The ships apply for real virtual data which got from assistance hardware and The SOTDMA Algorithm driving state verifies the performance evaluation simulator by IEC(International Electrotechnical commission) 61993-2. After verifying results the performance evaluation simulator is correctly satisfied with IEC 61993-2. So we expect that it helps not only the AIS technology developed but also verify new SOTDMA Algorithm.

There is change of signal control system for train control worldwide current. This is train control system that use radio communication and step practical use Tuesday. Research for diversified application, examination and enforcement is achieved in internal railroad industry by this. Therefore, do examination of universal train radio control way for internal application. Studied train control way that use suitable radio communication to internal railroad.

Passenger safety is a primary concern of railway system but, it has been urgent issue that dozens of people are killed every year when they falloff from train platforms. Recently, advancements in IT have enabled applying vision sensors to railway environments, such as CCTV and stereo camera sensors. In this paper, we propose a stereoscopic video coding scheme for subway accident monitoring system. The proposed scheme is designed for providing flexible video among various displays, such as control center, station employees and train driver. We uses MPEG-2 standard for coding the left-view sequence and IBMDC for predicting the P- and B-types of frames of the right-view sequence. IBMDC predicts matching block by interpolating both motion and disparity predicted macroblocks. To provide efficient stereoscopic video service. we define both temporally and spatially scalable layers for each eye's-view by using the concept of Spatio-Temporal scalability. According to the experimental results. we expect the proposed functionalities will play a key role in establishing highly flexible stereoscopic video codec for ubiquitous display environment where devices and network connections are heterogeneous.

This paper proposes a symbol timing recovery method that is simple in structure and can provide high speed symbol synchronization. Transmitter and receiver are not synchronized in communication systems using digital modulation. Receiver should search the timing variation of transmitter continuously. The proposed timing recovery method searches sample position by comparing previous sample value with next sample value. This method can be applied to digital and optical transceivers with high data rate.

Unattended continuous containment/surveillance systems for safeguards of nuclear facility result in large amounts of image and radiation data, which require much time and effort to inspect. Therefore, it is necessary to develop system that automatically pinpoints and diagnoses the anomalies from data. In this regards, this paper presents the nuclear material containment/surveillance system that integrates visual image and radiation data.

This paper proposes a swarm-based fuzzy system modeling technique for coke oven combustion control diagnosis. The coke plant produces coke for the blast furnace plant in steel making process by charging coal into oven and supplying gas to carbonize it. A conventional mathematical model for coke oven combustion control has been used to control the amount of gas input, but it does not work well because of highly nonlinear feature of coke plant. To solve this problem, swarm-based fuzzy system modeling technique is suggested to construct a diagnosis model of coke oven combustion control. Based on the measured input-output data pairs, the fuzzy rules are generated and the parameters are tuned by the PSO(Particle Swarm Optimizer) to increase the accuracy of the fuzzy system is operated. This system computes the proper amount of gas input taking the operation conditions of coke oven into account, and compares the computed result with the supplied gas input.

This paper presents intelligent digital redesign method of global approach for hybrid state space fuzzy-model-based controllers. For effectiveness and stabilization of continuous-time uncertain nonlinear systems under discrete-time controller, Takagi-Sugeno(TS) fuzzy model is used to represent the complex system. And global approach design problems viewed as a convex optimization problem that we minimize the error of the norm bounds between nonlinearly interpolated linear operators to be matched. Also by using the power series, we analyzed nonlinear system's uncertain parts more precisely. When a sampling period is sufficiently small, the conversion of a continuous-time structured uncertain nonlinear system to an equivalent discrete-time system have proper reason. Sufficiently conditions for the global state-matching of the digitally controlled system are formulated in terms of linear matrix inequalities (LMIs).

When the target maneuver occurs, the estimate of the standard Kalman filter is biased and its performance may be seriously degraded. To solve this problem, this paper proposes a new intelligent estimation algorithm for a maneuvering target. This algorithm is to estimate the unknown target maneuver by a fuzzy system using the relation between the filter residual and its variation. The detected acceleration input is regarded as an additive process noise. To optimize the employed fuzzy system, the genetic algorithm (GA) is utilized. And then, the modified filter is corrected by the new update equation method using the fuzzy system. The tracking performance of the proposed method is compared with those of an interacting multiple model (IMM).

Recently genetic algorithm techniques have widely used in adaptive and 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 genetic algorithm constructed as a result is not obvious. And this method has been used as a learning algorithm to estimate the parameter of a genetic algorithm used for identification of the process dynamics of FIR filter and it was shown that this method offered superior capability over the genetic algorithm. A genetic algorithm is used to solve the parameter identification problem for linear and nonlinear digital filters. This paper goal estimate FIR filter parameter using the genetic algorithm.

In this paper, a timing analysis is performed for the CAN-based simulator system for a fuel cell hybrid electric vehicles. The CAN protocol is recently being used for conventional vehicles, however, the network-induced delay can make the in-vehicle network system unstable. This problem may be occurred in the future vehicles because more ECUs are being required than recent vehicles. In order to develop a stable network-based control system, timing analysis is required at the design process. Throughout this analysis, timing parameters that affect transmission delay are examined and an effective method of predicting a sampling time for a stable communication via CAN protocol. In order to show the validityof suggested timing analysis. some experiments are performed using DSPs with CAN module.

In this paper, we have studied for the current control method with high accuracy for the high power LED driver that is necessary to the lighting system using LEDs. The control performance of LED driver can be improved with the adjustment of current control boundary by introducing D/A converters for setting high-offset and low-offset. And microprocessor (ATmega128) and D/A converter with 8 bits resolution are used in the proposed driver so that LED's illumination can be remotely controlled by serial communication on the spot or by key input. In the results of performance tests, we confirmed that the proposed control method is superior to the conventional control method using op-amps.

The fuel cell system has inherent limitation such as slow response time and low fuel economy especially at the low power region, and thus, the battery system has come to be used to compensate for the fuel cell system. This type of hybrid configuration has many advantages, however, the energy management strategy is essentially required. The work in this paper presents survey on recent power management strategies for fuel cell hybrid electric vehicles. For three power management strategies: basic control method. object function-based control method, and fuzzy logic-based control method. each strategy is reviewed and discussed with other strategy.

압전 구동기(Piezo actuator)는 수 나노미터 수준의 위치정밀도와 고분해능을 가지고 있으나 비선형 특성인 히스테리시스(Hysteresis)는 정상상태에서 위치 오차를 발생하는 주요 원인이 된다. 현재까지 히스테리시스를 보상하기 위해 피 프 포워드 제어 방법, Pl 제어 방법, $H_{\infty}$제어 방법 등이 연구되어 왔지만 저주파 대역의 외란(disturbance)까지 고려하여 시스 템을 주파수 영역에서 설계, 분석하는 방법에 대한 연구는 미흡하였다. 본 논문은 압전 구동기의 위치 제어를 위한 제어기의 설계와 이를 주파수 영역에서 분석하는 내용을 다룬다. 제어기의 설계는 히스테리시스를 보상하기 위해 극점 배치 방법과 외란 관측기(Disturbance observer)를 기본으로 하였으며 적분제어를 적용하여 시스템 민감도(sensitivity)를 개선하였다. 시뮬레이션과 실험을 통하여 설계한 제어기가 히스데리시스에 대한 보상과 민감도의 개선에 효율적임을 검증하였다.

In this paper, we consider a digital protection IED(Intelligent Electric Device) for a distributed power system. The IED can measure various elements for protection and communicate with another devices through network. The protection IED is composed of specific function modules: signal process module which converts analog signal from PT and CT handle algorithm to digital one; communication module for connection with another IEDs; input/output module for user-interfaces. A general purpose DSP board with TMS320C2812 is used in the IED. In order to verify the proposed IED, experimental researches with the power system simulator DOBLE has been carried out for a phase earth fault. The results show an under-voltage relaying algorithm has been realized sucessfully in the hardware system.

This paper presents the design and analysis of the electromagnetic system such as jumping ring system. Also, we study the characteristics of dynamics for system with initial parameter. For the propose of system control,, first, we simulate the MATLAB tool solving coupled differential equations with electric parameter, inductance and mutual inductances. Therefore, we design a jumping ring system using design results, implement, and analyze the jumping ring system real situation. For the near time, we present a control process, and compare of real system and software technique.

This paper deals with a linear matrix inequality (LMI) approach to the design of a static output feedback controller that simultaneously stabilizes a finite collection of linear time-invariant plants. Simultaneous stabilization by static ouput feedback is represented in terms of LMIs with a rank condition. An iterative penalty method is proposed to solve the rank-constrained LMI problem. Numerical experiments show the effectiveness of the proposed algorithm.

The best known Lee & Sung and Ho's method for PID tuning of the system with time delay are compared with the recently developed the LQ-PID method.

A block-based fast motion estimation algorithm is proposed in this paper to perform motion estimation based on the efficiently reduced search ranges in MPEG-4(ERS). This algorithm divides the search areas into several small search areas and the candidate small search area that has the lowest average of sum norm difference between current macroblock and candidate macroblock is chosen to perform block motion estimation using the Nobel Successive Elimination Algorithm (NSEA). Experimental results of the proposed algorithm show that the averaging PSNR improvement is better maximum 0.125 dB than other tested algorithms and bit saving effect is maximum 20kbps for some tested sequences in low-bit rate circumstance.

These days, many image processing techniques have been studied for effective image compression. Among those, 2D image filtering is widely used for 2D image processing. The 2D image filtering can be implemented by performing ID linear filtering separately in the direction of horizontal and vertical. Efficiency of image compression depends on what filtering method is used. Generally, circular convolution is widely used in the 2D image filtering for image processing. However it doesn't consider correlations at the region of image boundary, therefore filtering can not be performed effectively. To solve this problem. I proposed new convolution technique using Symmetric-Mirroring convolution, satisfying the 'alias-free' and 'error-free' requirement in the reconstructed image. This method could provide more effective performance than former compression methods. Because it used very high correlative data when performed at the boundary region. In this paper, pre-processing filtering in H.264 codec was adopted to analyze efficiency of proposed filtering technique, and the simulator developed by Matlab language was used to examine the performance of the proposed method.

As multimedia data and huge-Quantity video data having been increasingly and commonly used, the key frame algorithm, as one of the methods for manipulating these kinds of data, became an important matter and has been studied for many years. But the formerly proposed key frame extraction methods take much processing time or need complex calculations due to decoding processes. In order to solve these problems which the former methods have and to enhance the key frame extraction efficiency, a novel key frame extraction method in compressed domain is proposed in this paper. In this method we get an edge histogram for each I-frame in DCT domain and then extract the key frames by means of histogram difference metric. Experimental results show that our algorithm achieves fast processing speed and high accuracy.

We propose efficient video retrieval scheme which use fast key frame extraction in DCT domain. Our scheme extract key frame using the edge histogram difference which is extracted in compressed domain for I-frames. And the video retrieval is implemented using Hausdorff distance function about edge histogram of key frame. This approach enables fast content-based video retrieval of the compressed video content without decompression process. Experimental results show our scheme is very fast and efficient.

This paper describes the detection of spatio-temporal parameter using an accelerometer and footswitches to evaluate a symmetry and balance of hemiplegic patients. We detected gait data using a 3-axis accelerometer that mounted between L3 and IA intervertebral area and footswitches made by FSR-Sensor attached insole. To minimize the error of the gait parameters to be detected incorrectly in case of using only accelerometer, we enhancement the performance of detection by measuring an accelerometer and foots witches data at the same time. So, it was possible to detect more accurate gait parameters. As a result, we can confirm the symmetry and balance of hemiplegic patients. In the future. these results could be used to evaluate the walking ability in hemiplegic patients in clinical pratice.

As information technology has been developed rapidly, there is growing online medicine service through forming as information technology and medicine information are amalgamated in the medical service field. That acquires real time biological information of patient through a communication network which could be applied into e-healthcare system for a diagnosis and treatment of patient. Because of these reasons, it is necessary for the e-healthcare system to develop. But,the facilities existing in the medical service field could not be used to an on line environment because of the limitation of the time and space. To solve the point of such issue, we propose an auto color analysis system that is a precise and quick to measure health states of user, and the device has the important merit that it is very low cost. Also, the hospital web database and the monitering webpage for a diagnosis have been made for an e-healthcare system.

본 논문에서는 지문 인식을 하는데 있어서 특징점의 정보를 이용하여 지문을 정합하는 방법을 제안 하였다. 지문에는 중심점(core point), 삼각주(delta point), 분기점(bifurcation), 단점(ending point)들이 있는데, 본 논문에서는 먼저 poincare index를 이용하여 중심점을 검출한다. 검출된 중심점을 중심으로 하여 관심영역(ROI : region of interest)을 결정하여 영역내의 특징점들을 검출하여, 각 각 특징별로 분류한 다음 중심점과 특징점들과의 관계를 계산하여 지문 정합에 이용한다. 입력 받은 지문은 개개인 각각 양손 모두 10개의 손가락에서 센서의 누르기 압력을 다르게 하여 2번 입력 받아 사용하였다. 실험 결과 기존의 특징점 기반 알고리즘 보다 더 적은 영역에서 좀 더 정확하고 신뢰할 수 있는 지문 정합을 보여줌을 확인 하였다.

When a hearing aid' s user is listening through telephone or cellular phone, he/she usually suffers from severe electrical magnetic interference noise. It is because hearing aids amplify voice signal as well as background noise. A telecoil, an induction coil, is a possible solution for the problem. Because a telecoil has the characteristic of high pass filter, it has some problem of resulting increased high frequency noise. For solving this problem, we can use a capacitor connected with the telecoil in parallel. According to capacitance, receiving signal quality may change. In this paper, proper capacitor values for the best sound quality are investigated by experimental work.

요즈음 인터넷은 사람들의 생활에 일부를 차지할 만큼 보급이 확산되었다. 하지만, 일반 사용자가 인터넷을 사용하여 원하는 문서를 작성하기에는 아직도 여러 가지 어려운 점이 많다. 인터넷을 사용하려면 HTML이라는 문서를 만들어야 사용할 수 있고 여러 가지 작성법을 배우기 위해서는 번거로움과 시간적 손실을 가만해야 한다. 본 논문에서는 멀티미디어와 HTML 문서를 일정한 문장 형식에 맞추어서 작성하는 것보다 보이는 그대로 입력, 수정하여 작성하는 WYSIWYG(What You See Is What Irou Get) 방식으로 만들어져 사용자가 이용하기에 간편하고, 직접 원하는 대로 테일러링하여 작성할 수 있도록 만든 툴인 멀티미디어 웹 에디터를 제안한다.

Optical networks are composed of various enabling technologies, merged in harmony to produce high-speed, reliable and affordable communications backbones. Optical communications has evolved out of the necessity for a transmission medium with increased bandwidth capacity. The evolution of fiber optic data communications has stemmed from the telecommunications industry's need to multiplex voice channels for interconnecting call distribution center.

The electronic transmission of VLBI data(dubbed e-VLBI) presents a special challenge to the use of high-speed global network. with long-term requirements for simultaneous or near-simultaneous Gbps data streams from antennas worldwide converging in a single processing center, e-VLBI is both a useful and highly synergetic application for global high-speed networksAs broband access to high speed research and education networks has become increasingly available to radio telescopes around the world the use of e-VLBI has also increased. High bandwidth e-VLBI experiments have been achieved across wide areas e-VLBI has also been used for the transfer of data from "production"exoeriments

This paper is proposed an efficiency optimization control algorithm for a synchronous reluctance motor(SynRM) which minimizes the copper and iron losses. ALso, this paper presents a sensorless control scheme of SynRM using artificial neural network(ANN). The proposed algorithm allows the electromagnetic losses in variable speed and torque drives to be reduced while keeping good torque control dynamics. The control performance of ANN is evaluated by analysis for various operating conditions. Analysis results are presented to show the validity of the proposed algorithm

Interior permanent magnet synchronous motor(IPMSM) has become a popular choice in electric vehicle applications, due to their excellent power to weight ratio. The paper is proposed maximum torque control of IPMSM drive using artificial intelligent(AI) controller. The control method is applicable over the entire speed range and considered the limits of the inverter's current and voltage rated value. For each control mode, a condition that determines the optimal d-axis current $i_d$ for maximum torque operation is derived. This paper considers the design and implementation of novel technique of high performance speed control for IPMSM using AI controller. This paper is proposed speed control of IPMSM using learning mechanism fuzzy neural network(LM-FNN) and estimation of speed using artificial neural network(ANN) controller. The back propagation neural network technique is used to provide a real time adaptive estimation of the motor speed. The proposed control algorithm is applied to IPMSM drive system controlled LM-FNN and ANN controller, the operating characteristics controlled by maximum torque control are examined in detail. Also. this paper is proposed the experimental results to verify the effectiveness of AI controller.

This paper is proposed adaptive hybrid artificial intelligent(HAI) controller for high performance of induction motor drive. The design of this algorithm based on fuzzy-neural network(FNN) controller that is implemented using fuzzy control and neural network. This controller uses fuzzy rule as training patterns of a neural network. Also, this controller uses the back-propagation method to adjust the weights between the neurons of neural network in order to minimize the error between the command output and actual output. A model reference adaptive scheme is proposed in which the adaptation mechanism is executed by fuzzy logic based on the error and change of error measured between the motor speed and output of a reference model. The control performance of the adaptive FNN controller is evaluated by analysis for various operating conditions. The results of experiment prove that the proposed control system has strong high performance and robustness to parameter variation, and steady-state accuracy and transient response.

In the steel industry, a steel melting electric arc furnace is used to produce both carbon and alloy steels. Steel scrap which is charged into the furnace is heated by means of electric arc between graphite electrodes and the scrap. In this melting process, current is supplied to the furnace through HCC(high current cable) which connect the furnace and transformer. Four HCCs are assigned to each phase in our system to divide the current. Since a sudden cable breaking result in the shutdown of melting process, an aging detection of HCC is very important for both an improvement of productivity and cost reduction. In this paper, the aging of the HCC is estimated by using the current ratio between four HCCs.

This paper deals with the design of power topology for nuclear power plants. Although rod control system 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, proposed design is reviewed to satisfy system requirements. This paper deals with a design of power topology for driving Control Element Drive Mechanism (CEDM) that is used to withdraw or insert control rods in nuclear reactor.

This paper is study for design SOC composing space vector control algorithm of sensorless BLDC motor by H/W and apply this to operating machanism of washing machine system. it is study that increases control efficiency than S/W control algorithm and enhances response for change of system and authoritativeness of controller. Designed so that can compose controller of most suitable in dynamic characteristic of system by design Parameters of each controller to independent block for SOC design connecting to 8051 cores. For control Sensorless BLDC motor to drive system of washing machine, applied to H/W SVPWM control, so improved authoritativeness of control algorithm and control effectiveness than S/W control algorithm

In this paper, low cost inertial sensor and compass were used instead of encoder for localization of mobile robot. Movements by encoder, movements by inertial sensor and movements by complementary filter with inertial sensor and compass were analyzed. Movement by complementary filter was worse than by only inertial sensor because of imperfection of compass. For the complementary filter to show best movements, compass need to be compensated for position error.

Reactive plans for a box-pushing task of a mobile robot are automatically built up, where sequential action plans are found in a configuration space by A* algorithm for various initial configurations. Then, conjunction of conditions to associate with a same behavior are found by a back tracking algorithm. And corresponding reactive plans are generated. Finally, a clustering technique is applied to identify which reactive plan should be applied for a given perceptual condition. Several simulation results are shown to justify our proposed approach.

This paper presents the dynamic analysis of a humanoid robot using Nastran that is one of FEM analysis program. Generally, computer program based on the Lagrange-Euler method or Newton-Euler method was used for dynamic analysis of a robot. The Lagrange-Euler method requires much calculation performance and it is also hard to apply to complex structure, and the Newton-Euler method limits accurate modeling and calculation for closed structure like a humanoid robot. In this paper, mechanical and structural data are obtained from the Nastran. It is possible for Nastran to make model similar to real system and can apply a physical properties and laws to model. So, accurate simulation is possible. From this result, accurate data is gained by Nastran. Furthermore, this method is shown to be a useful method that guarantees accuracy for trajectory planning.

This paper present a learning controller for repetitive gate control of biped robot. The learning control scheme consists of a feedforward learning rule and linear feedback control input for stabilization of learning system. The feasibility of learning control to biped robotic motion is shown via dynamic simulation and experimental results with 24 DOF biped robot.

To make the autonomous mobile robot move in the unknown space, we have to know the information of current location of the robot. So far, the location information that was obtained using Encoder always includes Dead Reckoning Error, which is accumulated continuously and gets bigger as the distance of movement increases. In this paper, we analyse the effect of the size of the two wheels of the mobile robot and the wheel track of them among the factors of Dead Reckoning Error. And after this, we compensate this Dead Reckoning Error by Kalman filter using Gyro Sensors. To accomplish this, we develop the controller to analyse the error components of Gyro Sensor and to minimize the error values. We employ the numerical approach to analyse the error components by linearizing them because each error component is nonlinear. And we compare the improved result through simulation.

Recently image display devices have become large and high quality. To control the qualities of the component, measurements of the shape and thickness of a plate glass has been required. In order to measure the shape of the specular objects, Non-Contact Optical Sensor using Hologram laser unit was proposed. The sensor has a optical system that is composed of a Hologram laser and objective lens used for CD Player, and the sensor showed high performance for measuring the shape and thickness of transparent plates. In the sensor, the temperature of the sensor body is controlled by TEC(Thermoelectric Cooler). In this paper, we proposed the measuring method to make better performance of sensor using focus error signal of a hologram laser unit. It can measure the shape and the thickness of transparent objects with the s-type focus error signal which is generated by the sensor while it goes to the object.

In this paper, we deal with a calibration method for low cost motion capture sensor using PSD (Position Sensitive Detection). The PSD sensor is employed to measure the direction of incident light from moving markers attached to motion body. To calibrate the PSD optical module, a conventional camera calibration algorithm introduced by Tsai. The 3-dimensional positions of the markers are measured by using stereo camera geometry. From the experimental results, the low cost motion capture sensor can be used in a real time system.

In this paper, we introduce localization server system calculated real location of objects using raw data of location-awareness from sensor node gateway. The software architecture of localization server system consists of location calculation and actuator control based on location. Also, this system supports for collecting raw data, calculating location of real objects using raw data, correcting error from outer environment, and server for applications based on location.

위치 인지(localization)는 유비쿼터스 응용의 중요 기술로서 사용자 및 센서 노드 주변의 환경 상태와 같은 정보를 지능적으로 판단하는 상황 인지(context awareness)와 더불어 실재 지리적 위치를 인지(location awareness)할 수 있는 지능화된 서비스를 말한다. 기존의 센서 네트워크를 이용한 위치 인지 기술들은 실내(Indoor) 공간에서 미리 설치된 센서 노드블을 기반으로 능동형 혹은 수동형 방식으로 움직이는 노드의 위치를 측정 하는 인프라스트럭척 기반의 기술 이었다. 그러나 이러한 방식은 위치 인지를 위해 미리 특정 노드 들을 설치해야 하는 근본적인 문제점이 있어서, 군사 작전이나 위급 상황과 같은 환경에서도 강건하게(robust) 사용하기 위해서는 새로운 구조가 필요로 하다. 본 논문에서는 인프라스트럭쳐 기반이 없는 환경에서도 센서 네트워크를 이용해서 강건하게 위치 인식을 할 수 있는 하이브리드(hybrid) 알고리즘 및 시스템을 제안하였다.

메쉬 센서 네트워크 기술은 새로운 컴퓨팅 패러다임인 유비쿼터스 컴퓨팅의 진입 기술로 중요한 의미를 갖는다. 이런 새로운 컴퓨팅 패러다임의 기술이 성공적으로 발전하기 위해서는 기반이 되는 진입기술의 확산이 중요하다. 본문에서는 현재까지 진행된 메쉬 센서 네트워크 기술 동향과 실제로 구현된 응용 서비스들을 분석한다. 그리고 메쉬 센서 네트워크에대한 개년 정립과 실제 구현을 동시에 진행하고 있는 TinyOS 프로젝트에서 공개된 메쉬 센서 네트워크 구조 등, 주요 기술 부분과 응용 서비스 기술을 분석하여 지금까지의 메쉬 센서 네트워크 기술개발 상황과 향후 산업화 가능성을 파악한다.

애드-혹 네트워크를 이용하는 응용 서비스 중에는 전송 데이터 손실의 처리가 매우 중요한 경우가 있다. 생산설비 모니터링 및 제어, 무선 네트워크를 이용한 가전기기 제어 등에서 데이터 전송의 신뢰성 문제는 중요한 문제점으로 지적되고 있다. 적은 자원으로 무선 통신 네트워크를 지원하는 애드-혹 네트워크의 경우에는 인터넷에서 사용되고 있는 방법을 사용하는 것은 적합하지 않다. 본 논문에서는 무선 애드-혹 센서 네트워크에 사용 가능한 신뢰성있는 데이터 전송 방법에 대해 분석, 제안한다.

This paper proposes apractical design method for ship-to-ship missiles' autopilot. When the pre-designed analogue autopilot is implemented in digital way, theygenerally suffer from severe performance degradation and instability problem even for a sufficiently small sampling time. Also, aerodynamic uncertainties can affect the overall stability and this happens more severely when the nonlinear autopilot is digitally implemented. In order to realize a practical autopilot, two main issues, digital implementation problem and compensation for the aerodynamic uncertainties, are considered in this paper. MIMO (multi-input multi-output) nonlinear autopilot is presented first and the input and output of the missile are discretized for implementation. In this step, the discretization effect is compensated by designing an additional control input. Finally, we design a parameter adaptation law to compensate the control performance. Stability analysis and 6-DOF (degree-of-freedom) simulations are presented to verify the proposed adaptive autopilot.

This paper proposes a time series prediction method for the nonllinear system using the fuzzy system and its genetic algorithm, At first, we obtain the optimal fuzzy membership function using the genetic algorithm. With the optimal fuzzy rules and its input differences, a better time prediction series system may be obtained. We obtain a good result for the time prediction of the electric load.

Existent distance measurement that use camera is method that use both Stereo Camera and Monocular Camera, There is shortcoming that method that use Stereo Camera is sensitive in effect of a lot of expenses and environment variables, and method that use Monocular Camera are big computational complexity and error. In this study, reduce expense and error using Monocular Camera and I suggest algorithm that measure distance, Extract features using scale Invariant features Transform(SIFT) for distance measurement, and this measures distance through features matching and geometrical analysis, Proposed method proves measuring distance with wall by geometrical analysis free wall through feature point abstraction and matching.

In this paper, we propose tuning method of PID-PD controller to satisfy design specifications in frequency domain as well as time domain. The proposed tuning method of PID-PD controller that consist of the convex set of PID and PI-PD controller controls the closed-loop response to locate between the step responses, and Bode magnitudes of closed-loop transfer functions controlled by PID and PI-PD controller. The controller is designed by the optimum tuning method to minimize the proposed specific cost function subject to sensor noise insensitivity and robust stability. Its effectiveness is examined by the case study and analysis.

In this paper, The Frenet-Serret formula of classical geometric curve theory with the concept of a missile pointing velocity vector are used to analyze and design a missile guidance law. The capture capability of this guidance law is qualitatively studied by comparing the rotations of the velocity vectors of missile and target relative to the line of sight vector. when fuzzy Table look-up theory applied in target-missile distance & angle displacement, this research. It's performance is better then classical research.