Fault-tolerant gait generation of a hexapod robot with crab walking is proposed. The considered fault is a locked joint failure, which prevents a joint of a leg from moving and makes it locked in a known position. Due to the reduced workspace of a failed leg, fault-tolerant crab walking has a limitation in the range of heading direction. In this paper, an accessible range of the crab angle is derived for a given configuration of the failed leg and, based on the principles of fault-tolerant gait planning, periodic crab gaits are proposed in which a hexapod robot realizes crab walking after a locked joint failure, having a reasonable stride length and stability margin. The proposed crab walking is then applied to path planning on uneven terrain with positive obstacles. i.e., protruded obstacles which legged robots cannot cross over but have to take a roundabout route to avoid. The robot trajectory should be generated such that the crab angle does not exceed the restricted range caused by a locked joint failure.

In the field of electrical industry, embedded computing environment including hardware and software is getting more important as the industry shifts to the knowledge-based one. Java could play a great role as bridging technology in such a transition because it provides a lot of benefits like dynamic application download, compatibility of cross platform, and its own security solution. However, the Java technology has a limitation of real-time problem when it is applied to the embedded computing system of the electrical industry. To solve the problem, a novel java-native combination model has been proposed and designed to a firmware level. This scheme has been employed in four kinds of control boards. The result shows that the proposed model has great potential to implement the real-time processing in control of the devices.

A seam-line determination algorithm is proposed to determine image border-line in mosaicing using the transformation of gray value differences and dynamic programming. Since visually good border-line is the one along which pixel differences are as small as possible, it can be determined in association with an optimal path finding algorithm. A well-known effective optimal path finding algorithm is the Dynamic Programming (DP). Direct application of the dynamic programming to the seam-line determination causes the distance effect, in which seam-line is affected by its length as well as the gray value difference. In this paper, an adaptive cost transform algorithm with which the distance effect is suppressed is proposed in order to utilize the dynamic programming on the transformed pixel difference space. Also, a figure of merit which is the summation of fixed number of the biggest pixel difference on the seam-line (SFBPD) is suggested as an evaluation measure of seamlines. The performance of the proposed algorithm has been tested in both quantitively and visually on various kinds of images.

Human being recognizes the physical world by integrating a great variety of sensory inputs, the information acquired by their own action, and their knowledge of the world using hierarchically parallel-distributed mechanism. In this paper, authors propose the sensor fusion system that can recognize multiple 3D objects from 2D projection images and tactile informations. The proposed system focuses on improving recognition performance of 3D objects. Unlike the conventional object recognition system that uses image sensor alone, the proposed method uses tactual sensors in addition to visual sensor. Neural network is used to fuse the two sensory signals. Tactual signals are obtained from the reaction force of the pressure sensors at the fingertips when unknown objects are grasped by four-fingered robot hand. The experiment evaluates the recognition rate and the number of learning iterations of various objects. The merits of the proposed systems are not only the high performance of the learning ability but also the reliability of the system with tactual information for recognizing various objects even though the visual sensory signals get defects. The experimental results show that the proposed system can improve recognition rate and reduce teeming time. These results verify the effectiveness of the proposed sensor fusion system as recognition scheme for 3D objects.

Preserving image features, edges and details in the process of impulsive noise filtering is an important problem. To avoid image blurring, only corrupted pixels must be filtered. In this paper, we propose an effective impulse noise detection method using Self-Organizing Neural Network(SONN) which applies median filter selectively for removing random-valued impulse noises while preserving image features, edges and details. Using a $3\times3$ window, we obtain useful local features with which impulse noise patterns are classified. SONN is trained with sample image patterns and each pixel pattern is classified by its local information in the image. The results of the experiments with various images which are the noise range of $5-15\%$ show that our method performs better than other methods which use multiple threshold values for impulse noise detection.

This paper presents 3D line segment extraction method, which can be used in generating 3D rooftop model. The core of our method is that 3D line segment is extracted by using line fitting of elevation data on 2D line coordinates of ortho-image. In order to use elevations in line fitting, the elevations should be reliable. To measure the reliability of elevation, in this paper, we employ the concept of self-consistency. We test the effectiveness of the proposed method with a quantitative accuracy analysis using synthetic images generated from Avenches data set of Ascona aerial images. Experimental results indicate that the proposed method shows average 30 line errors of .16 - .30 meters, which are about $10\%$ of the conventional area-based method.

Microstrip antennas generally have a lot of advantages that are thin profile, lightweight, low cost, and conformability to a shaped surface application with integrated circuitry. In addition to military applications, they have become attractive candidates in a variety of commercial applications such as mobile satellite communications, the direct broadcast system (DBS), global positioning system (GPS), and remote sensing. Recently, many of the researches have been achieved for improving the impedance bandwidth of microstrip antennas. The basic form of the microstrip antenna, consisting of a conducting patch printed on a grounded substrate, has an impedance bandwidth of $1\~2\%$. For improvement of narrow bandwidth of microstrip patch, we were designed U-slot microstrip patch antenna in this paper. This antenna had wide bandwidth for all personal communication services (PCS) and IMT-2000. For the design of U-slot microstrip patch antenna using a finite difference time domain(FDTD) method. This numerical method could get the frequency property of U-slot patch antenna and the electromagnetic fields of slots.

In this paper, the pipelined A/D converter with multi S/H stage structure is proposed for high resolution and high-speed data conversion rate. In order to improve a resolution and operational speed, the proposed structure increased the sampling time that is sampled input signal. In order to verify the operation characteristics, 20MS/s pipelined A/D converter is designed with two S/H stage. The simulation result shows that INL and DNL are $0.52LSB\~-0.63LSB$ and $0.53LSB\~-0.56LSB$, respectively. Also, the designed Analog-to-Digital converter has the SNR of 43dB and power consumption is 18.5mW.

This paper proposes a phase measurement algorithm which is based on the recursive implementation of sliding-DFT. The proposed algorithm is designed to have a robust behavior against the erroneous factors of frequency drift, additive noise, and twiddle factor approximation. Four channel power-line phase measurement system is also designed and implemented based on the time-multiplexed sharing architecture of the proposed algorithm. The proposed algorithm's features of phase measurement accuracy and its robustness against the finite wordlength effects can provide a significant impact especially for the ASIC or microprocessor based embedded system applications where the enhanced processing speed and implementation simplicity are crucial design considerations.

Digital display products are gradually becoming diversified and pursuing high-quality image display. Digital TV supports various video signal formats from conventional SD to digital HD because the format conversion of video image is required. Traditional format conversion of the video image is achieved by a 1-dimensional linear interpolator applying both horizontal and vertical direction. Jagging artifact can be expressed as the linkage of line segments in several directions. In this paper, we present the method that removes jagging artifact effectively using PCA (Principle Component Analysis) and reserve the detail in a given image.

In this paper, we proposed a new algorithm for the separation of fetal ECG from single channel abdominal ECG. The algorithm consists of a stage of demixing vector calculation for initial signal and a stage of fetal beat detection for the rest of signal. The demixing vector was obtained by applying independent component analysis technique to projected signals into time-frequency domain. For the test of this algorithm, simulation signals, De Lathauwer's data and some measured data, which was acquired from 8 healthy volunteers whose pregnant periods ranged from 22 weeks to 35 weeks and whose ages from 27 to 37, were used. For each data, the accuracy of fetal beat detection was $100\%$ and with the location of fetal beats, fetal heart rate variability and morphology could be offered. In conclusion, this proposed algorithm showed the possibility of fetal beat separation with a single channel abdominal ECG and it might be adopted to a fetal health monitoring system, by which a single channel abdominal ECG is acquired.

In these days the virtual reality technology has been applied to treat such an anxiety disorders. And also a medical doctor can diagnose the patient in distance with the telemedicine system. In this thesis, an telemedicine assistant system for treatment of acrophobia using biomedical signals and virtual reality technique is proposed. I made two virtual reality simulations for treatment of acrophobia and telemedicine system for communication between doctor and patient using personal computer. Multimedia conference service, online questionary, signal transfer system are needed to configure such system. Virtual reality simulation system that composed of position sensor, head mount display, and audio system, is also included in this telemedicine system. I added virtual environment update system to this virtual reality telemedicine system for treatment of acrophobia. With this virtual environment update system, the doctors can change virtual reality simulation stage based on the status of each patient and symptom of phobia. We will apply this system to the acrophobia patient in distance and be able to offer better medical treatment for mental illness in near future.