A new local path planning algorithm using DPH (distance profile histogram) is suggested in this paper. The proposed method makes a grid type world map using distance values from multiple ultrasonic sensors and genrates local points through which the mobile robot can avoid obstcles safely. The DPH (distance profile historgram) represents geometrical arrangement of obstacles around the robot in the local polar coordinate system which is assumed to be atached to the robot. To control robot's navigation, a three-layered control structure is adopted. The proposed local path planning algorithm is placed on the top level. And a point-to-point translation controller takes the middle level. The bottom level consists of a velcoity servo and sonar driver modules which take charge of driving physical hardwares. The validity of the propsoed method is demonstated through several experiments.

In tis paper we researched the implementation methodology and techniques for the high real-time responsive operating system of an ISDN PABX system. The operating system we developed takes a high role as a dedicated real-time operating system for PABX systems. It provides the functions and synchronization, interprocessor communication, interrupt processing, and data I/O processing. And also it provides lots of real-time processing functions for supproting various real-time applications. Finally, we evaluated the performance by measuring the best, the average, and the worst-case execution time of all functions implemented in this real-time operating system.

In this paper, we designed a new type of high frequency on-chip voltage controlled oscillator (VCO) using GaAs MESFET, and their performances were comapred with those of the conventional VCO. Each VCO was designed with three-to-five ring oscillator and inverter, buffer and NOR gate were implemented by GaAs source coupled FET logic, which has better speed and noise performance compared to other GaAs MESFET logic. SPICE simulation showed that the gain of conventional and our new VCO was 1.24[GHz/V], 0.54[GHz/V], respectively. The frquency tuning range were 2.31 to 3.55 [GHz] for conventional VCO and 2.47 to 3.01[GHz] for our new design. This shows that the factor of two gain reductin was achieved without too much sacrifice in the oscillation frequency. For our new VCO, the average temperature index was -2[MHz/.deg. C] in the range of -20~85[.deg. C] the power supply noise index was 5[MHz/%] for 5.3[V].+-.10[%] and total power consumption was 60.58[mW].

Since optical delay line signal processing which utilizes optical fiber as delay line elements can provide high speed and broadband signal processing, the optical delay line signal processing has numerous applications. Recently, many research papers which optical delay line signal processing techniques are being applied to OCDMA are published. The author has published paper on the design method for optical fiber filters of lattice structure. However, the previous design method does not realize the transfer function all the time. It can be realized with constraints. In this paper, we propose the design method that can realize the transfer function all the time without any constraints for the optical fiber filter of lattice structure.

This paper presents the ECG data compression using wavelet transform (WT) and adaptive fractal interpolation (AFI). The WT has the subband coding scheme. The fractal compression method represents any range of ECG signal by fractal interpolation parameters. Specially, the AFI used the adaptive range sizes and got good performance for ECG data cmpression. In this algorithm, the AFI is applied into the low frequency part of WT. The MIT/BIH arhythmia data was used for evaluation. The compression rate using WT and AFI algorithm is better than the compression rate using AFI. The WT and AFI algorithm yields compression ratio as high as 21.0 wihtout any entropy coding.

Image restoration is the process which estimates the original image form the blurred image observed by the non-ideal imaging system with additivenoise. According to the regularized approach, the resotred image can be obtained by iterative methods or the constrained least square error(CLS) filter. Among those retoratin methods, despite of many advantages, iterative iamge restoration is limited in use because of slow convergence. In the present paper, fast iterative image restoration algorithms based on preconditoning are proposed. The preconditioner can be obtained by using the characteristics finite impulse response (FIR) filter structure.

This paper describes facial component detection and skew correction algorithm for face recognition. We use a priori knowledge and models about isolated regions to detect eye location from the face image captured in natural office environments. The relations between human face components are represented by several rules. We adopt an edge detection algorithm using sobel mask and 8-connected labelling algorith using array pointers. A labeled image has many isolated components. initially, the eye size rules are used. Eye size rules are not affected much by irregular input image conditions. Eye size rules size, and limited in the ratio between gorizontal and vertical sizes. By the eye size rule, 2 ~ 16 candidate eye components can be detected. Next, candidate eye parirs are verified by the information of location and shape, and one eye pair location is decided using face models about eye and eyebrow. Once we extract eye regions, we connect the center points of the two eyes and calculate the angle between them. Then we rotate the face to compensate for the angle so that the two eyes on a horizontal line. We tested 120 input images form 40 people, and achieved 91.7% success rate using eye size rules and face model. The main reasons of the 8.3% failure are due to components adjacent to eyes such as eyebrows. To detect facial components from the failed images, we are developing a mouth region processing module.

In this work, a fuzzy petri net model for modeling a general form of fuzzy production system which consists of chaining fuzzy production rules and so requires multistage reasoning process is presented. For the obtained fuzzy petri net model, the net will be transformed into some matrices, and also be systematically led to an algebraic form of a state equation. Since it is fond that the approximate reasoning process in fuzzy systems corresponds to the dynamic behavior of the fuzzy petri net, it is further shown that the multistage reasoning process can be carried out by executing the state equation.

This paper presents structure optimization of a feedforward neural netowrk controller using the genetic algorithm. It is important to design the neural network with minimum structure for fast response and learning. To minimize the structure of the feedforward neural network, a genralization of multilayer neural netowrks, the genetic algorithm uses binary coding for the structure and floating-point coding for weights. Local search with an on-line learnign algorithm enhances the search performance and reduce the time for global search of the genetic algorithm. The relative fitness defined as the multiplication of the error and node functions prevents from premature convergence. The feedforward neural controller of smaller size outperformed conventional multilayer perceptron network controller.

A ZVT (zero voltage transition) converter for SRM (switched reluctance motor) drives is proposed in this study. By adding a ZVT-chopping switch in the front-end, all switches in the machine side converter can be operated without any chopping to regulate phase current. This allows the use of low-cost and slow-switching devices for the machine side converter. The ZVT circuitry allows high frequency operation of th echopping switch, which enhnaces the system dynamcis and phase-current ripples. High efficiency of th eintegrated converter is obtained due to low switching losses.

This paper presents a 37.5kVA (125kVp, 300mA) high frequency inverter type power supply for diagonostic X-ray generator with two HFHV (high-frequency high-voltage) isolating transformers. The output regulations, X-ray tuve voltage and tube current, are obtained by two high frequency inverters with the each other feedback PI controller and operating time switch for selecting shooting time and synchronizing two inverters. The operating modes and design consideration of the proposed power supply are given. Issues in the design of two HFHV isolating transformersfors high volage genrating and filament heating are discussed. Experimental results are presented to verify the performance of the designed power supply for varying load conditions. The proposed apparatus has several advnatages, e.g., the fast rising time of tube voltae, accuracy and reduced component size etc.