• ETRI Journal
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• v.18 no.2
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• pp.61-74
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• 1996

We propose two new rate control schemes to improve MPEG-2 rate control in view of visual quality when scene changes happen. Two proposed schemes are characterized by real-time and non real-time improvement to reduce the impact of scene changes. We also propose a new target-bit prediction method using spatial activity of pictures and present a simple and efficient scene change detection scheme using signed difference of mean absolute difference (MAD). Computer simulation results show that the proposed real-time algorithm effectively alleviates visual quality degradation after scene changes. The proposed non real-time algorithm gives maximum 2 dB improvement in peak signal-to-noise ratio (PSNR) at a scene-changed picture, compared with MPEG-2 rate control scheme and it shows better quality than the real-time one.

• The Journal of Korea Robotics Society
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• v.3 no.3
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• pp.237-244
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• 2008

Nowadays, research on human-robot interaction has been getting increasing attention. In the research field of human-robot interaction, speech signal processing in particular is the source of much interest. In this paper, we report a speaker localization system with six microphones for a humanoid robot called MAHRU from KIST and propose a time delay of arrival (TDOA)-based feature matrix with its algorithm based on the minimum sum of absolute errors (MSAE) for sound source localization. The TDOA-based feature matrix is defined as a simple database matrix calculated from pairs of microphones installed on a humanoid robot. The proposed method, using the TDOA-based feature matrix and its algorithm based on MSAE, effortlessly localizes a sound source without any requirement for calculating approximate nonlinear equations. To verify the solid performance of our speaker localization system for a humanoid robot, we present various experimental results for the speech sources at all directions within 5 m distance and the height divided into three parts.

• ETRI Journal
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• v.35 no.1
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• pp.100-108
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• 2013

In this paper, a feature extraction (FE) method is proposed that is comparable to the traditional FE methods used in automatic speech recognition systems. Unlike the conventional spectral-based FE methods, the proposed method evaluates the similarities between an embedded speech signal and a set of predefined speech attractor models in the reconstructed phase space (RPS) domain. In the first step, a set of Gaussian mixture models is trained to represent the speech attractors in the RPS. Next, for a new input speech frame, a posterior-probability-based feature vector is evaluated, which represents the similarity between the embedded frame and the learned speech attractors. We conduct experiments for a speech recognition task utilizing a toolkit based on hidden Markov models, over FARSDAT, a well-known Persian speech corpus. Through the proposed FE method, we gain 3.11% absolute phoneme error rate improvement in comparison to the baseline system, which exploits the mel-frequency cepstral coefficient FE method.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.10
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• pp.956-961
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• 2007

We propose a new distance measurement method and local positioning system for the autonomous mobile robots localization. The distance measurement method is able to measure long-range distances with a high accuracy by using ultrasonic sensors. The time of flight of the ultrasonic waves include various noises is calculated accurately by the proposed period detecting method. The proposed local positioning system is composed of four ultrasonic transmitters and one ultrasonic receiver. The ultrasonic transmitter and receiver are separated but they are synchronized by RF (Radio frequency) signal. The proposed system using ultrasonic waves is represented as USAT(Ultrasonic Satellite System). USAT is able to estimate the position using the least square estimation. The experimental results show that the proposed local positioning system enables to estimate the absolute position precisely.

• Journal of the Korean Society of Safety
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• v.30 no.4
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• pp.99-105
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• 2015

In this study, displacement estimation algorithm, which is not requiring an absolute reference point unlike the conventional displacement measurement method, is developed using the geophone. To estimate displacement of the bridge, measured velocity time signal is integrated in the frequency domain. And, the estimated displacement is compared with the measured result using a conventional method. Based on the dynamic field test results, it was found that the estimated displacement by the present algorithm is similar to that of a conventional method. The displacement estimation algorithm proposed in this paper can be effectively applied to measure the displacement of a structure, which is difficult to install a displacement transducer at the fixed point.

• Proceedings of the KIPE Conference
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• 2016.07a
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• pp.521-522
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• 2016

This paper presents a novel scheme to estimate the rotor position of a single-phase hybrid switched reluctance motor (HSRM). The proposed method uses the differential of back-EMF within a position region to estimate rotor position. By detecting the crossing-zero signal of back-EMF differential value, the minimum position of back-EMF corresponding to an absolute rotor position can be captured and used for position estimation four times in every mechanical rotation. In this way, a sensorless operation with adjustable turn on/off angle can be achieved without substantial computation. For the starting, two current comparators are adopted. The experimental verification using a prototype drive system is provided to demonstrate the viability of the proposed sensorless scheme.

• Annual Conference of KIPS
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• 2006.05a
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• pp.153-156
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• 2006

본 논문에서는 H.264 표준화 기구인 Joint Video Team(JVT) 권고안의 정수 단위 화소 움직임 예측을 위한 Unsymmetrical-cross Multi-Hexagon-grid Search(UMHexagonS) 알고리즘에서 Uneven Multi-Hexagon-grid Search(UMHGS) 부분을 개선한 알고리즘을 제안한다. 제안하는 알고리즘은 이전 프레임의 동일위치 또는 상위 모드에서 이미 선택된 움직임 벡터(MV: Motion Vector)를 이용하여 신호 대 잡음 비(PSNR: Peak Signal to Noise Ratio) 및 평균 비트 율(Average Bitrates)을 유지하면서, 현재 매크로블록의 검색영역을 줄이는 것이 가능하다. 제안하는 알고리즘의 성능은 Full Search Block Matching Algorithm(FSBMA) 및 UMHexagonS 알고리즘의 integer pel 에 대한 SAD(Sum of Absolute Difference) 연산횟수로 비교평가 하였다. 그 결과, FSBMA 에 비하여 평균 97.64%, UMHexagonS 에 비하여는 평균 17.48%의 연산횟수를 감소시키는 우수함을 보였다.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2017.06a
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• pp.70-73
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• 2017

본 논문에서 프레임 율 향상을 위한 새로운 움직임 추정 알고리즘에 대해 제안한다. 계산량을 줄이고 다해상도의 영상을 이용하기 위하여 원본 프레임들을 계층적 구조로 형성하고, 최상위 계층에서 단방향 움직임 추정을 수행한다. 최상위 계층은 낮은 해상도 때문에 움직임 벡터의 정확도가 낮아지므로, 정확도를 향상시키기 위해 각각의 블록은 5 개의 움직임 벡터 후보들을 가진다. 이 후보들은 아래 계층들에서 수정되며, 움직임 추정이 완료되면 최하위 계층의 움직임 벡터들은 SAD (sum of absolute difference) 값을 이용해서 최종적으로 수정된다. 이렇게 구해진 단방향 움직임 벡터들은 양방향 움직임 벡터로 변환되고 양방향 보간법을 사용하여 보간 프레임을 생성한다. 결과적으로, 제안하는 알고리즘은 기존 알고리즘들에 비해 낮은 계산량을 나타내면서 PSNR (peak signal-to-noise ratio) 수치에서 최대 1.3 dB 의 향상을 나타냈고, 주관적으로도 더 선명한 결과를 보여주었다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.1406-1409
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• 2004

The Resolver usually used in industry is the absolute angle analog sensor that must be in order to driving BLDC (brushless DC) motor, and it needs RDC(Resolver-to-Digital converter) for changing the output signal to digital to be applied to the SVPWM(Space Vector Pulse Width Modulation) algorithm. Commonly used S/W RDC needs trigonometric function. What it takes a lot of calculation time of processor is gotten at weak point. In this paper, S/W RDC is realized except trigonometric functions as a result of feedback resolver outputs after filtering using FIR filter. thus, processing time is reduced. So, One-chip DSP Controller operating the Vector Control, RDC, and SVPWM can be designed.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.4
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• pp.190-196
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• 2001

The naval vessel must moves rolling, pitching, yawing by wave when it runs in ocean. Some narrow beam antenna needed position compensation by stabilizer or gimbal for best performance. This paper presents the precision position control for heavy weight(130kg) in roll and pitch direction. Generally it's called for gimbal. This gimbal uses P-I controller, and it's driven by linear actuator and servo motor. This gimbal gets ship's gyro signal and synchro, which have the absolute angle value. Some other similar equipments are driven by huge hydraulic power, but this gimbal is driven by small servo motor. This control loop gets the following procedure repeatedly; reading ship gyro and gimbal synchro, calculating compensated error and control output, driving motor and actuator The performance of gimbal system was satisfied.