• Journal of the Institute of Electronics Engineers of Korea SC
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• v.37 no.1
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• pp.10-18
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• 2000

This paper proposes a fuzzy logic cross-coupled controller using a new contouring modeling for a two-axis servo system. The general decoupled control approach may result in degraded contouring performance due to such factors as mismatch of axial dynamics and axial loop gains. In practice, such systems contain many uncertainties. The cross-coupled controller utilizes all axis position error information simultaneously to produce accurate contours. However, the conventional cross-coupled controllers cannot overcome friction, backlash, and parameter variations. Also since, it is difficult to obtain an accurate mathematical model of multi-axis system, here we investigate a fuzzy logic cross-coupled controller of servo system. In addition, new contouring error vector computation method is presented. The experimental results are presented to illustrate the performance of the proposed algorithm.

• Journal of KIISE:Computer Systems and Theory
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• v.35 no.12
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• pp.560-567
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• 2008

In this paper, we discuss a simple and straightforward binarization procedure which can generate black/white comics from the video frame image. Generally, the region of human's skin is colored white or light gray, while the dark region is filled with the irregular but regular patterns like hatching in most of the black/white comics. Note that it is not enough for simple threshold method to perform this work. Our procedure is decoupled into four processes. First, we use bilateral filter to suppress noise color variation and reserve boundaries. Then, we perform mean-shift segmentation for each similar colored pixels to be clustered. Third, the clustered regions are merged and extended by our region extension algorithm considering each color of their regions. Finally, we decide which pixels are on or off using by our dynamic binarization method based on the HSV color model. Our novel black/white cartooning procedure was so successful to render comic cuts from a well-known cinema in a resonable time and manual intervention.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.33 no.6C
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• pp.471-479
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• 2008

In this paper, we propose a novel algorithm to automatically generate an RTP timestamp value that is required for the RTP packetization in order to transmit SVC video over various If networks such as Internet. Unlike the conventional single layer coding algorithms such as H.263, MPEG-4 and H.264, SVC generates a multi-layered single bitstream which is composed of a base layer and one or more enhancement layers in order to simultaneously provide temporal, spatial, and SNR scalability. Especially, in order to provide temporal scalability based on hierarchical B-picture prediction structure, the encoding (or transmission) and display order of pictures in SVC coding is completely decoupled. Thus, the timestamp value to be specified at the header of each RTP packet in video transmission does not increase monotonically according to the display time instant of each picture. Until now, no method for automatically generating an RTP timestamp when SVC video is loaded in a RTP packet has teen introduced. In this paper, a novel automatic RTP timestamp generation method exploiting the TID (temporal ID) field of the SVC NAL unit header is proposed to accommodate the SVC video transmission.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.5
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• pp.621-626
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• 2019

The driver's steering wheel maneuver is a typical disturbance that causes excessive body motion and traveling instability of a vehicle. Abrupt and extreme operation can cause rollover depending on the geometric and dynamic characteristics, e.g., SUV vehicles. In this study, to cope with the performance limitation of conventional cars, fundamental research on the structurization of a control system was performed as follows. Mathematical modeling of the lateral behavior induced by driver input was carried out. A controller was designed to reduce the body motion based on this model. An algorithm was applied to secure robust control performance against modeling errors due to parameter uncertainty, $H_{\infty}$. Using the decoupled 1/4 car, a dynamic load simulating model considering the body moment was suggested. The simulation result showed the validity of the load-simulating model. The framework for a lateral behavior control system is proposed, including an experimental 1/4 vehicle unit, load simulating module, suspension control module, and hardware-in-the-loop simulation technology.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1883-1886
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• 2005

In this paper, a decoupled dual servo (DDS) stage for ultra-precision scanning system with large working range is introduced. In general, dual servo systems consist of a fine stage for short range and a coarse stage for long range. The proposed DDS also consists of a $XY\theta$ fine stage for handling and carrying workpieces and one axis coarse stage. Its coarse stage consists of air bearing guide system and a coreless linear motor with force ripple. The fine has four voice coil motors(VCM) as its actuator. According to a VCM's nature, there are no mechanical connections between coils and magnetic circuits. Moreover, VCM doesn't have force ripples due to imperfections of commutation components of linear motor systems - currents and flux densities. However, due to the VCM's mechanical constraints the working range of the fine is about $25mm^2$. To break that hurdle, the coarse stage with linear motors is used to move the fine about 500mm. Because of the above reasons, the proposed DDS can achieve higher precision scanning than other stages with only one servo. With MATLAB's Sequential Quadratic Programming (SQP), the VCMs are optimally designed for the highest force under conditions and constraints such as thermal dissipations due to its coil, its size, and so on. And for their movements without any frictions, guide systems of the DDS are composed of air bearings. To get precisely their positions, a linear scale with 5nm resolution are used for the coarse stage's motion and three plane mirror laser interferometers with 5nm for the fine's $XY\theta$ motions. With them, on scanning the two stages have same trajectories. The control algorithm is named Parallel method. The embodied ultra-precision scanning system has sub 100nm following error and in-positioning stability.