• Journal of Institute of Control, Robotics and Systems
• /
• v.5 no.7
• /
• pp.827-835
• /
• 1999

In this paper, a dead reckoning navigation system for differential drive mobile robots is presented. The navigation system consists of two incremental encoders and a gyroscope. We have built a third order polynomial function for compensating the nonlinear scale factor errors of the gyroscope. We utilize an indirect Kalman filter that feeds back estimated errors to the main navigation system. Also, the observability of the filter is analyzed in order to systematically evaluate the filter's performance. Experimental results show that the proposed navigation system provides a reliable position and heading angle by mutually compensating the encoder and the gyroscope errors. The proposed filter also reduces the computational burden and enhances the navigation system's reliability. The observability analysis confirms the characteristics of inevitably unbounded position error growth in dead reckoning navigation systems.

• 제어로봇시스템학회:학술대회논문집
• /
• 1988.10a
• /
• pp.142-147
• /
• 1988

Free-path-type guidance system does not need a hardwired path in the environment so that it gives a mobile robot a flexible path. ln this study to achieve the free-path-type guidance system for a mobile robot which is steered by the differential steering of both drive forewheels, position recognition systems are constructed using odometer system as an internal position sensor. Two odometer systems, a auxiliary wheel odometer and a 2-encoder odometer system are constructed and path following algorithms using these odometer systems are designed and experimented. PID control type is adopted in the path following algorithms.

• Proceedings of the KIEE Conference
• /
• 1997.11a
• /
• pp.573-575
• /
• 1997

In this paper, the electronic differential system for electric vehicle using neural network is proposed and its performance is evaluated. The input features of NN are obtained by processing the encoder and potentiometer during driving. The 3 layered NN with back propagation algorithm has been used. Evaluation experiments show that the proposed controller is effective in controlling of unknown nonlinear plants.

• IEMEK Journal of Embedded Systems and Applications
• /
• v.17 no.2
• /
• pp.123-128
• /
• 2022

This paper proposes a mobile robot platform for education that can experiment with various autonomous driving algorithms such as obstacle avoidance and path planning. The platform consists of a robot module and a remote controller module, both of which are based on the Arduino Nano 33 IoT embedded board. The robot module is designed as a differential drive type using two encoder motors, and the speed of the motor is controlled using PID control. In the case of the remote controller module, a command to control the robot platform is received with a 2-axis joystick input, and an elliptical grid mapping technique is used to convert the joystick input into a linear and angular velocity command of the robot. WiFi and Zigbee are used for communication between the robot module and the remote controller module. The proposed robot platform was tested by measuring and comparing the linear velocity and angular velocity of the actual robot according to the linear velocity and angular velocity commands of the robot generated by the input of the joystick.

• Journal of the Korea Institute of Information Security & Cryptology
• /
• v.29 no.3
• /
• pp.491-501
• /
• 2019

In side-channel analysis, which exploit physical leakage from a cryptographic device, deep learning based attack has been significantly interested in recent years. However, most of the state-of-the-art methods have been focused on classifying side-channel information in a profiled scenario where attackers can obtain label of training data. In this paper, we propose a new method based on deep learning to improve non-profiling side-channel attack such as Differential Power Analysis and Correlation Power Analysis. The proposed method is a signal preprocessing technique that reduces the noise in a trace by modifying Auto-Encoder framework to the context of side-channel analysis. Previous work on Denoising Auto-Encoder was trained through randomly added noise by an attacker. In this paper, the proposed model trains Auto-Encoder through the noise from real data using the noise-reduced-label. Also, the proposed method permits to perform non-profiled attack by training only a single neural network. We validate the performance of the noise reduction of the proposed method on real traces collected from ChipWhisperer board. We demonstrate that the proposed method outperforms classic preprocessing methods such as Principal Component Analysis and Linear Discriminant Analysis.

• Journal of Navigation and Port Research
• /
• v.28 no.1
• /
• pp.23-29
• /
• 2004

This paper deals with Reed-Solomon Coding for EUROFIX system EUROFIX is an integrated navigation and communication system, which combines Differential GNSS and Loran-C EUROFIX transmits DGNSS(Differential Global Navigation Satellite Systems) (data by pulse position modulation of Loran-C pulses. Loran-C system is regarded as a satellite backup system in recent. And now, it is important to detect and correct much errors in communication systems. Error corrections or correction algorithm is actively studied nowadays because of this. In this paper, we study and design encoder and decoder of Reed Solomon Code using Finite Galois Field Fourier Transformation for error corrections in EUROFIX data transmission. Through extensive simulation, the designed Reed Solomon code is shown to be effective for error correction in EUROFIX data transmission.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.12 no.2
• /
• pp.389-396
• /
• 1988

Microprocessor-based software DDA interpolator is developed and applied to two axis contouring control of X-Y table. Developed assembly program is composed of feedrate, linear and circular DDA interpolation routines. Reference-pulse type of open-loop stepping motor control system in which the micro-computer produces a sequence of reference pulses for each axis of motion is adopted. To test performance of the developed program, X-Y table drive system based on stepping motor and shaft encoder is designed. Conturing error of the system in linear and circular path is within .+-. 0.2mm under start stop pulse rate of stepping motor.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.14 no.6
• /
• pp.2464-2479
• /
• 2020

This paper presents a detailed subjective quality assessment for the ultra-high definition (UHD) videos having frame rates of 30fps and 60 fps. The subjective assessment is based on the ITU-R BT-500 recommendations, where double stimulus continuous quality scale (DSCQS-type II) test is performed for the evaluation of the perceived quality of the user's in terms of differential mean opinion score (DMOS). Encoding of the UHD videos by opting encoders i.e. H.264/AVC, H.265/HEVC, and VP9 at five different quantization parameter (QP) levels is done to investigate the perceived user's quality of experience (QoE) given as DMOS. Moreover, the encoding efficiency as the encoding time for each encoder and qualitative performance by employing full-reference (FR) quality metrics are presented in this work.

• IEMEK Journal of Embedded Systems and Applications
• /
• v.6 no.3
• /
• pp.124-131
• /
• 2011

There are many researches in unmanned vehicles such as UGV(Unmanned Ground Vehicle), AUV(Autonomous Underwater Vehicle). In these researches, differential wheeled mobile robots are mainly used to develop the experimental stage algorithm because of the simplicity of modeling and control. Usually a commercial product used in the study, but in order to operate a commercial product to the restrictions because there would need to use a fixed protocol. Using the microprocessor makes the internal sensors(encoder and INS) and external sensors(ultrasonic sensors, infrared sensors) operate and to determine commands for robot operation. This paper propose a mobile robot design for suitable purpose.

• Journal of the Korean Institute of Telematics and Electronics C
• /
• v.36C no.6
• /
• pp.18-26
• /
• 1999

This paper presents the architecture and design of a DSSS MODEM ASIC chip for wireless local area networks (WLAN). The implemented MODEM chip supports the DSSS physical layer specifications of the IEEE 802.11. The chip consits of a transmitter and a receiver which contain a CRC encoder/decoder, a differential encoder/decoder, a frequency offset compensator and a timing recovery circuit. The chip supports various data rates, i.e., 4,2 and 1Mbps and provides both DBPSK and DQPSK for data modulation. We have performed logic synthesis using the $SAMSUNG^{TM}$ $0.6{\mu}m$ gate array library and the implemented chip consists of 53,355 gates. The MODEM chip operates at 44MHz, the package type is 100-pin QFP and the power consumption is 1.2watt at 44MHz. The implemented MODEM architecture shows lower BER compared with the Harris HSP3824.