• 한국정밀공학회지
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• 제24권9호
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• pp.76-85
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• 2007

An optical rotary encoder is easy to implement for automatic control applications. In particular, the output of the encoder has a digital form pulse, which is also easy to be connected to a popular digital controller. By using the encoder, there are various angular velocity detecting methods, M-, T-, and M/T-method. Each of them has a property of its own. They have common limitation that the angular velocity detection period is strongly subject to the destination velocity magnitude in case of ultimate low range. They have ultimate long detection period or cannot even detect angular velocity at near zero velocity. This paper proposes a dual encoder system with two encoders of normal resolution. The dual encoder system is able to keep detection period moderately at near zero velocity and even detects zero velocity within nominal period. It is useful for detecting velocity in case of changing rotational direction at which there occurs zero velocity. In this paper, various experimental results are shown for the dual encoder system validity.

• 한국정밀공학회지
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• 제25권8호
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• pp.29-36
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• 2008

An optical rotary encoder is easy to implement for automation system applications. In particular, the output of the encoder has a digital form pulse, which is also easy to be connected to a popular digital controller. By using an incremental encoder and a counting device, it is easy to measure angular displacement, as the number of the output pulses is proportional to the rotational displacement. This method can only detect the angular placement once a pulse signal comes out of the encoder. The angular displacement detection period is strongly subject to the change of the angular displacement in case of ultimate low velocity range. They have ultimate long detection period or cannot even detect angular displacement at near zero velocity. This paper proposes an algorithm for detecting angular displacement by using a dual encoder system with two encoders of normal resolution. The angular displacement detecting algorithm is able to keep detection period moderately at near zero velocity and even detect constant angular displacement within nominal period. It is useful for motion control applications in case of changing rotational direction at which there occurs zero velocity. In this paper, various experimental results are shown for the angular displacement detection algorithm.

• International Journal of Precision Engineering and Manufacturing
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• 제8권2호
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• pp.20-25
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• 2007

This paper describes a second-generation dual sine-grid surface encoder for 2-D position measurements. The surface encoder consisted of a 2-D grid with a 2-D sinusoidal pattern on its surface, and a 2-D angle sensor that detected the 2-D profile of the surface grid The 2-D angle sensor design of previously developed first-generation surface encoders was based on geometric optics. To improve the resolution of the surface encoder, we fabricated a 2-D sine-grid with a pitch of $10{\mu}m$. We also established a new optical model for the second-generation surface encoder that utilizes diffraction and interference to generate its measured values. The 2-D sine-grid was fabricated on a workpiece by an ultra precision lathe with the assistance of a fast tool servo. We then performed a UV-casting process to imprint the sine-grid on a transparent plastic film and constructed an experimental setup to realize the second-generation surface encoder. We conducted tests that demonstrated the feasibility of the proposed surface encoder model.

• 제어로봇시스템학회논문지
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• 제15권1호
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• pp.82-88
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• 2009

The output of the encoder is a digital pulse, which is also easy to be connected to a digital controller. There are various angular velocity detecting methods of M, T, and M/T. Each of them has its own properties. There is a common limitation that the angular velocity detection period is strongly dependent on the destination velocity magnitude in case of ultimate low range. They have ultimately long detection period or cannot even detect angular velocity at near zero velocity. This paper proposes a zero velocity detectable sensor algorithm with the dual encoder system. The sensor algorithm is able to keep detection period moderately at near zero velocity and even detect zero velocity within nominal period. It is useful for detecting velocity in case of changing rotational direction at which there occurs zero velocity. In this paper, various experimental results are shown for the algorithm validity.

• 품질경영학회지
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• 제49권4호
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• pp.569-579
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• 2021

Purpose: The purpose of this study is the time series analysis for predicting the yield of crops applicable to each farm using environmental variables measured by smart farms cultivating tomato. In addition, it is intended to confirm the influence of environmental variables using a deep learning model that can be explained to some extent. Methods: A time series analysis was performed to predict production using environmental variables measured at 75 smart farms cultivating tomato in two periods. An LSTM-based encoder-decoder model was used for cases of several farms with similar length. In particular, Dual Attention Mechanism was applied to use environmental variables as exogenous variables and to confirm their influence. Results: As a result of the analysis, Dual Attention LSTM with a window size of 12 weeks showed the best predictive power. It was verified that the environmental variables has a similar effect on prediction through wieghtss extracted from the prediction model, and it was also verified that the previous time point has a greater effect than the time point close to the prediction point. Conclusion: It is expected that it will be possible to attempt various crops as a model that can be explained by supplementing the shortcomings of general deep learning model.

• 한국통신학회논문지
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• 제30권3C호
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• pp.64-68
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• 2005

리드솔로몬 부호화기를 구현하기 위해서 제안된 구조는 널리 알려진 대로 일반적인 구조와 직렬승산기를 쓰는 구조가 있다. 일반적 구조의 부호화기는 구조가 복잡한 대신 처리속도가 빠르고, 반면에 직렬승산기를 쓰는 부호화기는 구조는 단순하지만 처리속도는 그다지 빠르지 않은 것으로 알려져 있다. 이 논문에서는, 이 널리 알려진 사실이 VHDL로 구현할 때는 사실이 아닐 수도 있다는 것을 보인다. 이는, 직렬승산기에 필요한 쌍대기저 변환테이블을 구현하는 데에는 많은 게이트가 필요한 경우가 있기 때문인 것으로 해석된다. 한편 두 가지 구조를 써서 VHDL로 구현한 부호화의 처리속도는 모두 같다.

• 한국통신학회논문지
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• 제13권5호
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• pp.429-436
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• 1988

본 논문에서는 유한체GF($2^m$)상의 원소들을 표현하는 데 있어서 기존의 표준기지(standard basis) 표현 대신 쌍대기지(Dual basis)표현을 이용하여 GF($2^m$)상의 승산을 직렬화시킨 Berlekamp의 직렬승산 알고리즘(Bit-Serial Multiplier Algorithm)을 연구 분석하고 이를 이용하여 직렬로 동작되는 Reed-Solomon부호의 직렬부호기를 설계하였다. 또한 오류정정능력이 16인 (255, 233) Reed-Solomon부호를 택하여 이 직렬부호기를 TTL IC로 직접 장치화함으로써 이 부호기가 기존의 부호기보다 훨씬 간단한 Hardware로 장치화될 수 있음을 보였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2008년도 춘계학술대회 논문집
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• pp.33-34
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• 2008

• ETRI Journal
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• 제46권3호
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• pp.513-525
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• 2024

Deep neural networks trained on labeled medical data face major challenges owing to the economic costs of data acquisition through expensive medical imaging devices, expert labor for data annotation, and large datasets to achieve optimal model performance. The heterogeneity of diseases, such as Alzheimer's disease, further complicates deep learning because the test cases may substantially differ from the training data, possibly increasing the rate of false positives. We propose a reconstruction-based self-supervised anomaly detection model to overcome these challenges. It has a dual-subnetwork encoder that enhances feature encoding augmented by skip connections to the decoder for improving the gradient flow. The novel encoder captures local and global features to improve image reconstruction. In addition, we introduce an entropy-based image conversion method. Extensive evaluations show that the proposed model outperforms benchmark models in anomaly detection and classification using an encoder. The supervised and unsupervised models show improved performances when trained with data preprocessed using the proposed image conversion method.

• 로봇학회논문지
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• 제6권2호
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• pp.130-140
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• 2011

This paper proposes an optimal posture for the task-oriented movement of dual arm manipulator. A stability criterion function which consists of three kinds of feature-representative parameters has been utilized to define the optimal posture. The first parameter is the force which is applied to the object. The torque of each joint and position of arm are attained from the current sensor and encoder, respectively. From these two data, the applied force to an object is estimated using sum of vectors of the joint torques estimated from the measured current. In order to investigate the robustness of each posture, the variation of the end-effector from the encoder information has been utilized as the second parameter. And for the last parameter for the optimality, the total energy consumption has been used. The total consuming energy of each posture can be computed from the current information and the battery voltage. The proposed robot structure consists of a mobile inverted pendulum and dual manipulators. In order to define the optimal posture for the each object, external disturbances are applied to the mobile inverted pendulum robot and the first and second parameters are investigated to find the optimal posture among the pre-selected most representative postures. Finally, the proposed optimal posture has been verified by the proposed stability criterion function which consists of total force to the object, the fluctuation of the end-effector position, and total energy consumption. The effectiveness of the proposed algorithms has been verified and demonstrated through the practical simulations and real experiments.