• 제어로봇시스템학회논문지
• /
• 제16권3호
• /
• pp.215-221
• /
• 2010

This paper introduces development of location estimation and navigation system of mobile robots using USN and LEGO Mindstorms NXT. Developed system includes location estimation, location and navigation information display and navigation control parts. It used ZigBee based USN which was built with CC2431 chip to locate blind node and implemented fuzzy model to improve ability of calculation of distances from reference nodes and location of mobile robots. This paper proposed combination method of location estimation using USN and encoder which is built in motors of mobile robots. Experimental results showed proposed method is superior to the method which used USN only in location estimation and navigating robots. Developed system can locate current position of mobile robots and monitor information from sensor nodes like temperature, humidity and send control signal to mobile robot to move.

• 대한전자공학회:학술대회논문집
• /
• 대한전자공학회 2002년도 하계종합학술대회 논문집(4)
• /
• pp.29-32
• /
• 2002

In typical block-based video coding, the objective of RC(Rate Control) is to select the quantization parameters so that the encoder produces bits at the rate of the channel and the overall distortion is minimized. To reduce the huge amount of computations required for offline RC, there have been significant efforts to speed up the process of video encoders. Those efforts have been mainly focused on the modes for bit rate and distortion in types of coders, in terms of the quantization parameters. Because previous works related to model based online RC are based on statistics of previous frame, it occurs the problem such that allocates bits unequally without regard to current frame statistics. In this thesis, an equal bit allocation scheme using current frame statistics is proposed.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
• /
• 제48권11호
• /
• pp.632-639
• /
• 1999

SRM(Switched Reluctance Motor) drives require the accurate position and speed information of the rotor. These informations are generally provided by a shaft encoder or resolver. High temperature, EMI, and dust may make detection performance deteriorate. Therefore, the elimination of the position and speed sensor is desirable. In this paper, a nonlinear adaptive observer using the MRAS(Model Reference Adaptive System) is proposed. The rotor speed and position are estimated by the adaptation law using the real and estimated currents. The stability of the adaptive observer is proved by Lyapunov stability theory. The proposed methods are implemented with TMS320C31 DSP. Experimental results prove that the observer has a good estimation performance of the rotor speed and position despite of the parameter variations and loads, and the speed control can be accomplished in the wide speed range.

• Journal of Electrical Engineering and information Science
• /
• 제2권6호
• /
• pp.138-145
• /
• 1997

This paper proposes an adaptive algorithm for the quantization step size control of MPEG-2, using the information obtained from the previously encoded picture. Before quantizing the DCT coefficients, the properties of reconstruction error of each macro block (MB) is predicted from the previous frame. For the prediction of the error of current MB, a block with the size of MB in the previous frame are chosen by use of the motion vector. Since the original and reconstructed images of the previous frame are available in the encoder, we can calculate the reconstruction error of this block. This error is considered as the expected error of the current MB if it is quantized with the same step size and bit rate. Comparing the error of the MB with the average of overall MBs, if it is larger than the average, small step size is given for this MB, and vice versa. As a result, the error distribution of the MB is more concentrated to the average, giving low variance and improved image quality. Especially for the low bit application, the proposed algorithm gives much smaller error variance and higher PSNR compared to TM5 (test model 5).

• 제어로봇시스템학회논문지
• /
• 제22권12호
• /
• pp.1034-1039
• /
• 2016

This paper presents the implementation and control of a small-scaled excavator system. The commercial miniature of an excavator system has been modified and its control hardware is embedded to access the feedback control. Encoder sensors are attached to the joint and a force sensor is mounted on the end-effector so that feedback position control is accessible as well as force control. The dynamic model of the excavator system is derived as a four linkage robot arm and its control performances are simulated. Experimental studies of contact force control tasks are conducted to test the control algorithm for the excavator system.

• 대한전기학회논문지:시스템및제어부문D
• /
• 제54권7호
• /
• pp.437-442
• /
• 2005

In order to realize the speed control of an induction motor, the information of the rotor speed is needed. So the speed sensor as an encoder or a pulse generator is used to obtain it. But the use of speed sensor occur the some problems in the control system of an induction motor. To solve the problems, the appropriate speed estimation algorithm is used instead of the speed sensor. Also there is the limitation to improve the speed control performance of an induction motor using the existing speed estimation algorithm. Therefore, in this paper, intelligent speed estimator using Fuzzy-Neural systems as adaptive laws in Model Reference Adaptive System is proposed so as to improve the existing estimation algorithm and ,using the rotor speed estimated by the Proposed estimator, the speed control of an induction motor without speed sensor is performed. The computer simulation and the experiment is executed to prove the performance of the speed control system usinu the proposed speed estimator.

• Journal of Information Processing Systems
• /
• 제10권1호
• /
• pp.69-80
• /
• 2014

The free distance of (n, k, l) convolutional codes has some connection with the memory length, which depends on not only l but also on k. To efficiently obtain a large memory length, we have constructed a new class of (2k, k, l) convolutional codes by (2k, k) block codes and (2, 1, l) convolutional codes, and its encoder and generation function are also given in this paper. With the help of some matrix modules, we designed a single structure Viterbi decoder with a parallel capability, obtained a unified and efficient decoding model for (2k, k, l) convolutional codes, and then give a description of the decoding process in detail. By observing the survivor path memory in a matrix viewer, and testing the role of the max module, we implemented a simulation with (2k, k, l) convolutional codes. The results show that many of them are better than conventional (2, 1, l) convolutional codes.

• Journal of Multimedia Information System
• /
• 제5권4호
• /
• pp.273-276
• /
• 2018

In video compression standards, the entropy coding is essential to the high performance compression because redundancy of data symbols is removed. Binary arithmetic coding is one of high performance entropy coding methods. However, the dependency between consecutive binary symbols prevents improving the throughput. For the throughput enhancement, a new probability model is proposed for encoding multi-symbols at one time. In the proposed method, multi-symbol encoder is implemented with only adders and shifters, and the multiplication table for interval subdivision of binary arithmetic coding is removed. Compared to the compression ratio of CABAC of H.264/AVC, the performance degradation on average is only 1.4% which is negligible.

• 한국방송∙미디어공학회:학술대회논문집
• /
• 한국방송∙미디어공학회 2018년도 하계학술대회
• /
• pp.175-177
• /
• 2018

This paper proposes an algorithm to speed up block structure partition of quad tree plus binary tree (QTBT) in Joint Exploration Test Model (JEM) encoder. The proposed fast encoding of QTBT block partition employs three spatially neighbor coded blocks, such as left, top-left, and top of current block, to early terminate QTBT block structure pruning. The propose algorithm is organized based on statistical similarity of those spatially neighboring blocks, such as block depths and coded block types, which are coded with overlapped block motion compensation (OBMC) and adaptive multi transform (AMT). The experimental results demonstrate about 30% encoding time reduction with 1.3% BD-rate loss on average compared to the anchor JEM-7.1 software under random access configuration.

• 한국정보통신학회논문지
• /
• 제25권2호
• /
• pp.327-329
• /
• 2021

Underwater acoustic communication channel is influenced by environmental parameters such as multipath, background noise and scattering. Therefore, a transmitted signal is influenced by the sea surface and the sea bottom boundaries, and a received signal shows a delay spread. These factors create a noise in the image and degrade the quality of underwater acoustic communication. To solve these problems, in this paper, we evaluate the performance of an underwater acoustic communication model using a denoising auto-encoder used for unsupervised learning. Noise images generated by the underwater multipath channel were collected and used as training data. Experimental results were analyzed as a PSNR parameter that expressed the noise ratio of the two images.