• 한국해양공학회지
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• 제26권6호
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• pp.59-65
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• 2012

In this research, a novel mater arm was studied as a teaching device for an underwater revolute robot arm used as a slave arm. The master arm was designed to be a seven-degree-of-freedom (DOF) structure, with a structure similar to that of the slave arm, and to be desktop size to allow it to be worn on a human arm. The master arm with encoders on the joints was used as an input device for teaching a slave robot arm. In addition, small electric magnets were installed at the joints of the master arm to generate the haptic force. A control system was designed to sense excessive force and torque in the joints of the master arm and protect it by controlling the position and velocity of the slave arm through the encoder signal of the master arm.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1995년도 하계학술대회 논문집 B
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• pp.871-873
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• 1995

The purpose of this paper is to design and construct the compact type joint driver and controller of the biped robot. This biped robot will be designed to be suitable for the practical usages and applications in the work environment, which is not plat floor, like a stairs by taking the stand-alone style that equipped all the parts except power sources. Generally, highly nonlinear motion dynamics of the biped robot is realized to linear approximations by installing a high-ratio speed reducer at each joint and dividing motions into a several piecewise linear motions, which is realized by the digital controller design techniques. This biped robot has symmetrical structure to get the stable walking ability and also the hierachical structure to control each joint as well. That is, all of the joint controllers are connected to the main controller in the composition of overall controllers. The driver and controller of each joint uses PI controller that compensate the velocity and position errors by the data of the encoder. And the signal characteristics of each joint controller forms a trapezoid speed profile which is predefined by the values of direction, maximum velocity and position.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제17권12호
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• pp.3364-3382
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• 2023

Remote sensing image segmentation plays an important role in realizing intelligent city construction. The current mainstream segmentation networks effectively improve the segmentation effect of remote sensing images by deeply mining the rich texture and semantic features of images. But there are still some problems such as rough results of small target region segmentation and poor edge contour segmentation. To overcome these three challenges, we propose an improved semantic segmentation model, referred to as MRU-Net, which adopts the U-Net architecture as its backbone. Firstly, the convolutional layer is replaced by BasicBlock structure in U-Net network to extract features, then the activation function is replaced to reduce the computational load of model in the network. Secondly, a hybrid multi-scale recognition module is added in the encoder to improve the accuracy of image segmentation of small targets and edge parts. Finally, test on Massachusetts Buildings Dataset and WHU Dataset the experimental results show that compared with the original network the ACC, mIoU and F1 value are improved, and the imposed network shows good robustness and portability in different datasets.

• KIEE International Transaction on Electrical Machinery and Energy Conversion Systems
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• 제11B권4호
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• pp.193-199
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• 2001

This paper suggests a novel single-stage drive for a switched reluctance motor (SRM) to achieve sinusoidal, near unity power factor input currents. The proposed drive is very simple without additional active switch. As a single-stage approach, which combines a DC link capacitor used as dc source and a drive used for driving the motor into one power stage, a simple structure and low cost drive in implemented. A prototype drive for an 8/6 pole SRM equipping a suitable encoder is designed to evaluate the proposed topology. Also subscription control algorithm is presented. The characteristics and validity of the proposed circuit will be discussed in depth through the experimental results.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 B
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• pp.912-914
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• 2002

Single phase SRM(Switched Reluctance Motor) can not be started by itself and torque ripple is more generated than multi-phase SRM. But it is excited by single phase current and has very simple structure. Therefore it can be used in domestic appliance. Torque and speed of single phase SRM is controlled by adjusting exciting current and exciting section. Driver, which is composed with absolute encoder and DSP, is fabricated for control of exciting section on this paper. Then driving characteristics with exciting section is confirmed by using salient pole rotor type single phase SRM, which is fabricated in preceding research.

• 한국정보과학회:학술대회논문집
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• 한국정보과학회 1999년도 가을 학술발표논문집 Vol.26 No.2 (2)
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• pp.259-261
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• 1999

본 논문은 MPEG-2 TM 5 video 부호기의 전체구조 및 처리과정을 기술한다. MPEG-2는 저장 매체, 통신, 방송 매체 등을 위한 동영상 압축이 표준이다. MPEG-2 압축 방법에는 공간적 압축과 시간적 압축 방법이 있다. 공간적 압축 방법에는 화면에서의 중복성을 줄이기 위한 표본화 주파수(4:4:4, 4:2:2, 4:2:0, format), DCT, scanning(zigzag 혹은 alternate scanning)과 quantization이 있고 시간적 압축 방법에는 움직임 예측(motion estimation)과 I, P, B-picture를 사용하는 방법이 있다. 본 논문에서는 MPEG-2 부호기의 핵심을 전체 구조, DPCM, MPEG bitstream syntax, MPEG-2 부호화 알고리즘, 움직임 예측, 움직임 벡터, rate control 그리고 가변길이 코딩(variable length coding)으로 구분하여 소개한다.

• ETRI Journal
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• 제31권5호
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• pp.585-592
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• 2009

This paper presents a method for decoding high minimal distance ($d_{min}$) short codes, termed Cortex codes. These codes are systematic block codes of rate 1/2 and can have higher$d_{min}$ than turbo codes. Despite this characteristic, these codes have been impossible to decode with good performance because, to reach high $d_{min}$, several encoding stages are connected through interleavers. This generates a large number of hidden variables and increases the complexity of the scheduling and initialization. However, the structure of the encoder is well suited for analog decoding. A proof-of-concept Cortex decoder for the (8, 4, 4) Hamming code is implemented in subthreshold 0.25-${\mu}m$ CMOS. It outperforms an equivalent LDPC-like decoder by 1 dB at BER=$10^{-5}$ and is 44 percent smaller and consumes 28 percent less energy per decoded bit.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.540-543
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• 1997

In this paper, a precise trajectory tracking method for mobile robot using a vision system is presented. In solving the problem of precise trajectory tracking, a hierarchical control structure is used which is composed of the path planer, vision system, and dynamic controller. When designing the dynamic controller, non-ideal conditions such as parameter variation, frictional force, and external disturbance are considered. The proposed controller can learn bounded control input for repetitive or periodic dynamics compensation which provides robust and adaptive learning capability. Moreover, the usage of vision system makes mobile robot compensate the cumulative location error which exists when relative sensor like encoder is used to locate the position of mobile robot. The effectiveness of the proposed control scheme is shown through computer simulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1771-1776
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• 2003

In mobile robot navigation, one of the key problems is the pose estimation of the mobile robot. Although the odometry can be used to describe the motions of the mobile robots quite simple and accurately, the validities of the models are limited by a number of error sources contaminating the encoder outputs so that applying the conventional extended Kalman filter to these nominal model does not yield the satisfactory performance. As a remedy for this problem, we consider the uncertain nonlinear kinematic model of the mobile robot that contains the norm bounded uncertainties and also propose a new robust extended Kalman filter based on the Krein space approach. The proposed robust filter has the same recursive structure as the conventional extended Kalman filter and can hence be readily designed to effectively account for the uncertainties. The computer simulations will be given to verify the robustness against the parameter variation as well as the reliable performance of the proposed robust filter.

• 전력전자학회논문지
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• 제11권1호
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• pp.90-96
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• 2006

본 논문은 단상 SRM의 고역률 구동에 관한 연구이다. 단상 SRM은 구조가 단순하고, 견고하며, 전력회로가 간단하고, 고속운전특성이 우수하다. 다이오드 정류기와 필터용 링크 커패시터로 구성된 종래의 단상 SRM 구동방식은 대용량 커패시터의 충 방전 전류에 의해 역률이 크게 저하되는 문제가 발생한다. 본 논문에서는 부가적인 능동회로가 없는 1단방식의 고역률 SRM 구동드라이브와 스위칭 토플로지를 제안한다. 제안한 구동드라이브와 스위칭 토플로지는 다양한 수치시뮬레이션과 마이크로 콘트롤러기반의 단상 SRM의 구동실험을 통해 그 타당성을 입증하였다.