• Journal of information and communication convergence engineering
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• v.8 no.2
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• pp.145-149
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• 2010

In this paper, we propose a kinematic approach to estimating the real-time moving object. A new scheme for a mobile robot to track and capture a moving object using images of a camera is proposed. The moving object is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the active camera. Uncertainties in the position estimation caused by the point-object assumption are compensated using the Kalman filter. To generate the shortest time path to capture the moving object, the linear and angular velocities are estimated and utilized. The experimental results of tracking and capturing of the target object with the mobile robot are presented.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.16-19
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• 1996

In this paper, a sliding mode control scheme that guarantees the smoothness of the control signal and the exponential error convergence is proposed for robot manipulators. The proposed method inserts a low pass filter (LPF) in front of the plant, and the virtual controller is designed for the virtual plant - the combination of the LPF and the robot manipulator. The virtual control signal contains high frequency components because of a switching function. The real control signal, however, always shows a smooth curve since it is an output of the LPF. In addition to the smoothness of the control signal is always assured, the overall system is in the sliding mode at all times, that is, its performance is always invariant under the existence of parameter uncertainties and external disturbances. The closed-loop system is shown to be globally exponentially stable.

• Journal of Institute of Control, Robotics and Systems
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• v.2 no.2
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• pp.121-126
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• 1996

The hydrodynamic coefficients estimation (HCE) is important to design the autopilot and to predict the maneuverability of an underwater vehicle. In this paper, a system identification is proposed for an HCE of an underwater vehicle. First, we attempt to design the HCE algorithm which is insensitive to initial conditions and has good convergence, and which enables the estimation of the coefficents by using measured displacements only. Second, the sensor and measurement system which gauges the data from the full scale trials is constructed and the data smoothing algorithm is also designed to filter the noise due to irregular fluid flow without changing the data characteristics itself. Lastly the hydrodynamic coefficients are estimated by applying the measured data of full scale trials to the developed algorithm, and the estimated coefficients are verified by full scale trials.

• Proceedings of the Acoustical Society of Korea Conference
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• autumn
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• pp.193-196
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• 1999

본 논문은 음향 임펄스를 모델링하는데 코사인 변조된 필터 뱅크와 Decimation을 이용하여 수렴 속도를 개선하는 방법을 제안하고 이를 잡음제거에 응용하였다. 제안된 구조는 입력신호를 필터뱅크를 이용하여 각 서브밴드로 분할한 후 필터 입력신호의 고유벡터의 최대값과 최소값의 비를 줄이고 필터의 탭수를 줄이기 위해서 decimation을 행한다. 그리고 서브밴드대역의 샘플링 주파수를 낮추어 신호 스펙트럼을 확장시켜 이를 적응필터에 입력하여 수렴속도를 향상시켰다. 실험 결과, Colored잡음의 경우 LMS 알고리즘보다 제안된 방법이 MSE(Mean Square Error)는 좋지는 않았다. 실제 음향시스템의 모델링에는 거의 같은 MSE을 갖으며, 수렴 속도에는 모두 빠른 성능을 보였으며, 이를 음질향상에 적용하여 향상된 음질을 얻을 수 있었다.

• International journal of advanced smart convergence
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• v.6 no.2
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• pp.82-88
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• 2017

The data generated by the BSN sensor attached to the human body is mostly mobile. Accordingly, in a mobile cloud environment that processes BSN data, the service should not be fixed in a specific area but be able to support it according to the move. The mobile device must be able to process, filter and transmit the collected BSN data. The cloud server must be able to collect the data processed by the mobile device and provide it as a service. And the transfer of data requires standardized transfer between each device. In this paper, we propose a data delivery method through standard schema when mobile device processes data and provides service in cloud system and a data processing method according to the movement of the mobile device.

• Journal of information and communication convergence engineering
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• v.3 no.3
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• pp.142-145
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• 2005

In this paper, a new programmable DLL (delay locked loop) based clock synthesizer is proposed. DLL has several inherent advantages, such as no phase accumulation error, fast locking and easy integration of the loop filter. This paper proposes a new programmable DLL that includes a PFD(phase frequency detector), a LSI(lock status indicator), and a VCDL(voltage controlled delay line) to generate multiple clocks. It can generate clocks from 3 to 9 times of input clock with $2{\mu}s$ locking time. The proposed DLL operating in the frequency range of 300MHZ-900MHz is verified by the HSPICE simulation with a $0.35{\mu}m$ CMOS process.

• Journal of information and communication convergence engineering
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• v.6 no.4
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• pp.425-429
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• 2008

We investigated algorithm to detect and characterize interstitial lung abnormalities seen at chest radiographs. This method includes a process of 4 directional Laplaction-Gaussian filtering, and a process of linear opacity judgment. Two regions of interest (ROIs) were selected in each right lung of patients, and these ROIs were processed by our computer-analyzing system. For quantitative analysis of interstitial opacities, the radiographic index, which is the percentage of opacity areas in a ROI, was obtained and evaluated in the images. From or result, abnormal lungs were well differentiated from normal lungs. In our algorithm, the processing results were not only given as the numeric data named "radiographic index" but also confirmed with radiologists observation on CRT. The approach, by which the interstitial abnormalities themselves are extracted, is good enough because the results can be confirmed by the observations of radiologists. In conclusion, our system is useful for the detection and characterization of interstitial lung abnormalities.

• Journal of information and communication convergence engineering
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• v.6 no.4
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• pp.430-433
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• 2008

A merged altimeter data products are used to estimate sea level variation in the East Sea between 1993 and 2006. The altimeter data show a high correlation coefficient (0.85) after applying gaussian low pass filter for 180days at Ulleung island. The both of Mukho coast and Ulleung island are minimal sea level in March to May and maximal in September to November. Sea level of Mukho coast is higher than that of Ulleung island during March to May, while Mukho coast is lower during September to November because the North Korea Cold Current flows along the coast line of Mukho. Generally sea level variation at Mukho coast and Ulleung island associated with seasonal variations.

• The Transactions of the Korean Institute of Power Electronics
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• v.7 no.3
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• pp.289-296
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• 2002

New discrete-time modeling and simulation techniques are proposed which take advantages of the special features of PWM converter power stages and their compensation circuits. These techniques provide reduction of system order, and allow for the faster simulation without any numerical convergence problem. A buck converter with two-stage output filter Is employed to confirm the usefulness of the proposed techniques. The simulation results show these techniques can simulate the responoes of PWM converter system up to high frequencies.

• Journal of information and communication convergence engineering
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• v.9 no.5
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• pp.510-514
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• 2011

To detect the insulator in the fault state on the electric poles, we first measured radiation sounds from normal state insulators and error state insulators in the anechoic chamber. We processed the signals in frequency domain to find the features with filter bank, narrow band and wide band analysis. So we could found two apparent results from their frequency spectrums - one was 120Hz harmonic components, the other was high average noise level than normal state ones. Then we also introduced a technique for the direction detection of the fault state insulator using the cross correlation from the three dimensional array microphones. To eliminate the noise signal from unexpected directions, we suggested the zero padding technique in cross correlation function. From these, we could conclude that acoustic fault detection techniques are useful of the detection of insulators' faults and the estimation of the direction of the fault state insulators.