• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1904-1909
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• 1991

Software linear and exponential acceleration/deceleration algorithms for control of machine axes of motion in industrial robots and CNC machine tools are proposed. Typical hardware systems used to accelerate and decelerate axes of motion are mathematically analyzed. Discrete-time state equations are derived from the mathematical analyses for the development of software acceleration/deceleration algorithms. Synchronous control method of multiple axes of motion in industrial robots and CNC machine tools is shown to be easily obtained on the basis of the proposed acceleration/deceleration algorithms. The path error analyses are carried out for the case where the software linear and exponential acceleration/deceleration algorithms are applied to a circular interpolator. A motion control system based on a floating point digital signal processor (DSP) TMS 320C30 is developed in order to implement the proposed algorithms. Experimental results demonstrate that the developed algorithms and the motion control system are available for control of multiple axes and nonlinear motion composed of a combination of lines and circles which industrial robots and CNC machine tools require.

• 한국자동차공학회논문집
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• 제13권4호
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• pp.58-65
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• 2005

A method measuring angular speed and estimating angular acceleration of an automotive wind shield wiper pivot with limited resources has been proposed. Limited resources refer to the fact that processes cannot be operated in real-time with a regular notebook running a Microsoft Windows. Also, they refer to the fact that data acquisition cards have only two general purpose counters as many generic cards do. An optical incremental encoder has been employed for measuring angular motion. To measure the angular speed of the pivot, periods for the encoder's output pulses have been measured as the speed is related to the reciprocal of the period. Since only information acquired from one counter channel is the magnitude of the angular speed, sign correction is necessary. Also the information for the exact time when a pivot passes left and right dead points is also missing and the situation is inherent to the hardware setup. To find out the zero-crossing time of the angular speed, a linear interpolation technique has been employed. Lastly, to overcome the imperfection of the mechanical encoders, the angular speed has been curve fitted to a spline. Angular acceleration can be obtained by a differentiation of the angular speed.

• 자동차안전학회지
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• 제11권2호
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• pp.11-16
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• 2019

This paper suggests an algorithm for detecting fault of longitudinal controller in autonomous vehicles. Guaranteeing safety in fault situation is essential because electronic devices in vehicle are dependent each other. Several methods like alarm to driver, ceding control to driver, and emergency stop are considered to cope with fault. This research investigates the fault monitoring process in fail-safe system, for controller which is responsible for accelerating and decelerating control in vehicle. Residual is computed using desired acceleration control command and actual acceleration, and detection of its abnormal increase leads to the decision that system has fault. Before computing residual for controller, health monitoring process of acceleration signal is performed using hardware and analytic redundancy. In fault monitoring process for controller, a process model which is fitted using driving data is considered to improve the performance. This algorithm is simulated via MATLAB tool to verify performance.

• 전기전자학회논문지
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• 제25권4호
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• pp.634-643
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• 2021

본 논문에서는 실시간 SAR (synthetic aperture radar) 영상 생성을 위한 RDA (range Doppler algorithm)의 FPGA 기반 가속화 기법을 제안한다. RDA의 연산 과정인 거리 및 방위 압축 연산을 가속하기 위한 시스토릭 어레이 구조 기반 정합 필터와 RCM (range cell migration)을 보상해 주기 위한 고속의 sinc 보간 연산기의 하드웨어 구조를 제시하고, Xilinx Alveo FPGA에 다채널 커널 형태로 구현하여 가속을 진행하였다. 제안된 구조의 하드웨어를 사용하여 4096×4096 크기의 영상 생성시간을 측정한 결과, Nvidia RTX3090 GPU를 사용하여 SAR 영상을 생성하는 시간보다 약 2배 가속이 가능함을 확인하였다. 또한, 제안된 가속 하드웨어는 60,247개의 CLB LUT, 103,728개의 CLB register, 20개의 block RAM tile과 592개의 DPS로 구현 가능하며, 최대 동작속도는 312 MHz임을 확인하였다.

• 전자통신동향분석
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• 제36권6호
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• pp.1-12
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• 2021

As the demand for big data and big data-based artificial intelligence (AI) technology increases, the need for privacy preservations for sensitive information contained in big data and for high-speed encryption-based AI computation systems also increases. Fully homomorphic encryption (FHE) is a representative encryption technology that preserves the privacy of sensitive data. Therefore, FHE technology is being actively investigated primarily because, with FHE, decryption of the encrypted data is not required in the entire data flow. Data can be stored, transmitted, combined, and processed in an encrypted state. Moreover, FHE is based on an NP-hard problem (Lattice problem) that cannot be broken, even by a quantum computer, because of its high computational complexity and difficulty. FHE boasts a high-security level and therefore is receiving considerable attention as next-generation encryption technology. However, despite being able to process computations on encrypted data, the slow computation speed due to the high computational complexity of FHE technology is an obstacle to practical use. To address this problem, hardware technology that accelerates FHE operations is receiving extensive research attention. This article examines research trends associated with developments in hardware technology focused on accelerating the operations of representative FHE schemes. In addition, the detailed structures of hardware that accelerate the FHE operation are described.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1998년도 추계종합학술대회 논문집
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• pp.837-840
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• 1998

In this paper, we designed the computer input device for rehabilitation of people with hand disabilities. This input device is made up of two Gyrostar sensors attached in the orthnormal directions of x, y axes. Gyrostar is a sensor for angular Acceleration. This device is attached by the user's head side. Head movement is detected by analysing and processing the output wave signals from the sensors therefore enabling the user to move the mouse pointer that helps to operate the computer. This method does not necessitate a complex hardware or a long installation process, which was formerly the case, and uses real time algorithms which enables simple emulation of a computer mouse. The interface of this device and the mouse are the same.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제49권1호
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• pp.62-69
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• 2000

The strip tension as well as the line speed should be controlled tightly for the quality of products and productivity of the continuous strip processing line. In this paper, a new tension control algorithm with tension observer is proposed using observed tension as regulator feedback. The tension observer is based on the torque balance of a roller stand including the acceleration torque. Using this estimated tension, new tension controller can be constructed with faster dynamic response in case of line speed acceleration or deceleration. The proposed scheme needs no additional hardware because the inputs of observer, current and speed, are already being monitored by the motor drive system. Through the simulations and experiments with laboratory set up, performances fo conventional schemes and proposed one are compared. The results show the effectiveness of the proposed tension controller.

• 한국항해학회지
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• 제16권1호
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• pp.14-35
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• 1992

The recently-developed automated vessels require a system which evaluates the operating conditions of the ship at present position from weather information as well as sensors ; forecasting the operations condition in the state to come in foreseeable future ; and suggests the optimum course and speed for ship's safety. According to a study, deck wetness, propeller racing, slamming. rolling, vertical acceleration, lateral acceleration, vertical bending moment at midship etc. were chosen as the factors for evaluating seakeeping performance. As a matter of act, there is no developing the hardware of a system which could consider all the factors on seakeeping performance. This study introduces a theoretical method which makes it possible to evaluate the seakeeping performance by applying a theory from reliability engineering, and thereby establishing a safety space. The author adopts rolling and pitching as the factors on seakeeping performance by clarifying the correlation of stochastic processes the factors presently adopted for evaluation system in consideration of the safety of human being, cargoes and the ship. This method of evaluation shall be of much use in developing the practical system of seakeeping performance of a ship in waves.

• International Journal of Control, Automation, and Systems
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• 제1권4호
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• pp.474-483
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• 2003

Belt drives provide freedom to position the motor relative to the load and this phenomenon enables reduction of the robot arm inertia. It also facilitates quick response when employed in robotics. Unfortunately, the flexible dynamics deteriorates the positioning accuracy. Therefore, there exists a trade-off between the simplicity of the control strategy to reject time varying disturbance caused by flexibility of the belt and precision in performance. Resonance of the system further leads to vibrations and poor accuracy in positioning. In this paper, accurate positioning of a belt driven mechanism using a feed-forward compensator under maximum acceleration and velocity constraints is proposed. The proposed method plans the desired trajectory and modifies it to compensate delay dynamics and vibration. Being an offline method, the proposed method could be easily and effectively adopted to the existing systems without any modification of the hardware setup. The effectiveness of the proposed method was proven by experiments carried out with an actual belt driven system. The accuracy of the simulation study based on numerical methods was also verified with the analytical solutions derived.

• 한국멀티미디어학회논문지
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• 제10권9호
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• pp.1209-1219
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• 2007

임베디드 시스템과 같은 제한된 하드웨어에서 3차원 그래픽 기반의 응용 프로그램을 구동하는 것은 쉽지 않다. 그러한 시스템은 그래픽 가속 모듈을 구동하여 다양한 그래픽 기능을 처리할 수 있는 체계적인 3차원 그래픽 처리 구조가 필요하다. 본 논문에서는 임베디드 시스템을 위한 공개 소스 그래픽 윈도우 환경인 Tiny X 체계에서 3차원 그래픽 가속 장치 구동기를 구현하는 방법을 상세히 제시한다. 제안한 방법은 가속장치 구동기를 단계적으로 초기화하여 직접 렌더링 구조가 이를 적절하게 활용할 수 있도록 한다. 아울러, 3차원 그래픽 처리 성능을 효율적으로 평가할 수 있는 간단한 프로그램을 통하여 구현된 가속 장치 구동기에 대하여 적용하여 그 유용성을 확인하였다.