• ETRI Journal
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• 제25권5호
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• pp.297-304
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• 2003

A multimedia SoC often requires a large internal buffer, because it must store the whole search window to reduce the huge I/O bandwidth of motion estimation. However, the silicon area of the internal buffer increases tremendously as the search range becomes larger. This paper proposes a new method that greatly reduces the internal buffer size of a multimedia SoC while the computational cost, I/O bandwidth, and image quality do not change. In the proposed method, only the overlapped parts of search windows for consecutive macroblocks are stored in the internal buffer. The proposed method reduces the internal buffer. The proposed method reduces the internal buffer size to 1/5.0 and 1/8.8 when the search range is ${\pm}64{\times}{\pm}$64 and ${\pm}128{\times}{\pm}$128, respectively.

• 한국전문물리치료학회지
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• 제17권3호
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• pp.1-10
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• 2010

The purpose of this study was to measure intra-rater and inter-rater reliability and range of motion for measurement of passive shoulder internal rotation range of motion and to compare anterior glide distance of humeral head in three methods. Fifty healthy subjects and fifty patients with shoulder musculoskeletal pain were recruited for this study. The subjects' passive shoulder internal rotation range of motion was measured by visual estimation, manual stabilization, and pressure biofeedback unit methods. In two trials, measurements were performed on each subject by two examiners. Intraclass correlation coefficient (ICC(3,1)) was used to determine the reliability of each measurement. The intra-rater reliability of the three methods was excellent (ICC=.77~.93) in both groups. The inter-rater reliability of the visual estimation method was poor (ICC=.20, .29), the manual scapular stabilization method was poor and fair (ICC=.09, .50), and the pressure biofeedback unit method was excellent (ICC .86, .75) in the experimental and control groups. In the experimental group, the difference of examined range of motion by each examiner was significant in the visual estimation method and manual scapular stabilization method, but there was an insignificant difference between the groups is the pressure biofeedback unit method. This result suggests that the intra-rater and inter-rater reliability of a pressure biofeedback unit was better than the other methods. The difference in distance of the anterior glide of humeral head was insignificant among all the methods. The pressure biofeedback unit method was the most reliable method, so it is proposed to be a new and reliable method to measure internal rotation range of motion.

• JSTS:Journal of Semiconductor Technology and Science
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• 제13권5호
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• pp.430-442
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• 2013

This paper presents a fast multi-reference frame integer motion estimator for H.264/AVC. The proposed system uses the previously proposed fast multi-reference frame algorithm. The previously proposed algorithm executes a full search area motion estimation in reference frames 0 and 1. After that, the search areas of motion estimation in reference frames 2, 3 and 4 are minimized by a linear relationship between the motion vector and the distances from the current frame to the reference frames. For hardware implementation, the modified algorithm optimizes the search area, reduces the overlapping search area and modifies a division equation. Because the search area is reduced, the amount of computation is reduced by 58.7%. In experimental results, the modified algorithm shows an increase of bit-rate in 0.36% when compared with the five reference frame standard. The pipeline structure and the memory controller are also adopted for real-time video encoding. The proposed system is implemented using 0.13 um CMOS technology, and the gate count is 1089K with 6.50 KB of internal SRAM. It can encode a Full HD video ($1920{\times}1080P@30Hz$) in real-time at a 135 MHz clock speed with 5 reference frames.

• 동력기계공학회지
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• 제12권2호
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• pp.55-61
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• 2008

This paper discusses the advantages of using Fourier-based periodic excitation and of combining internal and external models in dynamic robot parameter identification. Internal models relate the joint torques or forces with the motion of the robot; external models relate the reaction forces and torques on the bedplate with the motion data. This combined model allows to combine joint torque/force and reaction torque/force measurements in one parameter estimation scheme. This combined model estimation will yield more accurate parameter estimates, and consequently better predictions of actuator torque, which is shown by means of a simulated experiment on a CRS A465 industrial robot.

• ETRI Journal
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• 제31권6호
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• pp.784-794
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• 2009

We present a full HD (1080p) H.264/AVC High Profile hardware encoder based on fast motion estimation (ME). Most processing cycles are occupied with ME and use external memory access to fetch samples, which degrades the performance of the encoder. A novel approach to fast ME which uses shared multibank memory can solve these problems. The proposed pixel subsampling ME algorithm is suitable for fast motion vector searches for high-quality resolution images. The proposed algorithm achieves an 87.5% reduction of computational complexity compared with the full search algorithm in the JM reference software, while sustaining the video quality without any conspicuous PSNR loss. The usage amount of shared multibank memory between the coarse ME and fine ME blocks is 93.6%, which saves external memory access cycles and speeds up ME. It is feasible to perform the algorithm at a 270 MHz clock speed for 30 frame/s real-time full HD encoding. Its total gate count is 872k, and internal SRAM size is 41.8 kB.

• 전자공학회논문지A
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• 제33A권12호
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• pp.110-119
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• 1996

A novel high speed VLSI architecture and its VLSI realization methodologies for a motion estimation processor based on full search block matching algorithm are presentd. The presented architecture is designed in order to be suitable for highly parallel and pipelined processing with identical PE's and adjustable in performance and hardware amount according to various application areas. Also, the throughput is maximized by enhancing PE utilization up to 100% and the chip pin count is reduced by reusing image data with embedded image memories. Also, the uniform and identical data processing structure of PE's eases VLSI implementation and the clock rate of external I/O data can be made slower compared to internal clock rate to resolve I/O bottleneck problem. The logic and spice simulation results of the proposed architecture are presented. The performances of the proposed architecture are evaluated and compared with other architectures. Finally, the chip layout is shown.

• 정보와 통신
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• 제25권12호
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• pp.10-18
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• 2008

In this paper, we present a low-power design of H.264 codec based on dedicated hardware and software solution on EMP(ETRI Multi-core platform). The dedicated hardware scheme has reducing computation using motion estimation skip and reducing memory access for motion estimation. The design reduces data transfer load to 66% compared to conventional method. The gate count of H.264 encoder and the performance is about 455k and 43Mhz@30fps with D1(720x480) for H.264 encoder. The software solution is with ASIP(Application Specific Instruction Processor) that it is SIMD(Single Instruction Multiple Data), Dual Issue VLIW(Very Long Instruction Word) core, specified register file for SIMD, internal memory and data memory access for memory controller, 6 step pipeline, and 32 bits bus width. Performance and gate count is 400MHz@30fps with CIF(Common Intermediated format) and about 100k per core for H.264 decoder.

• 대한전자공학회논문지SP
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• 제38권5호
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• pp.509-517
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• 2001

전역탐색알고리즘(full-search algorithm, FSA)은 탐색영역의 범위가 커짐에 따라 방대한 양의 계산을 필요로 하기 때문에 이에 따른 알고리듬의 처리시간이 커지고, 하드웨어로 구현했을 때 회로가 복잡해진다는 문제점을 안고 있다. 본 논문에서는 이러한 문제점을 개선하기 위한 방안으로 비트플레인 정합에 의한 움직임 추정기의 VLSI 구조를 제안한다. 제안된 움직임 추정기에서는 비트 플레인 정합기준을 이용하여 기존의 전역 탐색 알고리즘을 하나의 이진영상으로 적용함으로써 움직임 추정에 소요되는 연산의 양을 크게 줄이면 서도 전역탐색 알고리듬과 유사한 움직임 추정 성능을 갖도록 하였으며, 제안된 VLSI 구조에서는 두 개의 프로세싱 코어를 채택하여 데이터 흐름을 시스톨릭 (systolic) 어레이의 형태로 제어하여, 시스템 내부의 SRAM을 제거하여 동작 속도 상의 이득뿐만 아니라, 메모리 공정을 필요로 하지 않는 저가의 공정을 사용 가능하게 함으로써 제작상의 비용을 절감할 수 있는 해결책을 제시하였다. 구현된 하드웨어는 VHDL을 이용하여 설계하고, 기능 검증을 수행한 후 0.6-μm three-metal CMOS 공정을 이용하여 8.15 X 10.84㎟의 크기로 집적하였다.

• 로봇학회논문지
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• 제7권4호
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• pp.231-242
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• 2012

This paper proposes particle filter(PF) method using acoustic signal for localization of an underwater robot. The method uses time of arrival(TOA) or time difference of arrival(TDOA) of acoustic signals from beacons whose locations are known. An experiment in towing tank uses TOA information. Simulation uses TDOA information and it reveals dependency of the localization performance on the uncertainty of robot motion and senor data. Also, comparison of the PF method with the least squares method of spherical interpolation(SI) and spherical intersection(SX) is provided. Since PF uses TOA or TDOA which comes from measurement of external information as well as internal motion information, its estimation is more accurate and robust to the sensor and motion uncertainty than the least squares methods.

• 한국의학물리학회지:의학물리
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• 제22권3호
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• pp.140-147
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• 2011

이 연구에서는 폐종양의 정량적 개선을 위하여 분자체를 이용하여 내부 움직임을 측정하고 평가된 데이터를 기반으로 소동물 PET 영상내의 폐종양을 국소화하고자 하였다. 소동물 폐 영역의 내부 움직임은 방사성물질을 흡착한 분자체를 이용하여 소동물 폐 영역에 부착함으로써 구현하였다. 폐 영역의 내부 움직임 표적으로 사용된 분자체는 약 37 kBq의 Cu-64를 흡착시켜 폐종양을 모사하였다. 소동물 PET 영상은 Siemens Inveon 스캐너를 이용하여 획득하였으며 외부 움직임 데이터는 트리거 생성 장치인 BioVet을 이용하였다. SD-Rat PET 영상은 $^{18}F$-FDG 37 MBq/0.2 mL을 미정맥으로 주사하고 60분 후 20분간 데이터를 획득하였다. 리스트모드 데이터의 각 선응답은 외부 트리거 장치에 의해 획득된 트리거신호를 이용하여 2 bin에서 16 bin으로 사이노그램을 획득하였다. 획득된 사이노그램 데이터는 OSEM 2D 알고리즘을 이용하여 4회의 반복으로 재구성하였다. 종양의 정량적 분석을 위한 PET 영상은 종양을 묘사한 분자체 영역에 관심영역을 설정하고 계수와 SNR 그리고 FWHM을 이용하여 평가하였다. 움직임 표적으로 사용된 분자체의 크기는 $1.59{\times}2.50mm$이었으며, 기준 영상으로 획득한 체외 분자체 수직 및 수평 FWHM은 $2.91{\times}1.43mm$이었다. 정적영상과 4 bin 그리고 8 bin 영상에서의 수직 FWHM은 각각 3.90 mm, 3.74 mm, 3.16 mm이었으며 수평 FWHM은 각각 2.21 mm, 2.06 mm, 1.60 mm이었다. 정적영상, 4 bin, 8 bin, 12 bin 그리고 16 bin의 계수 값은 각각 4.10, 4.83, 5.59, 5.38, 5.31이었다. 정적영상, 4 bin, 8 bin, 12 bin 그리고 16 bin의 SNR은 4.18, 4.05, 4.22, 3.89, 3.58이었다. FWHM은 게이트 수의 증가에 따라 계속 향상됨을 확인하였다. 그러나 계수 값과 SNR은 게이트 수의 증가에 따라 계속 향상되지 않고 특정 bin 수에서 가장 높은 값을 보여 소동물 폐 영역에서의 종양 영상화시 SNR의 손실을 최소화하면서 향상된 계수 값을 얻을 수 있는 게이트 수를 획득하였다. 내부 움직임 측정은 최적화된 종양 국소화 영상을 획득할 수 있으며 외부 움직임 모니터링 시스템을 사용하지 않고 장기별 움직임 예측 모델링을 위한 유용한 방법이 될 것으로 기대된다.