• The KIPS Transactions:PartA
• /
• v.18A no.6
• /
• pp.249-254
• /
• 2011

This paper describes an efficient design of the interpolation circuit to generate the luma and chroma sub-pixels for H.264 motion estimation. The circuit based on the proposed architecture does not require any input data buffering and processes the horizontal, vertical and diagonal sub-pixel interpolations in parallel. The performance of the circuit is further improved by simultaneously processing the 1/2-pixel and 1/4-pixel interpolations for luma components and the 1/8-pixel interpolations for chroma components. In order to reduce the circuit size, we store the intermediate data required to process all the interpolations in parallel in the internal SRAM's instead of registers. We described the proposed circuit at register transfer level and verified its operation on FPGA board. We also synthesized the gate-level circuit using 130nm CMOS standard cell library. It consists of 20,674 gates and has the maximum operating frequency of 244MHz. The total number of SPSRAM bits used in our circuit is 3,232. The size of our circuit (including logic gates and SRAM's) is smaller than others and the performance is still comparable to them.

• ETRI Journal
• /
• v.22 no.1
• /
• pp.20-29
• /
• 2000

In this paper, we present a design of video and audio single chip encoder/decoder for portable multimedia application. The single-chip called as video audio signal processor (VASP) consists of a video signal processing block and an audio single processing block. This chip has mixed hardware/software architecture to combine performance and flexibility. We designed the chip by partitioning between video and audio block. The video signal processing block was designed to implement hardware solution of pixel input/output, full pixel motion estimation, half pixel motion estimation, discrete cosine transform, quantization, run length coding, host interface, and 16 bits RISC type internal controller. The audio signal processing block is implemented with software solution using a 16 bits fixed point DSP. This chip contains 142,300 gates, 22 Kbits FIFO, 107 kbits SRAM, and 556 kbits ROM, and the chip size is $9.02mm{\times}9.06mm$ which is fabricated using 0.5 micron 3-layer metal CMOS technology.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.40 no.8
• /
• pp.703-710
• /
• 2016

In robotics research, accurate estimation of current robot position is important to achieve motion control of a robot. In this research, we focus on a sensor fusion method to provide improved position estimation for a wheeled mobile robot, considering two different sensor measurements. In this case, we fuse camera-based vision and encode-based odometry data using Kalman filter techniques to improve the position estimation of the robot. An external camera-based vision system provides global position coordinates (x, y) for the mobile robot in an indoor environment. An internal encoder-based odometry provides linear and angular velocities of the robot. We then use the position data estimated by the Kalman filter as inputs to the motion controller, which significantly improves performance of the motion controller. Finally, we experimentally verify the performance of the proposed sensor fused position estimation and motion controller using an actual mobile robot system. In our experiments, we also compare the Kalman filter-based sensor fused estimation with two different single sensor-based estimations (vision-based and odometry-based).

• IEIE Transactions on Smart Processing and Computing
• /
• v.4 no.4
• /
• pp.216-223
• /
• 2015

The autonomous underwater vehicle (AUV) is being widely researched in order to achieve superior performance when working in hazardous environments. This research focuses on using image processing techniques to estimate the AUV's egomotion and the changes in orientation, based on image frames from different time frames captured from a single high-definition web camera attached to the bottom of the AUV. A visual odometry application is integrated with other sensors. An internal measurement unit (IMU) sensor is used to determine a correct set of answers corresponding to a homography motion equation. A pressure sensor is used to resolve image scale ambiguity. Uncertainty estimation is computed to correct drift that occurs in the system by using a Jacobian method, singular value decomposition, and backward and forward error propagation.

• 한국전산유체공학회:학술대회논문집
• /
• 2010.05a
• /
• pp.295-304
• /
• 2010

The paper summarizes the VIV-related research with the focus on flexible riser and pipe models subject to various engineering conditions. First of all, a series of numerical simulations for the purpose of validating the efficiency of FSI solution approach (ANSYS MFX) has been performed. The comparison between the simulation and the experimental data shows that the present FSI solution method is capable of giving acceptable estimation to VIV problems. As a meaningful application to engineering problems, some tentative simulation cases which are difficult to carry out in experiment, such as a flexible pipe with internal flow and multi-assembled pipes, have been successfully carried out. The coupling mechanism between vortex shedding and the VIV has been well interpreted.

• The Journal of Dong Guk Oriental Medicine
• /
• v.4
• /
• pp.109-140
• /
• 1995

As we considered in the main subjects, investigations on the theory of 'Doctrine on five elements' motion and six kinds of natural factors(運氣學說)' through 'Wang Bing's Commentary(王氷 注本)' of 'The seven great chapters in The Yellow Emperor's Internal Classic Su Wen' ("黃帝內經素問 七篇大論") are as follows. (1) In The seven great chapters("七篇大論")' Wang Bing supplement theory and in the academic aspects as a interpreter, judging from 'forget(亡)' character. expressed in the 'The missing chapters("素問遺篇")', 'Bonbyung-ron("本病論")' and 'Jabeob-ron(刺法論)', 'The seven great chapters("七篇大論")' must be supplementary work by Wang Bing. Besides, he quoted such forty books as medical books, taoist books, confucianist books, miscellaneous books, etc in the commentary and the contents quoted in the 'Su Wen(素問)' and 'Ling Shu("靈樞")' scripture nearly occupy in the book. As a method of interpreting scripiure as scripture, he edited the order of 'Internal Classic("內經")' ascended from the ancient time and when he compensated for commentary, with exhaustive scholarly mind and by observing the natural phenomena practically and writing the pathology and the methods of treatment. We knew that the book is combined with the study of 'Doctrine on five elements motion and six kinds of natural factors(運氣學說)' (2) When we compare, analyze the similar phrase of 'The seven great chapters in The Yellow Emperor's Internal Classic Su Wen'("黃帝內經素問ㆍ七篇大論") through 'Wang Bing's Commentary(王氷 注本)', he tells abouts organized 'five elements(五行)' and 'heaven's regularly movement(天道運行)' rather than 'Emyangengsangdae-ron("陰陽應象大論")' in 'The seven great chapters("七篇大論")'. Also the 'Ohanunhangdae-ron("五運行大論")' because the repeated sentences with 'Emyangengsangdae-ron("陰陽應象大論")' is long they are omitted. And in the 'Youkmijidae-ron("六微旨大論")', 'Cheonjin ideology(天眞四象)' based on the 'Sanggocheonjin- ron("上古天眞論")', 'Sagijosindae-ron("四氣調神大論")' is written and in the 'Gigoupyondae-ron("氣交變大論")', the syndrome and symptom are explained in detail rather than 'Janggibeobsi-ron("藏氣法時論")', 'Okgijinjang-ron ("玉機眞藏論")' and in the 'Osangieongdae-ron("五常政大論")', the concept of 'five element(五行)' of the 'Gemgwejineon-ron("金櫃眞言論")' is expanded to 'the five elements' motion concept(五運槪念)' and in the 'Youkwonjeonggidae-ron("六元正紀大論")', explanations of 'The five elements' motion and six kinds of natural factors(運氣)' function are mentioned mainly and instead systematic pathology is not revealed rather than 'Emyangengsangdae-ron("陰陽應象大論")'. And in the 'Jijinyodae-ron("至眞要大論")', explanations of the change of atmosphere which correspond to treatment principle by 'The three Yin and Yang(三陰三陽)' as a progressed concepts are revealed. Therefore there are much similarity between the phrase of 'Emyangengsangdae-ron("陰陽應象大論")' and 'chapters of addition(補缺之篇)'. Generally, the doctrine which 'The seven great chapters("七篇大論")' are added by Wang Bing(王氷) is supported because there are more profound concepts rather than the other chapter in 'The seven great chapters("七篇大論")'. (3) When we study Wang Bing's(王氷) 'Pattern on five elements motion and six kinds of natural factors(運氣格局)' in 'The seven great chapter("七篇大論")', in the 'Cheonwongi-dae-ron("天元紀大論")', With 'Cheonjin ideology(天眞思想)' and the concepts of 'Owang(旺)'${\cdot}$'Sang(相)'${\cdot}$'Sa(死)'${\cdot}$'Su(囚)'${\cdot}$'Hu(休)' and 'Cheonbu(天符)'${\cdot}$'Sehwoi(歲會)' are measured time-spacially to the concept of 'Three Sum(三合)' the concept of 'Taeulcheonbu(太乙天符)' is explained. In the 'Ounhangdae-ron("五運行大論")', 'The calender Signs five Sum(天干五合)' is compared to the concepts of 'couples(夫婦)', 'weak-strong(柔强)' and in the 'Youkmijidae-ron("六微旨大論")', 'the relationship of obedience and disobedience(順逆關係)' which conform to the 'energy status(氣位)' change and 'monarch-minister(君相)' position is mentioned. In the 'Gikyobyeondae-ron("氣交變大論")', the concept of 'Sang-duk(相得)', 'Pyungsang(平常)' is emphasized but concrete measurement is mentioned. In the 'Osangieongdae-ron("五常政大論")', the detailed explanation with twenty three 'systemic of the five elements' motion(五運體系)' form and 'rountine-contrary treatment(正治. 反治)' with 'chill-fever-warm-cold(寒${\cdot}$熱${\cdot}$溫${\cdot}$凉)' are mentioned according to the 'analyse and differentiate pathological conditions in accordance with the eight principal syndromes(八綱辨證)'. In the 'Youkwonjeonggidae-ron("六元正紀大論")', Wang Bing of doesn't mention the concepts of 'Jungwun(中運)' that is seen in the original classic. In the new corrective edition, as the concepts of 'Jungwun, Dongcheonbu, Dongsehae and Taeulcheonbu(中運, 同天符, 同歲會, 太乙天符)' is appeared, Wang Bing seems to only use the concepts of 'Daewun, Juwun, and Gaekwun(大運, 主運, 客運)'. In the 'Jijinyodaeron("至眞要大論")', Wang Bing added detailed commentary to pathology and treatment doctrine by explaining the numerous appearances of 'Sebo, sufficiency, deficiency(歲步, 有餘, 不足)' and in the relation of 'victory-defeat(勝復)', he argued clearly that it is not mechanical estimation. (4) When we observe the Wang Bing's originality on the study of 'the theory of Doctrine on five elements' motion and six kinds of natural factors(運氣學說)', he emphasized 'The idea of Jeongindogi and Health preserving(全眞導氣${\cdot}$養生思想)' by adding 'Wang Bing's Commentary(王氷 注本)' of 'The seven great chapters("七篇大論")' and explained clearly 'The theory of Doctrine on five elements' motion and six kinds of natural factors(運氣學說)' and simpled and expanded the meaning of 'man, as a microcosm, is connected with the macrocosm(天人相應)' and with 'Atmosphere theory(大氣論)' also explained the meaning of 'rising and falling mechanism(升降氣機)'. In the sentence of 'By examining the pathology, take care of your health(審察病機 無失氣宜)'. he explained the meaning of pathology of 'heart-kidney-water-fire(心腎水火)' and suggested the doctrine and management of prescription. In the estimation and treatment, by suggesting 'asthenia and sthenia(虛實)' two method's estimation, 'contrary treatment(反治)' and treatment principals of 'falling heart fire tonifyng kidney water(降心火益腎水)', 'two class of chill and fever(寒熱二綱)' were demonstrated. There are 'inside and outside in the illness and so inner and outer in the treatment(病有中外 治有表囊)'. This sentence suggests concertedly. 'two class of superfies and interior(表囊二綱)' conforming to the position of disease. Therefore Wang Bing as an excellent theorist and introduced 'Cheoniin ideology(天眞思想)' as a clinician and realized the medical science. With these accomplishes mainly written in 'The theory of Doctrine on five elements' motion and six kinds of natural factors(運氣學說)' of 'The seven great chapters("七篇大論")', he interpreted the ancient medical scriptures and expanded the meaning of scriptures and conclusively contributed to the development of the study 'Korean Oriental Medicine(韓醫學)'.

• Journal of the Society of Naval Architects of Korea
• /
• v.44 no.2 s.152
• /
• pp.166-173
• /
• 2007

Collision analysis problems between ship to ship can be generally classified into the external mechanics(outer dynamics) and internal mechanics(inner dynamics). The former can be also dealt with the concept of fluid-structure interaction and the use of rigid body dynamic program, depending on the ways handling the hydrodynamic pressure due to surrounding water. In this study, full scale ship collision simulation was carried out, such as a DWT 75,000 ton striking ship collided at right angle to the middle of a DWT 150,000 struck ship with 10 knots velocity, coupling MCOL, a rigid body mechanics program for modeling the dynamics of ships, to hydrocode LS-DYNA. It could be confirmed that more suitable damage estimation would be performed in the case of the collision simulations with consideration of surrounding water through the comparison with the collision simulation results of fixed struck ships without it. Through this study, the opportunity could be obtained to establish a more effective ship collision simulation technique between ship to ship.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 2005.11a
• /
• pp.257-260
• /
• 2005

This paper discusses a human body extraction method for mobile robot system. The skeleton features are used to analyze human motion and pose estimation. The intelligent robot system requires more robust silhouette extraction method because it has internal vibration and low resolution. The new hybrid silhouette extraction method is proposed to overcome this constrained environment. Finally, the experimental results show the superiority of the Proposed method.

• Journal of Institute of Control, Robotics and Systems
• /
• v.11 no.12
• /
• pp.1062-1067
• /
• 2005

This paper discusses a skeleton feature extraction method for ubiquitous robot system. The skeleton features are used to analyze human motion and pose estimation. In different conventional feature extraction environment, the ubiquitous robot system requires more robust feature extraction method because it has internal vibration and low image quality. The new hybrid silhouette extraction method and adaptive skeleton model are proposed to overcome this constrained environment. The skin color is used to extract more sophisticated feature points. Finally, the experimental results show the superiority of the proposed method.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.8 no.2 s.21
• /
• pp.49-57
• /
• 2005

The target localization using the line arrays buried in the seabed is a difficult problem due to the complex sea bottom characteristics and need to compensate the wave propagation effect to localize the target accurately Sound speed mismatch in the seabed causes a bias in the target bearing estimation and induces the localization error. In this paper we describe a target localization method with improved accuracy of target bearing and localization by calibration the sound speed in the seabed. The proposed algorithm is verified through the ocean data.