• Proceedings of the KIEE Conference
• /
• 1989.07a
• /
• pp.679-684
• /
• 1989

In this paper, we describe the PTP notion of robot manipulators by neural networks. The PTP motion requires the inverse kinematic redline and the joint trajectory generation algorithm. We use the multi-layered Perceptron neural networks and the Error Back Propagation(EBP) learning rule for inverse kinematic problems. Varying the number of hidden layers and the neurons of each hidden layer, we investigate the performance of the neural networks. Increasing the number of learning sweeps, we also discuss the performance of the neural networks. We propose a method for solving the inverse kinematic problems by adding the error compensation neural networks(ECNN). And, we implement the neural networks proposed by Grossberg et al. for automatic trajectory generation and discuss the problems in detail. Applying the neural networks to the current trajectory generation problems, we can refute the computation time for trajectory generation.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.85.4-85
• /
• 2001

A learning controller is presented for repetitive walking motion of biped robot. The learning control scheme learns the approximate inverse dynamics input of biped walking robot and uses the learned input pattern to generate an input profile of different walking motion from that learnt. In the learning controller, the PID feedback controller takes part in stabilizing the transient response of robot dynamics while the feedforward learning controller plays a role in computing the desired actuator torques for feedforward nonlinear dynamics compensation in steady state. It is shown that all the error signals in the learning control system are bounded and the robot motion trajectory converges to the desired one asymptotically. The proposed learning control scheme is ...

• ETRI Journal
• /
• v.27 no.5
• /
• pp.491-496
• /
• 2005

An application specific processor for an H.264 decoder with a configurable embedded processor is designed in this research. The motion compensation, inverse integer transform, inverse quantization, and entropy decoding algorithm of H.264 decoder software are optimized. We improved the performance of the processor with instruction-level hardware optimization, which is tailored to configurable embedded processor architecture. The optimized instructions for video processing can be used in other video compression standards such as MPEG 1, 2, and 4. A significant performance improvement is achieved with high flexibility. Experimental results show that we could achieve 300% performance for the H.264 baseline profile level 2 decoder.

• ETRI Journal
• /
• v.31 no.6
• /
• pp.709-716
• /
• 2009

In this paper, we propose a novel reconfigurable processor using dynamically partitioned single-instruction multiple-data (DP-SIMD) which is able to process multimedia data. The SIMD processor and parallel SIMD (P-SIMD) processor, which is composed of a number of SIMD processors, are usually used these days. But these processors are inefficient because all processing units (PUs) should process the same operations all the time. Moreover, the PUs can process different operations only when every SIMD group operation is predefined. We propose a processor control method which can partition parallel processors into multiple SIMD-based processors dynamically to enhance efficiency. For performance evaluation of the proposed method, we carried out the inverse transform, inverse quantization, and motion compensation operations of H.264 using processors based on SIMD, P-SIMD, and DP-SIMD. Experimental results show that the DP-SIMD control method is more efficient than SIMD and P-SIMD control methods by about 15% and 14%, respectively.

• Journal of Institute of Control, Robotics and Systems
• /
• v.17 no.5
• /
• pp.460-470
• /
• 2011

This paper presents a dynamic workspace control method of underwater manipulator considering a floating ROV (Remotely Operated vehicle) motion caused by sea wave. This method is necessary for the underwater work required linear motion control of a manipulator's end-effector mounted on a floating ROV in undersea. In the proposed method, the motion of ROV is modeled as nonlinear first-order differential equation excluded dynamic elements. For online manipulator control achievement, we develop the position tracking method based on sensor data and EKF (Extended Kalman Filter) and the input velocity compensation method. The dynamic workspace control method is established by applying these methods to differential inverse kinematics solution. For verification of the proposed method, experimental data based test of ROV position tracking and simulation of the proposed control method are performed, which is based on the specification of the KORDI deep-sea ROV Hemire.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.23 no.2
• /
• pp.97-105
• /
• 2020

In order to set up radar cross section(RCS) reduction factors for a target, the scattering point position of the target should be identified through inverse synthetic aperture radar(ISAR) image analysis. For this purpose, ISAR image focusing is important. Maritime ship is non-linear maneuvering in the sea, however, which blur the ISAR image. To solve this problem, translational and rotational motion compensation are essential to form focused ISAR image. In this paper, hourglass and ISAR image analysis are performed on the collected data in the sea instead of using the prediction software tool, which takes much time and cost to make computer-aided design(CAD) model of the ship.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
• /
• v.25 no.9
• /
• pp.930-937
• /
• 2014

Inverse synthetic aperture radar (ISAR) images can be generated by radar which radiates the electromagnetic wave to a target and receives signal reflected from the target. ISAR images can be widely used to target detection and recognition. This paper proposed a method of generation of high resolution ISAR images by synthesizing frequency spectrums of each stepped chirp waveform in one burst and sub-sampling in frequency domain. This process is performed over entire bursts during coherent processing interval. Conventional ISAR image generation method using stepped frequency waveform has a severe problem of short unambiguous range, loading to ghost phenomenon. However, this problem can be resolved by the proposed method. In simulations, we generate high resolution ISAR image of the moving target which is Boeing-737 aircraft model composed of several ideal point scatterers.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
• /
• v.28 no.9
• /
• pp.740-748
• /
• 2017

In this paper, we compared performance of conventional inverse synthetic aperture radar(ISAR) imaging methods for maritime target with real data measured by X-band radar. Following conventional approaches were used for performance comparisons: 1) range instantaneous Doppler(RID) method, 2) range Doppler(RD) processing with phase adjustment, and 3) RD processing with prominent point processing(PPP). It is noteworthy that the comparison results have significance of providing basic concept to establish ISAR imaging frame work for maritime targets.

• Journal of Institute of Control, Robotics and Systems
• /
• v.16 no.12
• /
• pp.1233-1240
• /
• 2010

In the flat panel display and semiconductor industries, the visual alignment system is considered as a core technology which determines the productivity of a manufacturing line. It consists of the vision system to extract the centroids of alignment marks and the stage control system to compensate the alignment error. In this paper, we develop a Kalman filter algorithm to estimate the alignment mark postures and propose a coarse-fine alignment control method which utilizes both original fine images and reduced coarse ones in the visual feedback. The error compensation trajectory for the distributed joint servos of the alignment stage is generated in terms of the inverse kinematic solution for the misalignment in task space. In constructing the estimation algorithm, the equation of motion for the alignment marks is given by using the forward kinematics of alignment stage. Secondly, the measurements for the alignment mark centroids are obtained from the reduced images by applying the geometric template matching. As a result, the proposed Kalman filter based coarse-fine alignment control method enables a considerable reduction of alignment time.

• Journal of KIISE:Software and Applications
• /
• v.32 no.10
• /
• pp.956-962
• /
• 2005

To improve video quality and coding efficiency, H.264/AVC adopts different half pixel calculating method compared with the previous standards. So, the transcoder requires additional works to transcode the pre-coded video contents with the previous standards to H.264/AVC in DCT domain. In this paper, we propose the first half-pixel correction method for MPEG-2 to H.264 transcoding in DCT domain. In the proposed method, MPEG-2 block is added to the correction block obtained by difference calculation of half-pixel values between two standards using DCT reference frame. Experimental results show that the proposed achieves better quality than pixel based cascaded transcoding method.