• Proceedings of the IEEK Conference
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• 2000.07b
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• pp.591-595
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• 2000

In this paper color coordinate system transformation based visual servo controller has been considered Mobile robot always has a position error and an orientation error resulted from wheel slipping etc.. Even more, the errors have accumulative properties. So feedback from environments is important. In this paper by using color model faster land mark extraction can be achieved. And the global position and the orientation of mobile robot can be known by only two land mark positions in image coordinate system. Finally, the adoption of visual information in path tracking problem makes visual servo control.

• Journal of the Korean Institute of Telematics and Electronics A
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• v.31A no.8
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• pp.100-110
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• 1994

This paper proposes an efficient traceback method for parallel hardware implementation of the Viterbi algorithm. Compared to the conventional Viterbi algorithm where initial state for traceback is selected arbitrarily the proposed algorithm decides decoding output by analyzing the survivor paths of consecutive tracebacks. This makes Viterbi algorithm more efficient in error correction event when more than one survivor path exists. The proposed traceback algorithm together with its hardware realization is presented in this paper. Experimental results show tht the proposed algorithms is efficient in error correction in noisy channels compared to the existing algorithms.

• Proceedings of the KAIS Fall Conference
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• 2004.11a
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• pp.203-205
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• 2004

A soft error rate neutrons is a growing problem for terrestrial integrated circuits with technology scaling. In the acceleration test with high-density neutron beam, a latch-up prohibits accurate estimations of the soft error rate (SER). This paper presents results of analysis for the latch-up characteristics in the circumstance corresponding to the acceleration SER test for SRAM. Simulation results, using a two-dimensional device simulator, show that the deep p-well structure has better latch-up immunity compared to normal twin and triple well structures. In addition, it is more effective to minimize the distance to ground power compared with controlling a path to the $V_{DD}$ power.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.627-634
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• 1989

A collision-free trajectory planning algorithm using the iterative learning concept is proposed for dual robot arms in a 3-D workspace to accurately follow their specified paths with constant velocities. Specifically, a collision-free trajectory minimizing the trajectory error is obtained first by employing the linear programming technique. Then the total operating time is iteratively adjusted based on the maximum trajectory error of the previous iteration so that the collision-free trajectory has no deviation from the specified path and also the operating time is near-minimal.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37B no.10
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• pp.889-900
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• 2012

In wireless sensor networks, the positioning scheme using received signal strength (RSS) has been widely considered. Appropriate estimation of path-loss exponent (PLE) between a sensor node and an anchor node plays a key role in reducing position error in this RSS-based positioning scheme. In the conventional researches, a sensor node directly uses the PLEs measured by its nearest anchor node to calculate its position. However, the actual PLE between a sensor node and the anchor node can be different from the PLE measured by its nearest anchor node. Thus, if a sensor node directly uses the PLEs measured by its nearest anchor node, the estimated position is different from the actual position of the sensor node with a high probability. In this paper, we describe the method how a sensor node estimates PLEs from the anchor nodes of interest by itself and calculates its position based on these self-estimated PLEs. Especially, our proposal suggests the mechanism to iteratively calculate the PLEs depending on the estimated distances between a sensor node and anchor nodes. Based on the recalculated PLEs, the sensor node reproduces its position. Through simulations, we show that our proposed positioning scheme outperforms the traditional scheme in terms of position error.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.3
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• pp.90-101
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• 2000

In this paper, we propose a controller for differentially steered wheeled mobile robots. The controller uses input-output linearization algorithm and artificial neural network to stabilize the dynamic model and compensate uncertainties. The proposed neural network part has 6 inputs, 1 hidden layer, 2 torque outputs and features fast online learning and good performance on structure error learning basis. Simulation results show that the proposed controller perform precisely tracking of reference path and is robust to uncertainties.

• Proceedings of the KIPE Conference
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• 1998.11a
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• pp.1-4
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• 1998

In this paper, an auto-tuning method for fuzzy controller based on the neural network is presented. The backpropagated error of neural emulator offers the path which reforms the fuzzy controller's membership functions and fuzzy rule, and used for speed control of switched reluctance motor. The experiments are performed to verify the capability of proposed control method on 6/4 salient type SRM. The results show that fuzzy-neural controller is suitable for wide speed range.

• Proceedings of the IEEK Conference
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• 2008.06a
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• pp.189-190
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• 2008

In this paper, we evaluate the bit error rate (BER) performance for uplink communication of WiBro system when smart antenna technology is employed. It is shown that, by exploiting beamforming technology, smart antenna-based WiBro system shows improved performance by more than 4 dB in SNR compared to single input single output (SISO) system under one-path Rayhleigh fading channel condition.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.228-231
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• 1987

Microprocessor-based software DDA interpolator is developed and applied to two axis contouring control of X-Y table. Developed assembly program is composed of feedrate, linear and circular DDA interpolation routines. Reference-pulse type of open-loop stepping motor control system in which the micro-computer produces a sequence of reference pulses for each axis of motion is adopted. To test performance of the developed program, X-Y table drive system based on stepping motor and shaft encoder is designed. Contouring error of the system in linear and circular path is within .+-.0.2 mm.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.53 no.3
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• pp.129-133
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• 2004

As In DS/CDMA(direct sequence code division multiple access) system, the system capacity is limited by multiple access interference(MAI), and self-interference(SI) resulting from the multi-path propagation of the desired user signal. This paper, which the approximated analytic chip waveforms are nearly the same as the computer generated chip waveforms are shown. And then, the BER(Bit Error Rate) performances in CDMA system using the approximated analytic chip waveforms are shown.