• 한국ITS학회:학술대회논문집
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• 2002.11a
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• pp.35-38
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• 2002

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.2
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• pp.197-203
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• 2004

A real-time network in a distributed control system plays an important role for the reliable data transmission. Compared to the field-buses used in the past, TCP/IP protocol on the top of Ethered provides a compatibility between applications as well as an economical method to develop softwares. This paper proposes a modified TCP/IP structure for IEEE-1394 network, with which asynchronous and isochronous data transmission is selectively used for the real-time data transmission in a distributed control system. This paper also shows the performance of the proposed protocol by experiments.

• Journal of Auto-vehicle Safety Association
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• v.14 no.2
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• pp.51-56
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• 2022

This paper presents an Ground Segmentation algorithm to eliminate unnecessary Lidar Point Cloud Data (PCD) in an autonomous driving system. We consider Random Sample Consensus (Ransac) Algorithm to process lidar ground data. Ransac designates inlier and outlier to erase ground point cloud and classified PCD into two parts. Test results show removal of PCD from ground area by distinguishing inlier and outlier. The paper validates ground rejection algorithm in real time calculating the number of objects recognized by ground data compared to lidar raw data and ground segmented data based on the z-axis. Ground Segmentation is simulated by Robot Operating System (ROS) and an analysis of autonomous driving data is constructed by Matlab. The proposed algorithm can enhance performance of autonomous driving as misrecognizing circumstances are reduced.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.7
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• pp.720-725
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• 2008

This paper proposes a system architecture for USN with a service robot to provide more active assisted living services for elderly persons by monitoring their mental and physical well-being with USN environments at home, hospital, or silver town. Sensors embedded in USN are used to detect preventive measures for chronic disease. Logged data are transferred to main controller of a service robot via wireless channel in which the analysis of data is performed. For the purpose of handling emergency situations, it needs real-time processing on gathering variety sensor data, routing algorithms for sensor nodes to a moving sink node and processing of logged data. This paper realized multi-hop sensor network to detect user movements with biometric data transmission and performed algorithms on Xenomai, a real-time embedded Linux. To leverage active sensing, a mobile robot is used of which task was implemented with a priority to process urgent data came from the sink-node. This software architecture is anticipated to integrate sensing, communication and computing with real-time manner. In order to verify the usefulness of a proposed system, the performance of data transferring and processing on a real-time OS with non real-time OS is also evaluated.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.11
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• pp.2080-2085
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• 2008

KEPCO's AMR (Automatic Meter Reading) is a system that performs the real-time inspection and management of the 15-minute load profile of electric power consumption through a wired and/or wireless network such as CDMA. It has been utilized widely for real-time collection and data analysis. So far, KEPCO has focused on establishing wireless networks using CDMA and collecting data in real time but failed to consider sufficiently performances that can improve the quality of the original data required in terms of data utilization as well as establish the summary information. In this paper, we are going to show the functions that improve data quality by recording the final renewal time of any erroneous data and maintaining such data lists to use them in the rebuilding of summary information. The goals are to reduce any load applied mainly on the DBMS (Database Management System) of AMR, to enable the real-time performance of establishment in the summary information, and to obtain high-quality inspection data. The performance evaluation result has revealed a 10-fold improvement compared to the traditional disk-based DBMS system when the summary information is established.

• Journal of Energy Engineering
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• v.14 no.2 s.42
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• pp.112-116
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• 2005

This paper describes the implementation of DCS communication network that provides high bandwidth and reliability. The network for DCS in this paper adopts the Reflective Memory (RM) architecture and Fast Ethernet physical media that have 100 Mbps bandwidth. Also, This network uses Ring Enhancement Device (RED) which is invented to reduce the time delay of each node. The DCS network that is introduced in this paper is named as ERCNet (Ethernet based Real-time Control Network). This paper describes the architecture and working algorithms of ERCNet and performs numerical analysis. In addition, the performance of ERCNet is evaluated by experiment using the developed ERCNet network.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.9
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• pp.935-944
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• 2006

EMG pattern recognition is essential for the control of a multifunction myoelectric hand. The main goal of this study is to develop an efficient feature projection method for EMC pattern recognition. To this end, we propose a linear supervised feature projection that utilizes linear discriminant analysis (LDA). We first perform wavelet packet transform (WPT) to extract the feature vector from four channel EMC signals. For dimensionality reduction and clustering of the WPT features, the LDA incorporates class information into the learning procedure, and finds a linear matrix to maximize the class separability for the projected features. Finally, the multilayer perceptron classifies the LDA-reduced features into nine hand motions. To evaluate the performance of LDA for the WPT features, we compare LDA with three other feature projection methods. From a visualization and quantitative comparison, we show that LDA has better performance for the class separability, and the LDA-projected features improve the classification accuracy with a short processing time. We implemented a real-time pattern recognition system for a multifunction myoelectric hand. In experiment, we show that the proposed method achieves 97.2% recognition accuracy, and that all processes, including the generation of control commands for myoelectric hand, are completed within 97 msec. These results confirm that our method is applicable to real-time EMG pattern recognition far myoelectric hand control.

• The Journal of the Korea Contents Association
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• v.12 no.8
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• pp.69-76
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• 2012

This paper proposes an efficient power consumption scheme using sleep mode in home gateway. The scheme by this paper classifies incoming real time packet and non-real time packet in home gateway and delay non-real time packet. Therefore, the home gateway can have longer sleep time because non-real time packet can get additional delay time by proposing mechanism using timer. We use non-preemptive two priority queueing model for performance analysis. As a results, we verify that power consumption of proposed scheme is reduced more than existing scheme by delay of non-real time traffic.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38A no.12
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• pp.1013-1020
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• 2013

In this paper the super-resolution time delay estimation algorithms based on eigen-analysis are developed for spread spectrum signals along with their comparative performance analysis. First, we shall develop super-resolution time delay estimation algorithms using the representative eigen-analysis based AOA (angle-of-arrival) estimation algorithms such as MUSIC, Minimum-Norm, and ESPRIT, and apply them to the ISO/IEC 24730-2.1 real-time locating system (RTLS) employing a direct sequence spread spectrum (DS-SS) technique to compare their performances in RTLS environments. Simulation results illustrate that all the three algorithms can resolve multipath signals whose delay differences are even smaller than the Rayleigh resolution limit. Simulation results also show that MUSIC and Minimum-Norm provide a similar performance while ESPRIT is inferior to both algorithms in RTLS environments.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.49 no.4
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• pp.311-320
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• 2021

A study is performed for the real time fault diagnosis during operation and health estimation relating to performance deterioration in a turbojet engine used for an unmanned air vehicle. For this study the real time dynamic model is derived from the transient thermodynamic gas path analysis. For real fault conditions which are manipulated for the simulation, the detection techniques are applied such as Kalman filter and probabilistic decision-making approach based on statistical hypothesis test. Thereby the effectiveness is verified by showing good fault detection and isolation performances. For the health estimation with measurement parameters, it shows using an assumed performance degradation that the method by adaptive Kalman filter is feasible in practice for a condition based diagnosis and maintenance.