• Journal of Institute of Control, Robotics and Systems
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• v.14 no.11
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• pp.1117-1123
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• 2008

This paper implements dual-kernel system using standard Linux and real-time embedded Linux for the real-time control of intelligent robot systems. Such system provides more useful services including standard Linux thread that is easy to implement complicated tasks and real-time tasks for the deterministic response to velocity control. Here, an open source real-time embedded Linux, XENOMAI, is ported on embedded target board. And for interfacing with motor controller we adopted a real-time serial device driver. The real-time task was implemented with a priority to keep the cyclic control command for trajectory control. In order to validate deterministic response of the proposed system, the performance measurement of the delay in performing trajectory control with feedback loop is evaluated with non real-time standard Linux. The proposed software architecture is anticipated to take advantage of features in both standard Linux and real-time operating systems for the intelligent robot systems.

• Proceedings of the IEEK Conference
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• 2002.07a
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• pp.670-673
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• 2002

This paper proposes a digital algorithm for gray-scale/color image segmentation of real-time video signals and a cell-network-based implementation architecture in state-of-the-art CMOS technology. Through extrapolation of design and simulation results we predict that about 300$\times$300 pixels can be integrated on a chip at 100nm CMOS technology, realizing very high-speed segmentation at about 1600sec per color image. Consequently real-time color-video segmentation will become possible in near future.

• Proceedings of the IEEK Conference
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• 2000.11a
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• pp.13-16
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• 2000

Recently, with the advent of satellite communication technologies, the network access service through satellites has emerged as an alternative to existing ones. Of satellite access services including multimedia services, the high speed internet access service will be one of the important services. Particularly, the efficient transportation of real time internet traffic seems very essential. The aim of this research is to examine the applicability of the IETF RTP protocol in the satellite access network. The RTP has been developed for the QoS-met transportation protocol of real time traffic over the existing best-effort internet. This paper summarizes the RTP protocol, and describes the architecture of the implementation of the RTP. And also, the compressed RTP header protocol is discussed for the applicability to the satellite link.

• Proceedings of the KIEE Conference
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• 1991.11a
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• pp.378-381
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• 1991

In this paper, the active noise controll system in duct is analyzed with real time implementation. The primary noise signal detected by microphone is modeled using adaptive algorithm and the secondary signal which has the same amplitude and $180^{\circ}$ phase shift with the primary noise signal is generated in the controller. The signal processor DSP56001 is used to implement the real-time controller and the experimental results shows that our system can reduce the noise level in duct to $20{\sim}40$ [db].

• MALSORI
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• no.49
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• pp.145-158
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• 2004

This paper is aiming at implementation of real-time speaker verification system using DSP board. Dialog/4, which is based on microprocessor and DSP processor, is selected to easily control telephone signals and to process audio/voice signals. Speaker verification system performs signal processing and feature extraction after receiving voice and its ID. Then through computing the likelihood ratio of claimed speaker model to the background model, it makes real-time decision on acceptance or rejection. For the verification experiments, total 15 speaker models and 6 background models are adopted. The experimental results show that verification accuracy rates are 99.5% for using telephone speech-based speaker models.

• Journal of the Korean Institute of Telematics and Electronics
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• v.26 no.10
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• pp.1576-1583
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• 1989

In this paper, we describe real-time optical implementation of the Hopfield neural network model for two-dimensional associative memory by using commercial LCTV and Multifocus For real-time processing capability, we use LCTV as a memory mask and a input spatial light modulator. Inner product between input pattern and memory matrix is processed by the multifocus holographic lens. The output signal is then electrically thresholded fed back to the system input by 2-D CCD camera. From the good experimental results, the proposed system can be applied to pattern recognition and machine vision in future.

• Proceedings of the KIEE Conference
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• 2004.07d
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• pp.2350-2352
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• 2004

This paper presents the implementation-tation of the real-time software GPS Receiver based on FFT and FLL assisted PLL tracking algorithm. The FFT(fast fourier transform) based GPS si-gnal acquisition scheme provides a fast TTFF(time to first fix) performance. The tracking based on FLL assisted PLL enables tracking of GPS signal in a high dynamic environment. The designed software GPS receiver uses the indexing method for generating replica carrier to reduce computation load. The performance of the implemented GPS receiver is evaluated using high-dynamic simulated data from a simulator and real static data.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.68.4-68
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• 2001

In the area of factory automation (FA), a lot of researches are being executed about intelligent system using network. Conventional industry controllers are implemented the connection with other controllers by using asynchronous serial communications. These methods of communication have an advantage of easy implementation but have disadvantages of lack of real-time characteristics needed in motion control, slow baud rate too low to exchange required data sufficiently and low integrity because of different communication protocol. Serial real-time communication system (SERCOS) provides international standard communication specifications (IEC 61491) for interfacing between control units and drives from different manufacturers, has real-time ...

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.10
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• pp.911-917
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• 2000

As many sensors and actuators are used in various automated systems, the application of network to real-time distributed control system is gaining acceptance in many industries. In order to take advantages of networking, however, the network should be carefully designed to satisfy real-time distributed control. This paper presents an implementation method of closed-loop control using Profibus-FMS. In order to implement a closed-loop control system, we used industrial computers with Profibus-FMS network cards and a DC servo motor. Through various experiments, the step response of the control system with network was compared with the reference response without network.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2001.04a
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• pp.255-260
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• 2001

This paper presents a new approach to the design of neural control system using digital signal processors in order to improve the precision and robustness. Robotic manipulators have become increasingly important in the field of flexible automation. High speed and high-precision trajectory tracking are indispensable capabilities for their versatile application. The need to meet demanding control requirement in increasingly complex dynamical control systems under significant uncertainties, leads toward design of intelligent manipulation robots. The TMS320C31 is used in implementing real time neural control to provide an enhanced motion control for robotic manipulators. In this control scheme, the networks introduced are neural nets with dynamic neurons, whose dynamics are distributed over all the network nodes. The nets are trained by the distributed dynamic back propagation algorithm. The proposed neural network control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance of the neural controller is illustrated by simulation and experimental results for a SCARA robot.