• The Journal of Korean Institute of Communications and Information Sciences
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• v.24 no.9B
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• pp.1731-1741
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• 1999

Color images are often corrupted by the noise due to noisy sensors or channel transmission errors. Some filters such as vector media and vector $\alpha$-trimmed mean filter have bee used for color noise removal. In this paper, We propose the fuzzy cluster filters based on the possibilistic c-means clustering, because the possibilistic c-means clustering can get robust memberships in noisy environments. Also, we propose weighted vector $\alpha$-trimmed mean filter to improve the conventional vector $\alpha$-trimmed mean filter. In this filter, the central data are more weighted than the outlying data. In this paper, we implemented the color noise generator to evaluate the performance of the proposed filters in the color noise environments. The NCD measure and visual measure by human observer are used for evaluation the performance of the proposed filters. In the experiment, proposed fuzzy cluster filters in the sense of NCD measure gave the best performance over conventional filters in the mixed noise. Simulation results showed that proposed weighted vector $\alpha$-trimmed mean filters better than the conventional vector $\alpha$-trimmed mean filter in any kinds of noise.

• The Journal of the Korea institute of electronic communication sciences
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• v.17 no.1
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• pp.59-70
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• 2022

In this paper, we proposed an active fault tolerant control (AFTC) method for the position control of a quadrotor with complete loss of effectiveness of one motor. We obtained the dynamics of a quadrotor using Lagrangian equation without small angle assumption. For detecting the fault on a motor, we designed a fault detection module, which consists of the fault detection and diagnosis (FDD) module and the fault detection and isolation (FDI) module. For the FDD module, we designed a nonlinear observer that observes the states of a quadrotor based on the obtained dynamics. Using the observed states of a quadrotor, we designed residual signals and set the appropriate threshold values of residual signals to detect the fault. Also, we designed an FDI module to identify the fault location using the designed additional conditions. To make a quadrotor track the desired path after detecting the fault of a motor, we designed a fault tolerant controller based on the multiple sliding surface control (MSSC) technique. Finally, through simulations, we verified the effectiveness of the proposed AFTC method for a quadrotor with complete loss of effectiveness of one motor.