• 전력전자학회논문지
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• 제26권5호
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• pp.307-314
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• 2021

Even though the LCL filters have superior harmonic attenuation ability to L filters, stability has always been an issue. The system could be unstable because of the resonance phenomenon, especially when digital controller is used. Adding a notch filter to the compensator is one approach to solve the problem. Resonance phenomenon can be inhibited by aligning notch frequency to system resonance frequency. However, resonance frequency variation can be obtained because the actual system has a nonstationary characteristic. Therefore, the system could be unstable, where the system parameters are changed when the conventional notch filter is used. An adaptive digital notch filter that stabilizes the system even system parameters are changed. Simulation and experiment results are provided to verify the validity of the proposed adaptive filter.

• 로봇학회논문지
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• 제5권4호
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• pp.367-376
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• 2010

This Paper Proposes A Robust Image Stabilization System For A Mobile Robot Using An Extended Kalman Filter (Ekf). Though Image Information Is One Of The Most Efficient Data Used For Robot Navigation, It Is Subjected To Noise Which Is The Result Of Internal Vibration As Well As External Factors Such As Uneven Terrain, Stairs, Or Marshy Surfaces. The Camera Vibration Deteriorates The Image Resolution By Destroying The Image Sharpness, Which Seriously Prevents Mobile Robots From Recognizing Their Environment For Navigation. In This Paper, An Inclinometer Was Used To Measure The Vibration Angle Of The Camera System Mounted On The Robot To Obtain A Reliable Image By Compensating For The Angle Of The Camera Vibration. In Addition The Angle Prediction Obtained By Using The Ekf Enhances The Image Response Analysis For Real Time Performance. The Experimental Results Show The Effectiveness Of The Proposed System Used To Compensate For The Blurring Of The Images.

• Journal of the Optical Society of Korea
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• 제3권1호
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• pp.32-34
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• 1999

We successfully demonstrated a stabilized fiber-optic Mach­Zehnder interferometer filter with continuous tunability. The tunable scheme was achieved with fine wavelength control of an 1.3${\mu}{\textrm}{m}$ tunable laser diode used as a stabilization light source. The transmission wavelength of the tunable filter was shifted linearly with respect to the wavelength change of the stabilization light source.

• 전자공학회논문지
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• 제53권10호
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• pp.27-33
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• 2016

본 논문은 초퍼 안정화기법을 적용한 저잡음 증폭기를 제안한다. 초퍼 안정화기법은 CMOS 증폭기의 저주파수 대역 오프셋과 플리커 잡음을 감소시키는 효과적인 기법이다. 기존의 초퍼 증폭기는 초퍼로 인해 발생되는 초핑 스파이크를 제거하기 위해 Low Pass Filter(LPF)를 사용하기 때문에 저항과 커패시터가 큰 면적을 차지한다는 단점을 가지고 있다. 제안된 초퍼 증폭기는 LPF 대신 샘플 앤 홀드 방식의 초핑 스파이크 제거 회로를 사용하여 적은 전압감쇄에서 36%, 면적에서 11%의 이득을 얻을 수 있다.

• 제어로봇시스템학회논문지
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• 제17권2호
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• pp.157-163
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• 2011

This paper proposes a hybrid image stabilizing system which uses both optical image stabilizing system based on EKF (Extended Kalman Filter) and digital image stabilization based on SURF (Speeded Up Robust Feature). Though image information is one of the most efficient data for object recognition, it is susceptible to noise which results from internal vibration as well as external factors. The blurred image obtained by the camera mounted on a robot makes it difficult for the robot to recognize its environment. The proposed system estimates shaking angle through EKF based on the information from inclinometer and gyro sensor to stabilize the image. In addition, extracting the feature points around rotation axis using SURF which is robust to change in scale or rotation enhances processing speed by removing unnecessary operations using Hessian matrix. The experimental results using the proposed hybrid system shows its effectiveness in extended frequency range.

• 전기전자학회논문지
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• 제19권2호
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• pp.244-253
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• 2015

본 논문은 비의도 움직임 검출 및 적응적 움직임 완화 필터를 이용한 동영상 안정화 기법을 제안한다. 제안된 기법은 비의도 움직임 검출 단계와 검출된 비의도 움직임을 완화 필터링하는 단계로 구성된다. 움직임 완화 과정에 요구되는 속성들을 활용하기 위하여 누적 전역 움직임 매개변수들로 구성된 집합의 국부 최대값과 국부 최소값을 정의한다. 국부 정보를 사용하여 비의도 움직임 검출에 필요한 제약조건을 정의하며, 제약조건들을 기반으로 하여 알파-조정 평균 필터의 알파 값을 결정하여 재구성된 동영상의 움직임 완화 정도를 제어한다. 실험 결과를 통해 제안된 방식의 성능 우수성을 입증하였다.

• International Journal of Control, Automation, and Systems
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• 제1권4호
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• pp.515-519
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• 2003

This paper proposes a new image sequence stabilization (ISS) scheme based on filtering of absolute frame positions. The proposed ISS scheme removes undesired motion effects in real-time, while preserving desired gross camera displacements. The well-known finite impulse response (FIR) filter is adopted for filtering. The proposed ISS scheme provides a filtered position and velocity with fine inherent properties. It is demonstrated that the filtered position is not affected by the constant velocity. It is also shown that the filtered velocity is separated from the position. Via numerical simulations, the performance of the proposed scheme is shown to be superior to the existing Kalman filtering scheme.

• 전기학회논문지
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• 제67권7호
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• pp.871-877
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• 2018

In this paper, we propose a triple nested PID control scheme for stable hovering of a quadrotor and propose a complementary filter based sensor fusion technique to improve the performance of attitude, altitude and velocity measurement. The triple nested controller has a structure in which a double nested attitude controller that has the angular velocity PD controller in inner loop and the angular PI controller in outer loop, is nested in a velocity control loop to enable stable hovering even in the case of disturbance. We also propose a sensor fusion technique by applying a complementary filter in order to reduce the noise and drift error included in the acceleration and gyro sensor and to measure the velocity by fusing image, gyro, and acceleration sensor. In order to verity the performance, we applied the proposed control and measurement scheme to hovering control of quadrotor.

• 한국소음진동공학회논문집
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• 제21권2호
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• pp.178-185
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• 2011

Optical image stabilization is a device to compensate the camera movement in the exposure time. The compensation is implemented by movable lens or image sensor that adjusts the optical path to the camera movement. Generally, the camera is moved by a handshake, thus the handshake is considered as an external disturbance. However, there are many other vibrations such as car and train vibration. In this paper, the optical image stabilization system in high frequency region is presented. Notch filter and lead compensator are designed and applied to improve the stability without changing the actuator. To verify the performance of the optical image stabilization system in high frequency region, the experiment equipment with moving object is established. It is confirmed that the opticalimage stabilization system does not diverge at the resonance frequency.

• 융합신호처리학회논문지
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• 제10권2호
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• pp.106-111
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• 2009

실시간 영상 안정화 기술은 손떨림에 의한 휴대용 카메라 혹은 외부적 조건에 의한 고정 카메라의 흔들림 보상에 이용된다. 본 논문은 비교적 큰 외부적 요인으로 인하여 발생하는 동영상의 흔들림에 대한 대책에 관한 것이다. 동영상 안정화 파라메터로 이용되는 기준 프레임에 대한 현재 프레임의 변위를 얻기 위하여 DFT에 기반한 위상 상관법을 이용한다. 그리고 위상 상관지도에서의 효율적이고 안정적인 탐색을 위하여 칼만 필터를 이용하여 탐색 범위를 추정하는 방법과 안정적인 성능과 실시간 처리에 필요한 조건을 실험적으로 찾아내고 그 조건을 제시한다. 중심 지점에 대한 평균밝기의 표준편차 값을 동영상 안정화의 성능 평가 척도로 제안하고 가상 흔들림 동영상과 실제 흔들림 동영상에 대하여 성능을 서로 비교하였다.