• Title/Summary/Keyword: distributed motion control

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Content-based Rate control for Hybrid Video Transmission (혼합영상 전송을 위한 내용기반 율제어)

  • 황재정;정동수
    • The Journal of Korean Institute of Communications and Information Sciences
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    • v.25 no.8B
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    • pp.1424-1435
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    • 2000
  • A bit-rate controller that can achieve a constant bit rate when coding object-based video sequences is an important part to achieve an adaptation to bit-rate constraints, desired video quality, distribution of bits among objects, relationship between texture and shape coding, and determination of frame skip or not. Therefore we design content-based bit rate controller which will be used for relevant bit-rate control. The implementation is an extension of MPEG-4 rate control algorithm which employs a quadratic rate-quantizer model. The importance of different objects in a video is analyzed and segmented into a number of VOPs which are adaptively bit-allocated using the object-based modelling. Some test sequences are observed by a number of non-experts and interests in each object are analysed. The initial total target bit-rate for all objects is obtained by using the proposed technique. Then the total target bits are jointly analyzed for preventing from overflow or underflow of the buffer fullness. The target bits are distributed to each object in view of its importance, not only of statistical analysis such as motion vector magnitude, size of object shape, and coding distortion of previous frame. The scheme is compared with the rate controller adopted by the MPEG-4 VM8 video coder by representing their statistics and performance.

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A Study on the Joint Controller for a Humanoid Robot based on Genetic Algorithm (유전 알고리즘을 이용한 휴머노이드 로봇의 관절 제어기에 관한 연구)

  • Kong, Jung-Shik;Kim, Jin-Geol
    • Journal of the Korean Institute of Intelligent Systems
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    • v.17 no.5
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    • pp.640-647
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    • 2007
  • This paper presents a joint controller for a humanoid robot based on genetic algorithm. h humanoid robot has basically instability during walking because it isn't fixed on the ground. Moreover nonlinearities of the joints increase its instability. If one of them isn't satisfied, the robot may fall down at the ground during walking. To attack one of those problems, joint controller is proposed. It can perform tracking control preciously and reduce the effect of nonlinearities by gear, limitation of the input voltage, coulomb friction and so on. This controller is based on fuzzy-sliding mode controller (FSMC) and compensator and control gains are searched by a proposed genetic algorithm. It can reduce the effect by nonlinearities. Also, to improve the tracking performance, the proposed controller has motion controller. From the given controller, a humanoid robot can moved more preciously. Here, all the processes are investigated through simulations and it is verified experimentally in a real joint system for a humanoid robot.

Fault-Tolerant Driving Control of Independent Steer-by-Wire System for 6WD/6WS Vehicles Using High Slip (고슬립을 이용한 6 륜구동/6 륜조향 차량 고장 안전 주행 제어)

  • Nah, Jae Won;Kim, Won Gun;Yi, Kyongsu;Lee, Jongseok;Lee, Daeok
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.37 no.6
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    • pp.731-738
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    • 2013
  • This paper describes a fault-tolerant driving control strategy for an independent steer-by-wire system in sixwheel-drive/six-wheel-steering vehicles. An algorithm has been designed to realize vehicle maneuverability that is as close as possible to that of non-faulty vehicles by inducing high slip ratio of the wheel through a faulty steer-by-wire system in order to reduce the lateral tire force, which is resistant to the yaw motion. Considering the transition of the longitudinal tire force of a wheel with a faulty steer-by-wire component, the longitudinal tire forces are optimally distributed to the other wheels. Fault-tolerant driving performance has been investigated via computer simulations. Simulation studies show that the proposed algorithm can significantly improve the maneuverability of a vehicle with a faulty steer-by-wire system as compared to the optimal traction distribution method.

Development of a Ubiquitous Vision System for Location-awareness of Multiple Targets by a Matching Technique for the Identity of a Target;a New Approach

  • Kim, Chi-Ho;You, Bum-Jae;Kim, Hag-Bae
    • 제어로봇시스템학회:학술대회논문집
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    • 2005.06a
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    • pp.68-73
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    • 2005
  • Various techniques have been proposed for detection and tracking of targets in order to develop a real-world computer vision system, e.g., visual surveillance systems, intelligent transport systems (ITSs), and so forth. Especially, the idea of distributed vision system is required to realize these techniques in a wide-spread area. In this paper, we develop a ubiquitous vision system for location-awareness of multiple targets. Here, each vision sensor that the system is composed of can perform exact segmentation for a target by color and motion information, and visual tracking for multiple targets in real-time. We construct the ubiquitous vision system as the multiagent system by regarding each vision sensor as the agent (the vision agent). Therefore, we solve matching problem for the identity of a target as handover by protocol-based approach. We propose the identified contract net (ICN) protocol for the approach. The ICN protocol not only is independent of the number of vision agents but also doesn't need calibration between vision agents. Therefore, the ICN protocol raises speed, scalability, and modularity of the system. We adapt the ICN protocol in our ubiquitous vision system that we construct in order to make an experiment. Our ubiquitous vision system shows us reliable results and the ICN protocol is successfully operated through several experiments.

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Development of Software Education Program using Self-driving (자율주행을 활용한 소프트웨어 교육프로그램 개발)

  • Hyo Sun Yoon;Min Kyu Jeong;Kyung Baek Kim
    • Smart Media Journal
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    • v.13 no.2
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    • pp.145-155
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    • 2024
  • As the importance of software and artificial education is emphasized on the digital transformation era, various educational materials are being developed and distributed. To achieve the purpose of software education, various software education programs suitable for school settings need to be provided. In this paper, we developed a software education program using self-driving that can be applied to secondary school software education and applied it to secondary school students. The developed software education program is a physical computing program consisting of various motion control programs such as object detection, line tracing using various sensors, focusing on experience and practice. As a result of the survey, students' attitudes and career orientation toward software and artificial intelligence, and satisfaction with software education were over 90%, and satisfaction with the proposed program was over 95%.

The Control System of a Medical Robot Bed for Prevention and Healing of Pressure Ulcer (욕창 예방 및 치유를 위한 의료용 로봇 침대 제어 시스템)

  • Lee, Youngdae;Kim, Changyoung;Chang, Changjun;Kim, Jung Ae;Lim, Jae-Young
    • The Journal of the Convergence on Culture Technology
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    • v.6 no.3
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    • pp.353-359
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    • 2020
  • In this study, the controller structure and control algorithm of medical robot bed developed for pressure ulcer prevention and healing are described. The existing pressure ulcer prevention mattress is operated manually and the remaining maximum body pressure exceeds the pressure of ulcer generation, so there is always room for pressure ulcers. However, the system developed in this study does not generate the pressure ulcers because the body pressure drops to zero when the keyboard of the bed descends using the active electric driving keyboard. In addition, even if the bed is raised and the pressure above the critical body ulcer pressure is abnormal, the device and the control algorithm are designed so that the lasting time is within the pressure ulcer generation critical time and the pressure ulcer itself is not generated. The bed key board motor is a motor designed with the BLDC servos suitable for medical use and these can communicate each other easily through CAN(Car Area Network). The system is new medical robot bed that is effective in preventing pressure ulcers and will be distributed to many patients suffering from pressure ulcers.

Conceptual Source Design and Dosimetric Feasibility Study for Intravascular Treatment: A Proposal for Intensity Modulated Brachytherapy (혈관내 방사선치료를 위한 이론적 선원 설계 및 선량적 관점에서의 적합성 연구: 출력변조를 이용한 근접치료에 대한 제안)

  • Kim Siyong;Han Eunyoung;Palta Jatinder R.;Ha Sung W.
    • Radiation Oncology Journal
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    • v.21 no.2
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    • pp.158-166
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    • 2003
  • Purpose: To propose a conceptual design of a novel source for intensity modulated brachytherapy. Materials and Methods: The source design incorporates both radioactive and shielding materials (stainless steel or tungsten), to provide an asymmetric dose intensity in the azimuthal direction. The intensity modulated intravascular brachytherapy was performed by combining a series of dwell positions and times, distributed along the azimuthal coordinates. Two simple designs for the beta-emitting sources, with similar physical dimensions to a $^{90}Sr/Y$ Novoste Beat-Cath source, were considered in the dosimetric feasibility study. In the first design, the radioactive and materials each occupy half of the cylinder and in the second, the radioactive material occupies only a quater of the cylinder. The radial and azimuthal dose distributions around each source were calculated using the MCNP Monte Carlo code. Results: The preliminary hypothetical simulation and optimization results demonstrated the 87$\%$ difference between the maximum and minimum doses to the lumen wall, due to off-centering of the radiation source, could be reduced to less than 7$\%$ by optimizing the azimuthal dwell positions and times of the partially shielded intravascular brachytherapy sources. Conclusion: The novel brachytherapy source design, and conceptual source delivery system, proposed in this study show promising dosimetric characteristics for the realization of intensity modulated brachytherapy in intravascular treatment. Further development of this concept will center on building a delivery system that can precisely control the angular motion of a radiation source in a small-diameter catheter.

THE CURRENT STATUS OF BIOMEDICAL ENGINEERING IN THE USA

  • Webster, John G.
    • Proceedings of the KOSOMBE Conference
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    • v.1992 no.05
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    • pp.27-47
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    • 1992
  • Engineers have developed new instruments that aid in diagnosis and therapy Ultrasonic imaging has provided a nondamaging method of imaging internal organs. A complex transducer emits ultrasonic waves at many angles and reconstructs a map of internal anatomy and also velocities of blood in vessels. Fast computed tomography permits reconstruction of the 3-dimensional anatomy and perfusion of the heart at 20-Hz rates. Positron emission tomography uses certain isotopes that produce positrons that react with electrons to simultaneously emit two gamma rays in opposite directions. It locates the region of origin by using a ring of discrete scintillation detectors, each in electronic coincidence with an opposing detector. In magnetic resonance imaging, the patient is placed in a very strong magnetic field. The precessing of the hydrogen atoms is perturbed by an interrogating field to yield two-dimensional images of soft tissue having exceptional clarity. As an alternative to radiology image processing, film archiving, and retrieval, picture archiving and communication systems (PACS) are being implemented. Images from computed radiography, magnetic resonance imaging (MRI), nuclear medicine, and ultrasound are digitized, transmitted, and stored in computers for retrieval at distributed work stations. In electrical impedance tomography, electrodes are placed around the thorax. 50-kHz current is injected between two electrodes and voltages are measured on all other electrodes. A computer processes the data to yield an image of the resistivity of a 2-dimensional slice of the thorax. During fetal monitoring, a corkscrew electrode is screwed into the fetal scalp to measure the fetal electrocardiogram. Correlations with uterine contractions yield information on the status of the fetus during delivery To measure cardiac output by thermodilution, cold saline is injected into the right atrium. A thermistor in the right pulmonary artery yields temperature measurements, from which we can calculate cardiac output. In impedance cardiography, we measure the changes in electrical impedance as the heart ejects blood into the arteries. Motion artifacts are large, so signal averaging is useful during monitoring. An intraarterial blood gas monitoring system permits monitoring in real time. Light is sent down optical fibers inserted into the radial artery, where it is absorbed by dyes, which reemit the light at a different wavelength. The emitted light travels up optical fibers where an external instrument determines O2, CO2, and pH. Therapeutic devices include the electrosurgical unit. A high-frequency electric arc is drawn between the knife and the tissue. The arc cuts and the heat coagulates, thus preventing blood loss. Hyperthermia has demonstrated antitumor effects in patients in whom all conventional modes of therapy have failed. Methods of raising tumor temperature include focused ultrasound, radio-frequency power through needles, or microwaves. When the heart stops pumping, we use the defibrillator to restore normal pumping. A brief, high-current pulse through the heart synchronizes all cardiac fibers to restore normal rhythm. When the cardiac rhythm is too slow, we implant the cardiac pacemaker. An electrode within the heart stimulates the cardiac muscle to contract at the normal rate. When the cardiac valves are narrowed or leak, we implant an artificial valve. Silicone rubber and Teflon are used for biocompatibility. Artificial hearts powered by pneumatic hoses have been implanted in humans. However, the quality of life gradually degrades, and death ensues. When kidney stones develop, lithotripsy is used. A spark creates a pressure wave, which is focused on the stone and fragments it. The pieces pass out normally. When kidneys fail, the blood is cleansed during hemodialysis. Urea passes through a porous membrane to a dialysate bath to lower its concentration in the blood. The blind are able to read by scanning the Optacon with their fingertips. A camera scans letters and converts them to an array of vibrating pins. The deaf are able to hear using a cochlear implant. A microphone detects sound and divides it into frequency bands. 22 electrodes within the cochlea stimulate the acoustic the acoustic nerve to provide sound patterns. For those who have lost muscle function in the limbs, researchers are implanting electrodes to stimulate the muscle. Sensors in the legs and arms feed back signals to a computer that coordinates the stimulators to provide limb motion. For those with high spinal cord injury, a puff and sip switch can control a computer and permit the disabled person operate the computer and communicate with the outside world.

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