• IEMEK Journal of Embedded Systems and Applications
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• v.3 no.3
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• pp.126-135
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• 2008

The development of an unmanned vehicle basically requires the robust and reliable performance of major functions which include global localization, lane detection, obstacle avoidance, path planning, etc. The implementation of major functional subsystems are possible by integrating and fusing data acquired from various sensory systems such as GPS, vision, ultrasonic sensor, encoder, and electric compass. This paper focuses on implementing the functional subsystems, which are designed and developed by a graphical programming tool, NI LabVIEW, and also verifying the autonomous navigation and remote control of the unmanned vehicle.

• IEMEK Journal of Embedded Systems and Applications
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• v.2 no.3
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• pp.129-137
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• 2007

MPEG-4 FGS is one of scalable video coding schemes specified In ISO/IEC 14496-2 Amendment 2, and particularly standardized as a scheme for providing fine granular quality and temporal scalabilities. In this paper, we propose a sign-bit reduction technique in embedded bit-plane coding to enhance the coding efficiency of MPEG-4 FGS system. The general structure of the FGS system for the proposed scheme is based on the standard MPEG-4 FGS system. The proposed FGS enhancement-layer encoder takes as input the difference between the original DCT coefficient and the decision level of the quantizer instead of the difference between the original DCT coefficient and its reconstruction level. By this approach, the sign information of the enhancement-layer DCT coefficients can be the same as that of the base-layer ones at the same frequency index in DCT domain. Thus, overhead bits required for coding a lot of sign information of the enhancement-layer DCT coefficients in embedded bit-plane coding can be removed from the generated bitstream. It is shown by simulations that the proposed FGS coding system provides better coding performance, compared to the MPEG-4 FGS system in terms of compression efficiency.

• IEMEK Journal of Embedded Systems and Applications
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• v.17 no.2
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• pp.123-128
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• 2022

This paper proposes a mobile robot platform for education that can experiment with various autonomous driving algorithms such as obstacle avoidance and path planning. The platform consists of a robot module and a remote controller module, both of which are based on the Arduino Nano 33 IoT embedded board. The robot module is designed as a differential drive type using two encoder motors, and the speed of the motor is controlled using PID control. In the case of the remote controller module, a command to control the robot platform is received with a 2-axis joystick input, and an elliptical grid mapping technique is used to convert the joystick input into a linear and angular velocity command of the robot. WiFi and Zigbee are used for communication between the robot module and the remote controller module. The proposed robot platform was tested by measuring and comparing the linear velocity and angular velocity of the actual robot according to the linear velocity and angular velocity commands of the robot generated by the input of the joystick.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.37 no.5
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• pp.42-53
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• 2000

Efficient implementation of pre-filtering has been an important issue in video sequence coding, because it can remove camera noise and improve coding efficiency dramatically This paper introduces a novel pre-filtering scheme that is performed inside a video encoder The proposed pre-filtering is based on the approximated generalized Wiener filtering and two-dimensional discrete cosine transform (DCT) factorization. and is achieved by scaling the DCT coefficients of original image blocks for intra block coding and those of motion-compensated error blocks for inter block coding, respectively Even though the pre-filtering operation is embedded in a video encoder, its additional computational complexity is marginal compared to the encoding process, and the overall architecture of the conventional video encoder is maintained In spite of its simplicity, the proposed pre-filtering scheme provides good filtering and coding performance for noisy video sequences.

• Journal of the Institute of Convergence Signal Processing
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• v.4 no.4
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• pp.7-14
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• 2003

A number of embedded wavelet image coding methods have been proposed since the introduction of EZW(Embedded Zerotree Wavelet) algorithm. A common characteristic of these methods is that they use fundamental ideas found in the EZW algorithm. Especially, one of these methods is the SPIHT(Set Partitioning in Hierarchy Trees) algorithm, which became very popular since it was able to achieve equal or better performance than EZW without having to use an arithmetic encoder. In this paper We propose a recursive set partitioning in hierarchy trees(RSPIHT) algorithm for embedded image coding and evaluate it's effectiveness experimentally. The proposed RSPIHT algorithm takes the simple and regular form and the worst case time complexity of O(n). From the viewpoint of processing time, the RSPIHT algorithm takes about 16.4% improvement in average than the SPIHT algorithm at T-layer over 4 of experimental images. Also from the viewpoint of coding rate, the RSPIHT algorithm takes similar results at T-layer under 7 but the improved results at other T-layer of experimental images.

• Proceedings of the IEEK Conference
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• 2000.09a
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• pp.287-290
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• 2000

본 논문은 threshold 에 기반한 (threshold-adjusted) EZW(Embedded Zerotree Wavelet) 부호화 모듈의 설계와 구현에 대하여 소개한다. EZW 부호화는 먼저 입력된 정지 영상에 대하여 Haar 웨이브릿 변환을 수행한다. Haar 웨이브릿 변환된 영상은dominant와 subordinate의 2-pass과정을 거쳐 zerotree를 구성함으로서 EZW 부호화 과정을 수행한다. Threshold에 기반한 EZW는 부호화 과정에서 인간의 시각 체계를 고려하여 threshold 값을 적절히 조절함으로서 효율적인 출력 영상을 얻을 수 있도록 구현하였다.

• Proceedings of the IEEK Conference
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• 2008.06a
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• pp.1097-1098
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• 2008

In this paper We are going experiment which can happen at the movement of the robot to reduce the Systematic distance error. The system get the experiment result by using BLDC Motor, Encoder, ultrasonic sensor. The Embedded XP is adopted as an operating system, And The robot was controlled by using RS232.

• Journal of Power System Engineering
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• v.17 no.3
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• pp.82-88
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• 2013

For commercialized servo drives of the motion stage to include embedded controller, external terminal is provided for tracking command and encoder output, but internal terminal is not for control input. Thus, it is difficult to combine out signal of embedded controller with that of external compensator such as disturbance observer. In this study, for precise tracking control of motion stage without hardware change of the servo drive, tacking control system is composed of an inner loop of servo drive and an outer loop of disturbance observer. Then, the control system is designed so that the output response of actual plant corresponds with nominal model's in transient state as well as in steady state. Finally, the experiment results show that the designed control system is effective to reconcile actual plant behavior with nominal model under nonlinear friction and parameter perturbation.

• IEMEK Journal of Embedded Systems and Applications
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• v.13 no.1
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• pp.33-43
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• 2018

In this paper, we describe an sound tracking mobile robot suitable for areas where GPS is not available. Sound sensors are attached to four sides of the robot in order to locate the person in a danger, and the robot is supposed to move to the yelling person. The traveling distance of the mobile robot is calculated by the encoder attached to the wheel of the mobile robot. The moving direction of the mobile robot is measured by a gyro sensor on the robot. When the person in danger pushes a button of the mobile robot, the mobile robot transmits the trajectory data to a designated server.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.1
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• pp.33-38
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• 2007

In this paper, hardware implementation of interface and control between two robots, the master and the slave robot, are designed. The master robot is the motion capturing device that captures motions of the human operator who wears it. The slave robot is the corresponding humanoid robot arms. Captured motions from the master robot are transferred to the slave robot to follow after the master. All hardware designs such as PID controllers, communications between the master robot, encoder counters, and PWM generators are embedded on a single FPGA chip. Experimental studies are conducted to demonstrate the performance of the FPGA controller design.