• 대한임베디드공학회논문지
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• 제3권3호
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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.

• 대한임베디드공학회논문지
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• 제2권3호
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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.

• 대한임베디드공학회논문지
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• 제17권2호
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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.

• 대한전자공학회논문지SP
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• 제37권5호
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• pp.42-53
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• 2000

전처리 필터링은 카메라로부터 들어오는 잡음을 제거하여 부호화 효율을 높여주기 때문에， 전처리 과정의 효과적인 구현은 동영상 압축에서 중요한 연구분야 중의 하나였다 본 논문에 근사화된 일반화 위너 필터링(approximated generalized Wiener filtering)과 이차원 DCT의 분해(factorization)를 바탕으로, 부호화기 내부에서 수행되는 효과적인 전처리 필터링 방법을 제안한다 제안한 전처리 필터링은 원 영상 블록 (original image block)과 움직임 보상된 차 영상 블록(motion-compensated error block)의 DCT계수들에 적절한 값들을 곱하는 것으로 수행된다 전처리 필터링이 동영상 압축기에 깊이 파묻혀 있지만, 전처리 과정으로 인한 연산량의 증가는 전체 부호화 과정에 비해 크지 않으며, 전통적인 블록 부호화 기법의 틀은 그대로 유지한다 간결한 구조와 연산에도 불구하고 제안한 방법은 잡음이 있는 동영상에 대해서 좋은 필터링 및 부호화 성능을 나타낸다.

• 융합신호처리학회논문지
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• 제4권4호
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• pp.7-14
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• 2003

EZW(Embedded Zerotree Wavelet) 알고리즘이 소개된 이래 일련의 내장형 웨이브렛 코딩 방법들이 제안되어져왔다. 이들의 하나의 공통된 특징은 EZW 알고리즘의 기본 아이디어를 근간으로 한다는 점이다. 특히 SPIHT(Set Partitioning in Hierarchy Trees) 알고리즘은 이들 중의 하나로서 산술 코더를 사용하지 않더라도 EZW와 같거나 혹은 더 나은 성능을 제공할 수 있기 때문에 널리 알려져 왔다. 본 연구에서는 내장형 영상코딩을 위한 재귀적 SPIHT(RSPIHT) 알고리즘을 제안하고 그 유효성을 실험적으로 가한다. 제안한 RSPIHT 알고리즘은 매우 단순하고 정형화된 형태를 지니면서 최악의 경우 시간복잡도 O(n)을 가진다. 실험영상들에 대해 T-layer 4 이상에서 SPIHT보다 평균 약 16.4%의 개선된 속도를 얻을 수 있었다. 압축률의 관점에서도 RSPIHT 알고리즘은 실험영상의 T-layer 7 이하에서는 SPIHT와 유사한 결과를 가지나 그보다 큰 T-layer에서는 개선된 결과를 보였다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2000년도 제13회 신호처리 합동 학술대회 논문집
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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.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2008년도 하계종합학술대회
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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.

• 동력기계공학회지
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• 제17권3호
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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.

• 대한임베디드공학회논문지
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• 제13권1호
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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.

• 제어로봇시스템학회논문지
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• 제13권1호
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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.