• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1084-1085
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• 2007

This paper presents a vector control implementation for SPMSM(Surface-mounted Permanent Magnet Synchronous Motor) using dSPACE 1104 system and MATLAB/SIMULINK. SPMSM can be treated as a DC motor provided that currents of flux and torque component are controlled independently using vector control. Therefore various control algorithms for conventional DC motor control can be adopted to SPMSM. The system is designed to improve set-point tracking capability, fast response, and accuracy. In This paper, d-q equivalent modeling of PMSM is derived based on vector control theory. The PI controller is used for speed control and state feedback PI current control method is used for current control. For the implementation of high performance vector control system, dSPACE 1104 system is used. Simulations and experiments were carried out to examine validity of the proposed vector control implementation.

• Journal of Information Processing Systems
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• v.10 no.2
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• pp.283-299
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• 2014

Skin detection is used in many applications, such as face recognition, hand tracking, and human-computer interaction. There are many skin color detection algorithms that are used to extract human skin color regions that are based on the thresholding technique since it is simple and fast for computation. The efficiency of each color space depends on its robustness to the change in lighting and the ability to distinguish skin color pixels in images that have a complex background. For more accurate skin detection, we are proposing a new threshold based on RGB and YUV color spaces. The proposed approach starts by converting the RGB color space to the YUV color model. Then it separates the Y channel, which represents the intensity of the color model from the U and V channels to eliminate the effects of luminance. After that the threshold values are selected based on the testing of the boundary of skin colors with the help of the color histogram. Finally, the threshold was applied to the input image to extract skin parts. The detected skin regions were quantitatively compared to the actual skin parts in the input images to measure the accuracy and to compare the results of our threshold to the results of other's thresholds to prove the efficiency of our approach. The results of the experiment show that the proposed threshold is more robust in terms of dealing with the complex background and light conditions than others.

• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.5
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• pp.552-559
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• 2005

Recurrent neural networks(RNNs) trained with gradient based such as real time recurrent learning(RTRL) has a drawback of slor convergence rate. This algorithm also needs the derivative calculation which is not trivialized in error back propagation process. In this paper a derivative free Kalman filter, so called the unscented Kalman filter(UKF), for training a fully connected RNN is presented in a state space formulation of the system. A derivative free Kalman filler learning algorithm makes the RNN have fast convergence speed and good tracking performance without the derivative computation. Through experiments of nonlinear channel equalization, performance of the RNNs with a derivative free Kalman filter teaming algorithm is evaluated.

• The Journal of Korea Robotics Society
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• v.17 no.1
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• pp.48-57
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• 2022

In this paper, we propose a legged landing platform for the quadcopter taking off and landing in the ship environment. In the ship environment with waves and winds, the aircraft has risks being overturned by contact impact and excessive inclination during landing on the ship. This landing platform has four landing legs under the quadcopter for balancing and shock relief. In order to make the quadcopter balanced on ships, the position of each end effector was controlled by PID control. And shocks have mainly happened when quadcopter contacts the ship's surface as well as legs move fast. Hence, impedance control was used to cope with the shocks. The performance of the landing platform was demonstrated by a simulation and a prototype in three sea states based on a specific size of a ship. During landing and tracking the slope of the ship's surface, oscillations of rotation and translation from the shock were mitigated by the controller. As a result, it was verified that transient response and stability got better by adding impedance control in simulation models and prototype experiments.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.10
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• pp.94-104
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• 1996

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C31) for robotic manpulators to achieve accurate trajectory tracking by the joint angles Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed contorl scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller, feedback controller, and PID type time varying auxillary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Morever, this scheme does not require an accurate dynamic modeling nor values of manpipulator parameters and payload. Performance of the adaptive controller is illustated by simulation and experimental results for a SCARA robot.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.49 no.2
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• pp.28-34
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• 2012

Various feature extraction algorithms are widely applied to real-time image processing applications for extracting significant features from images. Feature extraction algorithms are mostly combined with image processing algorithms mostly for image tracking and recognition. Feature extraction function is used to supply feature information to the other image processing algorithms and it is mainly implemented in a preprocessing stage. Nowadays, image processing applications are faced with embedded system implementation for a real-time processing. In order to satisfy this requirement, it is necessary to reduce execution time so as to improve the performance. Reducing the time for executing a feature extraction function dose not only extend the execution time for the other image processing algorithms, but it also helps satisfy a real-time requirement. This paper explains FAST (Feature from Accelerated Segment Test algorithm) of E. Rosten and presents FPGA-based embedded hardware accelerator architecture. The proposed acceleration scheme can be implemented by using approximately 2,217 Flip Flops, 5,034 LUTs, 2,833 Slices, and 18 Block RAMs in the Xilinx Vertex IV FPGA. In the Modelsim - based simulation result, the proposed hardware accelerator takes 3.06 ms to extract 954 features from a image with $640{\times}480$ pixels and this result shows the cost effectiveness of the propose scheme.

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.42 no.11
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• pp.9-16
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• 2005

This paper proposes a programmable PLL (phase locked loop) based clock generator supporting a wide-range-frequency input and output for high performance and low power SoC with multiple clock frequencies domains. The propose system reduces the locking time and obtains a wide range operation frequency by using a dual-charge pumps scheme. For low power operation of a chip, the locking processing circuits of the proposed PLL doesn't be working in the standby mode but the locking data are retained by the DAC. Also, a tracking ADC is designed for the fast relocking operation after stand-by mode exit. The programmable output frequency selection's circuit are designed for supporting a optimized DFS operation according to job tasks. The proposed PLL-based clock system has a relock time range of $0.85{\mu}sec{\sim}1.3{\mu}sec$($24\~26$cycle) with 2.3V power supply, which is fabricated on $0.35{\mu}m$ CMOS Process. At power-down mode, PLL power saves more than $95\%$ of locking mode. Also, the PLL using programmable divider has a wide locking range ($81MHz\~556MHz$) for various clock domains on a multiple IPs system.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.44 no.2 s.314
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• pp.116-125
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• 2007

In this paper, we propose a illumination environment adaptive real-time surveillance system for security of important area such as military bases, prisons, and strategic infra structures. The proposed system recognizes movement of objects on the bright environments as well as in dark illumination. The procedure of proposed system may be summarized as follows. First, the system discriminates between bright and dark with input image distribution. Then, if the input image is dark, the system has a pre-processing. The Multi-scale Retinex Color Restoration(MSRCR) is processed to enhance the contrast of image captured in dark environments. Secondly, the enhanced input image is subtracted with the revised background image. And then, we take a morphology image processing to obtain objects correctly. Finally, each bounding box enclosing each objects are tracked. The center point of each bounding box obtained by the proposed algorithm provides more accurate tracking information. Experimental results show that the proposed system provides good performance even though an object moves very fast and the background is quite dark.

• Journal of Korea Game Society
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• v.6 no.2
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• pp.3-12
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• 2006

Recently, Many 3D augmented reality games that provide strengthened immersive have appeared in the 3D game environment. In this article, we describe a barehanded interaction method based on human hand gestures for augmented reality games. First, feature points are extracted from input video streams. Point features are tracked and motion of moving objects are computed. The shape of the motion trajectories are used to determine whether the motion is intended gestures. A long smooth trajectory toward one of virtual objects or menus is classified as an intended gesture and the corresponding action is invoked. To prove the validity of the proposed method, we implemented two simple augmented reality applications: a gesture-based music player and a virtual basketball game. In the music player, several menu icons are displayed on the top of the screen and an user can activate a menu by hand gestures. In the virtual basketball game, a virtual ball is bouncing in a virtual cube space and the real video stream is shown in the background. An user can hit the virtual ball with his hand gestures. From the experiments for three untrained users, it is shown that the accuracy of menu activation according to the intended gestures is 94% for normal speed gestures and 84% for fast and abrupt gestures.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.23 no.11
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• pp.1264-1271
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• 2012

Fast tracking is important for high-speed data transmission in high-speed mobile environment such as high speed rail and vehicular. Digital retrodirective array antenna is possible to do automatically beam tracking because it can control the phase information of the output signal toward opposite direction to input signal without no a priori knowledge of the arrival direction. Also, Digital retrodirective array antennas has merit that it is easy to upgrade and modify compare with analogue retrodirective array antennas. In this paper, we analyze the BER performance of digital retrodirective array antenna under AWGN environment and multipath signal. Simulation results show correct phase estimation and conjugation of retrodirective array antenna by using phase detector block. Also, phase conjugation technique has better BER performance about 1 dB at source than that of without phase conjugation when phase lag is $15^{\circ}$ in AWGN environment. This paper also discusses effect of the presence of multipath signal. Phase and amplitude error about direction of direct signal occurs when retrodirective array system is affected by interference and multipath signal in the presence of multipath signal.