• Information and Communications Magazine
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• v.25 no.12
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• pp.10-18
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• 2008

In this paper, we present a low-power design of H.264 codec based on dedicated hardware and software solution on EMP(ETRI Multi-core platform). The dedicated hardware scheme has reducing computation using motion estimation skip and reducing memory access for motion estimation. The design reduces data transfer load to 66% compared to conventional method. The gate count of H.264 encoder and the performance is about 455k and 43Mhz@30fps with D1(720x480) for H.264 encoder. The software solution is with ASIP(Application Specific Instruction Processor) that it is SIMD(Single Instruction Multiple Data), Dual Issue VLIW(Very Long Instruction Word) core, specified register file for SIMD, internal memory and data memory access for memory controller, 6 step pipeline, and 32 bits bus width. Performance and gate count is 400MHz@30fps with CIF(Common Intermediated format) and about 100k per core for H.264 decoder.

• Journal of the Institute of Convergence Signal Processing
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• v.2 no.2
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• pp.89-94
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• 2001

The position control accuracy of a robot manipulator is significantly deteriorated when a long arm robot is operated at a high speed. This paper presents a very simple sliding mode control which eliminates multiple mode residual vibration in a robot manipulator. The neural network is used to avoid that sliding mode condition is deviated due to the change of system parameter and disturbance. This paper is suggested control system which designed by sliding mode controller using neural network. The effectiveness of proposed scheme is demonstrated through computer simulation.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.05a
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• pp.283-286
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• 2003

Generally, the repeater in CDMA(Code Division Multiple Access) included HPA(HI-Power Amplifier) to amplifier communication signals. Also, HPA contained PD(Predistortor) to maintain the linearization of amplifier characteristics A configuration component of PD have been used electricity nonlinear devices such that diode. But this diode takes many influences at the circumstance temperature. Consequently, st can't maintain output linearization, and drop the communication Duality. The manufacturer set bias of the circuit to the manual at the first out of ware-house low. But the Q-point changes according to the change of the high temperature or low temperature. Therefore, we designed a system to maintain the Q-point by FDM(Fuzzy Decision Maker) in this paper.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.59-59
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• 2000

In this paper, we present a framework for modeling and control of multiple mobile robots which cowork within a bounded workspace and limited resources. To achieve this goal, we adopt a formalism of discrete event system and supervisory control theory based on Petri nets. We can divide our whole story into two parts: first, we search the shortest path using the distance vector algorithm, and then we construct the control scheme from which a number of mobile robots can work within a bounded workspace without any collision. The use of Petri net modeling allows us In synthesize a controller which achieves a control specification for the desired closed-loop behavior efficiently. Finally, the usefulness of the proposed Petri net formalism is illustrated by a simulation study.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.406-406
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• 2000

In this study, as a part developing an unmanned container terminal (UCT), Ive designed and implemented an Autonomous Ground Vehicle (AGV) that can deliver containers in the port fast and safely as they are scheduled. It is preferable to research the intelligent UCT/AGV for delivering containers all day long without causing any trouble. For the sake of safe and fast AGV driving, we implemented a multiple-sensor system with vision, ultrasonic, and IR sensors and we adapted the hight-speed wireless LAN that satisfies the IEEE 802.11 Standard for hi-directional communication between the main processor in AGV and a host computer. The Pentium-III processor board mounted on the bottom frame in AGV combines and computes the information from sensors and controls the AGV driving. There are also the 80C196KC micro-controllers to control the actuating and steering motors. In addition, a steering function that is defined newly in this paper is heavily concerned in the mechanical design, and it plays an important role when AGV moves along a curve. Experimental results show the fast and safe delivery operations are possible with this UCT/AGV

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.11a
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• pp.452-458
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• 2003

This paper presents a robust vibration control methodology of smart structural systems. The governing equations and associated boundary conditions are derived by Hamilton's principle. A robust controller is designed using a linear matrix inequality (LMI) approach to the multiobjective synthesis. The design objectives are to achieve a mix of H$\sub$$\infty$/ performance and H$_2$ performance satisfying constraints on the closed-loop pole locations in the face of model uncertainties. Numerical examples are presented to demonstrate the effectiveness of LMI approach in damping out the multiple modes of vibration of the piezo/beam system.

• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.217-225
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• 2016

Dynamic Positioning (DP) is used to automatically maintain the position and heading of a floating structure subjected to environmental disturbances. A DP control system is composed of a motion controller to compute the desired force and moment and a thrust allocator to distribute the computed force and moment to multiple thrusters considering mechanical and operational constraints. Among various thruster configurations, azimuth thrusters or propeller/rudder pairs tend to make the allocation problem difficult to solve, because these types of propulsion systems include nonlinear constraints. In this paper, a dynamic positioning strategy for a twin-thruster ship that is propelled by two azimuthing thrusters is addressed, and a thrust allocation method which does not require a numerical optimization solver is proposed. The applicability of the proposed method is demonstrated with an experiment using an autonomous boat.

• The Transactions of the Korean Institute of Power Electronics
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• v.23 no.5
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• pp.321-327
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• 2018

DC microgrid system composed of multiple converters has a tendency to make the system unstable due to the interaction of converters. To solve this problem, in this paper, the interaction between cascaded converters with LC input filter is analyzed with impedance modeling using g-parameter. The input impedance and the output impedance of the system can be obtained through this technique. The stability of the system can be determined by applying Middlebrook's stability criterion to the impedance. Virtual impedance is added to the controller to enhance stability. The validity of the analysis is verified by the result of several simulations and experiments.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.12 no.8
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• pp.616-625
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• 2002

In this paper, we drove the filtered-x least mean fourth (FXLMF) algorithm where the error raised to the power of four is minimized and analyzed its convergence behavior for a multiple sinusoidal acoustic noise and Gaussian measurement noise. The application of the FXLMF adaptive filter to active noise control requires to estimate the transfer characteristics of the acoustic path between the output and the error signal of the adaptive controller. The results of the convergence analysis of the FXLMF algorithm indicate that the effects of the parameter estimation inaccuracy on the convergence behavior of the algorithm are characterized by two distinct components phase estimation error and estimated gain. In particular, the convergence is shown to be strongly affected by the accuracy of the phase response estimate. Also, we newly show that the convergence behavior can differ depending on the relative sizes of the Gaussian noise and the convergence constant.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2018.10a
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• pp.148-151
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• 2018

Software-Defined Networking, called SDN is a next-generation network technology that allows a centralized SDN controller to manage multiple switches and easily apply any network requirements, unlike traditional network devices. However, as the research on SDN has progressed rapidly in recent years, the security of SDN is also considered to be important. Therefore, in this paper, we investigate the major security problems in SDN and introduce a methodology to apply blockchain technology to SDN as a solution to solve them.