• Journal of Korea Society of Digital Industry and Information Management
• /
• v.5 no.4
• /
• pp.179-187
• /
• 2009

In this paper, an efficient multi-level successive elimination algorithm using the locality in block was proposed for motion estimation. If SAD(sum of absolute difference) is calculated from large absolute difference values to small absolute difference values, SAD is increased rapidly. So, partial distortion elimination in SAD calculation can be done very early. Hence, the computations of SAD calculation can be reduced. In this paper, an efficient algorithm to calculate SAD from large absolute difference values to small absolute difference values by using the locality in block. Experimental results show that the proposed algorithm is an efficient algorithm with 100% motion estimation accuracy for the motion estimation of motion vectors.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
• /
• 1998.10a
• /
• pp.365-370
• /
• 1998

This paper reports on the measurement of the vane motion in a positive displacement small vane pump. The capacitive method using ceramic vane is proposed to measure the vane motion. This method enables us to measure only radial motion of the vane regardless of the motions of other directions. With simple experiments and solutions of simultaneous equations, the indirect compensation of measured signal was performed.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.342-345
• /
• 2005

This paper describes dynamics analysis of a small training boat and a new type of ship's autopilot not only to keep her course but also to reduce her roll motion. Firstly, statistical analysis through multi-variate auto regressive model is carried out using the real data collected from the sea trial on an actual small training boat Sazanami after the navigational system of the boat was upgraded. It is shown that the roll motion is strongly influenced by the rudder motion and it is suggested that there is a possibility of reducing the roll motion by controlling the rudder order properly. Based on this observation, a new type of ship's autopilot that takes the roll motion into account is designed using the muti-variate modern control theory. Lastly, digital simulations by white noise are carried out in order to evaluate the proposed system and a typical result is demonstrated. As results of simulations, the proposed autopilot had good performance compared with the original data.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
• /
• 2001.11a
• /
• pp.230-236
• /
• 2001

We developed a built-in sensor bearing to measure the rotor motion of a rolling piston type compressor for the air conditioner. Because of needs for the high efficiency and long life span of compressor, and the usage of alternative refrigerants, the operating condition of the compressor becomes more severe. The accurate measurement of the rotor motion of the compressor can contribute greatly to the design and analysis of the hydrodynamic bearing. However, it is difficult to measure accurately the shaft behavior of small compressor because of the small space for the sensor mount, high temperature and pressure of compressor, oil mixed with refrigerant, and electromagnetic noise of the motor. To overcome these difficulties, we develop the cylindrical capacitive sensor that is built in the hydrodynamic bearing and calibrate the built-in sensor bearing indirectly through measuring the oil relative permittivity. We measured the rotor motion as well as suction and discharge pressures in various conditions. The several experimental results show that the developed built-in sensor bearing can measure the rotor motion not only in steady state but also in transient state.

• Proceedings of the KIEE Conference
• /
• 2005.10b
• /
• pp.529-531
• /
• 2005

A block-based fast motion estimation algorithm is proposed in this paper to perform motion estimation based on the efficiently reduced search ranges in MPEG-4(ERS). This algorithm divides the search areas into several small search areas and the candidate small search area that has the lowest average of sum norm difference between current macroblock and candidate macroblock is chosen to perform block motion estimation using the Nobel Successive Elimination Algorithm (NSEA). Experimental results of the proposed algorithm show that the averaging PSNR improvement is better maximum 0.125 dB than other tested algorithms and bit saving effect is maximum 20kbps for some tested sequences in low-bit rate circumstance.

• Proceedings of the IEEK Conference
• /
• 1999.06a
• /
• pp.601-604
• /
• 1999

We propose a new hierarchical motion estimator architecture that supports the advanced prediction mode of recent low bit-rate video coders such as H.263 and MPEG-4. In the proposed VLSI architecture, a basic searching unit (BSU) is commonly utilized for all hierarchical levels to make a systematic and small sized motion estimator. Since the memory bank of the proposed architecture provides scheduled data flow for calculating 8$\times$8 block-based sum of absolute difference (SAD), both a macroblock-based motion vector (MV) and four block-based MVs are simultaneously obtained for each macroblock in the advanced prediction mode. The proposed motion estimator gives similar coding performance compared with full search block matching algorithm (FSBMA) while achieving small size and satisfying the advanced prediction mode.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.47 no.5
• /
• pp.326-334
• /
• 2019

Development of Small UAV using HILS (Hardware In the Loop Simulation) can be effectively used to improve the reliability of UAV (Unmanned Aerial Vehicle) while reducing cost and time. It is also possible to reduce the damage to people or property by simulating the malfunction of the Flight Control Computer (FCC) that may occur during the actual flight. For applying such HILS, a real-time simulation environment capable of providing an environment similar to an actual flight condition is required. In this paper, we constructed a real - time HILS environment for Small UAV using 6 D.O.F motion table. In order to link the 6 D.O.F motion table developed in the previous research with the HILS environment in real time, the motion algorithm was changed from the position control method to the velocity control method. Also, we implemented modeling of inverse kinematics model for command transmission in Matlab $Simulink^{(R)}$ and verified the action of motion table according to the simulation model.

• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.12
• /
• pp.1145-1151
• /
• 2013

Kinematic modeling is a prerequisite for motion planning and the control of mobile robots. In this paper, we proposed a new method of kinematic modeling for a type of mobile robot based on differential motion transformation. The differential motion implies a small translation and rotation in three-dimensional space in a small time interval. Thus, transformation of the differential motion gives the velocity relationship, i.e., Jacobian between two coordinate frames. Since the theory of the differential motion transformation is well-developed, it is useful for the systematic velocity kinematic modeling of mobile robots. In order to show the validity for application of the differential motion transformation, we obtained velocity kinematic models for a type of exemplar mobile robot including spherical ballbots.

• Journal of the Institute of Electronics Engineers of Korea SP
• /
• v.43 no.1 s.307
• /
• pp.75-84
• /
• 2006

With considering center-biased characteristic, NTSS(New Three-Step Search Algorithm) can improve the performance of TSS(Three-Step Search Algorithm) which is one of the most popular fast block matching algorithms(BMA) to search a motion vector in a video sequence. Although NTSS has generally better Quality than TSS for a small motion sequence, it is hard to say that NTSS can provide better quality than TSS for a large motion sequence. It even deteriorates the quality to increase a search window size using NTSS. In order to address this drawback, this paper aims to develop a new adaptive window size-based three step search scheme, called AWTSS, which can improve quality at various window sizes in both the small and the large motion video sequences. In this scheme, the search window size is dynamically changed to improve coding efficiency according to the characteristic of motion vectors. AWTSS can improve the video quality more than 0.5dB in case of large motion with keeping the same quality in case of small motion.

• Journal of the Korean Institute of Telematics and Electronics S
• /
• v.34S no.10
• /
• pp.98-103
• /
• 1997

Given the small bit allocation for motion information in very low bit-rate coding, motion estimation using the block matching algorithm(BMA) fails to maintain an acceptable level of prediction errors. The reson is that the motion model, or spatial transformation, assumed in block matching cannot approximate the motion in the real world precisely with a small number of parameters. In order to overcome the drawback of the conventional block matching algorithm, several triangle-based methods which utilize triangular patches insead of blocks have been proposed. To estimate the motions of image sequences, these methods usually have been based on the combination of optical flow equation, affine transform, and iteration. But the compuataional cost of these methods is expensive. This paper presents a fast motion estimation algorithm using a multiple linear regression model to solve the defects of the BMA and the triange-based methods. After describing the basic 2-D triangle-based method, the details of the proposed multiple linear regression model are presented along with the motion estimation results from one standard video sequence, representative of MPEG-4 class A data. The simulationresuls show that in the proposed method, the average PSNR is improved about 1.24 dB in comparison with the BMA method, and the computational cost is reduced about 25% in comparison with the 2-D triangle-based method.