본 논문에서는 DSP를 이용하여 운동하는 물체의 회전량을 측정하는 실린더형 진동 자이로스코프(이하 자이로) 제어기를 개발하였다. 진동 자이로를 구동하기 위해서는 정밀 진동제어와 신호 처리와 같은 고급 제어 기술이 필요하다. 정밀진동제어는 진동 자이로를 구동하기 위해 필요한 핵심기술로써 기존의 PLL(phase-locked loop)방식은 외부환경에 민감하여 구현이 까다로울 뿐만 아니라 자이로 개개의 고유 진동수가 다르기 때문에 대량 생산에 어려움이 있었다. 또한 자이로 출력 신호로부터 회전량을 검출하기 위해서는 진폭과 당향성 검출의 본 회로뿐만 아니라 잡음 제거와 신호 증폭, 온도 보상과 같은 전처리 과정도 필요하다. 본 논문에서는 DSP를 통해 정밀 진동제어와 잡음 제거, 방향성 검출 등의 기능들을 구현하였으며 증폭과 진폭(회전량) 검출은 아날로그 회로를 이용하였다. 또 한 외부와의 인터페이스를 위해 D/A 회로를 설계하였고 이들을 실험을 통해 검증하였다.

In this paper, observer-based H$\sub$$\infty$/ controller design method for singular systems with time-varying delay by Just one LMI condition is presented. The sufficient condition for the existence of controller and the controller design method are presented by one perfect LMI approach. The design procedure involves solving an LMI. Since the obtained condition can be expressed as an LMI form, all variables including feedback gain and observer gain can be calculated simultaneously by Schur complement and changes of variables.

This paper presents an optimal tuning method of decentralized PID controller of two-input, two-output(TITO) second order system to be formulated as LQR.

본 논문에서는 저속으로 회전하는 모터의 속도를 추정함에 있어서 속도 관측기를 이용하고 적절한 보상을 통해 가속/감속 운전 시에도 속도 추정 성능을 개선시킨다. 가속도 정보를 이용한 보상을 통해, 모터 인코더카운터 값으로부터 발생하는 양자화 오차를 줄인다. 가속/감속 운전시 인코더 펄스에 의한 평균속도는 펄스가 발생한 시점에서 불연속일 수밖에 없게 된다. 제안된 방식은 이 불연속적인 평균속도를 가속도 보상을 통해 연속적으로 증감하는 보상된 속도를 얻고 이를 다시 관측기 입력에 보상하여 양자화 오차를 감소시킨다.

This paper presents LQ-PID controller to reduce the gap between the input speed and the out speed at the induction motor.

In this paper, we propose the method to control the position of LDM(Linear DC Motor) using vision system. The proposed method is composed of a vision system for position detecting, and main computer calculates PID control output which is deliver to 80il actuator circuit in serial communication. To confirm the usefulness of the proposed method, we experimented about position control of a small size LDM using CCD camera which has a performance 30frames/sec as vision system.

The active magnetic bearing(AMB) has statey-state error of the displacement by the external force. This paper presents a PID controller design using LQR method in the active magnetic bearing to compensate for the displacement by the external force.

This paper presents an optimal robust LQ-PID roller design method for the second-order ems with state delay to satisfy the design ification in time domain. The Sensitivity bach concept is utilized for its optimization.

본 논문에서는 가상 디바이스 네트워크에 대한 개념과 틀을 제시하였다. 디바이스 제어 네트워크로서 LonWorks 네트워크를 선택하고, 데이터 네트워크로는 이더넷을 선택하여 가상 디바이스 네트워크를 구성하였다. 가상 디바이스 네트워크의 전달 특성을 데이터 네트워크의 전달 특성과 함께 조사하였다. 가상 디바이스 네트워크 상에서의 실시간 제어를 위해 불특정한 시간 지연을 보상할 필요가 있다. 유한한 H₂노옴을 갖는 Smith 예측 제어기를 이용한 직류서보모터의 제어실험을 통하여 제안된 제어기의 타당성을 검증하였다.

Since inertial sensor errors which increase with time are caused by initial orientation error and sensor errors (accelerometer bias and gyro drift bias), the accuracy of these devices, while still improving, is not adequate for many of today's high-precision, long-duration sea, aircraft, and long-range missile missions. This paper presents a navigation error compensation scheme for Strap-Down Inertial Navigation System (SDINS) using Line-Of-Sight(LOS) vector from star sensor. To be specific, SDINS error model and measurement equation are derived, and Kalman filter is implemented. Simulation results show the bounded-ness of position and attitude errors.

본 논문은 제철소 원료공장에서 선박으로부터 철광석, 석탄 등의 원료를 언로다 내부의 벨트 컨베이어로 이송 시, 선박과 부두와의 공간이 발생하여 이 공간으로 원료가 낙광 하여 해양오염이 발생하고 원료의 유실 등의 문제점을 해결하기 위한 낙광방지 시스템 개발에 관한 연구이다. 초음파 센서를 이용한 선박과의 거리 인식 및 PLC 제어기를 이용한 자동 제어 방법을 제시한다. 언로다 본체에 낙광방지판과 이를 구동하는 에어 실린더형태의 구동기와 낙광방지판을 연결하는 링크부로 구성되는 시스템에 있어서, 거리 감지 센서 3대로부터 선박과의 최소 거리를 구하고 이를 PLC 제어기를 이용하여 목표 거리와의 오차를 구한 다음, 오차의 증감에 따라 구동기인 에어 실린더의 이동량을 구하여 낙광방지판을 선박과 최대한 밀착시켜 하역 작업을 하고, 떨어진 낙광을 자동으로 회수하는 시스템에 관한 논문이다.

The quality of agricultural products is represented a degree of freshness and a special qualify that has a close relation to commercial value. To grade tomatoes, it used to nondestructive equipment of a charge-coupled device(CCD) camera and near-infrared(NIR) spectrum analysis method. The NIR spectrum analysis method is used to determine internal qualities such as a brix and an acidity. The CCD camera is used to measure external qualities like color and a size of tomatoes. This paper explaines the structure and movement of the automatic grade system and applies the algorithm for deformed tomtatoes and characteristics of tomatoes through image processing to the grade system.

In this paper, we suggest the 3D Vision Inspection Algorithm which is based on the external shape feature, and is able to recognize the object. Because many objects made by human have the regular shape, if we posses the database of pattern and we recognize the object using the database of the object's pattern, we could inspect the objects of many fields. Thus, this paper suggest the 3D Vision inspection Algorithm using the Geometrical Pattern Matching by making the 3D database.

In this paper, an integrated monitoring system is implemented for industrial equipments which use different types of network protocols to communicate with other equipments. Dedicated gateway systems mate it difficult to modify or to add contents of network systems for communication with other systems. We suggest an integration method of effectively utilizing the general purpose gateway system (ETOS-l00A) which converts various types of protocols into TCP/IP protocol. To demonstrate the validity of the proposed integrated monitoring system, PLC-based automated inspection system is considered and the monitoring system is implemented using Visual Basic and HMI software.

새로운 원리에 의한 원격 거리 및 각도측정 시스템［1］［2］(이하 TS, Total Station)을 개발하였다. 본 시스템은 마이크로 터널링 공법의 굴진기의 후미 또는 임의의 기준점에 원격으로 점멸할 수 있는 십자형의 발광체를 부착하고, 추진관에 고정시킨 상하좌우 각도측정 및 비접촉식 레이저 거리측정기가 부착된 무인 원격 제어장치에 의하여 십자형 발광체의 중심을 자동으로 검출한다. 또한. 회전각과 CCD 라인 스캔 센서의 조합에 의하여 각도를 정밀하게 원격 측정하게 된다. 한편 본 시스템을 이용하면 마이크로 터널링 공법에 의한 추진관내의 측정 가능한 범위를 연결하는 위치에 복수의 TS를 배치하여 서로의 위치를 자동으로 계측하고 그들 데이터를 컴퓨터에 의하여 계산함으로써, 맨홀의 임의의 기준점으로부터 굴진기의 현재 좌표를 신속하고 정확하게 계산할 수 있다.

Reliability is the very important issue for nuclear fields. In this paper, an analysis method is suggested to evaluate the level of availability improvement by adding the fault diagnosis function in the control system of Reactor Protection System. The Failure Mode Effect Analysis(FMEA), MIL-HDBK-217F, and Makov modelling techniques are used for availability assessment.

The greenhouse control system is designed by personal computer. This system should observe and control the growth conditions for crops in both plastic film and glass greenhouses. In this contribution puts emphasis on graphical user interface for greenhouse control system by personal computer under the aim of creating safer, more effective and more economical services. This system is developed for the requirements of the intelligent greenhouse control system and gives a lot of convenience for farmer who is not familiar with pc technique. The GUI and control system are programmed by Visual C++ and Visual Basic.

In the semiconductor equipment industry, the SECS/GEM protocol has been recognized as the communication standard, but in our 300mm wafer aligner being developed, this capability has not been equipped yet. In this study, we present the realization of SECS-I, SECS-II and HSMS communication protocol between factory host computer and wafer aligner. Its validity is shown in actual test environment.

By adding user interface to the usual router, an improved functional router is implemented in this paper. The proposed router is developed based on the SA1110 processor, and the system contains 1 ethernet port, 2 PCMCIA slots, and 1 serial communication port. The Emdedded Linux is adopted as an operating system, and application programs are implemented by using QT/Embedded.

Data mining is an effective method of the discovery of useful information such as rules and previously unknown patterns existing in large databases. The discovery of association rules is an important data mining problem. We have developed a new parallel mining called Distributed Frequent Pattern Tree (abbreviated by DFPT) algorithm on a distributed shared nothing parallel system to detect association rules. DFPT algorithm is devised for parallel execution of the FP-growth algorithm. It needs only two full disk data scanning of the database by eliminating the need for generating the candidate items. We have achieved good workload balancing throughout the mining process by distributing the work equally to all processors. We implemented the algorithm on a PC cluster system, and observed that the algorithm outperformed the Improved Count Distribution scheme.

This paper presents a behavioral data monitoring system based on WAP(wireless application protocol) service for the 24-hour continuous health state monitoring of the elderly and the disabled. The developed system transmits a character message to the predefined mobile cell phone through SMS service when an emergency state takes place. Simultaneously, the image captured by a CCD camera is transmitted to the server computer installed WAP service program. Then, the user of the cell phone who received he message can access the server and open the transmitted image. This system can be used for the effective health monitoring of the elderly and disabled.

In this paper, we Proposed the inverted pendulum control method using single neuron neural network that have weights as PID parameters. The proposed method has three inputs(proportion, integration, differentiation term of the error), and uses weights as P, I, D parameters. In order to verify the effectiveness of the proposed method, we experimented on the rotary inverted pendulum with load effect disturbance. The results showed the effectiveness and robustness of the proposed pendulum controller.

This paper proposes the controller for biped robot using intelligent control algorithm. The main purpose of this paper is to design the robot controller using Hierarchical Mixture of Experts(HME). The neural network direct control method will be applied to the control scheme for the biped robot and neural network will learn the dynamics of biped robot. The teaming scheme using a intelligent controller to biped robot is developed. The teaming scheme uses a HME controller combined with a inverse biped robot model. The controller provides the control signals at each control time instant. Simulation results are reported for a seven-link biped robot.

In this paper we present a teleoperation system of an internet-based mobile robot based on H.263 image compression algorithm. We control remotely the networked mobile robot with vision over the internet under unknown environments in the real time. The main feature of this system is that local operators need to download and install a client program and so they can command the robot in a remote location. Image information of remote location is compressed by H.263 video codec algorithm and then transmitted to a local operator. We constructed and tested a networked autonomous mobile robot in the real field. The experimental results show the usefulness of the robot under test.

In this paper, we propose a self-localization algorithm using vertical line segments. Indoor environment is consist of horizontal and vertical line features such as doors, furniture, and so on. From the input image, vertical line edges are detected by an edge operator, Then, line segments are obtained by projecting edge image vertically and detecting local maximum from the projected histogram. From the relation of horizontal position of line segments and the location of the robot, nonlinear equations are come out Localization is done by solving the equations by using Newton's method. Experimental results show that the proposed algorithm using one camera is simple and applicable to indoor environment.

2 관성 공진계는 마른 응답을 위해 제어이득을 크게 하면 공진에 의해 축비틀림 진동이 일어나는 경우가 많다. 본 논문에서는 반복 학습 제어기법을 활용하여 불확실한 모델 계수를 포함하는 2 관성 공진계의 진동억제를 시도한다. 2관성 공진계의 경우 제어 대상이 되는 부하측 속도는 학습 제어로 직접 적용하기가 힘들고 또한 측정 또한 어렵다. 본 논문에서는 부하측 속도와 전동기측 속도간의 관계를 이용하여 직접 부하측 속도를 제어하는 대신 전동기측 속도를 제어하여 간접적으로 부하측 속도를 제어하였다. 제안된 방식은 전형적인 2 관성 공진계에 모의 실험을 통해 적용되었고, 정확한 모델이 없이도 진동 없는 마른 응답특성을 보여준다.

In this paper, a robust mixed H$_2$/H$\_$$\infty$/ output feedback control method is applied to the design of loop filter for PLL carrier phase tracking. The proposed method successfully copes with large S-curve slope uncertainty and a significant decision delay in the closed-loop that may exist In modern receivers due to a convolutional decoder or an equalizer. The objective is to design an output feedback controller which minimizes the H$_2$performance while satisfying the H$\_$$\infty$/ performance to guarantee the gain margin and phase margin for linear time invariant(LTI) polytopic uncertain systems. LMIs based approach is given to solve this problem. We can verify the H$\_$$\infty$/ performance satisfaction and minimize the phase detector error through the simulation result.

The deadbeat properties have been well known in designing digital control systems. But recently several researchers proposed a CDBC(Continuout-time DeadBeat Controller) in continuous time. They used delay or smoothing elements from the finite Laplace Transform. A delay element is made by the exponential terms. A smoothing element is used to smooth the digital control input. And eventually the process is argumentd with smoothing elements and then well-known digital deadbeat controller is designed Sometimes samplings are done in continuous time systems and some hold devices are used to relate to digital systems. So multirate sampling may enhance the efficiency of the CDBC. A DC servo motor is chosen for implementing CDBC algorithm. Especially Outputs according to the variable input and disturbance are simulated. by use of Matlab Simulink.

본 논문은 소형화, 저가, 저 소비 전력의 특성을 가지는 전자기력을 이용한 실린더형 진동 자이로의 기존의 기계적 모델링이 실제 자이로스코프의 특성과 부합하지 않음을 개선하기 위해 전자기적 해석을 포함하여 기존의 기계적 모델링보다 성능을 향상시켰다. 전자기적 해석은 실린더의 진동 운동에 인해 실린더 내부에 발생된 기전력 성분 측정과 자이로스코프의 전기적 해석이다. 기전력 성분은 자이로 센싱 저항이 실린더 유무에 따른 전압 값 변화로 확인하였다. 전자기적 해석을 포함한 제안된 모델링을 통해 이론적인 자이로스코프의 특성이 실제 자이로스코프 특성에 부합되고 기존 모델링 특성보다 우수함을 비교를 통해 입증하였다.

원전 안전계통에 적용될 PLC는 엄격한 내진, 전자파, 내환경 시험기준을 만족해야 하며, 원전 안전등급에 부합되는 안전성 및 신뢰성을 만족해야 한다. 전 세계에서 안전계통에 적용될 PLC는 Siemens 의 Teleperm XS, Invensys 의 Triconex, WestingHouse 의 AC-160 이 있으며, 국내에서는 원전 안전계통 개발시 전적으로 이들 PLC 수입에 의존하고 있다. 현재 한국원자력연구소와 국내 PLC 제조회사간에 공동과제를 통해 안전등급 PLC 개발을 수행하고 있으며, 본 논문에서는 개발될 PLC 의 설계기준과 개발된 하드웨어 및 소프트웨어 사양 등 개발현황에 대해 기술한다.

This paper presents design and implementation methods of the real-time three dimensional tracking system of the gazing point. The proposed method is based on three dimensional data processing of eye images in the 3D world coordinates. The system hardware consists of two conventional CCD cameras for acquisition of stereoscopic image and computer for processing. And in this paper, the advantages of the proposed algorithm and test results ate described.

This paper describes a 64 channel signal generator/analyzer module that is useful for verification and testing of digital circuits. It can perform logic analyzer function and signal generator function at the same time. The 64 Channel module is implemented with single FPGA chip for miniaturization, and an USB interface is used to increase portability of the module. Multiple modules can be used in parallel for the verification of large scale circuits. Moreover, since the module is implemented as a PC based system, one can configure convenient GUI(Graphic User Interface) environment.

This paper presents a realization of LonWorks communication based remote monitoring and control system for old-dated Helium Liquefier to be automated in operation and data acquisition. Through Inn nodes, tank level, valve position, gasbag level and temperatures are collected and valve position is adjusted by step motor control. Also, field data acquired can be monitored at a remote site through LAN.

This paper presents the construction algorithm of the irreducible polynomial which needs to multiply over GF(2$\^$m/) and the flow chart representing the proposed algorithm has been proposed. And also, we get the degree from the value of xm＋k formation to the value of k = 7 using the proposed flow chart. The multiplier circuit has been implemented by using the proposed irreducible polynomial generation(IPG) algorithm in this paper, and we compared the proposed circuit with the conventional one. In the case of k = 7, one AND gate and five Ex-or gates are needed as the delay time for the irreducible polynomial in the proposed algorithm, but seven AND gates and sever Ex-or gates in the conventional one. As a result, the proposed algorithm shows the improved performance on the delay time.

In this paper, we designed 12Bit DAC(Digital to Analog Converter) that applied to multiple-valued logic system to Binary system. The proposed D/A Converter structure consists of the Binary to Quaternary Converter(BQC) and Quaternary to Analog Converter(QAC). The BQC converts the two input binary signals to the one Digit Quaternary output signal. The QAC converts the Quaternary input signal to the Analog output signal. The proposed DAC structure can implement voltage mode DAC that high resolution low power consumption with reduced chip area. And also, it has advantage of the easy expansion of resolution and fast settling time.

Phase locked loops are widely used in many applications such as frequency synthesis, clock/data recovery and clock generation. In nearly all the PLL applications, low jitter and fast locking time is required. Without using adaptive loop filter, this paper proposes very simple method for improving locking time and jitter reduction simultaneously in charge pump PLL(CPPLL) using Daul Phase/Frequency Detector(Dual PFD). Based on the proposed scheme, the lock time is improved by 23.1％, and the jitter is reduced by 45.2％ compared with typical CPPLL.

This paper presents the harmonics rejection technique and the simulation of a active power filter using power operational amplifier. The proposed active power filter consists of CT(current transformer), harmonics detector and harmonics amplifier. The harmonics detector is a high pass filter using a GIC(Generalized Impedance Converter). The harmonics amplifier consists of a power operational amplifier and passive filters. The simulation has been implemented by OR-CAD program. It is examined whether the proposed active power filter can be realized or not through simple experiments.

This study focuses on the new hardware design of fast and low-complexity multiplier over GF(2$\^$m/). The proposed multiplier based on the irreducible all one polynomial (AOP) of degree m, to reduced the system's complexity. It composed of Cyclic Shift, Partial Product, and Modular Summation Blocks. Also it consists of (m＋1)$^2$2-input AND gates and m(m＋1) 2-input XOR gates. Out architecture is very regular, modular and therefore, well-suited for VLSI implementation.

In this paper, we propose a simple and efficient data input/output block with high speed between Motorola MPC8XX microprocessor and memory devices. Proposed method is capable of high speed data read and write using the address decoder and the burst cycle between Motorola PowerPC based MPC8XX microprocessor and fixed address locating memory devices such as FIFO, PCMCIA card, and so on. Experimental results are given our findings and discussions.

Recently, TRAO Taeduk Radio Astronomy Observatory is developing wide-band digital spectrometer for radio astronomy, which will be used as back-end signal processing unit of Dual channel SIS receiver. So in this paper, we performed development of high speed digitizing sampler for the wide-band digital autocorrelator, which can perform sampling and quantization on pseudo-random gaussian noise with the maximum conversion speed of 1.5 Gsps..

In this paper, real-time and reconfiguable hardware filter for face recognition is proposed and implemented on FPGA chip using verilog-HDL. In general, face recognition is considerably difficult because it is influenced by noises or the variation of illumination. Some of the commonly used filters such s histogram equalization filter, contrast stretching filter for image enhancement and illumination compensation filter are proposed for realizing more effective illumination compensation. The filter proposed in this paper was designed and verified by debugging and simulating on hardware. Experimental results show that the proposed filter system can generate selective set of real-time reconfiguable hardware filters suitable for face recognition in various situation.

In this Paper, an Audio-Visual Teaching aid (AVTA) for use in a classroom and with Internet is presented. A system, which was designed and tested, consists of a wireless Microphone system, Text to Speech conversion Software, Noise filtering circuit and a Computer. An IBM compatible PC with sound card and Network Interface card and a Web browser and a voice and text messenger service were used to provide slightly delayed text and also voice over the internet for remote teaming, while providing scrolling text from a real time lecture in a classroom. The motivation for design of this system, was to aid Korean students who may have difficulty in listening comprehension while have, fairly good reading ability of text. This application of this system is twofold. On one hand it will help the students in a class to view and listen to a lecture, and on the other hand, it will serve as a vehicle for remote access (audio and text) for a classroom lecture. The project provides a simple and low cost solution to remote learning and also allows a student to have access to classroom in emergency situations when the student, can not attend a class. In addition, such system allows the student in capturing a teacher's lecture in audio and text form, without the need to be present in class or having to take many notes. This system will therefore help students in many ways.

본 논문에서는 IP-Based 디지털 TV Settop box에서 발생할 수 있는 신뢰성의 문제점에 대해서 설명하고, 이를 향상, 보완할 수 있는 방법을 제안한다. IP-Based DTV Settop box 는 사용자에게 인터넷 검색이나 주문형 비디오와 같은 고부가가치의 서비스를 제공하기 위하여 범용 운영체제를 주로 사용한다. 하지만, 범용 운영체제의 사용에 따른 시스템의 불안정성과 운영체제 자체의 오류가 발생하였을 때는 Settop box의 기본기능 조차 사용하지 못하게 될 수도 있다. 본 논문에서는 이러한 문제를 해결하기 위하여 중앙 제어부를 모니터링하는 별도의 제어부를 따로 두어 중앙 제어부가 오 동작 하였는지 검사하도록 한다. 만약, 중앙 제어부가 비정상적인 상태이면 별도의 제어부가 Settop box의 기본 기능을 계속할 수 있도록 유도하고, 시스템이 재 부팅되어 정상동작을 하면 제어 권을 다시 중앙 제어부로 넘겨준다. 또한, 중앙 제어부의 시스템이 부팅하는 동안 제안된 구조를 이용해 Settop box의 기본 기능인 디지털 TV시청을 가능하도록 하는 방안에 대해서도 논한다.

본 논문에서는 기존의 DTV-Ready에서 사용되고 있는 슈퍼 루프 형태의 내장형 소프트웨어 구조를 개선하여 태스크 기반의 내장형 소프트웨어 구조를 제안하였다. Gomaa 의 DARTS(Design Approach for Real-Time Systems) 방법을 사용하여 DTV-Ready 시스템을 분석하고 태스크 기반의 시스템으로 디자인하였다. 태스크간의 의존성을 최소화하여 내장형 소프트웨어의 재사용성을 높였으며, 실시간성을 고려한 디자인과 실시간 운영체제를 적용하여 내장형 시스템의 실시간 성능 향상을 제시하였다. 제안된 디자인은 직접 시스템에 적용하여 구현하고 테스트 결과를 통하여 기존 시스템의 성능과 비교 분석하였다.

인터넷의 편재성과 유용성 때문에 인터넷이 산업현 장에까지 확장 적용될 필요성이 증대되고 있다. 따라서 본 논문에서는 원격지나 또는 바로 산업 현장에 대한 예측가능 유지 보수가 수행될 수 있도록 하는 가상 디바이스 네트워크의 관리 시스템에 대한 개념을 제시하다. 디바이스 제어 네트워크로서 LonWorks 네트워크를 선택하고. 데이터 네트워크로는 이더넷을 선택하여 가상 디바이스 네트워크를 구성하였다. 가상 디바이스 네트워크를 구현하기 위해 LonTalk/IP 게이트웨이/웹 서버를 이용하였다. 가상 디바이스 네트워크의 운영 및 관리를 통한 응용 예로서 기업의 가상 머신/생산 시스템에 관한 예측 유지보수 예를 제시하였다.

초고속 인터넷 망의 발전과 함께 네트워크를 통한 전체 시스템의 통합관리 및 감시가 가능해지고 있다. 본 논문에서는 Windows CE 기반의 무선 인터넷 서비스를 이용한 감시 시스템을 구현하였다. 각각의 웨이블릿 인코더를 가진 원격지 카메라를 이용하여 압축한 데이터를 802.11b(Wi-Fi) 무선 랜 망을 사용하여 전송하고, 전송된 9 채널의 영상 데이터를 각 채널별로 웨이블릿 디코더를 이용하여 압축을 풀고, 고속 데이터 버스를 이용하여 동시에 화면에 디스플레이 하였다. 이러한 시스템을 구현하기 위하여 Geode GXl 프로세서 기반의 Windows CE 서버시스템을 구현하였고, FPGA를 이용하여 9 개의 웨이블릿 디코더를 통하여 입력된 영상 데이터를 제어하였고, 실시간 디스플레이가 가능하도록 하였다. 그리고, Windows CE 기반의 PCI 디바이스를 제어하기 위한 디바이스 드라이버 및 응용 소프트웨어를 작성하였다.

This paper describes a new method of discrimination between the normal disc and the rewritable one. The conventional method of disc discrimination, using Focus error signal, has a heavy fluctuations. To achieve an accurate discrimination, in this paper, the sum of side beam［1］signal is used for that. A new approach is expected to improve the performance of disc discrimination as well as to reduce the signal variation almost by 50％. Techniques in this paper are applicable to the all types of optical disc player, such as CD (compact disc), VCD(Video-CD) and DVD (digital versatile disc) and any other optical disc players.

This Paper proposes a new artificial immune approach to hardware test. A Novel Algorithm of generating tolerance conditions is suggested based on the principle of the antibody diversity. Tolerance conditions in artificial immune system correspond to the antibody in biological immune system. The suggested method is applied to the on-line monitoring of a typical FSM (a decade counter) and its effectiveness is demonstrated by the computer simulation.

This paper describes the implementation of a 4 channel embedded DVR system. It receives analog video from CCD cameras and converts to 640${\times}$480 CCIR-656 digital video by 30 frames/sec. These digital images are compressed to the wevelet transformed image using hardware codec which is capable of 350:1 real-time compression and decompression. The DVR is working on linux and it implemented on an embedded system which is based on StrongARM processor. For the interface between processor system module and image processing module, GPIO and memory control module are used, device drivers are developed. Linux kernel source is customized. This paper provides techniques of embedded system development and embedded linux porting.

본 연구에서는 전파천문학에 있어서 스펙트로그램을 얻기 위한 장치인 필터뱅크의 고속 데이터 취득에 관한것이다. 여기서는 FPGA를 기반으로 데이터 취득시스템을 설계하였는데, 기존의 모노리틱 IC 를 기반으로 설계된 데이터 I/O 를 FPGA 로 대체함으로써 부피를 적게하고 데이터의 고속처리를 가능하게 하였다. 우주현상을 관측함에 있어 고속으로 데이터를 처리함은 대기중의 불안정한 상태나 시스템의 불안정에 의한 좋지 않은 데이터를 정확히 선택하여 제거할 수 있는 데이터 시간 분활이 가능하게 한다. 본 논문에서 개발된 시스템을 적용하여 기존 시스템에 비하여 약 15 배 정도의 고속 데이터 처리가 가능하게 되었다.

A PC-based system for both monitoring and controlling SAUV is developed. The developed system is located on a ship and communicate with the SAUV through optical link through which the system sends motion command and receives video data, SSBL and Digital I/O data. The motion command includes velocity data and direction data. The overall system is developed with the intention of easy operation for operator and safe motion of SAUV. The easy operation is realized by GUI-based interface and the safe motion is realized by fault tolerant capability.

본 논문에서는 향후 인터넷 환경에서 필수적인 요건이 될 수 있는 인터넷 멀티 캐스팅의 여러 프로토콜중 공유 트리 방식의 하나인 CBT 프로토콜에서 송신자와 수신자 사이의 경로 즉 비용을 줄이기 위해 기존의 코어 선택 알고리즘을 개선할 수 있는 알고리즘을 제안한다. CBT 프로토콜에서는 공유 트리의 구성이 코어 라우터를 중심으로 이루어지고 이 코어 라우터를 통해 그룹에 가입/ 데이터 전송/ 탈퇴 등이 이루어지게 되므로 코어 라우터의 선정은 전체적인 효율성 선정의 중요 요소가 된다. 여기서는 모든 노드의 전체 비용을 산출하여 가장 비용 요소가 적은 노드를 선정하는 알고리즘을 제안하며, 네트워크 시뮬레이터를 통해 사용율 및 평균비용을 기존 방식과 비교하여 그 결과에 대해서 논한다.

우리나라의 국민표준체위조사는 1979년 1차 조사를 시작으로 약 5-6년 주기로 실시되고 있으며, 1997년 제 4차 조사가 실시되었다. 국민체위조사 결과를 기반으로 의류, 신발, 가구 등 관련산업의 제품설계에 반영되었다. 본 논문에서는 국민표준체위조사 결과 자료를 기본으로 성별, 연령별, 체형별로 사용자를 분류한 후 체형별 분류를 위한 인체 측정치를 도출하였다. 도출된 인체측정치의 상관관계 분석, 대표적인 항목 도출 등의 과정을 통하여 3D 캐릭터를 구성하였다. 구성을 위한 과정으로 골프, 테니스 등의 스포츠 동작을 효율적으로 나타낼 수 있는 인체 측정치를 도출하였다. 항목이 결정되면 각 타입의 3D 캐릭터를 구성 할 수 있는 치수를 제시하여 생성하였다. 스포츠의 자세 및 동작분석에 대한 이론적 접근에서 가시적인 정보제공 및 자세·동작분석 프로토콜을 개발함으로서 자세 및 동작에 대한 정량적, 객관적 평가가 가능해졌다.

이 논문에서는 3 차원 CT/CTA 영상 데이터에 대하여 고속 자동 정합 기법을 제안한다. 제안하는 기법은 다해상도 (multi-resolution) 구조의 정규 상호 정보량(normalized mutual information) 을 최대화하는 정합 방식에서, 정합 유사도를 계산하는 볼륨 영역을 효율적으로 줄여 정합 속도를 증가시키는 방법이다. 제안된 정합방식을 CT/CTA (CT angiography) 팬텀 데이터와 7 세트의 실제 CT/CTA 임상 데이터에 적용하여 테스트하였다. 이로부터 제안하는 방식이, 정합 정확도를 유지하는 동시에 정합 속도를 10 ∼ 60％ 로 감소시킴을 확인 할 수 있었다. 또한 제안된 정합 방식을 DS-CTA (digital subtraction CT angiography) 에 적용하여, CT/CTA 영상으로부터 혈관 영상을 성공적으로 추출하였다.

본 논문에서는 디지털 X-ray 영상에서 자동으로 손가락의 골단판을 추출하는 알고리즘과 이를 이용한 자동 뼈 나이 측정 방법을 제안한다. 골단판은 뼈의 골화 정도 및 성장 정도에 따라 변화되기 때문에 뼈 나이 평가 시스템에 적합하여 많이 사용된다. 골단판을 자동으로 추출하는 알고리즘을 이용해 골단판을 추출하고 영상인식 분야에서 사용되는 eigen analysis를 사용하여 뼈 나이를 자동으로 측정하였다.

In this paper, we propose a method that applies matrix decomposition technique to the connection of actuator capabilities of each robot to object acceleration limits for multiple cooperative robot systems. The robot systems under consideration are composed of several robot manipulators and each robot contacts a single object to carry the object while satisfying the constraints described in kinematics as well as dynamics. By manipulating kinematic and dynamic equations of both robots and objects, we at first derive a matrix relating joint torques with object acceleration, manipulate the null space of the matrix, and then we decompose the matrix into three parts representing indeterminancy, connectivity, and redundancy. With the decomposed matrix we derive the boundaries of object accelerations from given joint actuators. To show the validity of the proposed method some examples are given in which the results can be expected by intuitive observation.

In this paper, dynamic constraints are considered for the analysis of manipulability of robotics systems comprised of two cooperating arms. Given bounds on the torques of joint actuators for each robot, the purpose of this study is to derive the bounds of task acceleration of object carried by the system. Under the assumption of complete constraint contact, a set of examplar polytope describing acceleration bounds of two cooperating robots are included.

This paper presents a dynamic manipulability analysis method of the limb moving in viscous fluid. The key idea of the presented method is that the boundary of joint velocity can be converted to the velocity-dependant dynamic manipulability polytope through the coriolis, centrifugal and drag terms in dynamic equation. The velocity-dependant dynamic manipulability polytope is added to the inertial and restoring force manipulability polytope to get overall manipulability polytope of the limb moving in the fluid Each of the torque and velocity bounds arc considered in the infinite norm sense in joint space, and the drag force of a limb moving in fluid viscous is modeled as a quadratic form An analysis example with proposed analysis scheme is presented to validate the method.

A mathematical framework for deriving acceleration bounds from given joint torque limits of two cooperating robots are described in this paper. Especially when the torque limits are given in 2-norm, the resultant geometrical configuration is ellipsoid(the ellipsoid is often called manipulability ellipsoid in many works). At first, the mathematical derivation starts from the dynamics of both object and robots as well as the kinematics of the robots, and is finally arranged in a form of equation relating joint torques to object acceleration through a complete constraint contact(or “very-soft contact”). To show the usefulness of the proposed method, two examples are included, and especially the case where friction effects the ellipsoid shape is also considered In the example.

This paper deals with a manipulability analysis of multi-legged walking robots in acceleration domain, that is the dynamic manipulability analysis of walking robot. Noting that the kinematic structure of the walking robot is basically the same with that of the multiple serial robot system holding one object, the analysis method for cooperating robot is converted to that of walking robot. With the proposed method, the bound of achievable acceleration of the moving body is easily derived from the given bounds on the capabilities of Joint torques. Several walking robot examples are analyzed with proposed method under the assumption of hard contact, and presented in the paper to validate the method.

The manipulability of robot provides useful Information for the design and path planning of robots. This paper shows an influence of joint velocities to acceleration of robot end-effector using a dynamic manipulability polytope. The main idea of this paper is that the dynamic manipulability polytope of robot can be divided to three intermediate polytope, the torque-dependant polytope, velocity-dependent polytope, and gravity-dependant polytope. The velocity-dependant polytope is made from the limits of robot joint velocities while the torque-dependant polytope is made from the limits of the joint torques. Combining of these two intermediate polytopes and considering the gravity-dependant polytope, the overall dynamic manipulability polytope of robot is obtained. This investigation will be useful on the field of space robot and high-speed application.

This paper proposes a real-time method to recognize shoulder elevation motions by comparing EMG signals on the Levator scapulae muscles with double threshold values. To achieve real-time, we implement a EMG signal processing hareware embedded band-rejection filter, low-pass filter, full rectifier and moving average circuits. And a high speed microprocessor is used for implementing the double thresholds method. The available shoulder motions for the human-computer interface are elevation of left, right and both shoulders. From experimental results we show that the proposed real-time processing hardware and double thresholds method are useful for the real-time EMG-based human-computer interface.

This paper proposes a dry-type active surface EMG electrode for the myoelectric prosthetic hand. The designed electrode is small size for embedding in the socket of prosthetic hand, and it has three leads including the reference of signal. To acquire EMG signal rejected the power noise, a precision differential amplifier and various filters such as the band pass filter band rejection filter, low pass and high pass filter are embedded on the electrode. The final output of the electrode is integrated absolute EMG (IEMG) obtained by full rectifier and moving average circuits. From experimental results using the implemented dry-type active surface EMG electrode, the proposed electrode is feasible for the myoelectric prosthetic hand.

This paper has been studied an algorithm for EMG signal amplitude estimation in noisy environment. The proposed method has the first stage decomposing the row vector from the delayed EMG signal and the second stage computing the eigenvalues by the eigen decomposition from the covariance matrix of the EMG signal matrix. The last stage is the estimation of RMS values from the eigenvalues. The proposed method was effective when the amplitude of the EMG signal is small, which means the signal to noise ratio is low.

본 연구에서는 전기 전정 자극(GVS, Galvanic vestibular stimulation)이 일측 전정 기능 소실 환자에게서 정상인과 어떠한 특이성을 보이는가에 대하여 관찰하였다. 실험대상은 14 명(남:5, 여:9)의 일측 전정 기능 소실 환자(경와우절제술 12 례, 전정신경 절제술 2 례)로 자극 방법은 bipolar 로 하여 전류 세기를 1mA에서 3mA 까지 달리하며 실험하였다. GVS 에 대한 반응은 영상 안진기(VOG, Videooculograrh)를 이용하여 관찰하였다. 정상 기능이 있는 측면으로의 자극에 대해서는 정상인과 동일한 반응을 보였으나 일측 전정 기능 소실(unilateral loss)을 갖는 환자의 경우 병변이 있는 쪽에 음의 자극, 없는 쪽에 양의 자극을 가하였을 경우에는 대상자 모두에게서 어떠한 안진 반응도 일어나지 않았다. 자극 후 안진의 경우 정상인은 일반적으로 나타나지 않으나 피검자들에게서는 나타나는 특성을 보였다.

In this paper, we implement the photoplethysmo-graphy system that have three channel pulse wave detects and one channel ECG amplifier. In order to detect the artery state, we measured the pulse waves at different positions, simultaneously. In general, arterial vascular system suffers the decrease of compliance, increase of resistance, and decrease of distensibility through aging. Therefore, we compared and analyzed variation of tile Pulse waves parameter both in time and frequency domains that is concerned with the changes of arterial characteries. And then evaluated the correlation coefficients between the parameters variation and the age group. As the result of experiment, we found that the Parameters have a significant correlation about aging.

Magnetocardiography is a very weak biomagnetic field generated from the heart. Since the magnitude of the biomagnetic field is in the order of a few pico Tesla, it is measured with a superconducting quantum interference device (SQUID). SQUID is a transducer converting magnetic flux to voltage, however, its range of linear conversion is very restricted. In order to overcome the narrow dynamic range. a flux locked loop is used to feedback the output field with opposite polarity to the input field so that the total Held becomes zero. This prevents the operating point of the SQUID from moving too far away from the null point thereby escape from the linear region. In this paper, an emulator for the SQUID sensor and feedback coil is proposed. Magnetic courting between the original field and the generated field by the feedback coil is emulated by electronic circuits. By using the emulator, FLL circuits are analyzed and optimized without SQUID sensors. The emulator may be used as a test signal for multi-channel gain calibration and system maintenance.

A convenient, tunable loop-gain negative impedance circuit that increases input impedance of a front-end in a bioimpedance measurement has been proposed. Since the proposed circuit comprises wide-band operational amplifiers, selecting operational amplifiers is easy, while an operational amplifier of proper bandwidth should be chosen to use conventional circuit. Also, since loop-gain can be controlled by a feedback resistor connected serially with a feedback capacitor, loop-gain is tunable with a potentiometer. The input impedance of the proposed circuit is two times larger than that of the conventional circuit. Furthermore, closed loop phase response of the proposed circuit is better than that of the conventional circuit or without a negative capacitance circuit. The implemeted, proposed circuit showed stable operation and a zero input capacitance.

본 논문에서는 심장 돌연사(sudden cardiac death, SCD)의 주된 원인인 세동(fibrillation)을 낮은 에너지에서 효율적으로 제거할 수 있는 biphasic 자동형 제세동기를 개발하였다. 개발한 제세동기는 고전압 충 방전부와 신호처리부를 포함하는 하드웨어와 세동검출 알고리즘과 시스템 제어 알고리즘의 소프트웨어로 구성하였다. 개발한 시스템의 안정성과 효용성을 검증하기 위하여, 실험실 환경에서 160 번의 연속적인 충 방전 테스트를 통하여 시스템의 안정성을 확인하였으며, ECG simulator 에서 발생되는 6 종의 세동신호를 적용하여 100％의 실시간 검출능력을 확인하였다.

본 논문에서는 개발된 biphasic 자동형 제세동기 시스템의 임상적 효용성을 동물실험을 통하여 검증하였다. 개발된 제세동기 시스템은 기존의 monophasic 제세동기와는 달리 낮은 에너지로 세동을 제거하는 biphasic 형으로, 이미 실험실 환경의 테스트를 통해 시스템의 안정성과 알고리즘의 탁월한 검출 능력이 확인되었다. 시스템의 임상적 안전성 및 효용성을 확인하기 위하여 8마리의 돼지를 사용하여 시스템의 적절한 세동 검출 및 세동제거능력을 실험하였고, 그 후 시스템의 효용성을 향상시키기 위한 연구로 같은 양의 에너지를 다른 전압 레벨에서 방전시켜 이에 따른 제 세동 효율을 조사하고, 또한 세동 신호의 규칙성과 방전시점에 따른 제 세동 효과를 평가하였다.

The PI controller has many trial-and-error steps for gain design. This paper proposes a new design concept. In this method, a degree of stability and Kharitonov theory are applied and the controller gain is directly expressed by system parameters and current controller's bandwidth. Simulation results for permanent magnetic synchronous motor(PMSM) driving systems confirm the validity of proposed method.

This paper presents results of the development of the Turbo-generator system with structure which is HSG(High Speed Generator) installed to high speed gas-turbine engine directly. Turbo-generator with high speed motor-generator directly has many advantages aspects of weight, size, lubrication system and complexity of the system compared of conventional turbo-generator system with gear-box. But because of direct high speed operation of the high speed generator, we have to need stable high speed motor driving algorithm for perfect engine ignition when gas turbine starting. Also we have to need design of the PCU(Power Conditioning Unit) for converting high speed AC output power to conventional AC power or needed DC power.

Neural network-based fault diagnosis algorithm to detect and isolate faults in the nonlinear systems is proposed. In the proposed method, the fault is detected when the errors between the system output and the neural network nominal system output cross a predetermined threshold. Once a fault in the system is detected, the system outputs are transferred to the fault classifier by ART2 NN (adaptive resonance theory 2 neural network) for fault isolation. From the computer simulation results, it is verified that the proposed fault diagonal method can be performed successfully to detect and isolate faults in a nonlinear system.

A tole-robot system for remote home-management has been developed. The tele-robot system is composed of a mobile robot system, server-computers and client-computers. The robot system is equipped with wireless camera and wireless controller so that the robot system captures the image remotely User makes the robot control command referring to the image feedback through internet. With such tole-robot system, the user can monitor and watch the inside of home by remotely maneuvering the mobile robot. The user can also save the received image of suspected scene on the client computer. Utilizing such function of tele-robot system, remote home-management and possible crime avoidance could be achieved.

In this paper, the speed controller of permanent-magnet synchronous motor (PMSM) using the RBF neural (NN) disturbance observer is proposed. The suggested controller is designed using the input-output feedback linearization technique for the nominal model of PMSM and incorporates the RBF NN disturbance observer to compensate for the system uncertainties. Therefore the proposed algorithm is robust against the uncertainties of the system. Finally, the computer simulation is rallied out to verify the effectiveness of the proposed method.

In this paper, we predict tracking performance of the multiple hypothesis tracking (MHT) algorithm. The MHT algorithm is known to be an optimal Bayesian approach and is superior to asly other tracking filters because it takes into account the events that the measurements can be originated from new targets and false alarms 3s well as interesting targets. In the MHT algorithm, a number of candidate hypotheses are generated and evaluated later as more data are received. The probability of each candidate hypotheses is approximately evaluated by using the hybrid conditional average approach (HYCA). We performed numerical experiments to show the validity of our performance prediction.

This paper has been working on designing a small size bipedal robot for research purpose. This paper shows the design purpose and design procedure for HJ-1 small size bipedal robot, how it's controll system has been constructed and how its link and structural architecture has been designed.

본 논문에서는 국내에서 개발하고 있는 과학로켓용 발사통제시스템(FCS, Fire Control System)의 시퀀스제어의 처리 영역을 PLC 시스템을 사용하여 구현하였다. 프로세서의 이중화를 통하여 Hot Backup 시스템을 구축하고 ControlNet 네트워크［l］［2］를 기반으로 하는 프로세서와 I/O 간의 통신을 이용하였다. 먼저 로켓 발사통제시스템의 개요 및 주요 임무에 대하여 설명하고 기존에 사용된 발사통제시스템 구성을 분석하였다. PLC 시스템의 개요와 CPU 동작 내용 그리고 ControlNet 통신방식에 대하여 설명하고 프로세서를 이중화한 시스템을 제안하였다. 또한 이중화된 프로세서의 Switchover［2］방법을 알아보고 이러한 조건에 따른 PLC 시스템을 응용한 발사 통제시스템을 구성하여 이를 위해 작성된 시스템 운용 Ladder Diagram 프로그램에 대한 기술을 논하였다. 개발된 PLC 시스템의 구성을 제시하고 발사체 및 각종 지원시설과 연계한 시험을 통하여 성능을 검증하였다.

The automatic diameter control system of the Crystal Grower has a good performance with only PD control. But it contained the integrator the plant which has a long time delay. In this paper. we show the secondary approximate model and applies time delay controller which is good performance for in the long time delay plant. It will be able to improve the response characteristic against a standard input and a load disturbance.

In this paper considers the design of the effective controllers for the plant with an integrator and a long dead time. The structure of the new DTC(Dead Time Compensator) that has an additive filter is proposed. Our DTC shows the improved performance in set-point response and disturbance rejection. Especially the bad effect of the long dead time in the disturbance rejection is fairly reduced by using the additive filter. illustrative examples are provided to show the availability of the proposed controller.

In this paper, we propose a fuzzy control method for improving the control performance by automatically tuning the scaling factor. The proposed method is that automatically tune the input scaling factor and the output scaling factor of fuzzy logic system through neural network. Used neural network is ADALINE (ADAptive Linear NEron) neural network with delayed input. ADALINE neural network has simple construct, superior learning capacity and small computation time. In order to verify the effectiveness of the proposed control method, we performed simulation. The results showed that the proposed control method improves considerably on the environment of the disturbance.

본 논문에서는 Sub-nano 수준의 위치정밀도와 분해능을 갖는 Piezo actuator 의 제어기 설계를 목적으로 하였다. 이산 시간 상태 공간에서의 Piezo actuator를 이용한 1 축 스테이지 드라이브 시스템 SISO 제어기를 설계하였다. Piezo actuator 의 소재 자체의 특성으로는 Hysteresis 가 있으며, 이는 정상상태에서 Piezo actuator 의 위치 오차를 발생하는 주요 원인이 된다. 제어기의 설계는 극점 배치 방법을 기본으로 하여 Hysteresis 에 대한 보상을 목적으로 적분제어방식과 외란 추정기를 각각 적용하였다. 모의실험을 통하여 제어기의 설계 및 시뮬레이션 하였으며, Hysteresis 에 대한 보상이 이루어짐을 보았고, 실험을 통하여 이를 증명하였다.

본 논문에서는 윈도우 운영체제 기반에서 CCD 카메라를 통해 얻은 영상 정보를 TCP/IP 네트워크를 통해 전송하고 카메라를 제어하는 원격 감시 시스템을 구성한다 지금까지의 감시 시스템은 영상 정보를 얻어서 저장하고 검색하는 정도의 제한된 기능을 가지고 있었다. 또 거리상의 한계성이 있어서 그 활용도가 높지 않았다. 그러나 디지털 광통신망 시대가 열린 지금, 네트워크를 통한 원격 감시 시스템으로의 발전 요구는 날로 증가하고 있다. 따라서, 이러한 요구에 따라 원거리에서 인터넷을 통해 영상을 실시간으로 전송 받아 즉각적으로 상황을 판단하고 능동적으로 대처할 수 있는 시스템을 구현하는 것이 필요하다.

본 논문에서는 압전소자 구동기를 모델링하고 이를 이용하여 제어기를 설계하였다. 지금까지 많이 쓰이고 있는 방법이 압전소자 구동기의 히스테리시스 특성에 대한 대략적인 모델링을 구하고 이의 역함수를 적용한 방법이었으나 오차가 많고 다른 시스템에 대한 적용이 어려운 단점이 있었다. 이에 정확한 예측이 가능한 모델링 방법을 사용하여 제어기 설계의 정확성을 기하였다. 압전소자 구동기의 히스테리시스 특성을 제거하기 위한 방법으로는 Signal Preshaping 과 PI-제어기를 사용한 피드백 제어를 사용하였다. 이에 따른 모델링 시스템에서의 모사와 이를 실제 시스템에 적용하여 얻어낸 실험치와 그 결과에 대해서 논하였다.

무선 통신상의 비디오 전송은 가정과 사무실 같은 실내 환경에서 많은 활용성을 가지고 있다. 무선 데이터 통신에는 블루투스를 사용하였으며, 블루투스의 낮은 대역폭으로 인하여 MPEG-2 압축기술을 사용하였다. 블루투스를 사용하여 영상을 전송하는데 MPEG기술이 가지는 효율성과 필요성을 압축된 영상 전송과 압축되지 않은 영상의 전송을 비교하여 보여준다.

Tele manipulator is distingushed from industrial robot by iterating same specified work. Manipulator operator is included in control loop for controlling the telemanipulator because he decide directly during the work and order controllabily reducing the modelling error of telemanipulator which depend on the PID controller. But position-force control method of bidirectional control impose unsafety of vibiration and Analytic Hierachy Method can stabilize for reducing nonlinear modelling error by expert operator because of transformation empirical control rule to linear model.

본 논문에서는 PWM 방식을 이용한 THERMO-CON 제어 회로를 제안하였다. 제안한 회로는 정전압을 형성하기 위한 레귤레이터, 신호를 처리하기 위한 op-amp, 삼각파를 만들기 위한 OSC, 그리고 부하의 상태를 감지하기 위한 AMC 와 ISC 로 구성된다. 테스트 결과 서지 전압인가 시 PWM 방식으로 동작하여 회로의 P/sub D/(Power Dissipation)을 줄여 소자의 파괴를 막고 중부하 시(여러 개의 릴레이 구동 시) PWM 동작을 하여 소자의 파괴를 막는다는 것을 확인하였으며, 출력 쇼트 시 쇼트보호회로에 의해 출력 트랜지스터의 파괴를 막는다는 것을 확인하였다.

We study the characteristics of oscillating in non-autonomous condition and the conducted noise generation in a RL-photocoupler circuit. This circuit may be shown a period-doubling and a chaos dynamics under any specific conditions of input circuit. But, the relationship between input signals and output signals is different according to the amplitude of driving input voltage. Then, the oscillation noise was analyzed with respect to both the frequency and the amplitude of an external ac signal and do values. The results show that the noise-induced oscillations for falling and rising cycles induced by kick-back effect in an inductor, nonlinear capacitance, nonlinear resistance and charge storage time in a diode and an LED. We also compared the simulation with the experimental results.

The paper is proposed for control signals to operate X-ray detector signal acquisition system There are control signals and synchronized signals for data acquisition system. X-ray detector signal acquisition system is divided into pre-treatment part which is to amplify acquired dual 16 channel analog input, converter pan which is to multiplex, and convert data and transmit part that combine transferred data output and address in order. It also describes detailed control signals.

This paper proposes a PWM(Pulse Width Modulation) circuit using CMOS OTA with a single-voltage supply. The OTA employed has an input stage which consists of a pair of two MOSFETs operating in plural operation regions. The MOSFETs work complemetarily and realize a rail-to-rail input range. The input stage requires no matching of an n-channel type input circuit and a p-channel type input circuit unlike conventional rail-to-rail input stages because the input stage is realized by single channel type MOSFETs. In order to confirm the validity of the proposed circuit, it is simulated by H-SPICE program. Futhermore, the proposed circuit will be integrated on chip using 0.35 $\mu\textrm{m}$ CMOS technology.

A input voltage conversion dimming control formula and a PMW dimming control formula which have been used for dimming control of CCFL driving inverter in TFT-LCD backlight, are the existing facilities so far, however, in this thesis the circuit is designed by applying The rover inverter that are able to measure output brightness according to changing of duty ratio at PWM and voltage. consequently, it's able to be confirmed that we can have dimming control more detailed than before.

The purpose of this paper was to find out the stabilized and effective value of RC-parameter by using PSpice simulation, considering that gate signal voltage can be distorted by RC-delay of signal line. the results of this study were as follows: TFT-LCD with high quality resolution increased the number of gate signal line and this made TFT on-time shorter over-width of signal line to improve the performance of TFT made the electrostatic capacity increase and the time constant higher, making problems and errors. and owing to the decrease of the aperture ratio, an electro optic character of LCD, we must consider the capacity and the condition of production process in deciding the width and the thickness of the gate signal line.

In this paper, we have studied a design method to make Linux system enriched with a duplication facility. We have designed a duplication module which would be inserted into Linux. The design have to keep track of three foundations, such as fault detection, reconfiguration, a handling duplication data. To conclude, Linux duplication module is free put on a Linux kernel. so in the future, It can cope with a change in Linux duplication system flexiblely.

본 논문에서는 과전류로부터 보호해야 할 트랜지스터의 정격전력을 고려해 protection level 을 결정하는 과 전류 보호회로를 제안하였다. 기존의 과전류 보호회로는 과부하시 출력 트랜지스터 양단 전압과는 무관하게 단순히 전류의 크기만을 감지해 보호회로를 동작시키기 때문에 출력 트랜지스터의 정격전력을 고려하지 않고 동작을 한다. 하지만 제안된 회로는 출력전압과 출력전류의 크기를 모두 감지해 protection 여부를 결정하기 때문에 protection 시 출력 트랜지스터에서의 소모전력이 거의 일정하도록 유지시켜준다. Protection level 설정에 있어서 기존 방식과 다른 점을 먼저 살펴보고, 실제 오디오 증폭기의 보호회로로 사용된 회로의 동작원리를 설명하겠다. 아울러 실험을 통해 검증된 과전류 보호회로의 동작 결과를 살펴보겠다.

In nonlinear control fields, for irregular nonlinear systems, control form which consists of approximate tracking control law and exact tracking control law and which switches between two laws has been proposed recently. In this thesis, we design new switching control law which connect approximate linearization control law and exact linearization control law by fuzzy rules for irregular nonlinear system, ball and beam system. Fuzzy switching controller designed by fuzzy concept is proved that designed scheme overcomes singularities of irregular system, improves unstability problem of switching procedure, and has more efficient control value through simulation. Stability of fuzzy control system proved by Lyapunov's stability theorems.

저전력형의 거리 및 속도측정기를 구현하였다. 매우 짧은 펄스의 높은 분해능을 요구하는 기기의 특성을 구현하기 위하여 측정 펄스를 White Noise가 인가된 신호를 이용하여 구현하였으며, 1초 내에 속도 및 거리가 측정되도록 하였다. 실제로 3-400m정도에서 사용되는 경우가 많으나 LASER의 신호로 2-3km연장가능 하도록 하여 여러 방면에 사용되도록 하였다.

The development of a portable system to be used by diabetes patients and renal discase patients is needed to monitor their urea concentration and their glucose concentration in blood. This paper reports a compound sensor composed of a urea sensor, a glucose sensor and a micro-channel. This paper also reports the development of a portable measurement system to measure the concentrations, display the values, and save the values to be used by doctors.

In this paper, we propose an EEG-based mental state prediction method during a mental tasks. In the experimental task, a subject goes through the process of responding to visual stimulus, understanding the given problem, controlling hand motions, and hitting a key. Considering the subject's varying brain activities, we model subjects' mental states with defining selection time. EEG signals from four subjects were recorded while they performed three mental tasks. Feature vectors defined by these representations were classified with a standard, feed-forward neural network trained via the error back-propagation algorithm. We expect that the proposed detection method can be a basic technology for brain-computer interface by combining with left/right hand movement or cognitive decision discrimination methods.

Obstructive Sleep Apnea(OSA) is a representative symptom of sleep disorder which is caused by airway obstruction. OSA is usually diagnosed through the laboratory based Polysomnography(PSG) which is uncomfortable and expensive. In this paper, the detection method for OSA events, using ECG, has been developed. The proposed method uses the ECG data sets provided from Physionet. The features for OSA events detection are the average and standard deviation of 1 minute R-R interval, power spectrum of R-R interval and S-pulse amplitude from data sets. These features are applied to the input of Neural Network. To evaluate the method, we used the another ECG data sets. And we achieved sensitivity of 89.66％, specificity of 95.25％. So, we can know that the features proposed in this paper are important to detect OSA.

좋은 발성을 위하여 음성이 만들어지려면, 뇌의 언어중추의 명령에 의하여 신경망을 통하여 ‘호흡기관(폐와 흉곽. 호흡관련 근육들)’과 ‘발성기관(주로 후두 즉 성대)’ 그리고 ‘조음, 공명기관(인두, 구강 및 비강)’의 근육들이 유기적으로 작용하여야 한다. 이런 협력 체제에 문제가 생기면, 다양한 종류의 질환이 유발될 수 있다[1,2]. 현재 임상에서 음성 분석을 위해 사용되는 시스템은 대부분 성대의 진동을 측정하기 위해 stroboscopy, 전기성문파형검법 (EGG, electroglottography), 후두근전도 중의 한 방법과 음성 분석을 위한 분석 프로그램으로 구성되어 있다. 그러나, 발성은 호흡과 매우 밀접한 관계가 있어 음성, 성대의 진동, 호흡 관계를 종합적으로 관찰할 필요가 있다. 본 연구에서는 발성 시 성대 점막의 접촉 양상은 ECG 로 측정하며, 발성의 주 에너지원이 되는 호흡의 변화를 2 channel 인덕턴스 호흡감시 장치(RIP: repiratory inductive plethymography)를 이용하여 흉곽의 움직임과 상 복강의 움직임에 대하여 측정하며, 발성되는 음성은 마이크로폰을 통하여 측정하는 ‘EGG, 음성, 호흡 통합검사 장치’를 개발하였다.

This paper describes the possibility of analyzing gait pattern from the variation of the lower leg electrical impedance. This impedance is measured by the four-electrode method. Two current electrodes are applied to the thigh, knee, and foot, and two potential electrodes are applied to the lateral, medial, and posterior position of lower leg. The correlation coefficients of the joint angle and the impedance change from human leg movement was obtained using electrogoniometer and 4ch impedance measurement system developed in this study. We found the optimal electrode position for ankle, knee and hipjoint movements based on high correlation coefficient, least interference, and maximum magnitude of impedance change. The correlation coefficients of the ankle, knee, and the hip movements -0.87, 0.957 and 0.80. respectively. From such features of the lower leg impedance, it has been made clear that different movement patterns exhibit different impedance patterns and impedance level. This system showed possibility that lower leg movement could be easily measured by impedance measurement system with a few skin-electrodes.

This paper describes the possibility of analyzing gait pattern from the variation of the lower leg electrical impedance. This impedance is measured by the four-electrode method. Two current electrodes are applied to the thigh and foot., and two potential electrodes are applied to the lateral aspect. medial aspect, and posterior position of lower leg. We found the optimal electrode position for knee and ankle joint movements based on high correlation coefficient, least Interference, and maximum magnitude of impedance change. From such features of the lower leg impedance, it has been made clear that different movement patterns exhibit different impedance patterns and impedance level.

In this study, our primary goal is to classify the EMG(electromyographic) signals including the specific patterns related to hand motions in an arm. To do this, the EMG recognition method based on the LP coefficients and delay between multi-channels obtained by cross-correlation function is presented. The study consists of three functional parts, which are pans for obtaining the EMG signals from am muscle, analyzing LP coefficients and delay parameter obtained by cross-correlation function, and recognizing specific patterns. In the experiment, the result of the present method is compared with the results of the conventional methods. We expect that the results of this study is very effective in the mobile computer and wearable computer environment.

Mobile communication is one of the fastest growing industries in the world and especially in Korea, where we have well over 30 million voice subscribers. Mobile communication now offers variety of data communication services such as wireless internet, multimedia messages, and color graphic displays. Handsets also have grown to accommodate such services, thus with functionalities such as programmable virtual machines that users can download and execute their own programs. In this paper, we have demonstrated a PCS handset monitoring system which can monitor biometry signals - in this case ECG over wireless internet and wireless data network (IS95C) based on programmable virtual machine architecture. The remote client handset receives data signals from a centralized server and processes and displays them in human friendly form in real time. Since every single handset on sales in Korea has programmable virtual machine and more than 10 million handsets are in distribution already, proper applications may have substantial impact on the related fields.

In this paper, we developed a multichannel acupuncture point balance measurement system that measures skin resistances at various acupuncture points to evaluate the balancing state of the meridian. The system consists of 16 channel resistance-voltage converter, signal processing part for signal amplification and filtering, A/D conversion part, micro-controller part, and data processing part. Compared to the previously developed 1 channel or 4 channel systems, it is found that the 16 channel system can measure the skin resistances of 16 acupuncture points, simultaneously, providing various clinical information such as balance and variation of the resistance value.

시각장애인의 보행을 보조할 목적으로 설치된 점자보도블록은 보행방향과 정지 정보를 제공하지만, 현재 위치에 대한 정보는 제공 할 수 없어서 보행 보조물로써의 기능이 매우 제한되어 있다. 본 연구에서는 최근 IT 기술중 하나인 RFID(Radio Frequency Identification)를 내장한 새로운 개념의 점자보도블록과 이를 활용하여 보행을 유도할 수 있는 시스템을 제안하고자 한다. 점자보도블록에는 RFID 태그와 안테나를 삽입하여 현재 위치에 대한 정보를 저장하며, 백색지팡이에는 이 정보를 읽어 들이기 위한 리더기를 설치한다. 현재위치에 대한 정보는 PDA로 전송되어 해당되는 음성정보를 시각장애인에게 전달하게 된다. 제안된 시스템을 통해 시각장애인은 타인의 도움 없이 현재 자신이 위치한 곳에 대한 정보를 얻고, 올바른 곳으로 보행중인지를 판단할 수 있게 되므로, 시각장애인의 보행권과 사회활동권등 복지 증진에 효과가 있을 것이다.

Conventionally, biological manipulations have been performed manually with long training and pretty low success rates. To overcome this problem, a novel biological manipulation system has been developed to manipulate biological cells without any interference of a human operator, In this paper, we demonstrate a development of tole-autonomous Cell Manipulation System (CMS) using an image processing at a remote site. The CMS consists of two manipulators, a plane stage, and an optical microscope. We developed deformable template-model-matching algorithm for micro objects and pattern matching algorithm of end effect for these manipulators in order to control manipulators and the stage. Through manipulation of biological cells using these algorithms, the performance of the CMS is verified experimentally.

The increase of vehicles stagnations leads to the increasing attention to the way customers pay and a large number of projects on electronic cash system. Tranport system is comprised of a number of advanced technologies, including information processing, communications, control, and electronics. Recently many research on a system which provides contact in order to protect driver's vehicle passage have been carried out. And some potential problems from that system are being reviewed by electronic cash system. In this papers, we suggest RF protocol developing technology using the concept of electronic cash. ATM electronic cash developing is consist of component of pre-developed coin throw, Integration of component using its, and production of more requirement-satisfactory ITS solution. Result increase 15∼40％ pre-type vehicles stagnations. Especially, we expect this proposed concept would be well adapted to our national environments.

In this paper, we present a new methodology to analyze the characteristics of artery by using 4 channels photophethysmography. The proposed parameter is a time difference of pulse transit time (PTT) between pulse waves at finger site and at toe site. As the results of experiments, the change of parameter was found according to ages. The result of regression analysis about relationships between the parameter and ages for n=51, the coefficient of correlation of non-normalized data has -0.79770 in left side and -0.80599 in right side and the coefficient of correlation of normalized data by height has -0.81345 in left side and -0.81605 in right side.

In this paper, a swallowable miniaturized capsule, which applicable for electrical stimulation of digestive organ to improve the motion of intestine in research purpose, is proposed and implemented. The developed capsule can be controlled for the behavior of the power on/off, amplitude and pulse rate for the patient stimulus, by internally equipped with miniaturized RF receiver that linked by the command of external transmitter The experimental result of the implemented miniaturized capsule in the animal intestine show the ability of effective control for the stimulus parameters.

This paper has been studied the ballast for multiple lamps. Many fluorescent lamps are demanded in where industrial buildings and public buildings. Using the proposed ballast for multiple lamps, we can decrease the cost and the space for installing. Also in the paper, the protection circuit is introduced for over voltage and current. The general problem of the ballast for multiple lamps is to shut down the ballast circuit in the ease of one abnormal lamp. But the proposed method is not shut down all the circuit even if one lamp is in an abnormal condition.

This paper has been studied the electronic ballast by the self-oscillated inverter. The self-oscillated ballast can reduce the stress of the switch of the inverter. But the self-oscillating method is not easy to analyze and design. There arc three kinds of cores for the oscillating transformer： Ring core, EI-core, and Drum core. In this paper, we are studied the characteristics of three kinds of cores in using electronic ballast by the self-oscillated inverter.

A new Valley-fill circuit for improving PF(power factor) is proposed in this paper. The proposed topology combines Valley-fill rectifier and an additional inductor for boosting. In the proposed circuit, a shapc of input current is related to the PWM duty cycle. The boosting inductor makes improve PF by the electric charge transfer action. The operation principle and the shape of input current arc analyzed as applied the boosting inductor. The optimum value of boosting inductor is determined. A 100W single-stage converter has been designed and tested. Experimental results are presented to verify the validity of the proposed converter.

A new contactless Li-ion battery charging system was proposed. The conventional methods for charging Li-ion battery have some weak points. For example, there can be a contact failure, a poor waterproof, and a difficulty to standardize the battery charging systems. The new proposed system can overcome these weak points. The new charging system is composed of power transfer part and data transfer part. This paper focuses on the power transfer part for contactless battery charging. The power stage is mainly composed of PPRC(Push-pull Parallel Resonant Converter) and flyback converter. The new method of chaging Li-ion battery was proposed and PPRC + flyback-boost topology was analyzed. The proposed toplogy was tested under the constant voltage control and the constant current control which are adequate for charging Li-ion battery.

In this paper are described the indirect induction healed boiler and induction boated hot air producer using the voltage-fed series resonant high-frequency inverter which can operate in the frequency range from 20［kHz］to 50［kHz］. A specially designed induction heater, which is composed of laminated stainless assembly with many tiny holes and interconnected spot welding points between stainless plates, is inserted into the ceramic type vessel with external working coil. This working coil is connected to the inverter and turbulence fluid through this induction heater to moving fluid generates in the vessel. The operating performances of this unique appliance in next generation and its effectiveness are evaluated and discussed from a practical point of view.