• The Journal of the Convergence on Culture Technology
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• v.9 no.3
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• pp.677-682
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• 2023

A large number of motors and sensors are used to drive a humanoid robot. In order to solve the wiring problem that occurs when connecting multiple actuators, a controller based on a communication network has been used, and CAN, which is advantageous in terms of cost and a highly reliable communication protocol, was mainly used. In terms of the structure of the controller, a torque control type structure that is easy to implement an advanced algorithm into the upper controller is preferred. In this case, the low communication bandwidth of CAN becomes a problem, and in order to obtain sufficient communication bandwidth, a communication network is configured by separating into a plurality of CAN networks. In this study, a stability analysis on transmission time delay is performed for a multi-motor control system in which high-speed FlexRay and low-speed CAN communication networks are hierarchically connected in order to obtain a high communication bandwidth, and sensor information and driving signals are delivered within the allowed transmission time. The proposed hierarchical network-based control system is expected to improve control performance because it can implement multiple motor control systems with a single network.

• The Journal of the Korea institute of electronic communication sciences
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• v.17 no.1
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• pp.59-70
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• 2022

In this paper, we proposed an active fault tolerant control (AFTC) method for the position control of a quadrotor with complete loss of effectiveness of one motor. We obtained the dynamics of a quadrotor using Lagrangian equation without small angle assumption. For detecting the fault on a motor, we designed a fault detection module, which consists of the fault detection and diagnosis (FDD) module and the fault detection and isolation (FDI) module. For the FDD module, we designed a nonlinear observer that observes the states of a quadrotor based on the obtained dynamics. Using the observed states of a quadrotor, we designed residual signals and set the appropriate threshold values of residual signals to detect the fault. Also, we designed an FDI module to identify the fault location using the designed additional conditions. To make a quadrotor track the desired path after detecting the fault of a motor, we designed a fault tolerant controller based on the multiple sliding surface control (MSSC) technique. Finally, through simulations, we verified the effectiveness of the proposed AFTC method for a quadrotor with complete loss of effectiveness of one motor.

• Journal of Broadcast Engineering
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• v.13 no.3
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• pp.365-379
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• 2008

In this paper we consider technological requirements of the on-channel repeater to broadcast the terrestrial digital multimedia broadcasting (T-DMB) signals using single frequency networks (SFN) and propose the configuration and implementation method of the equalization on-channel repeater (OCR) that meet such requirements. The proposed equalization OCR not only has short time delay, but shows high output power and good quality of output signal by removing a feedback signal due to incomplete antenna isolation and multipath signal existing between the main transmitter and the OCR. In addition, computer simulations and laboratory tests results are provided to figure out performance of the proposed equalization OCR.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.11 no.3
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• pp.179-196
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• 1986

In this paper, the peformance of a statistical packet voice/data multiplexer is studied. In ths study we assume that in the packet voice/data multiplexer two separate finite queues are used for voice and data traffics, and that voice traffic gets priority over data. For the performance analysis we divide the output link of the multiplexer into a sequence of time slots. The voice signal is modeled as an (M+1) - state Markov process, M being the packet generation period in slots. As for the data traffic, it is modeled by a simple Poisson process. In our discrete time domain analysis, the queueing behavior of voice traffic is little affected by the data traffic since voice signal has priority over data. Therefore, we first analyze the queueing behavior of voice traffic, and then using the result, we study the queueing behavior of data traffic. For the packet voice multiplexer, both inpur state and voice buffer occupancy are formulated by a two-dimensional Markov chain. For the integrated voice/data multiplexer we use a three-dimensional Markov chain that represents the input voice state and the buffer occupancies of voice and data. With these models, the numerical results for the performance have been obtained by the Gauss-Seidel iteration method. The analytical results have been verified by computer simylation. From the results we have found that there exist tradeoffs among the number of voice users, output link capacity, voic queue size and overflow probability for the voice traffic, and also exist tradeoffs among traffic load, data queue size and oveflow probability for the data traffic. Also, there exists a tradeoff between the performance of voice and data traffics for given inpur traffics and link capacity. In addition, it has been found that the average queueing delay of data traffic is longer than the maximum buffer size, when the gain of time assignment speech interpolation(TASI) is more than two and the number of voice users is small.

• The Journal of the Acoustical Society of Korea
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• v.23 no.1
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• pp.8-16
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• 2004

An inversion method is presented for the determination of the compressional wave speed, compressional wave attenuation, thickness of the sediment layer and density as a function of depth for a horizontally stratified ocean bottom. An experiment for estimating those properties was conducted in the shallow water of South Sea in Korea. In the experiment, a light bulb implosion and the propagating sound were measured using a VLA (vertical line array). As a method for estimating the geoacoustic properties, a coherent broadband matched field processing combined with Genetic Algorithm was employed. When a time-dependent signal is very short, the Fourier transform results are not accurate, since the frequency components are not locatable in time and the windowed Fourier transform is limited by the length of the window. However, it is possible to do this using the wavelet transform a transform that yields a time-frequency representation of a signal. In this study, this transform is used to identify and extract the acoustic components from multipath time series. The inversion is formulated as an optimization problem which maximizes the cost function defined as a normalized correlation between the measured and modeled signals in the wavelet transform coefficient vector. The experiments and procedures for deploying the light bulbs and the coherent broadband inversion method are described, and the estimated geoacoustic profile in the vicinity of the VLA site is presented.

• Investigative Magnetic Resonance Imaging
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• v.2 no.1
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• pp.58-66
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• 1998

Purpose : This paper introduces a new three dimensional magnetic Resonance Image classification which is based on Mar kov Random Field-Gibbs Random Field with a line model. Material and Methods : The performance of the Gibbs Classifier over a statistically heterogeneous image can be improved if the local stationary regions in the image are disassociated from each other through the mechanism of the interaction parameters defined at the local neighborhood level. This usually involves the construction of a line model for the image. In this paper we construct a line model for multisignature images based on the differential of the image which can provide an a priori estimate of the unobservable line field, which may lie in regions with significantly different statistics. the line model estimated from the original image data can in turn be used to alter the values of the interaction parameters of the Gibbs Classifier. Results : MRF-Gibbs classifier for volumetric MR images is developed under the condition that the domain of the image classification is $E^{3}$ space rather thatn the conventional $E^{2}$ space. Compared to context free classification, MRF-Gibbs classifier performed better in homogeneous and along boundaries since contextual information is used during the classification. Conclusion : We construct a line model for multisignature, multidimensional image and derive the interaction parameter for determining the energy function of MRF-Gibbs classifier.

• The Journal of the Acoustical Society of Korea
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• v.43 no.4
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• pp.466-475
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• 2024

Matched-Field Processing (MFP) is a model-based approach that requires accurate knowledge of the ocean environment and array geometry (e.g., array tilt) to localize underwater acoustic sources. Consequently, it is inherently sensitive to model mismatches. In contrast, the waveguide invariant-based approach (also known as array invariant) offers a simple and robust means for source-range estimation in shallow waters. This approach solely exploits the beam angles and travel times of multiple arrivals separated in the beam-time domain, requiring no modeling of the acoustic fields, unlike MFP. This paper extends the waveguide invariant-based approach to shallow water environments featuring a shallow pit, where the waveguide invariant is not defined due to the complex bathymetry. An in-depth performance analysis is conducted using experimental data and numerical simulations.

• Elastomers and Composites
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• v.44 no.2
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• pp.98-105
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• 2009

The cochlea of the inner ear has two core components, basilar membrane and hair cells. The basilar membrane disperses incoming sound waves by their frequencies. The hair cells are on the basilar membrane, and they are the sensory receptors generating bioelectric signals. In this paper, a biomimetic technology using ZnO piezoelectric nano-pillar was studied as the part of developing process for artificial cochlea and novel artificial mechanosensory system mimicking human auditory senses. In particular, ZnO piezoelectric nano-pillar was fabricated by both low and high temperature growth methods. ZnO piezoelectric nano-pillars were grown on solid (high temperature growth) and flexible (low temperature growth) substrates. The substrates were patterned prior to ZnO nano-pillar growth so that we can selectively grow ZnO nano-pillar on the substrates. A multi-physical simulation was also conducted to understand the behavior of ZnO nano-pillar. The simulation results show electric potential, von Mises stress, and deformation in the ZnO nano-pillar. Both the experimental and computational works help characterize and optimize ZnO nano-pillar.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.45 no.1
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• pp.33-41
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• 2008

As RFID technology is developing and increasingly being used in many applications, the implementation is changing from single reader to multiple readers even dense readers. Since the number of readers is increasing, there are more collisions between readers and much interference between readers and tags. Therefore, to avoid interference or collision, many algorithms have being proposed, such as Gen2 dense mode, LBT(listen before talk), TDMA based method. In this paper, we propose a null frame algorithm, which calculates the collision probability in frame slotted aloha scheme and use this information to avoid the possible collisions. Comparing with conventional scheme, our proposed algorithm has some advantages in terms of reader collision number and required frame numbers.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.6
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• pp.124-131
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• 2014

This paper describes a design of an adaptive baseband modem based on TDMA(time division multiple access) with a relay protocol function for wireless personal area networks. The designed baseband modem is controlled by a master synchronization signal and can be configured a relay network up to 14 hops. For efficient data relay communications, the internal buffer design is optimized by implementing a priority memory bus controller to a single port memory. And the priority memory bus controller is also designed to minimize the number of synthesized logic gates. To implement the synchronization function of the narrowband TDMA relay communication, the number of gates has been reduced by dividing the frame synchronization circuits and the network slot synchronization circuits. By using these methods, the number of gates are used about 37%(34,000 gates) on Xilinx FPGA XC6SLX9 which has 90,000 gates. For the 1024-bit frame size with a 32-bit synchronization word, the communication reception rate is 96.4%. The measured maximum transmission delay of the designed baseband modem is 230.4 msec for the 14-hop relay communication.