• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1916-1917
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• 2011

A development of a new moving obstacle avoidance algorithm using a delay-time Compensation for a network-based autonomous mobile robot is proposed in this paper. The moving obstacle avoidance algorithm is based on a Kalman filter through moving obstacle estimation and a Bezier curve for path generation. And, the network-based mobile robot, that is a unified system composed of distributed environmental sensors, mobile actuators, and controller, is compensated by a network delay compensation algorithm for degradation performance by network delay. The network delay compensation method by a sensor fusion using the Kalman filter is proposed for the localization of the robot to compensate both the delay of readings of an odometry and the delay of reading of environmental sensors. Through some simulation tests, the performance enhancement of the proposed algorithm in the viewpoint of efficient path generation and accurate goal point is shown here.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.34S no.1
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• pp.54-64
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• 1997

In this paper, a method of dynamic modeling and a dynamic control of a mobile robot are presented to show the superiority of the dynamic control comparing to the PD control. This dynamic model is derived from the cartesian coordinates using lagrange equations. Based upon the derived dynamic model, we implemented the dynamic control of the mobile robot using the computed torque method. Time varying non-linear friction terms are not incroporated in this dynamic model. Instead, those are considered as disturbances. This uncertainty in dynamic model of mobile robot is compensated by the outer loop controller using PD algorithm. The validity of this model and the control algorithm are confirmed through the experiments, where the dynamic control algorithm demonstrated robust velocity tracking performance against the unmodeled non-linear frictions. The superiority of this algorithm is demonstrated by comparing to classical PD control algorithm.

• Proceedings of the IEEK Conference
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• 2000.07a
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• pp.278-281
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• 2000

Matching pursuit algorithm is a signal expansion technique whose efficiency for motion compensated residual image has already been demonstrated in the MPEG-4 framework. However, one of the practical concerns related to applying matching pursuit algorithm to real-time scalable video coding is its massive computation required for finding dictionary elements. In this respective, this paper proposes a fast algorithm, which is composed of three sub-methods. The first method utilizes the property of symmetry in 1-D dictionary element and the second uses mathematical elimination of inner product calculation in advance, and the last one uses frequency property of 2-D dictionary. Experimental results show that our algorithm needs about 30% computational load compared to the conventional fast algorithm using separable property of 2-D gabor dictionary with negligible quality degradation.

• Proceedings of the KIEE Conference
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• 1998.07g
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• pp.2209-2211
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• 1998

This paper presents the matching algorithm with the satellite images using the image warping method. Two stereo images, which are used for the DEM(Digital Elevation Model) extraction, are generally distorted because the images are acquired at different locations and angles. Therefore, the matching Process can't be executed with the original images. To solve this problem, a dynamic triangular image warping method is proposed. At first, the initial matching is executed with seed point, and then, using the matched points from the initial matching, the distorted images is compensated. We experimented this algorithm with the parts of the $6000{\times}6000$ SPOT satellite images. The experiment results show this algorithm is superior to other warping algorithm.

• Proceedings of the KIEE Conference
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• summer
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• pp.1202-1204
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• 2004

This paper propose the control algorithm for improving the power quality through the voltage compensation when source voltage is dropped. The algorithm signified occurrence of voltage drop in source voltage of each phase storing source voltage for two cycles using the concept of moving average and using the source voltage of last half cycle. If there are voltage drops in the source voltages, series active power filter compensates the differences between reference waveform and source voltage waveform. Therefore, voltage drop is compensated. It proposed series active power filter of three phases three lines to apply to the proposed algorithm and the presented experiment results verified logicality and effectiveness of the proposed algorithm.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2187-2189
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• 2001

The proposed algorithm has produced the rules of relationship between the load voltage, current, discharging electric power and ampere-hours, electric power capacity of battery on the basis of the data. Which were acquired through the battery discharging experiment that is defined by the battery's ambient temperature and various load conditions. Especially, by calculating the parameter of second order polynomial equation relation between the remaining capacity and the electric power, the algorithm is proposed adapting for the discharging pattern. And as the depth of discharging is increasing, the calculation-method of electric power is applied to decrease the accumulated error in the calculation method of capacity accumulation. Also, the proposed algorithm has compensated the temperature considering the capacity change of battery to the temperature.

• Proceedings of the KIEE Conference
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• 2003.11c
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• pp.396-399
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• 2003

This paper proposes a simple digital image stabilization(DIS) algorithm for roll motion, which has not been compensated in the 2-axes mechanical stabilization system, using aero-crossing of the rotational motion vectors. The 2-axes stabilization system cannot stabilize rolled images, which causes the deteriorated performance of the object detection and recognition. In this paper, we propose the rotational motion stabilization algorithm which estimates and compensates global motion in terms of rotational center and rotational angle. Both the synthetic images with undesirable rotational disturbance and the real images from 2-axes stabilization system are used to evaluate the proposed algorithm. The results show that our proposed algorithm suppresses the undesirable rotational disturbance effectively.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.21 no.8
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• pp.2055-2062
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• 1996

This paper presents a method of compensating for the gain and phase imbalance of quadrature modulator and demodulator. The gain and phase imbalance are compensated using the received power after the compensation pattern was transmitted at tranceiver. The proposed method is less vulnerable to changes in the transmission channel than the conventional method because compensation is made possible within the tranceiver system, and even the change in phase mblance in accordance with frequency can be compensated utilizing the adaptive algorithm. According to numerical results, a normalized eye opening and a bit error rate are improved by 1.8dB and 3.8dB, respectively.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.52 no.3
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• pp.165-172
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• 2003

This paper presents an operation scheme to enhance the power system security by applying FACTS on Power systems. Three main generic types of FACTS devices are suggested an illustrated. Flow congestions over lines have been solved by controlling active power of series-compensated FACTS devices and low voltages at buses have been solved by controlling reactive power of shunt-compensated FACTS devices. Especially, Especially, UPFC has been applied in both line congestion and low voltages. Two kinds of indices which indicate the power system security level related to line flow and bus voltage are utilized in this paper. They have been minimized to enhance the power system security level through the iterative method and the sensitivity vector of security index is derived to determine the direction to minimum. The proposed algorithm has been tested on the IEEE 57-bus system with FACTS devices in a normal condition and a line-faulted contingency.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.10
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• pp.888-894
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• 2005

In this paper, experimental studies of balancing a pendulum mounted on a wheeled drive mobile robot and its position control are presented. Main PID controllers are compensated by a neural network. Neural network learning algorithm is embedded on a DSP board and neural network controls the angle of the pendulum and the position of the mobile robot along with PID controllers. Uncertainties in system dynamics are compensated by a neural network in on-line fashion. Experimental results show that the performance of balancing of the pendulum and position tracking of the mobile robot is good.