• Proceedings of the IEEK Conference
• /
• 2002.07a
• /
• pp.333-336
• /
• 2002

An alternative CMOS implementation of a multi-output four-terminal floating nullor (FTFN) with constant-g$_{m}$ rall-to-rail input stage is proposed. This presented circuit is based on the advantages of a complementary transconductance amplifier and class AB dual translinear cell circuit that comes up with wide bandwidth. The constant-g$_{m}$ characteristic is controlled by the maximum-current selection circuits, maintaining the smooth response over the change of input common mode voltage. The circuit performances are confirmed through HSPICE simulations. A current-mode multifunction filter is used to exhibit the potentiality of this proposed scheme.eme.

• Journal of the Korea Society of Computer and Information
• /
• v.23 no.8
• /
• pp.17-23
• /
• 2018

In this paper, we implemented a flight posture simulator that intuitively understands aircraft flight posture and visualizes the principle of motion. The proposed system operates the 6 - axis motion platform according to the change of the navigation information and transmits the flight attitude to the simulator using the gyro sensor. A gyro sensor and an acceleration sensor are used together to analyze the attitude of the aircraft. The reason is that the gyro sensor has a cumulative error in the integration process. And the accelerometer sensor was compensated by using the complementary filter because noise was serious due to short term vibration. Using the compensated sensor information, the motion platform is operated by calculating the angle to be transmitted to the 6-axis motor. And visualization result is implemented using OpenGL. The results of this study can be used as teaching materials for students related to aviation in the future.

• The Journal of Korea Robotics Society
• /
• v.4 no.4
• /
• pp.289-297
• /
• 2009

This paper presents the development and control of a two wheeled car-like mobile robot using balancing mechanism whose heading control is done by turning the handle. The mobile inverted pendulum is a combined system of a mobile robot and an inverted pendulum system. A sensor fusion technique of low cost sensors such as a gyro sensor and a tilt sensor to measure the balancing angle of the inverted pendulum robot system accurately is implemented. Experimental studies of the trajectory following control task has been conducted by command of steering wheel while balancing.

• Journal of Institute of Control, Robotics and Systems
• /
• v.18 no.11
• /
• pp.1011-1017
• /
• 2012

Augmented Reality is being widely used not only for Smartphone users but also in industries such as maintenance, construction area. With smartphone, due to the low localization accuracy and the requirement of special infrastructure, current LBS (Localization Based Service) is limited to show P.O.I. (Point of Interest) nearby. Improvement of IMU (Inertial Measurement Unit) based deadreckoning is presented in this paper. Additional sensors such as the magnetic compass and magnetic flux sensors are used as well as the accelerometer and the gyro for getting more movement information. Based on the pedestrian movement, appropriate sensor information is selected and the complementary filter is used in order to enhance the accuracy of the localization. Additional sensors are used to measure the movements of the upper body and the head and to provide the user's line of sight.

• JSTS:Journal of Semiconductor Technology and Science
• /
• v.14 no.3
• /
• pp.313-321
• /
• 2014

A low-power low-cost polar transmitter for EDGE is designed in $0.18{\mu}m$ CMOS. A differential delta-sigma modulator (DSM) tunes a three-terminal voltage-controlled oscillator (VCO) to perform RF phase modulation, where the VCO tuning curve is digitally pre-compensated for high linearity and the carrier frequency is calibrated by a dual-mode low-power frequency-locked loop (FLL). A digital intermediate-frequency (IF) pulse-width5 modulator (PWM) drives a complementary power-switch followed by an LC filter to achieve envelope modulation with high efficiency. The proposed transmitter with 9mW power dissipation relaxes the time alignment between the phase and envelope modulations, and achieves an error vector magnitude (EVM) of 4% and phase noise of -123dBc/Hz at 400kHz offset frequency.

• Journal of Institute of Control, Robotics and Systems
• /
• v.20 no.9
• /
• pp.895-899
• /
• 2014

This paper presents the balancing control of a unicycle robot using air power. Since the robot has one wheel to move forward and backward, the balancing control is quite challenging. To control the balancing angle, the accurate angle estimation by a tilt and a gyro sensor is required a priori. A complementary filter is implemented to eliminate the defects of two sensors and to fuse together to estimate an accurate balancing angle. The optimal design of air ducts is found empirically. Experimental studies of the balancing control of a unicycle robot confirm that the robot is well regulated without falling down.

• Journal of Power System Engineering
• /
• v.12 no.1
• /
• pp.80-86
• /
• 2008

A motor cylinder apparatus is used to transfer a load in industrial applications. The apparatus is composed of a motor and power transmission elements such as worm gear and screw. In this case, the nonlinear friction of the transmission elements has a bad influence on the position control performance. To overcome this problem, the position control system consists of a feedback controller to achieve nominal control performance and a disturbance observer to compensate nonlinear friction. Especially the filter of a disturbance observer is designed from viewpoint of robust stability. Finally, the simulation result shows that the proposed control system is effective for the disturbance elimination as well as the friction compensation.

• Journal of Power Electronics
• /
• v.11 no.6
• /
• pp.779-786
• /
• 2011

This paper presents a soft switching converter to achieve the functions of zero voltage switching (ZVS) turn-on for the power switches and dc voltage step-up. Two circuit modules are connected in parallel in order to achieve load current sharing and to reduce the size of the transformer core. An active snubber is connected between two transformers in order to absorb the energy stored in the leakage and magnetizing inductances and to limit the voltage stresses across the switches. During the commutation stage of the two complementary switches, the output capacitance of the two switches and the leakage inductance of the transformers are resonant. Thus, the power switches can be turned on under ZVS. No output filter inductor is used in the proposed converter and the voltage stresses of the output diodes is clamped to the output voltage. The circuit configuration, the operation principles and the design considerations are presented. Finally, laboratory experiments with a 340W prototype, verifying the effectiveness of the proposed converter, are described.

• The Journal of The Korea Institute of Intelligent Transport Systems
• /
• v.17 no.5
• /
• pp.143-150
• /
• 2018

With the rapid development of RF based high speed wireless communication technology, devices that can be applied to IoT networks based on RF bandwidth are rapidly spreading, nevertheless, the development speed of the RF communication is not possible to keep up with the spread of the RF band for wireless communication. In this situation, OWC technology that uses visible light source as a transmitter is attracting attention as a technology that can overcome the band exhaustion problem of RF based wireless communication technology. Although, due to the distortion of the LED illumination shape by camera exposure time and LED blinking period, the LED illumination detection rate is degraded and the RoI setting is inaccurate. In this paper, we propose an adaptive median filter applied LED illumination detection algorithm for low rate CamCom, it is possible to detect a clear RoI and LED illumination. This research will be able to play a role as a complementary material of RF based wireless communication technology efficiently.

• 한국HCI학회:학술대회논문집
• /
• 2007.02a
• /
• pp.103-108
• /
• 2007

최근 프로젝터의 보편화로 인해 프로젝터를 증강현실의 디스플레이 장치로 활용하는 연구가 활발히 진행되고 있다. 관련 연구들을 흔히 프로젝션 기반 증강현실이라고 부른다. 프로젝션 기반 증강현실을 구현하기 위해서는 스크린의 기하(geometry) 및 컬러(photometry) 정보를 획득하는 과정이 선행되어야 하는데, 이는 프로젝터를 이용하여 정해진 패턴 영상을 투사하고 이를 카메라로 캡쳐한 후, 카메라 영상에 다양한 컴퓨터비전 기술들을 적용함으로써 행해진다. 이러한 스크린 기하 및 컬러 정보 획득 기술은 가시적인(visible) 패턴 영상이 사용자의 몰입감을 저해한다는 단점을 가진다. 특히, 스크린의 기하 및 컬러 정보가 수시로 변하는 환경에서는 가시적인 패턴 영상을 사용하는 기존의 스크린 기하 및 컬러 정보 획득 기술은 유용하지 못하다. 이러한 문제점을 해결하기 위해 일부 패턴 영상을 비가시적(invisible)으로 만드는 기술들이 제안되었다. 본 논문에서는 관련 기술들을 비간섭 프로젝션 기반 증강현실이라고 한다. 특히, 보색 패턴(complementary patterns)을 증강현실 영상에 삽입하는 방법은 부가적인 장비없이 간단한 영상처리만으로 효과적으로 패턴 영상을 비가시적으로 만들어 줄 수 있으며, 최근 가상 스튜디오에 활용하는 방안이 모색되고 있다. 그러나, 삽입된 보색 패턴의 세기와 비가시성 사이는 상반관계(trade-off)를 가지므로, 일반적인 환경에서는 보색 패턴의 비가시성을 보장할 수 없다. 본 논문에서는 이러한 보색 패턴의 비가시성을 극대화하기 위해 컨텐츠 적응형 패턴 삽입 기술을 제안한다. 증강현실 영상의 색감 및 텍스처의 복잡도에 따라 크게 4 가지 경우로 분류하여 부분적으로 다른 채널 및 세기로 보색 패턴을 삽입한다. YIQ 컬러 공간에서 표현된 증강현실 영상을 균일한 크기의 영역으로 나눈 다음, 각 영역에 대해 I 성분이 지배적이면 Q 채널에 패턴을 삽입하고 Q 성분이 지배적이면 I 채널에 패턴을 삽입한다. 한편, 각 영역에 대해 텍스처의 복잡도가 크다면 강한 패턴을, 복잡도가 작으면 약한 패턴을 삽입한다. 여기서, 텍스처의 복잡도는 간단한 미분 필터(derivative filter)를 이용하여 계산된다. 다양한 실험 및 사용자 평가를 통해, 제안된 방법은 기존 방법에 비해 크게 두 가지 상반관계를 가지는 장점을 가짐을 확인하였다. 스크린의 기하 및 컬러 정보를 획득하는 성능 면에서 제안된 방법이 기존의 방법과 유사하도록 채널 및 패턴의 세기를 결정한다면, 기존의 방법에 비해 패턴의 비가시성이 크게 개선된다. 반대로, 제안된 방법의 패턴의 비가시성이 기존의 방법과 유사하도록 채널 및 패턴의 세기를 결정한다면, 기존의 방법에 비해 스크린의 기하 및 컬러 정보를 획득하는 성능이 크게 개선된다.