• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.3
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• pp.64-69
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• 2007

Motion control of the system is a position control of motor. Motion control of an uncertain robot system is considered as one of the most important and fundamental research directions in the robotics. Some distinguished works using linear control, adaptive control, robust control strategies based on computed torque methodology have been reported. However, it is generally recognized within the control community that these strategies suffer from the following problems : the exact robot dynamics are needed and hard to implement, the adaptive control cannot guarantee the performance during the transient period for adaptation under the variation, the robust control algorithms such as the sliding mode control need information on the bounds of the possible uncertainty and disturbance. And it produces a large control input as well. In this dissertation, a motion control for the unmanned intelligent robot system using disturbance observer is studied. This system is affected with an impact vibration disturbance. This paper describes a stable motion control of the system with the consideration of external disturbance. To obtain the stable motion independently against the external disturbance, the disturbance rejection is strongly required. To address the above issue, this paper presents a Disturbance OBserver(DOB) control algorithm. The validity of the suggested DOB robust control scheme is confirmed by several computer simulation results. And the experiments with a motor system is performed to give the validity of applicability in the industrial field. This results make the easier implementation of the controller possible in the field.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.5
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• pp.83-93
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• 2013

Recently, the SURF algorithm, which is conjugated for object tracking system as part of many computer vision applications, is a well-known scale- and rotation-invariant feature detection algorithm. The SURF, due to its high computational complexity, there is essential to develop a hardware accelerator in order to be used on an IP in embedded environment. However, the SURF requires a huge local memory, causing many problems that increase the chip size and decrease the value of IP in ASIC and SoC system design. In this paper, we proposed a way to design a SURF algorithm in hardware with greatly reduced local memory by partitioning the algorithms into several Sub-IPs using external memory and a DMA. To justify validity of the proposed method, we developed an example of simplified object tracking algorithm. The execution speed of the hardware IP was about 31 frame/sec, the logic size was about 74Kgate in the 30nm technology with 81Kbytes local memory in the embedded system platform consisting of ARM Cortex-M0 processor, AMBA bus(AHB-lite and APB), DMA and a SDRAM controller. Hence, it can be used to the hardware IP of SoC Chip. If the image processing algorithm akin to SURF is applied to the method proposed in this paper, it is expected that it can implement an efficient hardware design for target application.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.10
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• pp.1852-1859
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• 2016

The effectiveness of a binarization algorithm in image processing depends on how to eliminate the uncertainty of determining threshold in a reasonable way and on minimizing information loss due to the binarization effect. Fuzzy binarization technique was proposed to handle that uncertainty with fuzzy logic. However, that method is known to be inefficient when the given image has low intensity contrast. In this paper, we propose an improved fuzzy binarization method to overcome such known drawbacks. Our method proposes a trapezoid type fuzzy membership function instead of most-frequently used triangle type one. We also propose an adaptive ${\alpha}$_cut determination policy. Our proposed method has less information loss than other algorithms since we do not use any stretching based preprocessing for enhancing the intensity contrast. In experiment, our proposed method is verified to be more effective in binarization with less information loss for many different types of images with low intensity contrast such as night scenery, lumber scoliosis, and lipoma images.

• The KIPS Transactions:PartA
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• v.8A no.1
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• pp.16-26
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• 2001

This paper proposes an extended scheduler model that is an extension of the existing model proposed already in [4, 5], which consists of upper layer task scheduler and lower layer scheduling framework. However, in order to support aperiodic task scheduling, the task scheduler has been divided into two parts, such as periodic task control component and aperiodic task control component. Thus, the proposed model can support various bandwidth-preserving servers that can service aperiodic tasks. The model distinctly separates a classic monolithic kernel scheduler into several kernel components according to their functionality. This enables system developers to implement a new scheduling algorithm or aperiodic task server independent of complex low kernel mechanism, and reconfigure the system at need. In Real-Time Linux [6], we implemented the proposed scheduling framework representative scheduling algorithms, and server bandwidth-preserving servers on purpose to test. Throughout these implementations, we confirmed that a new algorithm or server could be developed independently without updates of complex low kernel modules. In order to verify efficiency of the proposed model, we measured the performance of several aperiodic task servers. The results showed this the performance of model, which even consisted of two hierarchical components and several modules, didnt have such high run-time overhead, and could efficiently support reconfiguration and scheduler development.

• KIEE International Transaction on Systems and Control
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• v.2D no.2
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• pp.78-91
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• 2002

In the thermal power plant, there are six manipulated variables: main steam flow, feedwater flow, fuel flow, air flow, spray flow, and gas recirculation flow. There are five controlled variables: generator output, main steam pressure, main steam temperature, exhaust gas density, and reheater steam temperature. Therefore, the thermal power plant control system is a multinput and output system. In the control system, the main steam temperature is typically regulated by the fuel flow rate and the spray flow rate, and the reheater steam temperature is regulated by the gas recirculation flow rate. However, strict control of the steam temperature must be maintained to avoid thermal stress. Maintaining the steam temperature can be difficult due to heating value variation to the fuel source, time delay changes in the main steam temperature versus changes in fuel flow rate, difficulty of control of the main steam temperature control and the reheater steam temperature control system owing to the dynamic response characteristics of changes in steam temperature and the reheater steam temperature, and the fluctuation of inner fluid water and steam flow rates during the load-following operation. Up to the present time, the Proportional-Integral-Derivative Controller has been used to operate this system. However, it is very difficult to achieve an optimal PID gain with no experience, since the gain of the PID controller has to be manually tuned by trial and error. This paper focuses on the characteristic comparison of the PID controller and the modified 2-DOF PID Controller (Two-Degrees-Freedom Proportional-Integral-Derivative) on the DCS (Distributed Control System). The method is to design an optimal controller that can be operated on the thermal generating plant in Seoul, Korea. The modified 2-DOF PID controller is designed to enable parameters to fit into the thermal plant during disturbances. To attain an optimal control method, transfer function and operating data from start-up, running, and stop procedures of the thermal plant have been acquired. Through this research, the stable range of a 2-DOF parameter for only this system could be found for the start-up procedure and this parameter could be used for the tuning problem. Also, this paper addressed whether an intelligent tuning method based on immune network algorithms can be used effectively in tuning these controllers.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.42 no.3 s.303
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• pp.17-28
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• 2005

Recently intelligent characters in computer games have been an important element more and more because they continually stimulate gamers' interests. As a typical method for implementing such intelligent characters, neural networks have been used for training action patterns of opponent's characters and game rules. However, some of the game rules can be abruptly changed and action properties of garners in on-line game environments are quite different according to gamers. In this paper, we address how a neural network adapts to those environmental changes. Our adaptation solution includes two components: an individual adaptation mechanism and a group adaptation mechanism. With the individual adaptation algorithm, an intelligent character steadily checks its game score, assesses the environmental change with taking into consideration of the lastly earned scores, and initiates a new learning process when a change is detected. In multi-user games, including massively multiple on-line games, intelligent characters confront diverse opponents that have various action patterns and strategies depending on the gamers controlling the opponents. The group adaptation algorithm controls the birth of intelligent characters to conserve an equilibrium state of a game world by using a genetic algorithm. To show the performance of the proposed schemes, we implement a simple fighting action game and experiment on it with changing game rules and opponent characters' action patterns. The experimental results show that the proposed algorithms are able to make intelligent characters adapt themselves to the change.

• KIPS Transactions on Computer and Communication Systems
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• v.2 no.2
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• pp.67-74
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• 2013

Approximate string matching problems have been studied in diverse fields. Recently, fast approximate string matching algorithms are being used to reduce the time and costs for the next generation sequencing. To measure the amounts of errors between two strings, we use a distance function such as the edit distance. Given two strings X(|X| = m) and Y(|Y| = n) over an alphabet ${\Sigma}$, the edit distance between X and Y is the minimum number of edit operations to convert X into Y. The edit distance between X and Y can be computed using the well-known dynamic programming technique in O(mn) time and space. The edit distance also can be computed using the Four-Russians' algorithm whose preprocessing step runs in $O((3{\mid}{\Sigma}{\mid})^{2t}t^2)$ time and $O((3{\mid}{\Sigma}{\mid})^{2t}t)$ space and the computation step runs in O(mn/t) time and O(mn) space where t represents the size of the block. In this paper, we present a parallelized version of the computation step of the Four-Russians' algorithm. Our algorithm computes the edit distance between X and Y in O(m+n) time using m/t threads. Then we implemented both the sequential version and our parallelized version of the Four-Russians' algorithm using CUDA to compare the execution times. When t = 1 and t = 2, our algorithm runs about 10 times and 3 times faster than the sequential algorithm, respectively.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.10 no.6
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• pp.609-616
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• 2017

In this paper, we propose an algorithm to obtain more stable and high recognition rate by using left and right rotation information of input image in order to obtain a stable recognition rate in face recognition. The proposed algorithm uses the facial image as the input information in the web camera environment to reduce the size of the image and normalize the information about the brightness and color to obtain the improved recognition rate. We apply Principal Component Analysis (PCA) to the detected candidate regions to obtain feature vectors and classify faces. Also, In order to reduce the error rate range of the recognition rate, a set of data with the left and right $45^{\circ}$ rotation information is constructed considering the directionality of the input face image, and each feature vector is obtained with PCA. In order to obtain a stable recognition rate with the obtained feature vector, it is after scattered in the eigenspace and the final face is recognized by comparing euclidean distant distances to each feature. The PCA-based feature vector is low-dimensional data, but there is no problem in expressing the face, and the recognition speed can be fast because of the small amount of calculation. The method proposed in this paper can improve the safety and accuracy of recognition and recognition rate faster than other algorithms, and can be used for real-time recognition system.

• Restorative Dentistry and Endodontics
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• v.36 no.2
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• pp.98-107
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• 2011

Caries remains prevalent throughout modern society and is the main disease in the field of dentistry. Although studies of this disease have used diverse methodology, recently, X-ray microtomography has gained popularity as a non-destructive, 3-dimensional (3D) analytical technique, and has several advantages over the conventional methods. According to X-ray source, it is classified as monochromatic or polychromatic with the latter being more widely used due to the high cost of the monochromatic source despite some advantages. The determination of mineral density profiles based on changes in X-ray attenuation is the principle of this method and calibration and image processing procedures are needed for the better image and reproducible measurements. Using this tool, 3D reconstruction is also possible and it enables to visualize the internal structures of dental caries. With the advances in the computer technology, more diverse applications are being studied, such automated caries assessment algorithms.

• KIPS Transactions on Computer and Communication Systems
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• v.5 no.12
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• pp.471-480
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• 2016

Recently, the damage of cyber attack toward infra-system, national defence and security system is gradually increasing. In this situation, military recognizes the importance of cyber warfare, and they establish a cyber system in preparation, regardless of the existence of threaten. Thus, the study of Intrusion Detection System(IDS) that plays an important role in network defence system is required. IDS is divided into misuse and anomaly detection methods. Recent studies attempt to combine those two methods to maximize advantagesand to minimize disadvantages both of misuse and anomaly. The combination is called Hybrid IDS. Previous studies would not be inappropriate for near real-time network environments because they have computational complexity problems. It leads to the need of the study considering the structure of IDS that have high detection rate and low computational cost. In this paper, we proposed a Hybrid IDS which combines C4.5 decision tree(misuse detection method) and Weighted K-means algorithm (anomaly detection method) hierarchically. It can detect malicious network packets effectively with low complexity by applying mutual information and genetic algorithm based efficient feature selection technique. Also we construct upgraded the the hierarchical structure of IDS reusing feature weights in anomaly detection section. It is validated that proposed Hybrid IDS ensures high detection accuracy (98.68%) and performance at experiment section.