• 한국정보디스플레이학회:학술대회논문집
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• 2008.10a
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• pp.737-740
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• 2008

Block-matching motion estimation plays an important role in video coding. In this paper, we propose an Efficient Search Algorithm for Fast Motion Estimation. The proposed algorithm detects motion variation for reducing computational complexity before determining motion vector. Experimental results show that the proposed algorithm has good performance than conventional algorithms through quantitative evaluation.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.7
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• pp.889-897
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• 1999

In this paper, we propose a new method of path planning for autonomous mobile robot in mapped circumstance. To search the optimal path, we adopt the genetic algorithm which is based on the natural mechanics of selection, crossover and mutation. We propose a method for generating the path population, selection and evaluation in genetic algorithm. Simulations show the efficiency for the global path planning, if we adopt the proposed GA method

• The Journal of Korean Institute of Communications and Information Sciences
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• v.22 no.4
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• pp.748-760
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• 1997

The handoff failure probability has to be enhanced efficiently to enhance the performance of PCS system. In this paper a new scheme called velocity adaptive handoff algorithm for reducing handoff failure probability and maintaining the carried traffic constantly in PCS systems, by assigning low handoff threshold value for high mobility calls, and assigning high handoff threshold value for low mobility calls, is presented. The performance of evaluation of this new scheme is carried out in terms of tranffic characteristics. Also velocity estimation algorithm for this new scheme is presented. According to the result, the handoff failure probability of velocity adaptive handoff algorithm is enhanced about 60%.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.24 no.2
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• pp.141-147
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• 2015

In this study, a position control algorithm for an omni-directional mobile robot based on Mecanum wheels was introduced and experimentally evaluated. Multiple ultrasonic sensors were installed around the mobile robot to obtain position feedback. Using the distance of the robot from the wall, the position and orientation of the mobile robot were calculated. In accordance with the omni-directional velocity generation mechanism, the velocity kinematics between the Mecanum wheel and the mobile platform were determined. Based on this formulation, a simple and intuitive position control algorithm was suggested. To evaluate the control algorithm, a test bed composed of artificial walls was designed and implemented. While conventional control algorithms based on normal wheels require additional path planning for two-dimensional planar motion, the omni-directional mobile robot using distance sensors was able to directly follow target positions with the simple proposed position feedback algorithm.

• Journal of IKEEE
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• v.22 no.3
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• pp.578-584
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• 2018

Image segmentation has been presented in the various method in image interpretation and recognition, and the image is using separate the characteristics of the specific purpose. In this paper, we proposed an algorithm that separate image for feature points detected to high temperature in a Thermal infrared image. In order to improve the processing time, the proposed algorithm is implemented to FPGA Hardware Block using the Zynq-7000 Evaluation Board environment. The proposed High-Temperature Detection Algorithm and total FPGA blocks show a decrease of a processing time result from 16ms to 0.001ms, and from 50ms to 0.322ms respectively. It is also verified similar results of the PSNR to comparing software thermal testbench and hardware ones.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38C no.6
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• pp.512-520
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• 2013

In this paper, the control algorithm which can resolve the unfairness in network performance of the virtual machine arised from the CPU scheduling in cloud datacenter has been proposed. We first describe the evaluation and analysis results of the network unfairness phenomenon of virtual machine through the heterogeneous cloud datacenter testbed and we propose the control algorithm which can guarantee the fairness of the network performance based on the PID control scheme. Through the implementation and evaluation results, we verify the performance of the proposed algorithm.

• Journal of Auto-vehicle Safety Association
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• v.12 no.1
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• pp.15-25
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• 2020

This paper presents a longitudinal control algorithm for ensuring takeover time of autonomous vehicle using V2V communication. In the autonomous driving of more than level 3, autonomous systems should control the vehicles by itself partially. However if the driver's intervention is required for functional safety, the driver should take over the control reasonably. Autonomous driving system has to be designed so that drivers can take over the control from autonomous vehicle reasonably for driving safety. In this study, control algorithm considering takeover time has been developed based on computation method of takeover time. Takeover time is analysed by conditions of longitudinal velocity of preceding vehicle in time-velocity plane. In addition, desired clearance is derived based on takeover time. The performance evaluation of the proposed algorithm in this study was conducted using 3D vehicle model with actual driving data in Matlab/Simulink environment. The results of the performance evaluation show that the longitudinal control algorithm can control while securing takeover time reasonably.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.2
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• pp.236-247
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• 1992

Optimization has been developed to minimize the cost function while satisfying constraints. Nonlinear Programming method is used as a tool for the optimization. Usually, cost and constraint function calculations are required in the engineering applications, but those calculations are extremely expensive. Especially, the function and sensitivity analyses cause a bottleneck in structural optimization which utilizes the Finite Element Method. Also, when the functions are quite noisy, the informations do not carry out proper role in the optimization process. An algorithm called "Second-order Approximation Method" has been proposed to overcome the difficulties recently. The cost and constraint functions are approximated by the second-order Taylor series expansion on a nominal points in the algorithm. An optimal design problem is defined with the approximated functions and the approximated problem is solved by a nonlinear programming numerical algorithm. The solution is included in a candidate point set which is evaluated for a new nominal point. Since the functions are approximated only by the function values, sensitivity informations are not needed. One-dimensional line search is unnecessary due to the fact that the nonlinear algorithm handles the approximated functions. In this research, the method is analyzed and the performance is evaluated. Several mathematical problems are created and some standard engineering problems are selected for the evaluation. Through numerical results, applicabilities of the algorithm to large scale and complex problems are presented.presented.

• Journal of Drive and Control
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• v.16 no.2
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• pp.22-29
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• 2019

This study presented a model predictive tracking control algorithm of autonomous truck based on object state estimation using extended Kalman filter. To design the model, the 1-layer laser scanner was used to estimate position and velocity of the object using extended Kalman filter. Based on these estimations, the desired linear path for object tracking was computed. The lateral and yaw angle errors were computed using the computed linear path and relative positions of the truck. The computed errors were used in the model predictive control algorithm to compute the optimal steering angle for object tracking. The performance evaluation was conducted on Matlab/Simulink environments using planar truck model and actual point data obtained from laser scanner. The evaluation results showed that the tracking control algorithm developed in this study can track the object reasonably based on the model predictive control algorithm based on the estimated states.

• Journal of the Institute of Electronics Engineers of Korea TE
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• v.37 no.2
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• pp.54-61
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• 2000

This paper presents the performance evaluation of channel estimation algorithm using RLS algorithm lot W-CDMA reverse link over Rayleigh fading channels. By obtaining BER(Bit Error Rate) performance through computer simulations, the RLS(Recursive Least Square) algorithm is compared with the existing WMSA(Weighted Averaging)(K=1,3) and constant gain algorithm. The channel structure, modulation and pilot patterns are applied to the ARIB (Association of Radio Industries and Business) and 3GPP (3rd Generation Partnership Project) ITU-R proposal for the IMT-2000. The BER performance of RLS algorithm with linear interpolation is similar to that of WMSA(K=1) and slightly superior to that of constant gain algorithm at low Doppler frequencies. Also, RLS algorithm performance is better than that of the WMSA(K=1,3) and constant gain algorithms about 4dB at BER=2.0$\times$$10^{-2}$ and Doppler frequencies $F_D$=320Hz. With increasing Doppler frequency, therefore, the BER performance of RLS algorithm with linear interpolation is superior to WMSA(K=L.3) and constant rain algorithms.