• Journal of the Institute of Electronics Engineers of Korea SP
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• v.40 no.5
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• pp.312-321
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• 2003

In this paper, we implement robot which are ability to recognize obstacles and moving automatically to destination. we present two results in this paper; hardware implementation of image processing board and software implementation of visual feedback algorithm for a self-controlled robot. In the first part, the mobile robot depends on commands from a control board which is doing image processing part. We have studied the self controlled mobile robot system equipped with a CCD camera for a long time. This robot system consists of a image processing board implemented with DSPs, a stepping motor, a CCD camera. We will propose an algorithm in which commands are delivered for the robot to move in the planned path. The distance that the robot is supposed to move is calculated on the basis of the absolute coordinate and the coordinate of the target spot. And the image signal acquired by the CCD camera mounted on the robot is captured at every sampling time in order for the robot to automatically avoid the obstacle and finally to reach the destination. The image processing board consists of DSP (TMS320VC33), ADV611, SAA7111, ADV7l76A, CPLD(EPM7256ATC144), and SRAM memories. In the second part, the visual feedback control has two types of vision algorithms: obstacle avoidance and path planning. The first algorithm is cell, part of the image divided by blob analysis. We will do image preprocessing to improve the input image. This image preprocessing consists of filtering, edge detection, NOR converting, and threshold-ing. This major image processing includes labeling, segmentation, and pixel density calculation. In the second algorithm, after an image frame went through preprocessing (edge detection, converting, thresholding), the histogram is measured vertically (the y-axis direction). Then, the binary histogram of the image shows waveforms with only black and white variations. Here we use the fact that since obstacles appear as sectional diagrams as if they were walls, there is no variation in the histogram. The intensities of the line histogram are measured as vertically at intervals of 20 pixels. So, we can find uniform and nonuniform regions of the waveforms and define the period of uniform waveforms as an obstacle region. We can see that the algorithm is very useful for the robot to move avoiding obstacles.

• Journal of Broadcast Engineering
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• v.22 no.2
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• pp.193-206
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• 2017

In this paper, we propose a rate control method based on the $R-{\lambda}$ model that supports a parallel encoding structure in GOP levels or IDR period levels for 4K UHD input video in real-time. For this, a slice-level bit allocation method is proposed for parallel encoding instead of sequential encoding. When a rate control algorithm is applied in the GOP level or IDR period level parallelism, the information of how many bits are consumed cannot be shared among the frames belonging to a same frame level except the lowest frame level of the hierarchical B structure. Therefore, it is impossible to manage the bit budget with the existing bit allocation method. In order to solve this problem, we improve the bit allocation procedure of the conventional ones that allocate target bits sequentially according to the encoding order. That is, the proposed bit allocation strategy is to assign the target bits in GOPs first, then to distribute the assigned target bits from the lowest depth level to the highest depth level of the HEVC hierarchical B structure within each GOP. In addition, we proposed a processing method that is used to improve subjective image qualities by allocating the bits according to the coding complexities of the frames. Experimental results show that the proposed bit allocation method works well for frame-level parallel HEVC software encoders and it is confirmed that the performance of our rate controller can be improved with a more elaborate bit allocation strategy by using the preprocessing results.

• The KIPS Transactions:PartA
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• v.12A no.5 s.95
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• pp.413-420
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• 2005

The Newton-Raphson iterative algorithm for finding a floating point reciprocal square mot calculates it by performing a fixed number of multiplications. In this paper, a variable latency Newton-Raphson's reciprocal square root algorithm is proposed that performs multiplications a variable number of times until the error becomes smaller than a given value. To find the rediprocal square root of a floating point number F, the algorithm repeats the following operations: '$X_{i+1}=\frac{{X_i}(3-e_r-{FX_i}^2)}{2}$, $i\in{0,1,2,{\ldots}n-1}$' with the initial value is '$X_0=\frac{1}{\sqrt{F}}{\pm}e_0$'. The bits to the right of p fractional bits in intermediate multiplication results are truncated and this truncation error is less than '$e_r=2^{-p}$'. The value of p is 28 for the single precision floating point, and 58 for the double precision floating point. Let '$X_i=\frac{1}{\sqrt{F}}{\pm}e_i$, there is '$X_{i+1}=\frac{1}{\sqrt{F}}-e_{i+1}$, where '$e_{i+1}{<}\frac{3{\sqrt{F}}{{e_i}^2}}{2}{\mp}\frac{{Fe_i}^3}{2}+2e_r$'. If '$|\frac{\sqrt{3-e_r-{FX_i}^2}}{2}-1|<2^{\frac{\sqrt{-p}{2}}}$' is true, '$e_{i+1}<8e_r$' is less than the smallest number which is representable by floating point number. So, $X_{i+1}$ is approximate to '$\frac{1}{\sqrt{F}}$. Since the number of multiplications performed by the proposed algorithm is dependent on the input values, the average number of multiplications Per an operation is derived from many reciprocal square root tables ($X_0=\frac{1}{\sqrt{F}}{\pm}e_0$) with varying sizes. The superiority of this algorithm is proved by comparing this average number with the fixed number of multiplications of the conventional algorithm. Since the proposed algorithm only performs the multiplications until the error gets smaller than a given value, it can be used to improve the performance of a reciprocal square root unit. Also, it can be used to construct optimized approximate reciprocal square root tables. The results of this paper can be applied to many areas that utilize floating point numbers, such as digital signal processing, computer graphics, multimedia, scientific computing, etc.

• Journal of Korean Society of Forest Science
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• v.82 no.4
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• pp.311-318
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• 1993

This study was conducted to obtain necessary information to improve beekeeping farmhouses management and to establish related problem. Using data obtained from 50 beekeeping farmhouses in Korea, current status of management and optimum sales scale were analysed. The results of the study are summarized as follows ; 1. Managers of beekeeping farmhouses are relatively old(64% of them is over 50 years old) and highly educated and experienced(76% of them is in the business more than 10 years). 2. Only a portion of managers(38%) considers beekeeping as a major job, while the rest(62%) involves as a side job working with other agricultural business. 3. Major supply of labor force comes from family group. Total input of family labor is 6.4 months a year. Fourty-four percent of management units is migrating and 56% of them is settled in specific locations. 4. In 1991, the average number of conventional beehive casks per farmhouse is decreased by 2.94 casks but improved-type beehive casks is increased by 13.79 casks. Total number of beehive casks per farmhouse is increased by 12.66 casks during the year. 5. Major cost items of beekeeping farmhouses include bee colony aquisition cost, feeding cost, depreciation cost, wages in an order. The average yearly profit rate of farmhouses is about 29.4%. 6. The break-even point of honey sales is about 3 million won. The optimum sales scale was 52.2l, then average production cost was estimated 53,800Won.

• Magazine of the Korean Society of Agricultural Engineers
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• v.19 no.1
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• pp.4279-4295
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• 1977

Two types of model were established in order to product the soil moisture content by which information on irrigation could be obtained. Model-I was to represent the soil moisture depletion and was established based on the concept of water balance in a given soil profile. Model-II was a mathematical model derived from the analysis of soil moisture variation curves which were drawn from the observed data. In establishing the Model-I, the method and procedure to estimate parameters for the determination of the variables such as evapotranspirations, effective rainfalls, and drainage amounts were discussed. Empirical equations representing soil moisture variation curves were derived from the observed data as the Model-II. The procedure for forecasting timing and amounts of irrigation under the given soil moisture content was discussed. The established models were checked by comparing the observed data with those predicted by the model. Obtained results are summarized as follows: 1. As a water balance model of a given soil profile, the soil moisture depletion D, could be represented as the equation(2). 2. Among the various empirical formulae for potential evapotranspiration (Etp), Penman's formula was best fit to the data observed with the evaporation pans and tanks in Suweon area. High degree of positive correlation between Penman's predicted data and observed data with a large evaporation pan was confirmed. and the regression enquation was Y=0.7436X+17.2918, where Y represents evaporation rate from large evaporation pan, in mm/10days, and X represents potential evapotranspiration rate estimated by use of Penman's formula. 3. Evapotranspiration, Et, could be estimated from the potential evapotranspiration, Etp, by introducing the consumptive use coefficient, Kc, which was repre sensed by the following relationship: Kc=Kco$.$Ka＋Ks‥‥‥(Eq. 6) where Kco : crop coefficient Ka : coefficient depending on the soil moisture content Ks : correction coefficient a. Crop coefficient. Kco. Crop coefficients of barley, bean, and wheat for each growth stage were found to be dependent on the crop. b. Coefficient depending on the soil moisture content, Ka. The values of Ka for clay loam, sandy loam, and loamy sand revealed a similar tendency to those of Pierce type. c. Correction coefficent, Ks. Following relationships were established to estimate Ks values: Ks=Kc-Kco$.$Ka, where Ks=0 if Kc,=Kco$.$K0$\geq$1.0, otherwise Ks=1-Kco$.$Ka 4. Effective rainfall, Re, was estimated by using following relationships : Re=D, if R-D$\geq$0, otherwise, Re=R 5. The difference between rainfall, R, and the soil moisture depletion D, was taken as drainage amount, Wd. {{{{D= SUM from { {i }=1} to n (Et-Re-I+Wd)}}}} if Wd=0, otherwise, {{{{D= SUM from { {i }=tf} to n (Et-Re-I+Wd)}}}} where tf=2∼3 days. 6. The curves and their corresponding empirical equations for the variation of soil moisture depending on the soil types, soil depths are shown on Fig. 8 (a,b.c,d). The general mathematical model on soil moisture variation depending on seasons, weather, and soil types were as follow: {{{{SMC= SUM ( { C}_{i }Exp( { - lambda }_{i } { t}_{i } )+ { Re}_{i } - { Excess}_{i } )}}}} where SMC : soil moisture content C : constant depending on an initial soil moisture content $\lambda$ : constant depending on season t : time Re : effective rainfall Excess : drainage and excess soil moisture other than drainage. The values of $\lambda$ are shown on Table 1. 7. The timing and amount of irrigation could be predicted by the equation (9-a) and (9-b,c), respectively. 8. Under the given conditions, the model for scheduling irrigation was completed. Fig. 9 show computer flow charts of the model. a. To estimate a potential evapotranspiration, Penman's equation was used if a complete observed meteorological data were available, and Jensen-Haise's equation was used if a forecasted meteorological data were available, However none of the observed or forecasted data were available, the equation (15) was used. b. As an input time data, a crop carlender was used, which was made based on the time when the growth stage of the crop shows it's maximum effective leaf coverage. 9. For the purpose of validation of the models, observed data of soil moiture content under various conditions from May, 1975 to July, 1975 were compared to the data predicted by Model-I and Model-II. Model-I shows the relative error of 4.6 to 14.3 percent which is an acceptable range of error in view of engineering purpose. Model-II shows 3 to 16.7 percent of relative error which is a little larger than the one from the Model-I. 10. Comparing two models, the followings are concluded: Model-I established on the theoretical background can predict with a satisfiable reliability far practical use provided that forecasted meteorological data are available. On the other hand, Model-II was superior to Model-I in it's simplicity, but it needs long period and wide scope of observed data to predict acceptable soil moisture content. Further studies are needed on the Model-II to make it acceptable in practical use.

• Journal of Korean Home Economics Education Association
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• v.16 no.4 s.34
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• pp.9-26
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• 2004

The purposes of this study are to develop and apply the student activity centered career exploring program and to verify effectiveness on the students' career maturity level. The subjects of this study were 137 students. 4 classes of a middle school in Jinju. They were divided into two groups, the experimental group and the control group. For experiment, the career exploring program was input to the experimental group for 14 class hours. The results of this study are as follows: 1. The student activity centered career exploring program applied to the unit $\ulcorner$The Choice of Career and Job Morals$\lrcorner$ was effective in raising the attitude of the career maturity level. As the result of verifying the differences. there was a statistically significant difference between the experimental group and the control group in the planning quality and the attitude of works. 2. The student activity centered career exploring program applied to the unit $\ulcorner$The Choice of Career and Job Morals$\lrcorner$ was effective in raising the ability field of the career maturity level. The experimental group showed more statistically meaningful differences in the knowledge of jobs, the information exploring, and the self-understanding than the control group. Consequently. the effects of the student activity centered career exploring program on the career maturity level in the unit $\ulcorner$The Choice of Career and Job Morals$\lrcorner$. all the fields of the career maturity level showed the statistically meaningful differences except the independence quality of the attitude field and the decision making of the ability field. So it is concluded that the experiment program elevated the students' career maturity level. However. as the result of analysing independent sample t-test of the pre-test and the post-test. the program was ineffective in the independence quality and the decision making. When this career exploring program is applied to the unit $\ulcorner$The Choice of Career and Job Morals$\lrcorner$. it is recommended to strengthen the activities to cultivate the independence quality and the decision making power.

• Progress in Medical Physics
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• v.15 no.4
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• pp.202-209
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• 2004

Flat panel based digital radiography (DR) systems have recently become useful and important in the field of diagnostic radiology. For DRs with amorphous silicon photosensors, CsI(TI) is normally used as the scintillator, which produces visible light corresponding to the absorbed radiation energy. The visible light photons are converted into electric signal in the amorphous silicon photodiodes which constitute a two dimensional array. In order to produce good quality images, detailed behaviors of DR detectors to radiation must be studied. The relationship between air exposure and the DR outputs has been investigated in many studies. But this relationship was investigated under the condition of the fixed tube voltage. In this study, we investigated the relationship between the DR outputs and X-ray in terms of the absorbed energy in the detector rather than the air exposure using SPEC-l8, an X-ray energy spectrum model. Measured exposure was compared with calculated exposure for obtaining the inherent filtration that is a important input variable of SPEC-l8. The absorbed energy in the detector was calculated using algorithm of calculating the absorbed energy in the material and pixel values of real images under various conditions was obtained. The characteristic curve was obtained using the relationship of two parameter and the results were verified using phantoms made of water and aluminum. The pixel values of the phantom image were estimated and compared with the characteristic curve under various conditions. It was found that the relationship between the DR outputs and the absorbed energy in the detector was almost linear. In a experiment using the phantoms, the estimated pixel values agreed with the characteristic curve, although the effect of scattered photons introduced some errors. However, effect of a scattered X-ray must be studied because it was not included in the calculation algorithm. The result of this study can provide useful information about a pre-processing of digital radiography.

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.40 no.11
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• pp.9-18
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• 2003

Two configurations of Film Bulk Acoustic Wave Resonators with acoustic quater-wave bragg reflector layers are theoretically analyzed using equivalent circuits and the difference of their characteristics are discussed. We compare the characteristics of λ/2 mode to those of ideal FBAR with top and bottom electrode contacting air and the characteristics of λ/4 mode to those of ideal FBAR with top electrode contacting air and bottom electrode clamped. We assume that the piezoelectric film is ZnO, the electrode is A1 and the substrate is Si, ABCD parameters are extracted and input impedance is calculated by converting the equivalent circuit from Mason equivalent circuits to the simplified equivalent circuits that ABCD parameters are extracted possible, From the variation of resonance frequency due to the change of thickness of reflector layers and the variation of electrical Q due to the change of mechanical Q of reflector layers, it is confirmed that the reflector layer just under the bottom electrode have the greatest effect on the varation of resonance frequency and electrical Q. It is shown that the number of reflector layers required for the saturation of electrical Q decreases with the increase of the impedance ratio of reflector layers and electrical Q of λ/2 mode is larger than that of λ/4 mode, Electromechanical coupling factor is independent of the number of layers, The impedance ratio of reflector layers becomes larger as the electromechanical coupling factor becomes larger, The electromechanical coupling factor of the two mode are smaller than those of ideal FBARs because of the trapping of acoustic energy in the reflector layers, The insertion loss of the ladder filter decreases with the increase of the number of reflector layers but the bandwidth is not affected much by the number of reflector layers, As the impedance ratio of reflector layers becomes larger the insertion loss becomes smaller and the bandwidth becomes wider, In our analysis of the two mode, characteristics of λ/2 mode appear to be slightly more favorable than that of λ/4 mode

• The KIPS Transactions:PartB
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• v.10B no.3
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• pp.281-286
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• 2003

A large number of features are collected for problem solving in real life, but to utilize ail the features collected would be difficult. It is not so easy to collect of correct data about all features. In case it takes advantage of all collected data to learn, complicated learning model is created and good performance result can't get. Also exist interrelationships or hierarchical relations among the features. We can reduce feature's number analyzing relation among the features using heuristic knowledge or statistical method. Heuristic technique refers to learning through repetitive trial and errors and experience. Experts can approach to relevant problem domain through opinion collection process by experience. These properties can be utilized to reduce the number of feature used in learning. Experts generate a new feature (highly abstract) using raw data. This paper describes machine learning model that reduce the number of features used in learning using heuristic function and use abstracted feature by neural network's input value. We have applied this model to the win/lose prediction in pro-baseball games. The result shows the model mixing two techniques not only reduces the complexity of the neural network model but also significantly improves the classification accuracy than when neural network and heuristic model are used separately.

• The KIPS Transactions:PartA
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• v.12A no.2 s.92
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• pp.95-102
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• 2005

The Newton-Raphson iterative algorithm for finding a floating point reciprocal which is widely used for a floating point division, calculates the reciprocal by performing a fixed number of multiplications. In this paper, a variable latency Newton-Raphson's reciprocal algorithm is proposed that performs multiplications a variable number of times until the error becomes smaller than a given value. To find the reciprocal of a floating point number F, the algorithm repeats the following operations: '$'X_{i+1}=X=X_i*(2-e_r-F*X_i),\;i\in\{0,\;1,\;2,...n-1\}'$ with the initial value $'X_0=\frac{1}{F}{\pm}e_0'$. The bits to the right of p fractional bits in intermediate multiplication results are truncated, and this truncation error is less than $'e_r=2^{-p}'$. The value of p is 27 for the single precision floating point, and 57 for the double precision floating point. Let $'X_i=\frac{1}{F}+e_i{'}$, these is $'X_{i+1}=\frac{1}{F}-e_{i+1},\;where\;{'}e_{i+1}, is less than the smallest number which is representable by floating point number. So, $X_{i+1}$ is approximate to $'\frac{1}{F}{'}$. Since the number of multiplications performed by the proposed algorithm is dependent on the input values, the average number of multiplications per an operation is derived from many reciprocal tables $(X_0=\frac{1}{F}{\pm}e_0)$ with varying sizes. The superiority of this algorithm is proved by comparing this average number with the fixed number of multiplications of the conventional algorithm. Since the proposed algorithm only performs the multiplications until the error gets smaller than a given value, it can be used to improve the performance of a reciprocal unit. Also, it can be used to construct optimized approximate reciprocal tables. The results of this paper can be applied to many areas that utilize floating point numbers, such as digital signal processing, computer graphics, multimedia scientific computing, etc.