• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.11
• /
• pp.1036-1042
• /
• 2013

In this paper, an elderly assistance system is developed based on Xenomai, a real-time development framework cooperating with the Linux kernel. A Kinect sensor is used to recognize the behavior of the elderly and A-star search algorithm is implemented to find the shortest path to the person. The mobile robot also generates a trajectory using a digital convolution operator which is based on a Bezier curve for smooth driving. In order to follow the generated trajectory within the control period, we developed real-time tasks and compared the performance of the tracking trajectory with that of non real-time tasks. The real-time task has a better result on following the trajectory within the physical constraints which means that it is more appropriate to apply to an elderly assistant system.

• Journal of Institute of Control, Robotics and Systems
• /
• v.15 no.8
• /
• pp.823-830
• /
• 2009

For developing automotive parts and telematics devices the real car test often shows limitation because it needs high cost, much time and has the possibility of the accident. Therefore, a Vehicle Driving Simulator (VDS) instead of the real-car test has been used by some automotive manufactures, research centers, and universities. The VDS is a virtual reality device which makes a human being feel as if one drives a vehicle actually. Unlike actual vehicle, the simulator has limited kinematic workspace and bounded dynamic characteristics. So it is difficult to simulate dynamic motions of a multi-body vehicle model fully. In order to overcome these problems, a washout algorithm which restricts workspace of the simulator within the kinematic limits is needed, and analysis of dynamic characteristics is required also. However, a classical washout algorithm contains several problems such as time delay and generation of wrong motion signal caused by characteristics of filters. Specially, the classical washout algorithm has the simulator sickness when driver hardly turns brakes and accelerates the VDS. In this paper, a new washout algorithm is developed to enhance the motion sensitivity and improve the simulator sickness by using the vehicle tilt signal which is generated in the real time vehicle dynamic model.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.31 no.11A
• /
• pp.1037-1043
• /
• 2006

This work presents an effective overlay multicast tree construction algorithm for synchronized real-time media multicast service over the Internet. The proposed algorithm is designed to minimize delay variance among group members to provide the synchronized service as well as average delay of group members in order to support the service in real-time. Basically, of orthogonal genetic algorithm is employed to obtain the near optimal tree with a low computational complexity since the given problem is NP-complete. Finally, experimental results are provided to show the superior performance of the proposed algorithm.

• Proceedings of the KIEE Conference
• /
• 2001.07d
• /
• pp.2369-2373
• /
• 2001

Usually the static scheduling algorithms such as DMS (Deadline Monotonic Scheduling) or RMS(Rate Monotonic Scheduling) are used for CAN scheduling due to its ease with implementation. However, due to their inherently low utilization of network media, some dynamic scheduling approaches have been studied to enhance the utilization. In case of dynamic scheduling algorithms, two considerations are needed. The one is a priority inversion due to rough deadline encoding into stricted arbitration fields of CAN. The other is an arbitration delay due to the non-preemptive feature of CAN. In this paper, an extended algorithm is proposed from an existing EDS(Earliest Deadline Scheduling) approach of CAN scheduling algorithm haying a solution to the priority inversion. In the proposed algorithm, the available bandwidth of network media can be checked dynamically by all nodes. Through the algorithm, arbitration delay causing the miss of their deadline can be avoided in advance. Also non real-time messages can be processed with their bandwidth allocation. The proposed algorithm can achieve full network utilization and enhance aperiodic responsiveness, still guaranteeing the transmission of periodic messages.

• The KIPS Transactions:PartB
• /
• v.11B no.3
• /
• pp.337-344
• /
• 2004

Most of the virtual space constructed sufficiently realistic need a lot of memory space to navigate smoothly. And this kind of virtual space also requires real-time responsibility for the navigation as well as realism. In the off-line virtual system, real-time responsibility can be resolved by using large scale if secondary memory. In the web-based online virtual system, on the other hand, real-time responsibility is highly related to the latency time of network data communication. This induces the necessity of the algorithm for fast data loading. In this paper, we propose and verify the validity of the two methodology for cell leading algorithm. According to the results of computer simulation, the algorithm using hexagonal type cell promotes the real-time responsibility over 30％ than that of the rectangular type.

• Journal of the Institute of Convergence Signal Processing
• /
• v.4 no.1
• /
• pp.27-35
• /
• 2003

Because of the lack of translation invariance of wavelet basis, traditional wavelet thresholding denoising leads to pseudo-Gibbs phenomena in the vicinity of discontinuities of signal. In this paper, in order to reduce the pseudo-Gibbs phenomena, wavelet coefficients are thresholded and reconstruction algorithm is implemented through minimizing the total variation of denoising signal using subgradient descent algorithm. Most of experiments were performed under the non-real-time and real-time environments. In the case of non-real-time experiments, the algorithm that this paper proposes was found more effective than that of wavelet hard thresholding denoising by 2.794㏈(SNR) based on the signal to noise ratio. And lots of pseudo-Gibbs phenomena was removed visually in the vicinity of discontinuities. In the case of real-time experiments, the number of iteration was restricted to 60 times considering the performance time. It took 0.49 seconds and most of the pseudo-Gibbs phenomena were also removed.

• Journal of KIISE:Computer Systems and Theory
• /
• v.33 no.9
• /
• pp.684-690
• /
• 2006

This paper proposes a message transmission model for hard real-time communications of periodic messages on a switched Ethernet and also proposes an algorithm to schedule the messages to be transmitted within their deadlines. The proposed scheduling algorithm is a distributed one and is peformed by the source and the destination nodes without the modification of the operational features of the standard Ethernet switch. When a new periodic message needs to be transmitted, it is first checked whether it can be scheduled on both the transmission and the reception links without affecting the already-scheduled messages, and a feasible schedule is made for the new message if it is schedulable. The proposed scheduling algorithm guarantees the transmission of periodic messages within their deadline and allows flexible message transmission on a hard real-time switched Ethernet through the dynamic addition of new periodic messages during run-time.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.13 no.5
• /
• pp.967-973
• /
• 2009

Recently, as 3rd-generation mobile communication services using high-speed data rate system are widely employed, the demand for a variety of real-time data services such as VoIP service are also increased. Unlike typical data packets, VoIP packets have delay bound and low loss rate requirement. In this paper we propose a new scheduling algorithm that schedule two deferent kinds of packets efficiently, considering the characteristics of VoIP. Basically this algorithm considers both time delay and channel condition and gives priority depending on the time delay. Simulation results show that the proposed algorithm works more efficiently than conventional algorithms.

• Journal of the Korea Society of Computer and Information
• /
• v.21 no.11
• /
• pp.31-38
• /
• 2016

In this paper, we propose multi-scale infrared target detection algorithm with varied filter size using integral image. Filter based target detection is widely used for small target detection, but it doesn't suit for large target detection depending on the filter size. When there are multi-scale targets on the sky background, detection filter with small filter size can not detect the whole shape of the large targe. In contrast, detection filter with large filter size doesn't suit for small target detection, but also it requires a large amount of processing time. The proposed algorithm integrates the filtering results of varied filter size for the detection of small and large targets. The proposed algorithm has good performance for both small and large target detection. Furthermore, the proposed algorithm requires a less processing time, since it use the integral image to make the mean images with different filter sizes for subtraction between the original image and the respective mean image. In addition, we propose the implementation of real-time embedded system using FPGA.

• Journal of Electrical Engineering and Technology
• /
• v.10 no.4
• /
• pp.1682-1691
• /
• 2015

In this paper, a real time implementation of selective harmonic elimination pulse width modulation (SHEPWM) using Real Coded Genetic Algorithm (RGA), Particle Swarm Optimization technique (PSO) and a new technique known as Linearization Method (LM) for Single Phase Matrix Converter (SPMC) is designed and discussed. In the proposed technique, the switching frequency is fixed and the optimum switching angles are obtained using simple mathematical calculations. A MATLAB simulation was carried out, and FFT analysis of the simulated output voltage waveform confirms the effectiveness of the proposed method. An experimental setup was also developed, and the switching angles and firing pulses are generated using Field Programmable Gate Array (FPGA) processor. The proposed method proves that it is much applicable in the industrial applications by virtue of its suitability in real time applications.