• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.43 no.6 s.312
• /
• pp.1-8
• /
• 2006

Many researches on path planning and obstacle avoidance for the fundamentals of mobile robot have been done recently. Informations from various sensors can be used to find obstacles and plan feasible path. In spite of many solutions of finding optimal path, each can be applied in only a constrained condition. This means that it is difficult to find university good algorithm. An optimal path with a complicated computation generates a time delay which cannot avoid moving obstacles. In this paper, we propose an algorithm of path planning and obstacle avoidance for mobile robot. We call the proposed method Random Access Sequence(RAS) method. In the proposed method, a small region is set first and numbers are assigned to its neighbors, then the path is selected using these numbers and cumulative numbers. It has an advantage of fast planning time and completeness of path if one exists. This means that new path selection may be possible within short time and that helps a robot to avoid obstacle in dynamic environments. Using the information of the start and destination position, the RAS can be performed for collision-free navigation by reforming feasible paths repeatedly in dynamic environments.

• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.38 no.1
• /
• pp.45-52
• /
• 2001

The proximal isovelocity surface area (PISA) method is an effective way of measuring the regurgitant blood flow rate in the mitral valve. This method defines the modelling required to describe the geometry of the isotach of the PISA. In the normal PISA flow model, the flow rate is calculated assuming that the surface of the isotach is either hemispherical or non-hemispherical numerically. However, this paper evaluated the estimate flow rate using a direct surface subdivision flow model based on the height field after isotach extraction using a region-based scheme. To validate the proposed method, the various PISA flow models were compared using pusatile color Doppler images with flow rates ranging from $30\;cm^3/sec\;to\;60\;cm^3/sec$ flow rate. Whereas the hemispherical flow model had a mean value of $29\;cm^3/sec$ and underestimated the measured flow rate by 35%, the proposed model and non-hemispherical model produced a c;ame mean value of $45\;cm^3/sec$, moreover, both flow models produced a similar pulsatile flow rate.

• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.38 no.2
• /
• pp.1-11
• /
• 2001

In this paper, a chattering alleviation VSS controller for the sinusoidal type BLDC motor is designed. Dead Zone function is proposed to change the chattering occurring in the transient state from high frequency to low frequency and time varying gains arc applied for the control input to eliminate the steady state excessive chattering in the conventional ISM. The proposed Dead Zone function represents the sliding layer composed of two switching surfaces and if a state vector exists in this layer, the chattering don't occur. Simulation and experimental results confirm the useful effects of the above algorithm.

• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.44 no.1
• /
• pp.59-66
• /
• 2007

In this paper, we consider the non-fragile robust guaranteed cost state feedback controllers design method for descriptor systems with parameter uncertainties and static state feedback controller with multiplicative uncertainty. The sufficient condition of controller existence, the design method of non-fragile robust guaranteed cost controller, the measure of non-fragility in controller, the upper bound of guaranteed cost performance measure to minimize the guaranteed cost are presented via LMI(linear matrix inequality) technique. Also, the sufficient condition can be rewritten as LMI form in terms of transformed variables through singular value decomposition, some changes of variables, and Schur complements. Therefore, the obtained non-fragile robust guaranteed cost controller satisfies the asymptotic stability and minimizes the guaranteed cost for the closed loop descriptor systems with parameter uncertainties and controller fragility. Finally, a numerical example is given to illustrate the design method.

• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.44 no.1
• /
• pp.108-114
• /
• 2007

This paper presented an image reconstruction method based on the original capsule endoscopy photos yielding a 2-D image for faster diagnosis proposes. The proposed method constructed a 3-D intestine model using the massive images obtained from the capsule endoscope. It merged all images and completed a 3-D model of an intestine. This 3-D model was reformed as a 2-D plane image showing the inner side of the entire intestine. The proposed image composition was evaluated by the 3-D simulator, OpenGL. This approach was demonstrated successfully. A physician can find the location of a disease at a glance because the composite image provided an easy-to-understand view to show the patient's intestine and thereby shorten diagnosis time.

• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.44 no.1
• /
• pp.94-99
• /
• 2007

Many cases of acute cardiac shock and cardiac arrest in emergency room and ICU have been increasing. In this case, ECMO with centrifugal pump has been used generally. However, due to the heavy weight and big size, the system is not adequate for emergency cases. And other defects of this system are that membrane oxygenator's pressure is high and blood are exposed to the air. There was some tries of ECMO using pulsatile pump, but it was found that the weak point of these system is high peak pressure and hemolysis. The mechanism of twin pulsatile pump is that Membrane oxygenator Outlet Pump(MOP) make negative pressure when Membrane oxygenator Inlet Pump(MIP) provides high positive pressure, and the negative pressure will decrease positive pressure of Membrane Oxygenator. Our group analyzed this advantage through In-Vitro and 12 Cases In-Vivo test.

• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.44 no.1
• /
• pp.12-18
• /
• 2007

As an arc fault interrupter, the AFCI mentioned in this paper has been designed to detect and interrupt arc faults due to wire deterioration, insulation, wire damage, loose connection, and excessive mechanical damage. Since AFCI is digital and uses mechanical and electric stress, the length of interruption against overload and over-current is much shorter than the current bi-metal method. Therefore, the risk of electrical fires has been reduced.

• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.44 no.1
• /
• pp.40-49
• /
• 2007

In a visual driver-assistance system, separating moving objects from fixed objects are an important problem to maintain multiple hypothesis for the state. Color and edge-based tracker can often be 'distracted' causing them to track the wrong object. Many researchers have dealt with this problem by using multiple features, as it is unlikely that all will be distracted at the same time. In this paper, we improve the accuracy and robustness of real-time tracking by combining a color histogram feature with a brightness of Optical Flow-based feature under a Sequential Monte Carlo framework. And it is also excepted from Tracking as time goes on, reducing density by Adaptive Particles Number in case of the fixed object. This new framework makes two main contributions. The one is about the prediction framework which separating moving objects from fixed objects and the other is about measurement framework to get a information from the visual data under a partial occlusion.

• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.45 no.3
• /
• pp.1-11
• /
• 2008

This paper proposes a real-time method using a 3-axis accelerometer to enhance blurred images taken from a camera loaded in mobile devices. Blurring phenomenon is a smoothing effect occurring in photo images. Algorithms to cope with blurring phenomenon is essential since small-size mobile devices tremble severely by even a tiny hand-shaking of a user. In this paper, accurate sensing characteristics of the 3-axis accelerometer is acquired by applying the sensor in pendulum motion and the blurring phenomenon is modeled as a uniform distribution and Gaussian distribution. Also, non-Gaussian distributed model is observed in the experiment of real blurring phenomenon and a particular deblurring function is designed by reversing the model. It has been demonstrated that the application of trembling information to the deblurring function adequately removes the blurring phenomenon.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.58 no.12
• /
• pp.2446-2452
• /
• 2009

A Ceramic Metal-halide lamp is achieved by adding multiple metals to a basic mercury discharge. Because the vapor pressure of most metals is very much lower than mercury itself, metal-halide salts of the desired metals, having higher vapor pressures, are used to introduce the material into the basic discharge. The metal compounds are usually polyatomic iodides, which vaporize and subsequently dissociate as they diffuse into the bulk plasma. Metals with multiple visible transitions are necessary to achieve high photometric efficiency and good color. Compounds of Sc, Dy, Ho, Tm, Ce, Pr, Yb and Nd are commonly used. The maximum visible efficacy of a Ceramic Metal Halide lamp, under the constant of a white light source, is predicted to be about 450lm/W. This is controlled principally by the chemical fill chosen for a particular lamp. Current these lamps achieve 130lm/W and these life time are the maximum 16,000[hr]. So factors of performance lower are necessary to improve lamp performance. In this paper, we analyzed factors of performance lower by accelerated deterioration test. The lamp was operated with short duration turn-on/turn-off procedure to enhance the effect due to electrode sputtering during lamp ignition. The tested lamp that was operated with a longer turn-on/off(20/20 minutes) showed blackening, changed distance between electrodes and lowered color rendering & color temperature by losses of Dy at 421.18nm, I at 511nm, T1 at 535nm and Na at 588nm compared with the new lamp.