• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.831-833
• /
• 2004

In this paper, an obstacle avoidance algorithm is proposed for a network-based robot considering network delay by distribution. The proposed algorithm is based on the VFH(Vector Field Histogram) algorithm, and for the network-based robot system, in which it is assumed robot localization information is transmitted through network communication. In this paper, target vector for the VFH algorithm is estimated through the robot localization information and the measurement of its delay by distribution. The delay measurement is performed by time-stamp method. To synchronize all local clocks of the nodes distributed on the network, a global clock synchronization method is adopted. With the delay measurement, the robot localization estimation is performed by calculating the kinematics of the robot. The validation of the proposed algorithm is performed through the performance comparison of the obstacle avoidance between the proposed algorithm and the existing VFH algorithm on the network-based autonomous mobile robot.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.11 no.5
• /
• pp.2680-2700
• /
• 2017

Finite field arithmetic over GF($2^m$) is used in a variety of applications such as cryptography, coding theory, computer algebra. It is mainly used in various cryptographic algorithms such as the Elliptic Curve Cryptography (ECC), Advanced Encryption Standard (AES), Twofish etc. The multiplication in a finite field is considered as highly complex and resource consuming operation in such applications. Many algorithms and architectures are proposed in the literature to obtain efficient multiplication operation in both hardware and software. In this paper, a modified serial multiplication algorithm with interleaved modular reduction is proposed, which allows for an efficient realization of a sequential polynomial basis multiplier. The proposed sequential multiplier supports multiplication of any two arbitrary finite field elements over GF($2^m$) for generic irreducible polynomials, therefore made versatile. Estimation of area and time complexities of the proposed sequential multiplier is performed and comparison with existing sequential multipliers is presented. The proposed sequential multiplier achieves 50% reduction in area-delay product over the best of existing sequential multipliers for m = 163, indicating an efficient design in terms of both area and delay. The Application Specific Integrated Circuit (ASIC) and the Field Programmable Gate Array (FPGA) implementation results indicate a significantly less power-delay and area-delay products of the proposed sequential multiplier over existing multipliers.

• KIPS Transactions on Computer and Communication Systems
• /
• v.2 no.3
• /
• pp.103-110
• /
• 2013

Logical Effort [1, 2] is a simple hand-calculated method that measures quick delay estimation. It has the advantage of reducing the design cycle time. However, it has shortcomings in designing a path for minimum area or power under a fixed-delay constraint. The method of overcoming the shortcomings is shown in [3], but it is constrained for a single logical path. This paper presents an advanced gate sizing method in multiple logical paths based on the equal delay model. According to the results of the simulation, the power dissipation for both the existing logical effort method and proposed method is almost equal. However, compared with the existing logical effort method, it is about 52 (%) more efficient in space.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.28 no.12
• /
• pp.1823-1832
• /
• 2004

In this paper, we proposed a TDC based F/T sensorless active compliance control algorithm for a rehabilitation robot (KARES II). The preference of compliance of the disabled is presented by clinical testing at Korea National Rehabilitation Center with the disabled. The KARES II was designed to work 12 predefined tasks which are very essential for helping the disabled. Among the tasks, some contact tasks between the robot and the disabled exist. Therefore, TDC based F/T sensorless compliance control algorithm is developed for these tasks without additional cost. We verified the proposed algorithm with experiment. Also for the practical use, suitable compliance for contact tasks is chosen by clinical testing at Korea National Rehabilitation Center.

• Journal of Industrial Technology
• /
• v.21 no.B
• /
• pp.91-98
• /
• 2001

In this paper, center detection and motion analysis of a moving object are studied. Kohonen's self-organizing neural network models are used for the moving objects tracking and time delay neural networks are used for dynamic characteristic analysis. Instead of objects brightness, neuron projections by Kohonen Networks are used. The motion of target objects can be analyzed by using the differential neuron image between the two projections. The differential neuron image which is made by two consecutive neuron projections is used for center detection and moving objects tracking. The two differential neuron images which are made by three consecutive neuron projections are used for the moving trajectory estimation. It is possible to distinguish 8 directions of a moving trajectory with two frames and 16 directions with three frames.

• Proceedings of the KIEE Conference
• /
• 2005.07a
• /
• pp.341-343
• /
• 2005

This paper introduces a compression algorithm for power quality disturbance signal via the discrete wavelet transform, DWT. Algorithm to estimate a time delay from the power quality disturbance signal is proposed. Pseudo-stationary signal is constructed from the estimated time delay. A difference signal or nonstationary signal is obtained by removing a pseudo-stationary signal from a disturbance signal. DWT is applied to a difference signal. The threshold is applied to reduce a number of coefficients. Simulation results show the resonable compression ratio while keep low signal distortion.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.63.5-63
• /
• 2001

In this paper, moving objects tracking and dynamic characteristic analysis are studied. Kohonen´s self-organizing neural network models are used for moving objects tracking and time delay neural networks are used for dynamic characteristic analysis. Instead of objects brightness, neuron projections by Kohonen Networks are used. The motion of target objects can be analyzed by using the differential neuron image between the two projections. The differential neuron image which is made by two consecutive neuron projections is used for center detection and moving objects tracking. The two differential neuron images which are made by three consecutive neuron projections are used for the moving trajectory estimation.

• The Journal of the Acoustical Society of Korea
• /
• v.17 no.8
• /
• pp.25-33
• /
• 1998

본 논문에서는 한 쌍의 센서를 이용하여 미지의 수중 음향 신호의 시간지연의 차 (Time Delay Difference)를 추정하고 탐지하는 알고리즘을 다루고 있다. 전형적인 시간지연 차의 최적화 추정 기법은 두 신호의 상관관계(Cross Correlation)에 의한 ML(Maximum likelihood)추정으로 구할 수 있지만, 실제 수중 음향 환경 하에서 시간 지연뿐만 아니라 표 적의 이동에 의하여 발생하는 도플러 효과로 신호의 주파수도 변하게 된다. 이러한 신호 주 파수의 올바른 고려 없이 단순히 두 신호의 시간지연만을 추정하는 방법은 불가피한 에러를 생성하게 된다. 본 논문에서는 시시각각 변하는 시간지연의 차를 구하기 위한 준 최적화 기 법인 확률분포 함수의 Recursive Filter에 시간 지연 차와 도플러효과의 2차원 확률분포 함 수를 적용한 추정 알고리즘을 제안한다. 관측된 신호의 리샘플링(Resampling)을 통하여 도 플러 효과를 보상한 후 2차원 Conditional likelihood를 구하고 Projection과 Correction 과정 을 통하여 시간지연과 도플러 효과에 대한 사후확률을 구한다. 그리고 이러한 알고리즘을 가상 시나리오에 대한 모의실험을 통하여 평가한다.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2013.05a
• /
• pp.71-73
• /
• 2013

This paper introduce the process of time transfer from GPS satellites and analyze the results the tropospheric delay estimation results according to Chao mapping function and Niell mapping function, respectively.

• JSTS:Journal of Semiconductor Technology and Science
• /
• v.9 no.1
• /
• pp.8-13
• /
• 2009

In this paper, discontinuous interconnect lines are modeled as a cascaded line composed of many uniform interconnect lines. The system functions of respective uniform interconnect lines are determined, followed by its time domain response. Since the time domain response expression is a transcendental form, the waveform expression is reconfigured as an approximated linear expression. The proposed model has less than 2% error in the delay estimation.