• Journal of the Institute of Electronics Engineers of Korea SP
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• v.41 no.5
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• pp.283-290
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• 2004

In this paper, a low-power structure for 512 tap FIR filter in MPEG audio algorithm is proposed. By using CSD(Canonic Signed Digit) form filter coefficients and maximum sharing of input signal sample, it is shown that the number of adders of proposed structure can be minimized. To minimize the number of adders, the proposed structure utilizes the 4 steps of sharing, i.e., common input sharing, linear phase symmetric filter coefficient sharing, block sharing for common input, and common sub-expression sharing. Through Verilog-HDL coding, it is shown that reduction rates in the implementation area and relative power consumption of the proposed structure are 60.3% and 93.9% respectively, comparison to those of the conventional multiplier structure.

• Journal of the Korean Institute of Telematics and Electronics C
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• v.34C no.9
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• pp.22-32
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• 1997

This paper proposes an imprecise compuitation model for DCT considering QOS of images and a two dimensional DCT architecture for imprecise computations. In case that many processes are scheduling in a hard real time system, the system resources are shared among them. Thus all processes can not be allocated enough system resources (such as processing power and communication bandwidth). The imprecise computtion model can be used to provide scheduling flexibility and various QOS(quality of service)levels, to enhance fault tolerance, and to ensure service continuity in rela time systems. The DCT(discrete cosine transform) is known as one of popular image data compression techniques and adopted in JPEG and MPEG algorithms since the DCT can remove the spatial redundancy of 2-D image data efficiently. Even though many commercial data compression VLSI chips include the DCST hardware, the DCT computation is still a very time-consuming process and a lot of hardware resources are required for the DCT implementation. In this paper the DCT procedure is re-analyzed to fit to imprecise computation model. The test image is simulated on teh base of this model, and the computation time and the quality of restored image are studied. The row-column algorithm is used ot fit the proposed imprecise computation DCT which supports pipeline operatiions by pixel unit, various QOS levels and low speed stroage devices. The architecture has reduced I/O bandwidth which could make its implementation feasible in VLSI. The architecture is proved using a VHDL simulator in architecture level.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.751-755
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• 1997

This paper presents a new scheme of neural network controller to improve to improve the robustuous of robot manipulator using digital signal processors. Digital processors, DSPs, are micro-processors that are particularly developed for fast numerical computations involving sums and products of variables. Digital version of most advanced control algorithms can be defined as sums and producrs of measured variables, thus it can be programmed and executed through DSPs. In addition, DSPs are as fist in computation as most 32-bit micro-processors and yet at a fraction of their prices. These features make DSPs a viable computational tool in digital implementation of sophisticated controllers. During past decade it was proposed the well-established theorys for the adaptive control of linear systems, but there exits relativly little gensral theoral for the adaptive control of nonlinear systems. Perforating of the proposed controller is illustrated. This paper describes a new approach to the design of adaptive controller and implementation of real-time control for assembling robotic manipulator using digital signal processor. Digital signal processors used in implementing real time adaptive control algorithm are TMS320C50 series made in TI'Co..

• Journal of the Korean Society for Precision Engineering
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• v.19 no.7
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• pp.43-50
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• 2002

This paper presents the new gait implementation of a biped robot with smooth walking using 3-dimensional continuous trunk motion and kick action of ankle joints. Trajectory generation ova trunk is performed not on a unit gait but on a whole walking interval. In applying kick action such as heel-touch or toe-off, varying coordinate system was employed for the simplification of the kinematic analysis. Desired ZMP (zero moment point) is also changed to implement the efficient kick action. As a result, balancing motion of the proposed gait was much more decreased than that of conventional one. Moreover, robot\\`s walking behavior is very smooth, natural and similar to the pace of a human. The walking experiment system is composed of eight AC servo motors and a DSP controller. The walking simulation and the experimental results are shown using the proposed new walking algorithm.

• Speech Sciences
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• v.15 no.2
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• pp.67-77
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• 2008

In this paper, we implemented a robust speech recognizer using the TMS320VC33 DSP. For this implementation, we had built speech and noise database suitable for the recognizer using spectral subtraction method for noise removal. The recognizer has an explicit structure in aspect that a speech signal is enhanced through spectral subtraction before endpoints detection and feature extraction. This helps make the operation of the recognizer clear and build HMM models which give minimum model-mismatch. Since the recognizer was developed for the purpose of controlling car facilities and voice dialing, it has two recognition engines, speaker independent one for controlling car facilities and speaker dependent one for voice dialing. We adopted a conventional DTW algorithm for the latter and a continuous HMM for the former. Though various off-line recognition test, we made a selection of optimal conditions of several recognition parameters for a resource-limited embedded recognizer, which led to HMM models of the three mixtures per state. The car noise added speech database is enhanced using spectral subtraction before HMM parameter estimation for reducing model-mismatch caused by nonlinear distortion from spectral subtraction. The hardware module developed includes a microcontroller for host interface which processes the protocol between the DSP and a host.

• International Journal of Ocean System Engineering
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• v.1 no.4
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• pp.192-197
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• 2011

This paper describes the mathematical modeling, control algorithm, system design, hardware implementation and experimental test of a Manta-type Unmanned Underwater Vehicle (MUUV). The vehicle has one thruster for longitudinal propulsion, one rudder for heading angle control and two elevators for depth control. It is equipped with a pressure sensor for measuring water depth and Doppler Velocity Log for measuring position and angle. The vehicle is controlled by an on-board PC, which runs with the Windows XP operating system. The dynamic model of 6DOF is derived including the hydrodynamic forces and moments acting on the vehicle, while the hydrodynamic coefficients related to the forces and moments are obtained from experiments or estimated numerically. We also utilized the values obtained from PMM (Planar Motion Mechanism) tests found in the previous publications for numerical simulations. Various controllers such as PID, Sliding mode, Fuzzy and $H{\infty}$ are designed for depth and heading angle control in order to compare the performance of each controller based on simulation. In addition, experimental tests are carried out in a towing tank for depth keeping and heading angle tracking.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.3
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• pp.199-207
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• 2002

In this paper, a self-tuning gain-scheduled skyhook control for semi-active suspension systems is investigated. The dynamic characteristics of a continuously variable damper including electro-hydraulic pressure control valves is analyzed. A 2-d.o.f. time-varying quarter-car model that permits variations in sprung mass and suspension spring coefficient is considered. The self-tuning skyhook control algorithm proposed in this paper requires only the measurement of body acceleration. The absolute velocity of the sprung mass and the relative velocity of the suspension deflection are estimated by using integral filters. The skyhook gains are gain-scheduled in such a way that the body acceleration and the dynamic tire force are optimized. An ECU prototype is discussed. Experimental results using a 1/4-ear simulator are discussed. Also, a suspension ECU prototype targeting real implementation is provided.

• Journal of computational fluids engineering
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• v.19 no.2
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• pp.58-65
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• 2014

The adaptive wavelet method is studied for the enhancement of computational efficiency of three-dimensional flows. For implementation of the method for three-dimensional Euler equation, wavelet decomposition process is introduced based on the previous two-dimensional adaptive wavelet method. The order of numerical accuracy of an original solver is preserved by applying modified thresholding value. In order to assess the efficiency of the proposed algorithm, the method is applied to the computation of flow field around ONERA-M6 wing in transonic regime with 4th and 6th order interpolating polynomial respectively. Through the application, it is confirmed that the three-dimensional adaptive wavelet method can reduce the computational time while conserving the numerical accuracy of an original solver.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.10a
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• pp.162-169
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• 1999

In this paper, it is presented a new scheme of adaptive-neuro control system to implement real-time control of robot manipulator using digital Signal Processors. Digital signal processors DSPs. are micro-processors that are particularly developed for variables. Digital version of most advanced control algorithms can be defined as sums and products of measured variables, thus it can be programmed and executed through DSPs. In addition, DSPs are as fast in computation as most 32-bit micro-processors and yet at a fraction of their prices. These features make DSPs a biable computatinal tool in digital implementation of sophisticated controllers. Unlike the well-established theory for the adaptive control of linear systems, there exists relatively little general theory for the adaptive control of nonlinear systems. Adaptive control technique is essential for providing a stable and robust performance for application of robot control. The proposed neuro control algorithm is one of learning a model based error back-propagation scheme using Lyapunov stability analysis method. The proposed adaptive-neuro control scheme is illustrated to be a efficient control scheme for implementation of real-time control of robot system by the simulation and experiment.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.10 no.3
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• pp.437-445
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• 2006

The security key management function is a key element to secure network environment, and many protocols include IPSec, HIP, etc. demand this function. There are two solutions to provide the key management function in the network layer, one is a method for storing security key material in the directory, and the other is a method for storing security key material in DNS. In this paper we present an implementation of key management system by LDAP. We deployed the open source solutions for directory service(OpenLDAP), cryptographic algorithm (FLINT/C), IPSec(FreeS/WAN), and verified the key management system by the encrypted message exchange and the interoperability test by un daemon.