• The KIPS Transactions:PartD
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• 제14D권6호
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• pp.649-656
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• 2007

Today, controller area network(CAN) is a field bus that is nowadays widespread in distributed embedded systems due to its electrical robustness, low price, and deterministic access delay. However, its use safety-critical applications has been controversial due to dependability limitation, such as those arising from its bus topology. Thus it is important to analyze the performance of the network in terms of load of data bus, maximum time delay, communication contention, and others during the design phase of the controller area network. In this paper, a simulation algorithm is introduced to evaluate the communication performance of the vehicle network and apply software base fault injection techniques. This can not only reduce any erratic implementation of the vehicle network but it also improves the reliability of the system.

• Journal of the Korean Society for Railway
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• 제10권2호
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• pp.137-145
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• 2007

In traditional financial theory, the discount cash flow model(DCF or NPV) operates as the basic framework for most analyses. In doing valuation analysis, the conventional view is that the net present value(NPV) of a project is the measure of the present value of expected net cash flows. Thus, investing in a positive(negative) NPV project will increase(decrease) firm value. Recently, this framework has come under some fire for failing to consider the options of the managerial flexibilities. Real option valuation(ROV) considers the managerial flexibility to make ongoing decisions regarding the implementation of investment projects and the deployment of real assets. The appeal of the framework is natural given the high degree of uncertainty that firms face in their technology investment decisions. This paper suggests an algorithm for estimating volatility of logarithmic cash flow returns of real assets based on the Black-Sholes option pricing model, the binomial option pricing model, and the Monte Carlo simulation. This paper uses those models to obtain point estimates of real option value with the G7- HSR350X(high-speed train).

• Journal of the Korean Society for Aeronautical & Space Sciences
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• 제39권12호
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• pp.1124-1132
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• 2011

This paper deals with smooth path generation using B-spline for fixed-wing unmanned aerial vehicles manuevering in 2D environment. Hexagonal cell representation is employed to model the 2D environment, which features increased connectivity among cells over square cell representation. Subsequently, hexagonal cell representation enables smoother path generation based on a discrete sequence of path from the path planner. In addition, we present an on-line path smoothing algorithm incorporating B-spline path templates. The path templates are computed off-line by taking into account all possible path sequences within finite horizon. During on-line implementation, the B-spline curves from the templates are stitched together repeatedly to come up with a reference trajectory for UAVs. This method is an effective way of generating smooth path with reduced on-line computation requirement, hence it can be implemented on a small low-cost autopilot that has limited computational resources.

• Journal of Institute of Control, Robotics and Systems
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• 제10권9호
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• pp.825-832
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• 2004

A small biped robot system is designed and implemented. The robot system consists of a mechanical robot body, a control system, a sensor system, and a user interface system. The robot has 12 dofs for two legs, 6 dofs for two arms, 2 dofs for a neck, so it has total 20 dofs to have dexterous motion capability. The implemented robot has the capability of performing intelligent actions such as playing soccer, resisting external forces, and walking on a slope terrain. In this paper, we focus on the robot's capability of playing soccer. The robot uses a color CCD camera attached on its head as a sensor for playing soccer. To make the robot play soccer with only one camera, an algorithm, which consists of searching, localization, and motion planning, is proposed and experimented. The results show that the robot can play soccer successfully in the given environments.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.61-64
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• 1996

This paper presents a new approach to the design of self-tuning adaptive control system that is robust to the changing dynamic configuration as well as to the load variation factors using Digital signal processors for robot manipulators. TMS32OC50 is used in implementing real-time adaptive control algorithms to provide advanced performance for robot manipulator. In this paper, an adaptive control scheme is proposed in order to design the pole-placement self-tuning controller which can reject the offset due to any load disturbance without a detailed description of robot dynamics. Parameters of discrete-time difference model are estimated by the recursive least-square identification algorithm, and controller parameters are determined by the pole-placement method. Performance of self-tuning adaptive controller is illustrated by the simulation and experiment for a SCARA robot.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1352-1355
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• 1996

The control of diamond turning is usually achieved through a laser-interferometer feedback of slide position. If the tool post is rigid and the material removal process is relatively static, then such a non-collocated position feedback control scheme may surface. However, as the accuracy requirement gets tighter and desired surface contours become more complex, the need for a direct tool-tip sensing becomes inevitable. The physical constraints of the machining process prohibit any reasonable implementation of a tool-tip motion measurement. It is proposed that the measured force normal to the face of the workpiece can be filtered through an appropriate admittance transfer function to result in the estimated depth of cut. This can be compared to the desired depth of cut to generate the adjustment control action in addition to position feedback control. In this work, the design methodology on the admittance model-based control with a conventional controller is presented. The recursive least-squares algorithm with forgetting factor is proposed to identify the parameters and update the cutting process in real time. The normal cutting forces are measured to identify the cutting dynamics in the real diamond turning process using the precision dynamometer. Based on the parameter estimation of cutting dynamics and the admittance model-based nanodynamic control scheme, simulation results are shown.

• Journal of the Institute of Electronics Engineers of Korea SD
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• 제44권8호
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• pp.60-64
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• 2007

In this paper, we designed FFT for European DTV and implemented system with Stratix EP1S25F672C6 FPGA At the implemented FFT, we used SIC architecture. SIC architecture is composed of algorithm-specific processing element, RAM memory, registers, and a central or distributed control unit. Designed FFT was acceptable either 2K or 8K point FFT processing, and is selectable guard interval such as 1/4, 1/8, 1/16, 1/32. Consequently, it was suitable for the standard of DVB-T(Digital Terrestrial Video Transmission System) specification. It resulted in 12% of total logic gate and 53% of total memory bit in Stratix device.

• IEIE Transactions on Smart Processing and Computing
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• 제5권6호
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• pp.383-389
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• 2016

This paper presents a novel automatic white balance (AWB) algorithm for consumer imaging devices. While existing AWB methods require reference white patches to correct color, the proposed method performs the AWB function using only an input image in two steps: i) white point detection, and ii) color constancy gain computation. Based on the dark channel prior assumption, a white point or region can be accurately extracted, because the intensity of a sufficiently bright achromatic region is higher than that of other regions in all color channels. In order to finally correct the color, the proposed method computes color constancy gain values based on the Y component in the XYZ color space. Experimental results show that the proposed method gives better color-corrected images than recent existing methods. Moreover, the proposed method is suitable for real-time implementation, since it does not need a frame memory for iterative optimization. As a result, it can be applied to various consumer imaging devices, including mobile phone cameras, compact digital cameras, and computational cameras with coded color.

• Journal of Digital Contents Society
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• 제15권4호
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• pp.473-480
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• 2014

As the use of computer has been popularized these days, an active research is in progress to make much more convenient and natural interface compared to the existing user interfaces such as keyboard or mouse. For this reason, there is an increasing interest toward Microsoft's motion sensing module called Kinect, which can perform hand motions and speech recognition system in order to realize communication between people. Kinect uses its built-in sensor to recognize the main joint movements and depth of the body. It can also provide a simple speech recognition through the built-in microphone. In this paper, the goal is to use Kinect's depth value data, skeleton tracking and labeling algorithm to recognize information about the extraction and movement of hand, and replace the role of existing peripherals using a virtual mouse, a virtual keyboard, and a speech recognition.

• The Journal of the Korea institute of electronic communication sciences
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• 제9권12호
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• pp.1381-1388
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• 2014

This paper is proposed a wavelet-based the order statistics MAD(Median Absolute Deviation) method of SAR(Synthetic Aperture Radar) image for image enhancement. also The method of compared and defined the threshold the wavelet coefficients using MAD of the wavelet coefficients of the detail subbands was proposed to effectively image enhancement. In order to complement the disadvantage, the threshold of the proposed method sets up the image statistic and excludes the distortion. The hardware design is used FPGA of Xilinx and DSP system for the image enhancement and compressed encoding of the proposed algorithm. Therefore the proposed method is totally verified by comparing with the several other images.