• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.4
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• pp.398-404
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• 2015

In this paper, we describe the design and performance of a prototype multi-rotor unmaned aerial vehicle( UAV) platform featuring an inertial measurement unit(IMU) based autonomous-flying for use in bluetooth communication environments. Although there has been a fair amount of study of free-flying UAV with multi-rotors, the more recent trend has been to outfit hexarotor helicopter with gimbal to support various services. This paper introduces the hardware and software systems toward very compact and autonomous hexarotors, where they can perform search, rescue, and surveillance missions without external assistance systems like ground station computers, high-performance remote control devices or vision system. The proposed system comprises the construction of the test hexarotor platform, the implementation of an IMU, mathematical modeling and simulation in the helicopter. Furthermore, the hexarotor helicopter with implemented IMU is connected with a micro controller unit(MCU)(ARM-cortex) board. The micro-controller is able to command the rotational speed of the rotors and to get the measurements of the IMU as input signals. The control simulation and experiment on the real system are implemented in the test platform, evaluated and compared against each other.

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.46 no.2
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• pp.24-30
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• 2009

In this paper, the FPGA modem platform complying with 3GPP Release 7 eHSPA specifications and its regularized verification flow are proposed. The FFGA platform consists of modem board supporting physical layer requirements, MCU and DSP core embedded control board to drive the modem board, and peripheral boards for RF interfacing and various equipment interfaces. On the other hand, the proposed verification flow has been regularized into three categories according to the correlation degrees of hardware-software inter-operation, such as simple function test, scenario test call processing and system-level performance test. When it comes to real implementations, the emulation verification strategy for low power mobile SoC is also introduced.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1022-1027
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• 2003

The Motion controllers provide the sophisticated performance and enhanced capabilities we can see in the movements of robotic systems. Several types of motion controllers are available, some based on the kind of overall control system in use. PLC (Programmable Logic Controller)-based motion controllers still predominate. The many peoples use MCU (Micro Controller Unit)-based board level motion controllers and will continue to in the near-term future. These motion controllers control a variety motor system like robotic systems. Generally, They consist of large and complex circuits. PLC-based motion controller consists of high performance PLC, development tool, and application specific software. It can be cause to generate several problems that are large size and space, much cabling, and additional high coasts. MCU-based motion controller consists of memories like ROM and RAM, I/O interface ports, and decoder in order to operate MCU. Additionally, it needs DPRAM to communicate with host PC, counter to get position information of motor by using encoder signal, additional circuits to control servo, and application specific software to generate a various velocity profiles. It can be causes to generate several problems that are overall system complexity, large size and space, much cabling, large power consumption and additional high costs. Also, it needs much times to calculate velocity profile because of generating by software method and don't generate various velocity profiles like arbitrary velocity profile. Therefore, It is hard to generate expected various velocity profiles. And further, to embed real-time OS (Operating System) is considered for more reliable motion control. In this paper, the structure of chip-based precision motion controller is proposed to solve above-mentioned problems of control systems. This proposed motion controller is designed with a FPGA (Field Programmable Gate Arrays) by using the VHDL (Very high speed integrated circuit Hardware Description Language) and Handel-C that is program language for deign hardware. This motion controller consists of Velocity Profile Generator (VPG) part to generate expected various velocity profiles, PCI Interface part to communicate with host PC, Feedback Counter part to get position information by using encoder signal, Clock Generator to generate expected various clock signal, Controller part to control position of motor with generated velocity profile and position information, and Data Converter part to convert and transmit compatible data to D/A converter.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.582-587
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• 2004

Ultrasonic sensors are widely used in mobile robot applications to recognize external environments, because they are cheap, easy to use, and robust under varying lighting conditions. However, the recognition of objects using a ultrasonic sensor is not so easy due to its characteristics such as narrow beam width and no reflected signal from a inclined object. As one of the alternatives to resolve these problems, use of multiple sensors has been studied. A sequential driving system needs a long measurement time and does not take advantage of multiple sensors. Simultaneous and pulse coding driving system of ultrasonic sensor array cannot measure short distance as the length of the code becomes long. This problem can be resolved by multi-frequency driving of ultrasonic sensors, which allows multi-sensors to be fired simultaneously and adjacent objects to be distinguished. Accordingly, this paper presents a simultaneous and multi-frequency driving system for an ultrasonic sensor array for object recognition. The proposed system is designed and implemented using a DSP and FPGA. A micro-controller board is made using a DSP, Polaroid 6500 ranging modules are modified for firing the multi-frequency signals, and a 5-channel frequency modulated signal generating board is made using a FPGA. To verify the proposed method, experiments were conducted in an environment with overlapping signals, and the flight distances for each sensor were obtained from filtering of the received overlapping signals and calculation of the time-of-flights.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2003.10a
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• pp.336-339
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• 2003

A digital data logging system has been developed for the purpose of a compact offline Ocean Bottom Seismometer(OBS). The Digital Data Logger(DDL) consists of A/D system, Micom with storage memory and firmware managing data files. The A/D system acquires data of 16bit/4ch with sampling rate of 250Hz per channel. The Micom, a micro controller board with T33521 processor of 8051 class, was equipped with 8 flash memories of 128MB for data storage capacity of 1GB. The firmware stores the acquiring data in form of binary files. The DDL was designated to be compact and light and to consume low energy as possible. The DDL is to interface with PC through USB(Universal Serial Bus). The performance of the DDL has been validated through tests with respect to a 3-axis seismometer.

• Proceedings of the KIPE Conference
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• 2011.07a
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• pp.179-180
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• 2011

This paper focuses on the Current-Voltage concurrent control method devoted to the multiple LED (light-emitting diode) string driver. Isolated DC to DC converter with cascaded chopping switch is proposed for smart lighting system such as light with sensor or back light unit of display, which need to control the current of parallel connected multiple LED stings and regulate DC voltage for micro controller for brightness control. The proposed circuit regulates the current of parallel connected multiple LED strings and additional DC voltage output simultaneously. To verify the performance, experimental results are presented based on the prototype board. 5V, 1A voltage mode electric load and two LED strings with different forward voltages are used for output loads. 23W output power is achieved and measured efficiency is in the range of 85%-87%

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.11
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• pp.1028-1036
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• 2004

Ultrasonic sensors are widely used in mobile robot applications to recognize external environments by virtue that they are cheap, easy to use, and robust under varying lighting conditions. In most cases, a single ultrasonic sensor is used to measure the distance to an object based on time-of-flight (TOF) information, whereas multiple sensors are used to recognize the shape of an object, such as a comer, plane, or edge. However, the conventional sequential driving technique involves a long measurement time. This problem can be resolved by pulse coding of ultrasonic signals, which allows multi-sensors to be emitted simultaneously and adjacent objects to be distinguished. Accordingly, this paper presents a new simultaneous coded driving system for an ultrasonic sensor array for object recognition in autonomous mobile robots. The proposed system is designed and implemented. A micro-controller unit is implemented using a DSP, Polaroid 6500 ranging modules are modified for firing the coded signals, and a 5-channel coded signal generating board is made using a FPGA. To verify the proposed method, experiments were conducted in an environment with overlapping signals, and the flight distances fur each sensor were obtained from the received overlapping signals using correlations and conversion to a bipolar PCM-NRZ signal.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.231-234
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• 2001

OBD-II regulations are already effective in many countries. The California Air Resources Board(CARB) first issued regulations in 1985 for the 1988 model year, known as OBD-I, and required the vehicle's engine management computer to warn the driver by means of a dash-mounted light if a malfunction occurred in either the oxygen sensor, the exhaust gas recirculation(EGR) valve or the evaporative emission system purge solenoid, and to store information on troubles that have no recurrent characteristics. This paper presents two methods of wireless monitoring OBD signal, which is one of the ECU output for self diagnostic measurement. RF module is used to monitor ECU's Self diagnostic signal remotely. Two kinds of measurement systems which are based on micro-controller(80C196KC) for portable detection and PC for sever are considered for receiving the RF signal. Therefore, possibility of real-time monitoring of ECU's self diagnostic signal remotely is verified on this paper.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.9
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• pp.883-895
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• 2007

In this work, we present the development of a patrol robot which is intended to navigate outdoor rough terrain. Proposed mechanism consists of six legs for overcoming an obstacle, and six wheels for traveling. Also, in order to absorb vibration in rough terrain effectively, the slide-spring system and tubed type tire are adopted to each leg and each wheel. The control system of robot consists of several imbedded boards for management of lots of diverse devices such as sensors designed for rough terrain, motor controllers, camera, micro controller and so on. And the base system of the robot is designed to operate in real time and to surveille in the vicinity of the robot, and the robot system is controlled by wireless LAN connected to GUI-based remote control system, while CAN communication connects the control board and the device controllers for sensors and motor controllers. For operating this robot system efficiently, we propose the control algorithms for autonomous navigation using GPS, stabilization maintenance by posture control, obstacle-avoidance by impedance control, and obstacle-overcoming with interference-avoidance between wheels. The performance of the robot and the proposed algorithms are tested and proved by a set of experiments in outdoor rough terrain.

• International journal of advanced smart convergence
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• v.2 no.1
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• pp.1-5
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• 2013

This study proposes a remote monitoring of patients and emergency notification system with a camera and pulse wave sensor for U-Healthcare. The proposed system is a server client model based U-Healthcare system which consists of wireless clients that have micro-controller, embedded-board for patient status monitoring and a remote management server. The remote management server observes the change of pulse wave data individually in real-time sent from the clients that is to be remote-monitored based on the pulse wave data stored by users and divides them into caution section and emergency section. When the pulse wave data of a user enters an emergency situation, the administrator can make a decision based on the real-time image information and pulse rate variability. When the status of the monitored patient enters the emergency section, the proposed U-healthcare system notifies the administrator and relevant institutions. An experiment was conducted to demonstrate the pulse wave recognition of the proposed system.