• Journal of Advanced Navigation Technology
• /
• v.19 no.6
• /
• pp.544-551
• /
• 2015

In this paper, the design and implementation results of the optical flow estimator (OFE) for moving object detection (MOD) in advanced driver assistance system (ADAS). In the proposed design, Brox's algorithm with global optimization is considered, which shows the high performance in the vehicle environment. In addition, Cholesky factorization is applied to solve Euler-Lagrange equation in Brox's algorithm. Also, shift register bank is incorporated to reduce memory access rate. The proposed optical flow estimator was designed with Verilog-HDL, and FPGA board was used for the real-time verification. Implementation results show that the proposed optical flow estimator includes the logic slices of 40.4K, 155 DSP48s, and block memory of 11,290Kbits.

• Journal of Advanced Navigation Technology
• /
• v.18 no.5
• /
• pp.476-482
• /
• 2014

Recently, with the growth of various sensor applications, the need of wireless communication systems which can support variable data rate is increasing. IEEE 802.15.4 LR-WPAN system using 2.45 GHz frequency band is very popular for the sensor applications. However, since LR-WPAN only supports the data rate of 250 kbps, it has a limit to be applied to various sensor networks. Therefore, we define the preamble structure which can support the data rates of 31.25 kbps, 62.5 kbps, 125 kbps, and present the low-complexity hardware architecture for time synchronizer based on double-correlation algorithm which can resist the CFO (carrier frequency offset). Implementation results show that the proposed time synchronizer include the logic slice of 18.36 K and four DSP48s, which are reduced at the rate of 79.1% and 99.4%, respectively, compared with existing architecture.

• Journal of Advanced Navigation Technology
• /
• v.20 no.5
• /
• pp.453-461
• /
• 2016

Recently, with the growth of various sensor applications, the need of wireless communication systems which can support variable data rate is increasing. Therefore, advanced ZigBee (AZB) systems that support the various data rate under 250 kbps are proposed. However, the preamble structure for AZB systems causes the complexity increase of time synchronization circuits. In this paper, we propose preamble structure and time synchronization algorithm which can solve the problem of the complexity increase of time synchronization circuits. Implementation results show that the proposed time synchronizer for AZB systems include the logic slices of 6.92 k and, which are reduced at the rate of 62.3% compared with existing architecture.

• Journal of Advanced Navigation Technology
• /
• v.14 no.5
• /
• pp.710-717
• /
• 2010

Even though there are 256 possible 1-qudit(1-variable quantum digit) functions in quaternary logic, the most useful functions are 4!=24 ones capable of representing in QGFSOP expressions by possible permuting of 0,1,2, and 3. In this paper, we propose a permutational literal(PL) representation and a QPL(Quaternary PL) gate which use the operands of a multiplicand A and an augend D in $Ax^C$+D(GF4) operation as a control variable of multi-cascaded PLs. And we also present new PL synthesis algorithms to synthesize QGFSOP expressed 24 (1-qudit) functions by applying three PL operators as ab(mutual permutation), + D(addition), and XA (multiplication). Finally architectures, circuits, and a CMOS implementation to realize proposed PL synthesis algorithms for $Ax^C$+D(GF4) functions are presented.

• Journal of Advanced Navigation Technology
• /
• v.17 no.5
• /
• pp.560-567
• /
• 2013

In this paper, it is proposed the fault detection method of the ASIC, without the Test Requirement Document(TRD), extracting internal logic circuit and analyzed the function of the ASIC using the multipurpose development program and simulation. If there don't have the TRD, it is impossible to analyze the operation of the circuit and find out the fault detection in any chip. Therefore, we make the TRD based on the analyzed logic data of the ASIC, and diagnose of the ASIC circuit at the gate level through the signal control of I/O pins using the Dynamic Pattern signal. According to the experimental results of the proposed method, we is confirmed the good performance of the fault detection capabilities which applied to the non-memory circuit.

• Journal of Advanced Navigation Technology
• /
• v.22 no.6
• /
• pp.675-680
• /
• 2018

In this paper, we propose a hand gesture recognizer using restricted coulomb energy (RCE) neural network, and present hardware implementation results for real-time learning and recognition. Since RCE-NN has a flexible network architecture and real-time learning process with low complexity, it is suitable for hand recognition applications. The 3D number dataset was created using an FPGA-based test platform and the designed hand gesture recognizer showed 98.8% recognition accuracy for the 3D number dataset. The proposed hand gesture recognizer is implemented in Intel-Altera cyclone IV FPGA and confirmed that it can be implemented with 26,702 logic elements and 258Kbit memory. In addition, real-time learning and recognition verification were performed at an operating frequency of 70MHz.

• Journal of Advanced Navigation Technology
• /
• v.25 no.1
• /
• pp.68-77
• /
• 2021

In this paper, a GPS/MEMS IMU integrated navigation receiver module capable of operating in a high dynamic environment is designed and fabricated, and the results is confirmed. The designed module is composed of RF receiver unit, inertial measurement unit, signal processing unit, correlator, and navigation S/W. The RF receiver performs the functions of low noise amplification, frequency conversion, filtering, and automatic gain control. The inertial measurement unit collects measurement data from a MEMS class IMU applied with a 3-axis gyroscope, accelerometer, and geomagnetic sensor. In addition, it provides an interface to transmit to the navigation S/W. The signal processing unit and the correlator is implemented with FPGA logic to perform filtering and corrrelation value calculation. Navigation S/W is implemented using the internal CPU of the FPGA. The size of the manufactured module is 95.0×85.0×.12.5mm, the weight is 110g, and the navigation accuracy performance within the specification is confirmed in an environment of 1200m/s and acceleration of 10g.

• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.2
• /
• pp.164-170
• /
• 2013

Quadrotor UAV (Unmanned Aerial Vehicle) is a flying robotic platform which has drawn lots of attention in the recent years. The attraction comes from the fact that it is able to perform agile VTOL (Vertical Take-Off Landing) and hovering functions. In addition, the efficient modular structure composed of four electric rotors makes its design easier compared to other single-rotor type helicopters. In many cases, a quadrotor often utilizes vision systems in order to obtain altitude control and navigation solution in hostile environments where GPS receivers are not working or deniable. For carrying out their successful missions, it is essential for flight control systems to have fast and stable control responses of heading angle outputs. This paper presents a Fuzzy Logic based lateral PI controller to stabilize and control the quadrotor vehicle equipped with vision systems. The advantage of using the fuzzy based PI controller lies in the fact that it could acquire a desired output response of a heading angle even in presence of disturbances and uncertainties. The performance comparison of the newly proposed Fuzzy-PI controller and the conventional PI controller was carried out with various simulation results.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• v.5 no.4
• /
• pp.316-321
• /
• 2005

We designed and implemented fish robots for various purposes such as autonomous navigation, maneuverability control, posture balancing and improvement of quick turns in a tank of 120 X 120 X 180cm size. Typically, fish robots have 30-50 X 15-25 X 10-20cm dimensions; length, width and height, respectively. It is essential to have the ability of quick and smooth turning to avoid collision with obstacles or walls of the water pool at a close distance. Infrared distance sensors are used to detect obstacles, magneto-resistive sensors are used to read direction information, and a two-axis accelerometer is mounted to compensate output of direction sensors. Because of the swing action of its head due to the tail fin movement, the outputs of an infrared distance sensor contain a huge amount of noise around true distances. With the information from accelerometers and e-compass, much improved distance data can be obtained by fuzzy logic based estimation. Successful swimming and smooth turns without collision demonstrated the effectiveness of the distance estimation.

• Journal of the Institute of Convergence Signal Processing
• /
• v.1 no.2
• /
• pp.160-168
• /
• 2000

In this paper, we study how the remote controllable mobile robot which could come to many via points with FLC(Fuzzy Logic Control) efficiently. The fabricated robot stop after the movement of single path method by four kinds of commands (forward, backward, turn left, turn right). To reduce disadvantages of this driving type, this paper reduce via points to goal position base on map which get from senor, let robot drive via point to via point on optimized path. An algorithm for the avoidance of unexpected obstacles by FLC is developed. And these algorithms are confirmed by computer simulations