• Title/Summary/Keyword: real time encoder

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TRACKING LIFT-PATHS OF A ROBOTIC TOWERCRANE WITH ENCODER SENSORS

  • Suyeul Park;Ghang, Lee;Joonbeom cho;Sungil Hham;Ahram Han;Taekwan Lee
    • International conference on construction engineering and project management
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    • 2009.05a
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    • pp.250-256
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    • 2009
  • This paper presents a robotic tower-crane system using encoder and gyroscope sensors as path tracking devices. Tower crane work is often associated with falling accidents and industrial disasters. Such problems often incur a loss of time and money for the contractor. For this reason, many studies have been done on an automatic tower crane. As a part of 5-year 23-million-dollar research project in Korea, we are developing a robotic tower crane which aims to improve the safety level and productivity. We selected a luffing tower crane, which is commonly used in urban construction projects today, as a platform for the robotic tower crane system. This system comprises two modules: the automated path planning module and the path tracking module. The automated path planning system uses the 3D Cartesian coordinates. When the robotic tower crane lifts construction material, the algorithm creates a line, which represents a lifting path, in virtual space. This algorithm seeks and generates the best route to lift construction material while avoiding known obstacles from real construction site. The path tracking system detects the location of a lifted material in terms of the 3D coordinate values using various types of sensors including adopts encoder and gyroscope sensors. We are testing various sensors as a candidate for the path tracking device. This specific study focuses on how to employ encoder and gyroscope sensors in the robotic crane These sensors measure a movement and rotary motion of the robotic tower crane. Finally, the movement of the robotic tower crane is displayed in a virtual space that synthesizes the data from two modules: the automatically planned path and the tracked paths. We are currently field-testing the feasibility of the proposed system using an actual tower crane. In the next step, the robotic tower crane will be applied to actual construction sites with a following analysis of the crane's productivity in order to ascertain its economic efficiency.

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Position Estimation for the Permanent Magnet Spherical Motor using Optical Image Sensor (이미지 센서를 이용한 영구자석 구형모터의 위치 추정)

  • Oh, Ye-Jun;Lee, Won-Kook;Lee, Ho-Jun;Kang, Dong-Woo;Won, Sung-Hong;Lee, Ju
    • Proceedings of the KIEE Conference
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    • 2011.07a
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    • pp.943-944
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    • 2011
  • The position of the rotor in a spherical motor is usually measured by encoders. When using a encoder, It is possible to measure the angle in a very high resolution. However it is limited to measure a single-DOF using one encoder. So it is required to use 3 encoders to measure a 3-DOF. In order to connect the encoder and the motor, an additional mechanic linkages. Because of these reasons, it is difficult to apply it in various systems. Where the friction and inertia is increased when operating the motor. It could cause a negative effect in dynamic characteristic. In this paper present dual-image sensing system capable of measuring 3-DOF motions in real time eliminating the mechanical linkages. In addition we offer methods of converting sensors outputs to rotation angle which is used in the controller.

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A proposal of neuron computer for tracking motion of objects

  • Zhu, Hanxi;Aoyama, Tomoo;Yoshihara, Ikuo
    • 제어로봇시스템학회:학술대회논문집
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    • 2000.10a
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    • pp.496-496
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    • 2000
  • We propose a neuron computer for tracking motion of particles in multi-dimensional space. The neuron computer is constructed of neural networks and their connections, which is a simplified model of the brain. The neuron computer is assemblage of neural networks, it includes a control unit, and the actions of the unit are represented by instructions. We designed a neuron computer to recognize and predict motion of particles. The recognition unit is constructed of neuron-array, encoder, and control part. The neuron-array is a model of the retina, and particles crease an image on the array, where the image is binary. The encoder picks one particle from the array, and translates the particle's location to Cartesian coordinates, which is scaled in [0, 1] intervals. Next, the encoder picks another particle, and does same process. The ordering and reduction of complex processes are executed by instructions. The instructions are held in the control part. The prediction unit is constructed of a multi-layer neural network and a feedback loop, where real time learning is executed. The particles' future locations are forecasted by coordinate values. The neuron computer can chase maximum 100 particles that take evasions.

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Fast Intra Prediction in HEVC using Transform Coefficients and Coded Block Flag (변환계수와 CBF를 이용한 HEVC 고속 화면 내 예측)

  • Kim, Nam-Uk;Lee, Yung-Lyul
    • Journal of Broadcast Engineering
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    • v.21 no.2
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    • pp.140-148
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    • 2016
  • HEVC(High Efficient Video Coding) has twice times better compression ratio than H.264/AVC, but since the computational complexity has significantly increased in the encoder side, it may cause difficulty in real-time SW implementation in the encoder side. This paper proposes two methods about fast intra prediction. First, fast mode and prediction unit decision method using transform coefficients of the original block is proposed. and second, fast prediction unit decision method using coded block flag(cbf) is proposed. The proposed method achieves 42% encoder speed up with 0.8% bitrate increase compared with HM16.0.

An Error Control Algorithm for Wireless Video Transmission based on Feedback Channel (무선 비디오 통신을 위한 피드백 채널 기반의 에러복구 알고리즘의 개발)

  • 노경택
    • Journal of the Korea Society of Computer and Information
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    • v.7 no.2
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    • pp.95-100
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    • 2002
  • By feedback channel, the decoder reports the addresses of corrupted macroblocks induced by transmission errors back to the encoder With these negative acknowledgements, the encoder can make the next frame having propagated errors by using forward dependency based on GOBs and MBs of the frame happening transmission errors. The encoder can precisely calculate and track the propagated errors by examining the backward motion dependency for each of four comer pixels in the current encoding frame until before-mentioned the next frame. The error-propagation effects can be terminated completely by INTRA refreshing the affected macroblocks. Such a fast algorithm further reduce the computation and memory requirements. The advantages of the low computation complexity and the low memory requirement are Particularly suitable for real-time implementation.

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A Simple One-pass Variable Rate Control Method for Fixed-Size Storage Systems

  • Kyungheon Noh;Jeong, Seh-Woong;Park, Jeahong;Byeungwoo Jeon
    • Proceedings of the IEEK Conference
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    • 2002.07a
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    • pp.289-292
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    • 2002
  • This paper provides a frame-layer method for controlling bit rate of compressed video data in real time. Our approach is easy to operate and can store encoded video data in real time without deteriorating the quality of an image. To provide ameliorated and consistent visual quality, a new concept named SOP (Set Of Pictures) and a new quantization parameter variation control algorithm based on a second-order rate-distortion model 〔2〕 are introduced. The total bit-budget is allocated efficiently to cope with unpredictable recording time by using the proposed algorithm and it is distributed to each frame. In the end, we show improved and consistent video quality with experimental results obtained from C-model of a MPEG-4 (simple-profile) encoder.

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Fast Processing System for Motion Control of Multi-body Robots (다관절 로봇용 고속 제어보드 개발 및 제어)

  • Sim, Jae-Ik;Kwon, O-Hung;kim, Tae-Sung;Park, Jong-Hyeon
    • Proceedings of the KSME Conference
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    • 2007.05a
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    • pp.951-956
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    • 2007
  • This paper suggests a high-speed control method which is suitable for multi-joint robots using a real-time stand-alone controller for general-purpose. The fast processing controller consists of a PCI Interface Board and 2-axe PWM drivers. The PCI Interface Board consists of 32-channel PWM output ports, 32-channel Encoder Counters, 32-channel A/D Converters and 48-channel Digital I/O ports, and all the I/O data transmissions are completed within 1ms. And The 2-axe PWM driver can be redesigned easily in order to embed in each link. Experimental implementations show that the high-speed control method can be used for the real-time control which is essential to controlling of multi-body robots such as humanoid robots. Especially, it is efficient for realizing the model-based motion control in demand of much calculation time by the high I/O communication speed.

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Using DSP Algorithms for CRC in a CAN Controller

  • Juan, Ronnie O. Serfa;Kim, Hi Seok
    • IEIE Transactions on Smart Processing and Computing
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    • v.5 no.1
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    • pp.29-34
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    • 2016
  • A controller area network (CAN) controller is an integral part of an electronic control unit, particularly in an advanced driver assistance system application, and its characteristics should always be advantageous in all aspects of functionality especially in real time application. The cost should be low, while maintaining the functionality and reliability of the technology. However, a CAN protocol implementing serial operation results in slow throughput, especially in a cyclical redundancy checking (CRC) unit. In this paper, digital signal processing (DSP) algorithms are implemented, namely pipelining, unfolding, and retiming the CAN controller in the CRC unit, particularly for the encoder and decoder sections. It must attain a feasible iteration bound, a critical path that is appropriate for a CAN system, and must obtain a superior design of a high-speed parallel circuit for the CRC unit in order to have a faster transmission rate. The source code for the encoder and decoder was formulated in the Verilog hardware description language.

A study on implementing real-time AC-3 audio encoder hardware based on TMS320C80 (TMS320C80을 이용한 실시간 처리 AC-3 Encoder 하드웨어 구현에 관한 연구)

  • 여경현;박인규
    • Proceedings of the IEEK Conference
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    • 1998.10a
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    • pp.1207-1210
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    • 1998
  • 차세대 DVD system의 audio 규격인 Dolby AC-3를 구현하는 방법으로 DSP 프로세서인 TMSC80을 사용하여 실시간 처리 가능한 하드웨어 바탕의 firmware 소프트웨어를 개발하는 방법으로 구현하고자 한다. 본 논문에서는 먼저 TMS320C80을 바탕으로 한 하드웨어 구현에 관해 논의한다. 하드웨어의 구조는 TMS320C80과 시스템 메모리로의 DRAM, 오디오 입력부인 ADC, 입력 데이터를 효과적으로 사용하기 위한 FIFO menory, 오디오 출력용인 dac, 디버깅 및 통신포트로 USB, RS-232,LPT와 MPEG-2 encoding보드 등 다른 보드와 연계를 위한 local-bus를 위한 dual port ram으로 구성된다. 오디오 입력은 최대 24bit 48kHz sampling까지 받을 수 있다.

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A design of Discrete Wavelet Transform Encoder for Image Signal Processing (영상신호 처리를 위한 이산 웨이브렛 변환용 부호화기 설계)

  • 김윤홍;김정화양원일이강현
    • Proceedings of the IEEK Conference
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    • 1998.10a
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    • pp.1101-1104
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    • 1998
  • The modern multimedia applications which are video processor, video conference or video phone and so forth require real time processing. Because of a large amount of image data, those require high compression performance. In this paper, the prosposed image processing encoder was designed by using wavelet transform encoding. The proposed filter block can process imae data on the high speed because of composing individual function blocks by parallel and compute both highpass and lowpass coefficient in the same clock cycle. When image data is decomposed into multiresolution, the proposed scheme needs external memory and controller to save intermediate results and it can operate within 33MHz.

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