• Journal of Positioning, Navigation, and Timing
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• v.5 no.2
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• pp.97-107
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• 2016

Military Autonomous Underwater Vehicle (AUV) is utilized to search a mine under the sea. This paper presents design and performance verification of real-time hybrid navigation system for AUV. The navigation system uses Doppler Velocity Log (DVL) integration method to correct INS error in underwater. When the AUV is floated on the water, the accumulated error of navigation algorithm is corrected using position/velocity of GPS. The navigation algorithm is verified using 6 Degree Of Freedom (DOF) simulation, Program In the Loop Simulation (PILS). Finally, the experiments are performed in real sea environment to prove the reliability of real-time hybrid navigation algorithm.

• Transactions of the Korean Society of Automotive Engineers
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• v.7 no.7
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• pp.202-213
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• 1999

Adaptive Cruise Control (ACC) is one of key features on intelligent Transportation System(ITS). In ACC, the steering is done by a driver, but the engine throttle valve and the brake are controlled electronically. The relative velocity and distance from the preceeding vehicle are measured by radars or image processing units and relevant vehicular spacing is maintained in ACC control systems. In this study, vehicle longitudinal dynamics are modeled to simulate vehicle longitudinal maneuver and to design longtitudinal controllers for ACC vehicles. The control algorithm is designed based on the modeled vehicle longitudinal dynamics using a non-linear sliding mode control method. To verity the performance of the control algorithm, a real time numerical simulation program is developed on a Silicon Graphics workstation using C-language . A real time graphic program is alos develpe and integrated with the numerical simulation program.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.2
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• pp.76-85
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• 2004

In this paper, the contrast enhancement method of thermal image is proposed and it is the plateau equalization algorithm using local histogram for the real time display of infrared imagery. Through hardware implementing, its practicality and adequacy are proved. Examinations are executed to verify the effect of contrast enhancement by bright control and contrast control automatic to the plateau value in the manual mode, and that verified the effect of contrast enhancement in the automatic mode and the practicality in the real system. According to the experiment results, the proposed "the application of local histogram and plateau equalization algorithm for contrast enhancement of real time thermal image"in this dissertation is the verified method for the thermal imaging contrast enhancement.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.36 no.3C
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• pp.183-189
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• 2011

The LMS(Least Mean Square) algorithm is generally used because of tenacity, high mating spots and simplicity of realization. But the LMS algorithm has trade-off between nonuniform collect and EMSE(Excess Mean Square Error). To overcome this weakness, variable step size is used widely but it needs a lot of calculation load. In this paper we consider new algorithm, which can reduce calculations and adapt in case of environment changes, uses original signal and noise signal of IGC(Instantaneous Gain Control). For the real time processing of IGC algorithm, we remove the logarithmic function. The performance of proposed algorithm is tested to adaptive noise canceller in automobile. We show implemented LabVIEW FPGA system of IGC algorithm is more efficient than others.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.8 no.7
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• pp.1553-1557
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• 2004

A real-time processing system for embedded hardware genetic algorithm is suggested. In order to operate basic module of genetic algorithm in parallel, such as selection, crossover, mutation and evaluation, dual processors based architecture is implemented. The system consists of two Xscale processors and two FPGA with evolvable hardware, which enables to process genetic algorithm efficiently by distributing the computational load of hardware genetic algorithm to each processors equally. The hardware genetic algorithm runs on Linux OS and the resulted chromosome is executed on evolvable hardware in FPGA. Furthermore, the suggested architecture can be extended easily for a couple of connected processors in serial, making it accelerate to compute a real-time hardware genetic algorithm. To investigate the effect of proposed approach, performance comparisons is experimented for an typical computation of genetic algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.1
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• pp.95-104
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• 1999

In this paper we propose a fast and precise control algorithm for a mobile robot, which aims at the self-tuning control applying two multi-layered neural networks to the structure of computed torque method. Through this algorithm, the nonlinear terms of external disturbance caused by variable task environments and dynamic model errors are estimated and compensated in real time by a long term neural network which has long learning period to extract the non-linearity globally. A short term neural network which has short teaming period is also used for determining optimal gains of PID compensator in order to come over the high frequency disturbance which is not known a priori, as well as to maintain the stability. To justify the global effectiveness of this algorithm where each of the long term and short term neural networks has its own functions, simulations are peformed. This algorithm can also be utilized to come over the serious shortcoming of neural networks, i.e., inefficiency in real time.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.162-167
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• 2003

In this paper, a novel feasible real-time system was researched for a differential driven wheeled autonomous mobile robot so that the mobile robot can move in a smooth, safe and elegant way. Least Square Minimum Path Planning was well used for the system to generate a smooth executable path for the mobile robot, and the point-to-point tracking algorithm was presented as well as its application in arbitrary path tracking. In order to make sure the robot can run elegantly and safely, trapezoidal speed was integrated into the point-to-point path tracking algorithm. The application to guest following for the autonomous mobile robot shows its wide application of the algorithm. The novel design was successfully proved to be feasible by our experiments on our mobile robot Interactive Robot Usher (IRU) in National University of Singapore.

• Proceedings of the IEEK Conference
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• 2001.06c
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• pp.125-128
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• 2001

Nowadays, Internet users are widespread internationally. Fallowing the users requirements, server has to transfer real-time multimedia data to many clients. Multicast can significantly reduce the system overhead and the network resource waste, so it supports efficient mechanism when server has to transfer same data to many clients. We can deliver multimedia data transfer in real-time using Patching Algorithm which has no delay for service request. And multicast algorithm can support different network bandwidth using Receiver driven Layered Multicast under heterogeneous environment network. The purpose of this paper is to suggest an algorithm that can create new multicast group adequately and transfer real-time multimedia data efficiently under heterogeneous environment.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.35 no.4
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• pp.127-135
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• 1986

This paper represents a real time algorithm which improves the some drawbacks in the past methods for detection of the QRS conplexes of ECG signals. In the conventional method we can't detect QRS complex and QRS duration more correctly in case of (1) the contaminated ECG with 60Hz noise, muscle noise. (2) the movement of the baseline for a QRS complex. (3) being abnormal QRS complex with prolonging QRS. Therefore, we have proposed a new algorithm which can detect accurate QRS complex detection in case of the contaminated ECG with 60Hz noise, muscle noise, and movement of baseline for QRS complex. Moreover, in case of prolonging QRS we accomplished to detect not only QRS complex but also a single pulse that has a width proportional to QRS duration. This algorithm which is proposed in our paper in our paper in programmed with 6502 assembly language for real time ECG signal processing.

• Proceedings of the IEEK Conference
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• 2003.11c
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• pp.121-124
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• 2003

Passive optical networks (PONs) will be the pervasive choice in the design of next-generation access networks. One possible solution to implementing Passive optical access network is to rely on wavelength-division multiplexing (WDM). In this paper, we solve the problem of providing real-time service to both hard and soft real-time messages in conjunction with a conventional vest-effort service in WDM. we propose an adaptive scheduling algorithm to schedule and manage the message transmissions in the optical access network. Proposed algorithm is MLF-MQF. Also, we suggest dynamic bandwidth algorithm(DBA) in Loop-back WDM-PON (LPB-PON).our mechanism based on bandwidth reservation protocol.