• Journal of Institute of Control, Robotics and Systems
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• v.22 no.8
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• pp.650-655
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• 2016

In this paper, a novel RLS-based DOB (Recursive Least Squares Disturbance Observer) scheme is proposed to improve the performance of DOB for nominal model identification. A nominal model can be generally assumed to be a second order system in the form of a proper transfer function of an ARMA (Autoregressive Moving Average) model. The RLS algorithm for the model identification is proposed in association with DOB. Experimental studies of the balancing control of a one-wheel robot are conducted to demonstrate the feasibility of the proposed method. The performances between the conventional DOB scheme and the proposed scheme are compared.

• Proceedings of the Korea Society for Industrial Systems Conference
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• 2002.06a
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• pp.69-75
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• 2002

In this paper, we propose the realtime network traffic monitoring system usin SNMP that can supported network and system operation, management, expansion, and design using network analysis and diagnosis to a network administrator. The proposed system consists of two parts: analysis server for collection and analysis of the network information, and supports real-time monitoring of network traffic, and client system shows user a graphical data that analyzed a returned result from the server. This system implements web-based technology using Java and contributes to enhance the effectiveness of network administrator's management.

• ETRI Journal
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• v.34 no.2
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• pp.256-259
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• 2012

The double-base number system has been used in digital signal processing systems for over a decade because of its fast inner product operation and low hardware complexity. This letter proposes an innovative multiplier architecture using hybrid operands. The multiplier can easily be linked to flash analog-to-digital converters or digital systems through a double-base number encoder (DBNE) for realtime signal processing. The design of the DBNE and the multiplier enable faster digital signal processing and require less hardware resources compared to the binary processing method.

• International Journal of Control, Automation, and Systems
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• v.4 no.5
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• pp.592-600
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• 2006

The pattern recognition of the complicated grasping operation based on electroencephalography (simply named as EEG) is very helpful on realtime control of the robotic hand. In the paper, a new spectral feature analysis method based on Band Pass Filter (simply named as BPF) and Power Spectral Analysis (simply named as PSA) is presented for discriminating the complicated grasping operations. By analyzing the spectral features of grasping operations with the use of the two-channel EEG measurement system and the pattern recognition of the BP neural network, the degree of recognition by the traditional spectral feature method based on FFT and the new spectral features method based on BPF and PSA could be compared. The results show that the proposed method provides highly improved performance than the traditional one because the new method has two obvious advantages such as high recognition capability and the fast learning speed.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.4
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• pp.336-345
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• 2011

In this paper, we introduce software development process for autonomous mobile robot with LEGO RCX. The software is designed from course analysis and a series of software design processes are applied for the development. Various control methods are devised to identify robot's location and to optimize the running strategy. To assure realtime property and reliability of the software, we adopted software engineering processes during the development. In this paper, we report the detailed software design processes and the implementation result that we have experienced with our practical LEGO robot platform.

• The Journal of Information Systems
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• v.17 no.1
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• pp.155-171
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• 2008

This thesis proposed a method that connecting step motor to image send board which can acquire image to move and remote controlling via streaming image board of PDA(personal digital assistant) based on embedded Linux which is using wireless network There are three embedded Linux system to embody movable image send board. First, though the wireless network a signal of PDA is transmitted to the board which has embedded Linux and a system which is controlled by the expansion I/O port of the board. Second, it's a system streaming realtime image at a PDA which has embedded Linux. The last is a system which controls a process of image board using TCP/IP communication and image send board at PC. These are the system which can use industrial settings and homes. It can also make use of an embodiment method about travelling image robot.

• Journal of the Korean Institute of Intelligent Systems
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• v.11 no.9
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• pp.822-826
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• 2001

The statistical analysis of the feature extraction and the neural networks are proposed to recognize a human face. In the preprocessing step, the normalized skin color map with Gaussian functions is employed to extract the region of face candidate. The feature information in the region of the face candidate is used to detect the face region. In the recognition step, as a tested, the 120 images of 10 persons are trained by the backpropagation algorithm. The images of each person are obtained from the various direction, pose, and facial expression. Input variables of the neural networks are the geometrical feature information and the feature information that comes from the eigenface spaces. The simulation results of 10 persons show that the proposed method yields high recognition rates.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.9 no.2
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• pp.94-98
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• 2009

This paper proposes an architecture of a real-time EtherCAT master library called RtEML. The controls EtherCAT slaves under EtherCAT protocol in real-time. It provides a simple programming interface which is useful in developing robot application in C/C++ or C#. To achieve deterministic, hard real-time control in Microsoft Windows environment without additional hardware, INtime is used. Since INtime is designed specifically to take advantage of the powerful capabilities of the x86 processor architecture, the proposed RtEML achieves microseconds of real-time performance.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.45.2-45
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• 2001

In case that the perfect model following conditions are not satisfied in the system, a perfect model-following controller is difficult to apply to the system. To deal with this problem, in this paper, a robust imperfect stable model-following controller is designed by combining time delay controller and sliding mode controller based on the concept of two degrees of freedom(2-DOF) controller design method. The experimental dynamic modeling of the commercial overhead crane with capacity of two tons is carried out. To remove the noise of the measuring signals from the swing angle measurement device and estimate the state of the swing angles of the transported object at each time instant, realtime tracker is designed using Kalman filter. The performance of the designed robust controller is tested through the commercial overhead. The experimental results show that the designed controller is robust and applicable to real systems.

• Proceedings of the KSR Conference
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• 2007.11a
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• pp.638-645
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• 2007

Computers are increasingly being introduced into safety and reliability critical systems. The safe and reliable operation of these systems cannot be taken for granted. Malfunctions of these systems can have potentially catastrophic consequences and they have already been involved in serious accidents. Software fault prevention, fault tolerance, fault removal and fault forecasting are the techniques to be used, implemented and verified for embedded software in critical systems as the contributors to safety and reliability of the software. To use them when developing a software product, a relationship must be established between them and the development processes, the methods and techniques to be used to develop software, as well as with the different product architectures. Railroad signaling system software is a safety-critical embedded software with realtime and high reliability requirements. The primary purpose of the safety management is to prevent the loss of lives or physical damages arising from potential hazards in the railroad signaling system. This study provides a systematic approach to analysis of potential hazards for their management during the system life cycle to assure the identification and definition of the most appropriate hazards.