In this paper, we develope an algorithm to calculate field inhomogeneity in MR imaging using a dual fast spin echo pulse sequence. Because phase modulation time can be easily modified with this pulse sequence, high resolution image can be obtained and acquisition time can be reduced compared to gradient echo technique. In the case of phase wrapping in field map, phase corrected using image processing technique. We assume the field pattern to be second order polynomial and apply Pseudo-Inverse equation to calculate second order polynomial coefficients. These coefficients can be used for the shimming of the magnetic field.

그레이 영상 입출력이 가능하고, 다양한 영상 크기에 적용 가능한 아날로그 셀룰라 신경회로망을 설계하였다. 아날로그 셀룰라 신경회로망은 실시간 병렬처리가 가능하므로, 영상처리 패턴인식과 같은 분야에 유용하게 사용될 수 있다. 기존의 하드웨어로 구현된 셀를라 신경회로망은 이진 영상를 출력하고, 단일 칩에 구현할 수 있는 셀의 수에 제한이 있기 때문에 범용의 영상처리에 응용하기에 적합지 않다. 본 연구에서 설계된 셀룰라 신경회로망은 영상 입력 크기의 분해능을 향상시켜 그레이 영상 처리가 가능한 칩을 설계하였다. 설계된 셀룰라 신경회로망를 이용한 그레이 영상의 에지추출 시뮬레이션 결과, 선명한 에지 영상을 얻을 수 있었다

본 연구에서는 영상처리 기법을 이용하여 조각으로 나누어진 강판의 표면정보를 계산하여 표면정보를 검사하는 새로운 검사 기법을 제안한다. 이는 냉연 표면의 입력영상으로부터 wavelets 변환기법을 이유하여 영상을 정량화하고, 이 영상으로 co-occurrence 행렬을 이용하여 데이터들 간의 주된 특징들을 추출하여, 표면 정보를 인식 후 흠을 분류하기 위한 분류기로서 신경망을 이용하여분류하는 과정을 거치게 된다. 제시하는 알고리즘은 기존의 벡터양자화 기법과 비교하여 우수한 성능을 보임을 실험을 통해 입증하였으며, 실시간 구현에 효과적으로 적용될 수 있음을 보였다.

MRI 촬상증의 체동에 의해 화상위에 나타나는 아티팩트를 제거하는 알고리즘으로서, 종래의 발견적인 측차근사 반복법에 의한 제거방법과는 달리, MRI 촬상과정의 해석에 근거해서 도출된 MRI 본래의 성분과 체동성분을 분리하는 구속조건을 이용하는 알고리즘을 제안한다. 이때의 체둥은 위상엔코딩 축인 Y 방향의 체동만을 고려하며, 그 체동의 영향은 MRI 신호의 위상변동으로 나타난다. 일반적으로 위상에는 화상자신의 위상성분과 체동성분이 흔합되어 있지만, 두뇌부위 등의 양단부위에 접하는 Y 방향의 한 라인의 밀도분포는 근사적인 대칭으로 간주할 수 있다. 이 한 라인의 위상스펙트럼, 즉, 화상자신의 성분은 직류성분만으로 구성되며, 체동성분은 일반적으로 모든 주파수에 분포한다. 이러한 구속조건에 기초한 근거가 명확한 아티팩트의 제거방법을 정식화 하며 시뮬레이션에 의해 본 알고리즘의 유효성을 확인한다.

In this paper we proposed an algorithm for rotation-invariant pattern recognition and rotated angle estimation between two patterns by employing selective template matching. Generally template matching has been used in determining the location of pattern but template matching requires a number of calculating correlation. To reduce the number of correlation we used steady-state genetic algorithm which is effective in optimization problem. We apply this method to distinguish specific pattern from similar coin patterns and estimate rotated angle between patterns. Our result leads us to the conclusion that proposed method performed faster than classical template matching

본 논문에서는 자율이동로봇의 동작 제어를 수행한다. 제어기로서는 블록기반 진화신경망을 이용하고, 진화 알고리즘을 사용하여 내부구조와 가중치를 동시에 진화시킨다. 진화에 의하여 최대 적합도를 가지는 제어기를 획득한 후 이를 이용하여 자율이동로봇의 동작 성능을 평가한다.

Genetic algorithms were described as a method of solving large-scaled optimization problems with complex constraints. It has overcome their slowness, a major drawback of genetic algorithms using hardware implementation of genetic algorithm processor (GAP). In this study, we proposed GAP effectively connecting the goodness of survival-based GA, steady-state GA, tournament selection. Using Pipeline Parallel processing, handshaking protocol effectively, the proposed GAP exhibits 50% speed-up over survival-based GA which runs one million crossovers per second(1MHz). It will be used for high speed processing such of central processor of EHW, robot control and many optimization problem.

신경망은 선형 시스템 뿐 만 아니라 비선형 시스템에 있어서도 탁월한 모델링 및 예측 성능을 갖고 있다. 하지만 좋은 성능을 갖는 신경망을 구현하기 위해서는 최적화 해야할 파라미터들이 있다. 은닉층의 뉴런의 수, 학습율, 모멘텀, 학습오차 등이 그것인데 이러한 파라미터들은 경험에 의해서, 또는 문헌들에서 제시하는 값들을 선택하여 사용하는 것이 일반적인 경향이다. 하지만 신경망의 전체적인 성능은 이러한 파라미터들의 값에 의해서 결정되기 때문에 이 값들의 선택은 보다 체계적인 방법을 사용하여 구하여야 한다. 본 논문은 유전 알고리즘을 이용하여 이러한 신경망 파라미터들의 최적 값을 찾는데 목적이 있다. 유전 알고리즘을 이용하여 찾은 파라미터들을 사용하여 학습된 신경망의 학습오차와 예측오차들을 심플렉스 알고리즘을 이용하여 찾은 파라미터들을 사용하여 학습된 신경망의 오차들과 비교하여 본 결과 유전 알고리즘을 이용하여 찾을 파라미터들을 이용했을 때의 신경망의 성능이 더욱 우수함을 알 수 있다.

이 논문에서는 임의의 시스템 동정에 사용되는 적응필터의 계수를 최적화시키는 방법으로 광범위하게 사용되어지고 있는 기존의 적응 알고리즘인 Least Mean Square(LMS)방법과 최근들어 다양한 최적화 문제에 응용되고 있는 유전자 알고리즘(GA)을 합성한 하이브리드 형태의 적응 알고리즘을 사용한다. 이 알고리즘은 TIR 필터를 설계하는데 있어, 경사하강법의 개념을 사용함으로써 야기되는 지역 수렴문제의 단점을 보완하기 위해, 미분과 같은 결정론적인 규칙없이 단지 확률적인 연산자만으로 진행하는 유전자 알고리즘을 이용한다. 그리고 유전자 알고리즘에 있어서 확률적인 연산을 사용함으로써 발생하는 많은 계산량과 느린 수렴속도 문제를 LMS의 경사하강법을 이용하여 보완한다. 이처럼 유전자 알고리즘이 지닌 장점과 LMS 알고리즘이 갖는 장점을 이용하여 각 알고리즘이 지니는 단점을 서로 보완함으로써 알고리즘의 성능을 향상시키고 이 향상된 알고리즘을 이용하여 최적 필터계수를 찾는다 이렇게 얻은 필터계수값을 이용하여 적응 필터의 성능을 확인 평가한다.

고신뢰도의 요구를 보장하는 병렬 구조의 분산시스템의 사용이 증가함에 따라 네트워크 상에서 메시지전달을 방해하는 요소고장의 영향을 최소화시킬 수 있는 고장포용 라우팅에 대한 중요성이 부각되고 있다. 그러나, 네트워크의 복잡한 환경 때문에 요소고장을 극복하기 위한 고장포용 라우팅 알고리즘의 설계는 쉬운 일이 아니다. 본 논문에서는 2차원 메쉬 네트워크에 적용되는 최적의 고장포용 라우팅 알고리즘을 설계하기 위하여 관련 응용분야에서 그 유용성이 검증된 유전 알고리즘을 이용한다. 제안된 알고리즘은 wormhole 라우팅 방식을 사용하며, 교착상태를 없애기 위하여 하나의 물리적 채널을 공유하는 4개의 가상채널을 사용한다. 마지막으로, 시뮬레이션을 통하여 제안된 알고리즘이 기존의 다른 고장포용 라우팅 알고리즘보다 우수함을 증명한다.

This paper describes the design of fuzzy PID controller using simplified indirect inference method. First, the fuzzy PID controller is derived from the conventional continuous time linear PID controller. Then the fuzzification, control-rule base, and defuzzification using SIIM in the design of the fuzzy controller are discussed in detail. The resulting controller is a discrete time fuzzy version of the conventional PID controller, which has the same linear structure. but are nonlinear functions of the input signals. The proposed controller enhances the self-tuning control capability, particularly when the process to be controlled is nonlinear. When the SIIM is applied, the fuzzy inference results can be calculated with splitting fuzzy variables into each action component and are determined as the functional form of corresponding variables. So the proposed method has the capability of the high speed inference and adapting with increasing the number of the fuzzy input variables easily. Computer simulation results have demonstrated the superior to the control performance of the one proposed by D. Misir et al.

Temporal 웨이브릿 변환은 2차원 이미지 시퀀스 즉, 프레임 사이의 시간적 변화를 포함한다. Temporal 웨이브릿 변환은 우선 2차원 이미지를 프레임 단위로 행방향, 열방향의 순서로 웨이브릿 변환을 수행한 후 원영상의 1/2 해상도의 영상 프레임 시퀀스를 시간축 방향으로 웨이브릿 변환을 수행한다. Temporal Wavelet 변환의 결과로 나온 계수는 각 프레임의 특성과 프레임과 프레임 사이의 특성을 포함한다. 본 논문에서는 이 Temporal 웨리브릿 변환 결과로 나온 계수의 특성을 이용하여 물체의 움직임을 추적하는 Division Rule을 제시하고, 더욱 정확한 결과를 얻기 위해 Division Rule이 적용된 결과에 실험적으로 최적화된 가중치를 결정하여 컨벌루션을 적용한다.

본 논문의 목적은 측정된 뇌자도 신호의 잡음제거 및 분석을 목적으로 하는 뇌자도 신호처리 시스템의 개발이다. 뇌자도 신호의 크기는 매우 작고 외부 노이즈 환경에 민감하게 반응하기 때문에 다양한 신호처리 기법을 이용하여 뇌자도 신호의 신뢰성을 높이는 것이 중요하다. 본 논문에서는 40채널 SQUID 시스템을 이용하여 뇌에서 발생하는 자기 신호를 측정하고, 측정된 데이터에 존재하는 노이즈 성분을 선형필터와SQUID 시스템의 레퍼런스 채널을 이용하여 제거하며, 이를 분석하는 뇌자도 신호처리 시스템을 개발하였다. 실제로 청각자극을 이용하여 뇌자도 신호를 측정, 분석 함으로써 개발된 뇌자도 신호처리 시스템의 신뢰성을 확인하였다. 또한 측정한 뇌자도 신호에서 주파수 대역에 따른 뇌자도 신호의 분포를 Map으로 구성하였으며, dipole source의 위치를 표시하였다.

This paper describes the fuzzy PD controller using simplified indirect inference method. First, the fuzzy PD controller is derived from the conventional continuous time linear PD controller. Then the fuzzification, control-rule base, and defuzzification using SIIM in the design of the fuzzy controller are discussed in detail. The resulting controller is a discrete time fuzzy version of the conventional PD controller. which has the same linear structure. but are nonlinear functions of the input signals. The proposed controller enhances the self-tuning control capability. particularly when the process to be controlled is nonlinear. As the SIIM is applied, the fuzzy Inference results can be calculated with splitting fuzzy variables into each action component and are determined as the functional form of corresponding variables. So the Proposed method has the capability of the high speed inference and extending the fuzzy input variables easily. Computer simulation results have demonstrated the superior to the control Performance of the one Proposed by D. Misir et at. Final)y. we simulated the contour control of the X-Y tables with direct control strategies using the proposed fuzzy PD controller.

본 논문은 TS(Takagi-Sugeno) 퍼지 모델로 표현된 비선형 시스템의 최적 퍼지 제어에 관한 새로운 설계 방법론을 제시하며, 최적 TS 퍼지 제어기의 매개 변수들을 설정하는 문제가 선형 행렬 부등식 문제로 표현될 수 있음을 보인다.

In this paper, the FPNN(Fuzzy Polynomial Neural Networks) algorithm with multi-layer fuzzy inference structure is proposed for the model identification of a complex nonlinear system. The FPNN structure is generated from the mutual combination of PNN (Polynomial Neural Network) structure and fuzzy inference method. The PNN extended from the GMDH(Group Method of Data Handling) uses several types of polynomials such as linear, quadratic and modifled quadratic besides the biquadratic polynomial used in the GMDH. In the fuzzy inference method, simplified and regression polynomial inference method which is based on the consequence of fuzzy rule expressed with a polynomial such as linear, quadratic and modified quadratic equation are used Each node of the FPNN is defined as a fuzzy rule and its structure is a kind of fuzzy-neural networks. Gas furnace data used to evaluate the performance of our proposed model.

본 논문은 이중구조의 고장허용형 마이크로콘트롤러 구조를 제시한다. 제시한 마이크로콘트롤러는 두 프로세서 모듈간의 동작을 비교하여 하나의 프로세서 모듈에 고장이 발생할 경우 콘트롤러의 외부 인터페이스를 차단한다. 이후 각 프로세서 모듈은 자체 점검을 통해 상태를 판단하고, 이상이 발견되지 않을 경우, 마이크로콘트롤러는 외부 인터페이스 기능을 수행할 주 모듈을 선정하고 다시 동작을 시작한다. 따라서 제시한 마이크 로콘트롤러는 고장정지 특성 및 일시적인 고장으로부터의 회복 기능을 갖는다. 본 논문에서는 제시한 구조를 모토롤라 Mc68360 프로세서와 범용 로직 IC를 이용하여 구현하고 고장주입을 통해 제시한 구조의 고장허용 특성을 확인 한다.

In this paper we present the modeling of ozone prediction system using polynomial neural network. The Polynomial Neural Network is a useful tool for data learning, nonlinear function estimation and prediction of dynamic system. The mechanism of ozone concentration is highly complex, nonlinear, nonstationary. The purposed method shows that the prediction to the ozone concentration based upon a polynomial neural network gives us a good performance for ozone prediction with ability of superior data approximation.

S/W 시스템을 개발하여 테스트한 후 발행시기를 결정함에 있어서 그동안의 비용-신뢰도를 동시에 고려하여 최적발행시기를 결정하고자 하는 연구결과가 얼마나 현실적으로 합리적이고 타당한가를 고찰하고자 한다. 연구방법으로서는 일반적인 비용-신뢰도 최적발행에 대한 기존의 관련논문을 중심으로 제시된 연구방법들에 대해서 연구해보고. 특히 그 최적발행정책의 한계성에 대해서 중점적으로 연구하고자 한다.

본 연구는 포항제철 STS 냉연공장의 형상 제어에 관한 것이다 당사의 냉간 압연기는 Sendzimir mill로서 상하 롤(Roll)이 10단씩 구성된 20단 압연기이다. 본 압연기에 의한 575 냉연강판의 형상제어는 현재 조업자의 수동운전으로 구동되고 있으며 구동기는 AS_U Roll 8 개와 Intermediate Roll 2 개의 10 개로 구성되어 있다. 구동기의 특성은 solenoid 형태와 유압식으로서 응답성이 빠르지 뭇하다. 본 연구는 위와 같은 특성을 지닌 냉간 압연기를 가지고 퍼지 제어에 의한 자동제어의 구현에 관한 것이다. 본 연구에 사용된 퍼지 제어기는 형상 강판의 두께 Roll 속도, AS_U Roll과 IMR의 현 위치 강종 강판의 폭, 강판의 장력 등의 입력을 고려하여 제어기의 출력인 AS_U Roll 8 개의 위치 값과 IMR 2 개의 위치 값을 결정한다. 현재 실 프로세서에 적용중이며 형상제어 정도가 양호하다. 본 연구의 효과는 형상제어의 자동화 및 형상 정도 향상을 통한 조업 안정화에 있다.

본 논문은 주어진 적합한 이진 패턴들의 집합이 점근적으로 안정한 평형점들로써 저장되는 최적으로 성능을 갖는 GBSB (generalized brain-state-in-a-box)의 설계가 고려된다. GBSB 모델의 정성적 특성에 기초하여, 설계 문제가 제약 조건을 가한 최적화 문제로 공식화된다. 다음으로, 우리는 이 문제를 GEVP (generalized eigenvalue Problem)라고 불리는 최적화 문제로 변환한다. 제안된 방법을 예증하기 위함과 기존의 방법과의 비교를 위해서 설계 예제가 주어진다.

There have been several tipical methods being used to measure the fuzziness (entropy) of fuzzy sets. Pedrycz is the original motivation of this paper. This paper studies the entropy variation on the fuzzy numbers with arithmetic operations(addition, subtraction, multiplication). It is shown that through the arithmetic operations, the entropy of the resultant fuzzy number has the arithmetic relation with the entropy of each original fuzzy number. This paper generalize earlier results of Pedrycz [FSS 64(1994) 21-30] and Wang and Chiu [FSS 103(1999) 443-455].

This paper presents the adaptive Active Noise Control(ANC) system using the Neuro-Fuzzy controller. In general, the character of noise is time-varing and nonlinear Thus controller must have the adaptivness so that applied in Active Noise Control system to cancel the noise. This paper propose the Neuro-Fuzzy controller trained with back-propagation teaming algorithm to optimize the parameters of controller The objects of this paper are cancel the noise, extract the original(speech) signal polluted by noise and design the Neuro-Fuzzy controller.

본 연구는 시스템의 신뢰도(reliability)를 향상시키기 위해 사용되는 이중(Duplex) 시스템에서 EMI(전자기파 간섭현상) 같은 원인에 의한 동시 발생적(coincident) 고장의 영향을 최소화하는 기법을 제안하고 신뢰성 있는 고성능 컴퓨터를 위한 운영체계 및 H/W 구조의 설계와 최적 평가에 기여하는데 그 목적이 있다. 이중 시스템에 동시 발생적 고장이 일어나면 두 개의 모듈이 고장의 영향을 받게 되므로 고장 포용능력을 상실하게 된다. 이 같은 영향을 최소화하기 위해서 같은 작업들을 가능한 한 다른 시간대로 중복 수행하도록 시퀀싱(sequencing) 및 스케줄링(scheduling) 함으로써 동시발생적 고장으로 야기되는 전체 작업의 고장 결과를 피할 수 있다 또한 실시간 시스템에서 작업들은 기본적으로 수행이 완료되어야 할 시간적 제약(hard deadline)을 지니고 있으므로. 이러한 엄격한 마감시한 내에서 모든 작업을 완수하고 기본조건을 만족시키고자 한다.

초고속 영상 기법의 Echo Planar Imaging과 Spiral Scan Imaging 기법은 자기장의 inhomogeneity에 영향을 많이 받게 된다. 본 논문에서는 자기장의 inhomogeneity를 보정하는 기능인 shimming 기능을 자동으로 실행할 수 있는 알고리즘을 구현하였다. 자기장의 inhomogeneity를 보정하기 위해서 자기장에 생성될 수 있는 spherical harmonic function중 1차에 대해 보정을 시도하였고, 기존의 알고리즘보다 뛰어난 결과를 얻을 수 있었다.

전기설비설계에 직접 활용할 수 있고, 초보자도 쉽게 사용할 수 있는 3상 단락전류 계산용 프로그램을 개발하였다. 산업전기설비에서 차단기는 단락사고를 비롯한 사고전류가 부하로 유입하거나 과전류가 유입시 이를 신속하게 차단하여 안전하고 신뢰성 있는 전기설비의 사용을 보장해 준다. 기존에는 수계산에 의해 수행되던 계산을 정확하고 표준화된 계산이 가능한 전산 소프트웨어를 개발함으로써 보다 편리하게 설계할 수 있게 하였다. 개발된 프로그램은 기존의 설계방식과 비교하여 보다 정확한 설계임을 입증하였으며, 사용자가 쉽게 사용할 수 있도록 GUI화면으로 구성한 점이 특징이다. 출력자료는 사용자의 필요에 따라 다양하게 출력할 수 있어 전산화의 이점을 최대한 살렸다.

This paper proposes an alternative personal identification algorithm using finger crease pattern which is assumed to overcome the disadvantages of the existing biometrics system. We used a CED camera with LED lighting as the input device. The original images were treated by employing a lowpass and highpass Jilter to get the reinforced finger boundaries and finger crease patterns, thereby threshold is applied. We tracked the boundaries of the finger and extracted the Images of the index, middle, and ring finger, thereafter applied noise reduction operation. In the last step, we performed the verifications of a person by matching one dimensional profiles of finger crease patterns. This algorithm shows the possibility of an alternative biometrics identification system to the current ones. Lastly, the comparative evaluation on our system and the other algorithm is presented.

화상을 확대함으로써 생기는 화상 몽롱화 (blurring) 현상과 블럭화 현상을 제거하기 위해 본 논문에서는 방향성을 고려한 B 스플라인 함수를 이용하여 화상을 보간하는 방법을 제시한다. 이 방법은Hermite 3차 스플라인 함수나, Bezier 곡선 함수를 이용한 방법 보다 적은 차수를 가질 수 있으므로 계산 량을 줄일 수 있다 또한 화소를 중심으로 수직, 수평 대각선 방향의 분산값을 구하여 변화가 적은 방향으로 보간을 실행함으로써 블럭화 현상과 몽롱화 현상을 감소시켜 확대 화상을 보간 시킨다.

This paper describes the design of nonlinear fuzzy I+PD controller using simplified indirect inference method. First, the fuzzy I+PD controller is derived from the conventional continuous time linear I+PD controller. Then the fuzzification, control-rule base, and defuzzification using SIIM in the design of the fuzzy controller are discussed in detail. The resulting controller is a discrete time fuzzy version of the conventional I+PD controller. which has the same linear structure. but are nonlinear functions of the input signals. The proposed controller enhances the self-tuning control capability. Particularly when the process to be controlled is nonlinear When the SIIM is applied, the fuzzy inference results can be calculated with splitting fuzzy variables into each action component and are determined as the functional form of corresponding variables. So the proposed method has the capability of the high speed inference and adapting with increasing the number of the fuzzy input variables easily. Computer simulation results have demonstrated the superior to the control performance of the one Proposed by D. Misir et at.

Protective relay in power system play a prominent part, Simulators for the relay test were introduced in early 1980's, A number of open loop designs have been developed and Recently, several developments of real-time simulators have been reported. But they are very high cost. And then they are difficult to apply for relay testing in small business. This paper presents the structure and performance of a new pc based simulator for digital protective relay testing.

The meaningful speech sound block classification provides very important information in the speech recognition. The following technique of the classification is based on the DWT (discrete wavelet transform), which will provide a more fast algorithm and a useful, compact solution for the pre-processing of speech recognition. The algorithm is implemented to the unvoiced/voiced classification and the denoising.

In this paper, a fuzzy model is identified and optimized using the hybrid algorithm and HCM clustering method. Here, the hybrid algorithm is carried out as the structure combined with both a genetic algorithm and the improved complex method. The one is utilized for determining the initial parameters of membership function, the other for obtaining the fine parameters of membership function. HCM clustering algorithm is used to determine the confined region of initial parameters and also to avoid overflow phenomenon during auto-tuning of hybrid algorithm. And the standard least square method is used for the identification of optimum consequence parameters of fuzzy model. Two numerical examples are shown to evaluate the performance of the proposed model.

This paper suggest an optimal identification method to complex and nonlinear system modeling that is based on Fuzzy-Neural Network(FNN). The FNN modeling implements parameter identification using HCM algorithm and optimal identification algorithm structure combined with two types of optimization theories for nonlinear systems, we use a HCM Clustering Algorithm to find initial parameters of membership function. The parameters such as parameters of membership functions, learning rates and momentum coefficients are adjusted using optimal identification algorithm. The proposed optimal identification algorithm is carried out using both a genetic algorithm and the improved complex method. Also, an aggregate objective function(performance index) with weighted value is proposed to achieve a sound balance between approximation and generalization abilities of the model. To evaluate the performance of the proposed model, we use the time series data for gas furnace, the data of sewage treatment process and traffic route choice process.

A power distribution facility map is composed of distribution facility information regions, cadastral regions and grid lines. In this map, our goal is automatic interpretation of power distribution region. For the goal, it is the first work to extract the power distribution facility region. In this paper, we propose a method to extract power distribution facility regions. The proposed method is consist of two phases, binarization phase and extending phase. The first phase generate a power distribution facility image using threshold value. The image contains many part of power distribution facility regions, but not all. The second phase extends thinned image which is generated by appling thinning operator to the power distribution facility image.

본 논문에서는 용해공정을 위한 실시간 퍼지 전문가 시스템을 소개한다. 유리 용해 공정은 운전자의 경험지식에 의해 내부의 상황을 판단하게되고, 이는 용해로 수명과 제품의 품질에 중요한 영향을 준다. 기존 운전자의 지식을 분석하여 룰을 형성하고, 시스템에 맞도록 구현한 방법을 제시한다. 제시된 퍼지 전문가 시스템은 실제 용해로의 생산공정에 효율적으로 적용되었다.

본 논문에서는 유리 용해로의 온도 제어 문제에 있어서, 퍼지 이론의 응용 방식을 제시한다. 유리용해로의 동특성을 분석하고, 이에 적합하도륵 기존 고전적인 제어기와 퍼지 로직을 결합하는 알고리듬을 제시한다. 제시된 제어기는 실제 용해로의 생산공정에 효율적으로 적용되었다.

The objective of camera calibration is to determine the internal optical characteristics of camera and 3D position and orientation of camera with respect to the real world. Calibration procedure applicable to general purpose cameras and lenses. The general method to revise the accuracy rate of calibration is using mathematical distortion of lens. The effective og calibration show big difference in proportion to distortion of camera lens. In this paper, we propose the method which calibration distortion model by using neural network. The neural network model implicity contains all the distortion model. We can predict the high accuracy of calibration method proposed in this paper. Neural network can set properly the distortion model which has difficulty to estimate exactly in general method. The performance of the proposed neural network approach is compared with the well-known Tsai's two stage method in terms of calibration errors. The results show that the proposed approach gives much more stable and acceptabke calibration error over Tsai's two stage method regardless of camera resolution and camera angle.

원자력발전소 증기발생기 전열관 건전성 유지를 위하여 매 주기마다 실시하고 있는 비파괴검사의 일종인 와전류검사(ECT, Eddy Current Testing)의 주요 공정은 크게 3가지로 분류할 수 있다. 첫 번째는 전열관 상태검사를 위한 신호데이터 취득공정이고, 두 번째는 취득된 신효를 판독하여 전열관의 건전성 여부를 진단하는 평가공정, 세 번째는 평가공정에서 발생하는 데이터를 토대로 전열관 이력 및 상태를 유지관리하는 공정으로 구분할 수 있다. 본 논문에서는 위의 세 번째 공정결과 생성되는 전열관 이력 및 상태자료를 데이터베이스화하여 유지 관리하고, 데이터베이스화된 내용을 바탕으로 전열관 상태 변화추이를 파악하는 기능, 현재까지 비 체계화된 모든 전열관의 이력자료를 다양한 보고서 형태로 출력할 수 있는 기능 둥을 제공하기 위한 "인트라넷 증기발생기 전열관 이력관리시스템"의 설계 및 구현과정 을 정 리 하였다.

In this paper, an adaptive fuzzy inference and HCM(Hard C-Means) clustering method are used for on-line fuzzy modeling of nonlinear and complex system. Here HCM clustering method is utilized for determining the initial parameter of membership function of fuzzy premise rules and also avoiding overflow phenomenon during the identification of consequence parameters. To obtain the on-line model structure of fuzzy systems. we use the recursive least square method for the consequent parameter identification. And the proposed on-line identification algorithm is carried out and is evaluated for sewage treatment process system.

In this paper, a scheme for recognition of handwritten digits using a multilayer neural network trained with the back-propagation algorithm using generalized delta rule is proposed. The neural network is trained with hand written digit data of different writers and different styles. One of the purpose of the work with neural networks is the minimization of the mean square error(MSE) between actual output and desired one. The back-propagation algorithm is an efficient and very classical method. The back-propagation algorithm for training the weights in a multilayer net uses the steepest descent minimization procedure and the sigmoid threshold function. As an error rate is reduced, recognition rate is improved. Therefore we propose a method that is reduced an error rate.

The human has recognizable part of body such as a fingerprint, a crimson, a blood vessel. This part has been investigated constantly, its confidence for personal recognition is high. In spite of specialized part of human body, a lip print recognition is developed less than the other physical attribute that is a fingerprint. a voice pattern, a retinal blood-vessel pattern, or a facial recognition. This paper is to implement hardware for lip print recognition system using VHDL.

도로 색과 대비를 이루는 계수선을 도로위에 그려놓고 영상을 이용하여 통과 차량을 계수 하는 영상기반 교통량 측정 기술을 제안하였다. 기존의 컴퓨터 영상을 이용한 차량 계수 장치들은 대부분 도로와 차량의 gray level차이를 이용하는 방식이기 때문에 도로와 차량간의 구분이 쉽지 않고 그림자와 차량의 식별도 어려우며 조명에 의해 착오를 일으키기 쉬운 문제를 안고 있었다. 제안한 계수방법은 도로 위에 도로 색과 뚜렷한 대비를 이루는 띠를 도로를 가로질러 그려 놓은 다음 이를 통과하는 차량에 의해 띠의 형상이 절단되는지의 여부를 판단하여 차량을 계수 하는 방법이다. 이를 위해서 계수선을 포함하는 영상의 창을 설치하고 수시로 에지를 추출한 후, 에지의 절단 여부를 검사한다. 이때 계수선의 색과 동일한 차량이 통과할 경우에는 계수선의 에지는 절단되어 도로방향으로 연장되게 되며 계수선의 색과 다른 차량인 경우에는 계수선의 에지가 계수선의 내부로 연장되게 된다. 계수선 상에 그림자가 있는 경우에도 도로와 계수선 간의 색상변화가 뚜렷하므로 계수선의 에지 검출에는 영향을 받지 않게 된다. 제안한 알고리즘을 실험실에 설치된 모형도로와 모형 차량들을 이용하여 실험하고 결과를 제시하였다.

The application of the aerial images are to find the 3-D elevations. Image matching techniques such as Multi-resolution techniques, WCC (Weighted Cross-Correlation), NSSR (Narrow Search Sub-pixel Registration) that we know robustly apply to images which have enough features. But the method is not adaptive in images which have not enough features due to increasing of disparity errors. In this paper, we propose Disparity Interpolation that decrease disparity errors occurring in the area where images have not enough features. By using real aerial images we compare the result from existing image matching techniques to the result from proposed method.

In this paper, digital circuit evolution is proposed as an intrinsic evolvable system. Evolutionary hardware is a reconfigurable one which adapt itself to the environment and evolve its structure to realize desired performance. By using special FPGA and genetic algorithm, we have made a prototype of intrinsic hardware evolution system. As an example for digital circuit evolution, full adder realization is performed. As the result of this, a very complex structure of digital circuit performing full adder was created. Analysis made on the hardware revealed that some undetermined circuits were developed.

The MX-13 digital multiplexer for leased line is one of the main facilities, so it is periodically monitored by the operator. Operators connect dummy terminal to the MX-13 digital multiplexer manually, and execute preventing inspection. When alarms occurred, they are manually checked by the operator. But, in order to get mere efficiency of accident prevention and monitoring facilities with rapid response to the accident symptom, and to get higher reliability from the companies who lease communication lines, we need to construct this system which is adequate to monitor IvlX-13 digital multiplexer in almost real time. We construct remote monitoring system for MX-13 digital multiplxer to meet those requirement. After constructing the system, it's possible that the local operator can manage local monitoring system to check the status of MX-13 digital multiplexers. Also, Center operator can monitor the facility which has problems, and located in the specific local areas with the use of Center monitoring system.

This paper presents the method of 3D reconstruction of the depth information from the endoscopic stereo scopic images. After camera modeling to find camera parameters, we performed feature-point based stereo matching to find depth information. Acquired some depth information is finally 3D reconstructed using the NURBS(Non Uniform Rational B-Spline) method and OpenGL. The final result image is helpful for the understanding of depth information visually.

In this paper, the concept of evolvable hardware and evolutionary robotics are introduced and constructing the mobile robot controller without human operator is suggested. The robot controller is evolved to avoid obstacles by genetic learning which determines the weights between sensor inputs and motor outputs. Genetic algorithms which is executed in a computer(PC) searches the best weights by interacting with robot performance under it's environment. The experiment is done by real mobile robot Khepera and a simple GA.

The classical solution to the noise removal problem is the Wiener filter, which utilizes the second-order statistics of the Fourier decomposition. We discuss a Bayesian formalism which gives rise to a type of wavelet threshold estimation in non-parametric regression. A prior distribution is imposed on the wavelet coefficients of the unknown response function, designed to capture the sparseness of wavelet expansion common to most application. For the prior specified, the posterior median yields a thresholding procedure

A position control algorithm for a inverted pendulum is studied. The proposed algorithm is based on a fuzzy theory and Generalized Radial Basis Function(GRBF). The conventional fuzzy methods need expert's knowledges or human experiences. The GRBF, which is an optimization algorithm, tunes automatically the input-output membership parameters and fuzzy rules. The simulation is presented to illustrate the approaches.

We know the traffic information about the velocity and position of vehicle by extraction and tracking vehicle from continuosly obtained road image of camera. The conventional method of vehicle detection indicate increment of error due to headlight and taillight in night road image. This paper show such as vehicle detection of binary, Edge detection. amalgamation of image are applied to extract the vehicle, and Kalman filter is adaptive methods for tracking position and velocity of vehicle.

본 논문에서는 Web Lecture script를 정의하고 이를 효과적으로 운영하기 위한 Java Web Server를 설계 구현하였다. Web Lecture Script란 강의록, 문제출제, 문제 평가, 숙제 제출, 자료실, 토론방 등의 가상 대학 환경을 편리하게 구축하기 위해서 데이터베이스 및 파일의 접근을 Web 환경의 script막을 사통하여 구현할 수 있도록 정의한 것이다. Lecture시스템은 사용자에게 정형화된 포맷이 많이 쓰이기 때문에 script로 정형화된 형태의 인터페이스가 적합하며, 실제적인 구현이 Jaya로 이루어지기 때문에 확장의 범위가 크다. Web Server는 이러한 Lecture Script를 사용자에게 제공하기 위한 Script Engine을 포함하고 있어야 하는데, 이러한 Script Engine이 Web Server라 어떻게 상호작용 하는가에 따라 성능이 좌우된다. 상호 작용하는 방법에는 Script Engine이 Web Server 자체에 포함될 경우, 독립적인 프로세서를 띄워서 처리하는 방법 스크립트만을 처리하는 별도의 서버를 두어 처리를 전환하는 방법이 있다. 따라서 Lecture Script 처리 Engine은 여러 방법으로 구현하고 성능을 비교하여 보다 효과적인 서버를 제안하고자 한다.

본 논문에서는 컴포넌트 기술을 기반으로 한 인터액티브 멀티미디어 웹보드 시스템을 설계, 구현하고 있다. 이 시스템은 문서를 게시하고 파일을 첨부하는, 일반적인 웹 기반의 게시판을 확장한 것으로, 이러한 기본적 기능 외에 사용자로 하여금 동영상, 음성, 정지영상을 캡쳐하여 전송할 수 있도록 하는 기능을 제공한다. 이와 같은 작업은 ActiveX 컨트롤이 임베드된 웹 페이지 상에서 이루어지므로, 사용자에게는 브라우저 외의 별도의 프로그램이 요구되지 않는다. 이 시스템을 구성하는 주요한 기술적 요소에는 컴포넌트 기술, 웹 데이터베이스 기술 등이 있다. 컴포넌트 기술을 통해 자체적인 인터페이스를 가진 동영상 정지영상, 음성 캡쳐기능의 ActiveX 컨트롤을 구현하였고, MS SQL Server와 ASP를 이용한 웹 데이터베이스 기술을 통해 인터액티브한 인터페이스를 제공하였다.

본 논문에서는 사이버 교육의 시스템적 본질을 이해할 수 있도록 사이버교육시스템의 구축 현황을 살펴보고, 실제 JAVA환경(서블릿)에서 평가지원기능을 제공하는 Web Lecture Authoring Architecture를 설계 하였다. 사이버교육 시스템이 제공하는 기능은 크게 과목관리기능, 문제관리기능. 시험관리기능, 성적평가관리기능, 학생관리기능으로 분류할 수 있으며 기존의 사이버 교육 시스템 구축사례에 미흡한 문제은행기능 및 가상시험 기능을 포함하고 있다. Web Lecture Authoring Architecture는 웹을 기반으로 구축하였으며 C/S 환경에서 구축된 시스템과는 달리 Client에 별도의 시스템을 설치할 필요 없이 웹 브라우저만으로 인터넷에서 사이버교육을 제공할 수 있도록 설계하였다는데 의의를 가지고 있다.

본 논문에서는 단일패턴과 다중패턴 학습이 가능한 FNNs(Feedforward Neural Networks)을 하드웨어로 구현하는데 필요한 학습방안을 제안한다. 제안된 학습방안은 기존의 하드웨어 구현에 이용되는 방식과는 전혀 다른 방식이며, 오히려 기존의 소프트웨어 학습방식과 유사하다. 기존의 하드웨어 구현에서 사용되는 방법은 오프라인 학습이나 단일패턴 온 칩(on-chip) 학습방식인데 반해, 제안된 학습방식은 단일/다중패턴은 칩 학습방식으로 다층 FNNs 회로와 학습회로 사이에 스위칭 회로를 넣어 구현되었으며, FNNs의 학습회로는 선형 시냅스 회로와 선형 곱셈기 회로를 사용하여MEBP(Modified Error Back-Propagation) 학습규칙을 구현하였다. 제안된 방식은 기존의 CMOS 공정으로 구현되었고 HSPICE 회로 시뮬레이터로 그 동작을 검증하였다 구현된 FNNs은 어떤 학습패턴 쌍에 의해 유일하게 결정되는 출력 전압을 생성한다. 제안된 학습방안은 향후 학습 가능한 대용량 신경망의 구현에 매우 적합하리라 예상된다.

본 논문에서는 MEBP(Modified Error Back-Propagation) 학습 규칙을 간단한 비선형 회로를 이용하여 구현하였다. 인공 신경 회로망(ANNs : Artificial Neural Networks)은 많은 수의 뉴런을 필요하기 때문에 표준 CMOS 기술을 이용하는 간단한 비선형 시냅스(synapse) 회로는 인공 신경 회로망 구현에 적합하다. 학습회로는 비선형 시냅스 회로. 시그모이드(sigmoid) 회로. 그리고 선형 곱셈기로 구성되어 있다. 학습 회로의 출력은 각 입력 패턴에 따라 유일한 값으로 결정되어진다. 제안한 학술회로를 $2{\times}2{\times}1$과 $2{\times}3{\times}1$ 다층 feedforward 신경 회로망 모델에 적용하였다. MEBP 하드웨어 구현은 HSPICE 회로 시뮬레이터를 이용하여 검증하였다. 제안한 학술 회로는 on-chip 학습회로를 포함한 대규모 신경회로망 구현에 매우 적합하리라 예상된다.

This paper presents the attitude control of the double inverted pendulum with compliant joint. The biped robot with compliant ankle joint instead of a motor have a good contact between it's sole and ground in the uneven ground. The compliant ankle joint proposed here is composed of springs and mechanical constraint. The lower link is hinged on the plate to free for rotation in the vertical plate. The upper link is connected to the lower link through a DC motor. The DC motor is used to control the posture of the pendulum by adjusting the position of the upper link. The algorithm for controlling a proposed inverted pendulum is nonlinear feedback controller. Simulation with mathematical model are conducted to show the validity of the proposed controller.

This paper presents a new concept to implement and to control of tactile reproduction simulator by implementation of compliance emulator system. Compliance emulator system is a kind of levitation system using magnetic force. In the compliance emulator system, a floated plate moves vertically. When an external force is applied to the plate, the system produces a controlled reaction force by using 6 electromagnet. For the control, a LVDT displacement sensor and PD control method is used.

We design the stable controller with variable gains and reference velocity in order to apply to this controller the proper gains and reference velocity generated with fuzzy logic in on-line. The proposed controller is applied to solve two problems including the reference velocity tracking problem and speedy tracking problem. The result of the simulation show a robust performance under the different conditions

This paper investigates the direct adaptive control of nonlinear systems using RBFN(radial basis function networks). The structure of the controller consists of a fixed PD controller and a RBFN controller in parallel. An adaptation law for the weight adjustment is developed based on the Lyapunov stability theory to guarantee the stability of the overall control scheme. Also, the tracking errors between the system outputs and the desired outputs converge to zero asymptotically. To evaluate the performance of the controller, the proposed method is applied to the trajectory control of the two-link manipulator.

Recently, real-time visual tracking control for a robot manipulator is performed by using a vision feedback sensor information. In this paper, the optical flow is computed based on the eye-in-hand robot configuration. The image jacobian is employed to calculate the rotation and translation velocity of a 3D moving object. LQG visual controller generates the real-time visual trajectory. In order to improving the visual tracking performance. VSC controller is employed to control the robot manipulator. Simulation results show a better visual tracking performance than other method.

Robot soccer is a challenging research area in which multiple robots collaborate in adversarial environment to achieve specific objectives. We designed and built the robotic agents for robot soccer, especially MIROSOT. We have been developing the appropriate vision algorithm, algorithm for ball tracking and prediction, algorithms for collaboration between the robots in an uncertain dynamic environment. In this work we focus on the development of ball tracking and prediction algorithm using Kalman filter. Robustness and feasibility of the proposed algorithm is demonstrated by simulation.

Color 이미지 데이터 베이스로부터 원하는 이미지를 찾아내는 방법으로 image indexing에 대한 많은 연구가 이루어지고 있다. 본 논문에서는 image indexing의 한 방법인 color indexing을 이용하여 이동 로봇의 위치 추정 문제를 해결하고자 한다. Color indexing은 영상의 color 분포를 분석하여 원하는 이미지를 찾아내는 기법으로 로봇은 사전에 저장되어 있는 주변 환경에 대한 모델 이미지들로부터 현재 입력되는 영상과 가장 가까운 이미지를 찾아낸다. 또한 로봇은 찾아진 영상을 이용하여 사전에 저장되어 있는 지도상에서의 자신의 위치를 추정할 수 있다. 본 논문에서는 일반적으로 로봇이 작업하는 환경의 조명 상황이 일정하지 않음을 고려하여 다양한 조명 상태에 대하여 여러 가지 color indexing 알고리즘을 적용하여 실험하였으며 matching된 이미지를 이용하여 지도상에서의 로봇의 위치를 추정하는 구체적인 방법을 제시하고 실험을 통하여 타당성을 검증하였다.

In this paper, we present the ball position and path plain method for the robot-soccer using optical flow. As we compare a optical flow method with a general method within the accurate and effective ball position information of robot-soccer or the path planning, we prove accurate and effective optical flow algorithm to apply ball position and path plain for robot-soccer

정보와 시대인 요즘 컴퓨터의 사용이 갈수록 증가하면서 사용의 편이를 높이기 위하여 사람과 컴퓨터간의 인터페이스에 대한 연구가 많아지고 있다. 새로운 형태의 인터페이스는 자연적인 사람의 행동 양식을 분석하여 그 정보로부터 사용자의 의도를 추출해내는 의도 파악(Intention reading)에 기반한 형태이다. 우리가 관심을 두고 있는 시스템은 사용자가 바라보고 있는 방향을 추적하여 그 방향을 이용하여 컴퓨터를 조작하는 시스템이다. 응시방향을 알아내기 위해 카메라를 이용하여 눈의 움직임을 관찰한다. 그리고 얼굴의 움직임이 있는 일반적인 경우 정확한 눈의 응시 방향을 결정하기 위해서 눈에 대한 정보만을 이용하지 않고 얼굴이 향하고 있는 방향을 추정하여 더 일반적이고 정확한 눈의 응시방향을 결정고자 한다. 본 논문에서는 기존의 눈 응시 방향 추적 방법들에 대하여 소개하고 우리가 개발하려고 하는 시스템에 대해 언급하고자 한다.

컴퓨터 모니터용 Color Display Tube (CDT)와 TV수상기용 Color Picture에 모두 사용되는 부품인 shadow mask는 전자총에서 발생된 전자빔이 Screen에 이르기 바로 전에 위치함으로써 화질에 지대한 영향을 미친다. 이러한 shadow mask의 제작 기술은 발전을 거듭하여 현재는 한 쌍의 working pattern을 사용하여 생산하는 방식이 사용되고 있다. 본 논문에서는 를 고정밀 하고 고정시키는 자동 장비의 개발 사례를 소개 한다.

CCD 카메라를 이용한 화상처리가 최근 많은 분야에서 활용되고 있다. 특히 반도체 장비, 정밀 위치결정 시스템, 그리고 정밀 Alignment시스템과 같이 정밀한 제어가 요구되는 시스템에서 정화한 화상처리 기술이 요구되고 있다. 본 논문은 화상처리를 이용한 마크 인식에 관한 방법으로 CCD카메라로 부터 얻은 영상에 노이즈가 상당히 포함되어 있는 경우와 마크의 일부분만 보이는 경우에 마크를 정화히 찾는 방법에 관한 연구이다.

KEPCO is faced with a number of network choice for Distribution Automation System(DAS), such as Power Line, Pair. Coaxial and Optical Cable, etc. The increasing use of DAS requires suitable communication networks. KEPCO has exhausted much efforts to implement its own standard DAS in possible early date. This paper presents the DAS in KEPCO and some of initial design efforts toward KEPCO's DAS at KEPRI.

본 논문에서는 손과 발을 자기의 의지대로 움직일 수 없는 장애인들이 전동 휠체어나 로봇 팔과 같은 보조 장치를 손, 발의 사용 없이 조작 할 수 있는 시스템 개발을 위한 연구에 대해서 소개한다. 손과 발을 사용하지 않고 전동 휠체어나 로봇 팔을 조작하려면 장애인의 의도를 파악하고 이 정보에 의한 구동 방식이 필요하게 된다. 본 연구에서는 장애인의 눈동자의 움직임과 머리의 움직임 그리고 음성 신호를 이용하여 보조 장치들을 구동시키고자 한다. 이를 구현하기 위해서는 시선의 방향을 측정할 수 있는 기술과 머리의 위치와 방향을 측정하는 기술, 그리고 음성으로 표현되는 간단한 명령들을 인식할 수 있는 기술이 필요하며, 이러한 기술의 통합을 바탕으로 보조장치들을 구동시키기 위한 편리한 사용자 지향의 인터페이스 기술을 개발하고자 한다.

엄격한 시간 제약성에 의해 특성화되는 실시간 시스템의 성능을 평가하기 위해서 퍼지-랜덤 변수가 포함된 이산 사건 모델을 제시한다. 실시간 시스템의 정확성은 출력의 논리적 결과 뿐 아니라 반응시간에도 의존하므로, 본 논문에서는 실시간 시스템의 성능을 유연하게 평가하기 위해서 퍼지-랜덤 변수에 의해 적절하게 변형된 상태 오토마타를 제시하고 그 오토마타를 적용한 수치 예제를 제시한다.

This paper presents a cooperative action controller of a multi-agent system. To achieve an object, i.e. win a game, it is necessary that a robot has its own roles, actions and work with each other. The presented incorporated action controller consists of the role selection, action selection and execution layer. In the first layer, a fuzzy logic controller is used. Each robot selects its own action and makes its own path trajectory in the second layer. In the third layer, each robot performs their own action based on the velocity information which is sent from main computer. Finally, simulation shows that each robot selects proper roles and incorporates actions by the proposed controller.

인간과 함께 협력하는 서어비스 산업에서 요구되는 로봇은 고정된 환경에서 단순 반복 작업을 하는 기존 산업용 로봇의 개념을 뛰어 넘어 변화하는 환경에서 이동하면서 물체 이송 및 조작 기능을 수행하는 작업 형태를 취한다. 일반적으로 서어비스 로봇은 이동 능력과 조작능력이 겸비된 mobile manipulator의 외양을 갖는 것이 가장 응용 분야가 넓다. 이러한 mobile manipulator는 구동 축만 10축 내외가 되므로 축별 서보 제어기와 종류별 센서 제어기들을 분산화 시키는 구조가 신뢰성, 연산 능력의 측면에서 바람직하다. 개방형 구조로써 서보 제어기와 센서 제어기의 결합에 따른 비용 절감을 위하여 저가의 고속 통신망을 사용하고, 제어기 구성 요소들의 수급 다양화와 보수 유지의 간편화를 위하여 개방화된 인터페이스 하드웨어를 채택한다. 또한 자체 동력원에 의해 구동되는 것이 작업범위에 제한을 가하지 않으므로 로봇 제어기가 로봇 내부에 실장되어 오랜 시간 운용 가능하도록 소형화된 구조를 지니도록 설계한다.

This Paper proposes a fuzzy algorithm for cooperative behaviors of multiple autonomous mobile robots. Each robot makes decision of his behavior based on the information obtained by infrared sensors to measure the position and velocities of other robots. The effectiveness of the proposed algorithm is shown by some computer simulation where a group of mobile robots encircles with equi-interval.

일반적으로 시스템은 제한된 공간내에 제어되고 있으나, 특수한 상황에서는 원격제어가 필요한 경우도 있다. 본 논문에서는 인터넷을 사용하여 공간적인 제한을 극복하는 열린 공간상에서 이동로봇을 제어함으로써 원격제어 시스템 설계와 구현에 관해 논한다. 구현된 원격제어 시스템은 일반적인 웹서버(Web Server)를 사용하였고, 원격자와 이동로봇간의 정보를 양방향 통신을 가능하게 하는 제어서버(Control Server)를 제작하였다. 이동로봇과 제어서버간의 정보 교환은 시리얼 통신으로 구현하였으며 위와 같은 전체 적인 시스템을 실제로 제작 구현하여 실험을 함으로써 제안된 원격제어 시스템의 실효성을 검증하였다.

The conventional structure for an action selector of an Autonomous Mobile Robot (AMR) has been criticized for a repeated action. To overcome this problem recently many researches have been focused on the reactive planning systems such as the biological immune system. In this paper, we propose a learning aritificial immune network, the learning method is to use Genetic Algorithm (GA). The computer simulation show that the usefulness of the learning immune network.

본 연구에서는 과수원에서 사용되는 농약살포용 스피드 스프레이어기(SS기)의 자율주행을 위한 시스템을 개발하였다. 과거의 SS기의 자율주행을 실현한 시스템은 대부분 고가의 장비를 사용하거나 실용성이 결여된 점에 비추어 본 연구에서는 실용가능성에 역점을 두어서 저가의 실용 가능한 시스템을 구성하고자 하였다. 개발된 자율주행 시스템의 특징으로는 1) 하드웨어 시스템을 고성능 프로세서를 이용하여 중앙집중식으로 개발 하였으며 2) 초음파센서의 보정 및 보강을 통해서 오차를 최소화하는 알고리즘을 개발하였으며 3) 현장에서 사용시 진동등의 noise에 강한 robust 시스템을 구성하였으며 4) 자율주행을 제어하기 위해서 퍼지알고리즘을 도입한 지능제어를 실현하였다.

This paper presents a method for solving the path planning problem for robot manipulators. The technique allows manipulators to move from a specified starting point to a goal without colliding with objects in two dimensional environment. Approximate cell decomposition with a greedy depth-first search algorithm is used to guide the end effector though Cartesian space and genetic algorithms are used to solve the joint variable for the robot manipulators.

This paper deals with a single flexible link robot system using two fuzzy logic controllers(FLC). The one is used for controlling the rigid position of the beam while it is rotated from one position to another. The other is adopted to reduce the oscillation caused by the rigid body motion. Many simulations are carried out to investigate characteristics of the controlled system. There are good results compared with other systems using PD controller. And also the system could be exactly controlled by the proper setting conditions for FLC.

This paper suggests a position estimating algorithm using mono vision system with projective geometry method. Generally, 3-D information can not be easily extracted from mono vision system which is taken by a camera at a specific point. But this defect is overcome by adopting model-based image analysis and selecting lines and points on the ground as natural landmarks. And this paper suggests a method that estimates position from many natural landmarks by distance error weight function.

In recent years, it becomes a worldwide trend that the power utilities focus their attention to Demand Side Management. Increasing Electric power consumption, they adopt a direct load management to accomplish low cost and stability of electric supply. Following this trend, KEPCO is researching a Direct Load Control System for Air Conditioner. This Paper presents the development results of the Direct Load Control System to Control electric power consumption of Conditioner in summer period this year.

There have been numerous risks for excavator operator in working space. To overcome these riske, many researchers have been studied automation of excavator system. In these studies, excavator system is introduced by many researchers based on master-slave force feedback system. In this paper, a remote manipulation excavator is introduced based on force feedback. The proposed remote manipulation excavator system can give a feeling that the operator maneuvers the object directly, resulting in improved reality and efficiency. To demonstrate its performance, experiments are carried out on a test bed which is built around a commercial Hyundai HX-60W hydraulic excavator.

The inverted pendulum is an unstable, nonlinear system exposed to disturbances and its system parameters change. This paper presents the Time Delay Control design of the inverted pendulum using robot minipulator. The results obtained from a simulations indicated a reference tracking of the system. This paper will implement, the time delay control of the inverted pendulum using a robot manipulator, It will be that the time delay can control the inverted pendulum using a manipulator.

We made a multi-layer conveyor sterilizing system using UV rays to prolong a storage period of dried marine products. The system is composed of 5 layer conveyor belt of 3 m long each, thus 15 m long in total. It is designed to radiate UV rays for 10 minutes the dried marine products, and can process 300 kg/hour. Eight UV lamps of 30 cm long and 15 W of power with 254 nm wave length are installed in parallel, 15 cm high above in each belt, and 40 lamps in total. The whole system is covered by 1 mm thick metal plates to block the UV rays except a front side which is covered with 5 mm thick plastic plates coated with UV protection film to survey inside of the system. A sterile ratio is about 99.97% with 10 minutes sterilization using this system.

The existing equipment with wire communication can expect the stability of data transmission. However, according to increasing a number of DTE (Data Terminal Equipment), wiring work becomes a heavy burden. Restriction to application about portable DTE and the lack of flexibility are another drawback of wire communication. This paper presents the design and implementation of a RF (Radio Frequency) based wireless communication system. The RF based module is designed to the multi communication between DTEs. The RF based module consists of RF circuit and microprocessor. The main properties of RF circuit are maximum 5Kbps transmission rate, maximum 90m transmission distance and 433MHz frequency band. The microprocessor rearrange the data into AHDLC(Advanced High level Data Link Control) format and then instructs RF circuits to transmit/receive the data. The RF module have a wide application field such as fire/security alarm, remote control/measurement etc..

In this paper, A bit processor for controlling sequence logic was implemented, using a FPGA. This processor consists of program memory interface. I/O interface, parts for instruction fetch and decode, registers, ALU, program counter and etc. This FPGA is able to execute sequence instruction during program fetch cycle, because of divided bus system, program bus and data bus. Also this bit processor has instructions set that 16bit or 32bit fixed width, so instruction decoding time and data memory interface time was reduced. This FPGA was synthesized by pASIC 2 SpDE and Synplify-Lite synthesis tool of Quick Logic company. The final simulation for worst cases was successfully performed under a Verilog HDL simulation environment. And the FPGA programmed for an 84 pin PLCC package. Finally, the benchmark was performed to prove that Our FPGA has better performance than DSP(TMS320C32-40MHz) for the sequence logic control of PLC.

We developed an automatic 3D inspection system. The system consists of two parts : one includes hardwares such as actuators, linear scales and a probe, etc. the other involves softwares for management and control of the system. Compared with existing 3D measurement systems, this system achieved automatically the inspection. This automatic inspection makes the system have some advantages to reduce a measurement time and to be easily used by operators.

In this paper, $H_{\infty}$ two-degree-of freedom(2-DOF) model following control method is applied for the control of a brushless servo motor to achieve high robust performance. The proposed robust control algorithm designed to meet the robust stability and performances present that the robust control method is superior to conventional control methods in controlling the speed and position of a servo motor. The designed controller is implemented as an outer loop controller to a factory designed motor-servopack system. It is illustrated by simulations that the proposed method is effective to control servo systems.

A visual servoing method has been proposed based on disturbance observer to eliminate the effect of the off-diagonal component of image feature Jacobian, since performance indices such as measurement sensitivity of visual features, sensitivity of the control to noise and controllability could be improved when an image feature Jacobian was given as a block diagonal matrix. In this paper, experimental results of disturbance observer-based visual servoing are discussed where Samsung FARAMAN-ASl 6-axis industrial robot manipulator is employed. Also, the feature saturator is proposed to stabilized the disturbance observer loop by saturating the differential changes of the image features.

본 논문에서는 실내환경에서 얻어진 격자 지도(grid map)상의 장애물 정보의 표현을 간략화 시키는 방법에 대하여 논하였다. 여기서 기본이 되는 격자 지도의 장애물 정보는 초음파 센서를 이용하여 얻어졌다고 가정하였다. 그리고 생성된 장애물 정보를 직선 성분으로 간단히 표현하여 저장될 정보의 양을 줄이는 변환 방법들인 체인 코드(chain code)와 호프 변환(Hough transform)에 대하여 논하였다. 그리고, 논의된 방법의 유효성을 증명하기 위하여 컴퓨터 시뮬레이션에 의한 결과를 제시하였으며, 단점들에 대한 앞으로의 연구 방향을 제시 하였다.

This paper presents an algorithm that the mobile robot track accurately a moving object with information from a CCD camera mounted on mobile robot. Singular Value Decomposition is adapted to remove the measurement noise of a Raw data of CCD. The mobile robot estimate the trajectory using Kalman filter and track the path of a moving object with a servo motor. Computer simulation results are showed that the efficient tracking system for the mobile robot is designed properly.

An ultrasonic sensor is one of most popular sensor used to navigate mobile robots within environments containing obstacles. But many navigation algorithm have studied because of the drawback of ultrasonic sensor such that poor directionality, frequent misreadings, specular reflections. Also, the most crucial drawback of this algorithm, that is VFF, VFM, EDM, PFM, WFM, GFM etc. has been that the mobile robot may become trapped in a local minimum. In this paper, we present a theoretical study of a navigation algorithm which integrals a heuristic-search local minimum (or trap) recovery method with a vector-field based method to maneuver cylindric mobile robots in unknown of unstructured environments. Also, an autonomous mobile robot uses dead-reckoning to estimate the current position and orientation of a mobile robot.

To control IWR-III Biped Waking Robot, those complex modules are necessary that concurrent control multi-axes servo motors, PID & Feedforward gain tuning, initial value calibration, display current status of system, user interface for emergency safety and three-dimensional rendering graphic visualization. It is developed for various-type gait $data^{[1]}$ and for control modes (i.e open/closed loop and pulse/velocity/torque control) that Integrated Control Enviroment with GUI( Graphic User Interface) consist of time-buffered control part using MMC (Multi-Motion Controller) and 3D simulation part using DirectX graphic library.

This paper deals with the gait generation of Biped Walking Robot (IWR-III) to have a continuous walking pattern like human. For this, trajectory planning with the consideration of kick action is done in each walking step, and the coordinate transformation is done for simplifying the kinematics. The trunk moves continuously for all walking time and moves toward Z-axis. Balancing motion is acquired by FDM(Finite Difference Method) during the walking. By combining 4-types of pre-defined steps, multi-step walking is done. Using numerical simulator, dynamic analysis and system stability is confirmed. Walking motion is visualized by 3D-Graphic simulator. As a result, the motion of balancing joints can be reduced by the trunk ahead effect during kick action, and impactless smooth walking is implemented by the experiment.

A New path planning using modified DT(distance transform) algorithm for a remote mobile robot is proposed. The weakness of DT algorithm is that the generated path is not the best path of all possible paths. Modified DT algorithm proposed can compensate for the weakness of DT algorithm, but the operating time of the proposed is longer than that of DT algorithm.

A genetic algorithm for global and local path planning and collision avoidance of mobile robot in dynamic working environment is proposed. The genetic algorithm searches for a path in the entire and continuous free space and unifies global path planning and local path planning. The simulation shows the proposed method is an efficient and effective method when compared with the traditional collision avoidance algorithms.

It is important to detect objects movement for obstacle recognition and path searching of autonomous robots and vehicles with vision sensor. This paper shows the method to draw out objects and to trace the trajectory of the moving object using a CCD camera and it describes the method to recognize the shape of objects.

In this paper, we propose a new approach to autonomous wall-following of wheeled mobile robots using hybrid control system. The hybrid control approach IS introduced to the motion control of nonholonomic mobile robots in the Indoor navigation problems. In hybrid control architecture, the discrete states are defined by the user-defined constraints, and the reference motion commands are specified In the abstracted motions. The hybrid control system applied to motion planning and autonomous navigation with obstacle avoidance In indoor navigation problem. Simulation results show that it is an effective method for the autonomous navigation in indoor environments.

임베디드 메모리로직에 적용되는 매크로셀을 지니고 전류형태의 저장방법을 적용한 캐시를 통한 임베디드 메모리칩의 설계의 일환으로 0.25마이크로 공정으로 설계되었으며 멀티미디어 칩에 사용되는 메모리 코아는 캐시를 지니고 있음으로 칩의 밴드위스를 높이고 칩의 어드레스 억세스시간(10nS)을 빠르게 할 수 있었으며 이를 위한 내부공급전압은 2.0V이다. 본 논문의 아키텍쳐에서는 기존 메모리 소자의 전송형태를 전류형 전송수단을 이용하여 매크로 셀의 데이터를 캐시에 저장하고, 이를 전류형태의 메인 데이터증폭회로를 통하여 전송하게된다. 이를 이루기 위한 칩의 아키텍척로 비트라인과 캐시의 연결회로를 추가한 구조를 제안하였다.

We have developed the power line simulator which is one of the basic tools for the research of the power line communication and the control system. In the developed simulators, we have considered the transfer characteristics of the power line, various noise characteristics, and signal attenuation characteristics.

In this paper, a new phase detector which can detect phase difference of variable input frequency and represent as a DC voltage is designed. The proposed phase detector has detection range from $-180^{\circ}$ to $180^{\circ}$. It is implemented by digital electronic circuit. It operates from 125 kHz to 4 MHz frequency of input signal and it's maximum phase error is $360/256^{\circ}$.

In this paper we have designed the signal processing system for driving the Poly-Si TFT LCD of EWS. The signal processing system consist of timing controller, ramp signal generator and video signal processing system. Timing controller includes the top-down inversion. left right inversion, left-right shifting and control signal generator according to multi-source signal. The video signal processing system generates sawtooth-shaped waveform by using PROM and DAC for multi-gray scales and implements gamma correction function for compensating the TFT-LCD nonlinear charcteristic of the TFT-LCD. Finally we have discussed the experiment results and its application according to the designed TFT-LCD driving system.

광기록 저장매체의 기록밀도가 더욱 올라가면서 현재 콤팩트디스크나 DVD(Digital Versatile Disc)에 사용되고 있는 d=2인 코드보다는 검출성능이 좋은 d=1인 코드에 대한 관심이 점점 높아지고 있다. 광기록 저장매체에 사용할 수 있는 코드가 갖추어야할 중요한 제한조건으로는 코드열의 전력밀도가 저주파에서 충분히 억압될 수 있어야 한다는 것이다. 광자기디스크나 하드디스크에서 사용된 적이 있는 (1.7)코드는 코드자체로서 DC억압능력을 갖고있지 않다. DC를 억압시키기 위해 보통 부가비트를 일정간격으로 삽입하거나 싱크를 이용하게 되는데 이와 같은 방법으로는 충분한 DC억압이 어렵거나 기록밀도를 올리는데 불리한 원인이 된다. 본 논문에서는 코드열 자체로서 DC억압능력을 갖고 있는 코드워드의 생성방식과 변조 알고리즘을 RLL(1,8)인 경우를 예로 제시하였다. 또한 본 논문에서 제시한 코드의 성능에 대한 검증으로 기존의 RLL(1,8)코드(1)와 본 논문에서 제시한 코드에 4%이하의 부가비트를 삽입하여 DC억압을 수행한 뒤 동일한 기록밀도에서 DC억압성능을 비교하였을 때 저주파 대역에서 $1^{\sim}5dB$이상의 개선효과가 있었음을 확인하였다.

In 22.9kV-Y overhead lines, if there is an earth fault, high fault current causes surge type over-voltages around this place. There are generally two types of earth faults. One is an earth fault which occurs when a voltage line falls to earth line. The other occurs when a voltage line directly falls to the earth. This study presents an analysis method on the earth fault.

The electronic ballast for MHD lamp was studied for automotive headlight application. Its basic principle is the Current Sourcing Push-Pull Resonant Inverter with DC I2Volt input Voltage. By changing the switching frequency according to the lamp state, the automotive requirement of very fast warm-up and the zero voltage switching condition were shown by the simulation of the ballast circuit.

To realize the power line communication system, the line coupler is one of the most important systems, which must be adjustable to the power line characteristics. In this paper, three kinds of line couplers were designed and simulated with the Pspice, which could be useful to the power line communication systems in C-Band(95kHz-148.5kHz) frequency

We propose two robust blind equalization algorithms based on multi-stage clustering blind equalization algorithm, which are called a complex classification update algorithm(CCUA) and an error compensation algorithm(ECA). The first algorithm is a tap-updating algorithm which each computes classified real and imaginary parts in order to reduce computations and the complexity of implementation as a stage increase. The second one is a algorithm which can achieve faster convergence speed because error of equalizer input make always fixed. Test results confirm that the proposed algorithms with faster convergence and lower complexity outperforms both constant modulus algorithm (CMA) and conventional multi-stage blind clustering algorithm(MSA) in reducing the SER as well as the MSE at the equalizer output.

We propose a robust blind equalization algorithm based on dual-mode algorithm which incorporates a stop-and-go technique. The constant modulus algorithm(CMA) exhibits very slow convergence when applied to QAM signals and generates phase error. We show that convergence properties of the dual-mode MCMA can be significantly improved by simply adding a stop-and-go technique. To speed up the convergence rate, the TMA-MCMA operates in triple mode that is based on the dual-mode of the MCMA incorporated with the tap-updating control modes of the SGA.

Fuel cell systems offer high energy efficiencies for transportation application. In addition, they can use alcohols and alternative fuels as the fuel, while producing little or no noxious emissions. Fuel cell-powered energy source should be competitive in performance characteristics and in capital and maintenance costs with internal combustion engine systems. From computer simulation program, battery and fuel cell energy output and total power profile, motor power, battery energy output, fuel cell energy output. It simulates the performance of fuelcell/battery powered energy source operation over any user inputted transit route cycle, and provides performance criteria through user specifications for preliminary design consideration.

$8{\sim}12$인치의 원형(또는 사각) PCB 기판에 수백 개의 고휘도 반도체 발광 다이오드(Light Emitting Diode. LED)와 구동 회로로 구성되는 LED 교통 신호등은 특정 파장대의 단색광을 발광하므로, 기존의 백열전구식 신호등에 비해 시인성이 좋고, 80 % 이상의 에너지 절약이 가능하다. 그러나 LED는 주위 온도에 따라 밝기가 변화하는 특성이 있다. 신호등은 기능상 외부 온도의 영향 없이 항상 일정한 광도를 유지해야 하므로, 본 논문에서는 외부 온도의 변화에 관계없이 일정한 광출력을 유지할 수 있는 LED 구동회로를 설계한다 이를 위해 정전압 및 정전류로 구동되는 LED의 온도에 따른 광출력 특성 실험이 수행되고, 이러한 데이터들을 바탕으로 정광출력 LED 신호등 구동회로가 설계되고 그 성능을 평가한다.

In this paper, we develop a TMS320C31- 60 DSP board to generate spiral gradient waveforms for Spiral imaging, one of the ultra fast MRI methods. In Spiral imaging, accurate gradient waveforms are very important to acquire high quality image. For this purpose, sampling rate for generating the gradient waveforms is set twice as high as the data sampling rate. With the developed DSP board accurate gradient waveforms are obtained. Ultra fast MR image with the developed DSP board is currently under development.

The efficient representation and encoding of signals with limited resources, e.g., finite storage capacity and restricted transmission bandwidth, is a fundamental problem in technical information processing systems. Typically under realistic circumstances, the encoding and communication of message has to deal with different sources of noise and disturbances. In this paper, I propose a unifying approach to data compression by robust vector quantization, which explicitly deals with channel noise, and random elimination of prototypes. The resulting algorithm is able to limit the detrimental effect of noise in a very general communication scenario. In this paper, based on the robust vector quantization I have an experiment about speech coding.

최근 수년간 의료영상분야는 국내외적으로 급격한 발전을 거듭하고 있다. 특히 자기공명영상장치 (Magnetic Resonance Imaging), X-ray CT(Computed Tomography)와 단층촬영장치는 인체내부를 비침습적(non-invasive)으로 영상화함으로써 해부학적인 질병진단에 많은 장점을 가지고 있다. 이와같은 단층영상 재구성에는 역매트릭스법(matrix inversion). 반복재구성법(interative method), 역투영 법(back-projection), 2차원 Fourier 변환법(2D FFT), 중첩재구성법(Filtered back-projection) 등의 다양한 알고리즘을 사용하고 있다. 본 연구에서는 X-ray CT에서의 단층영상재구성 기법 중 널리 사용되고 있는 Filtered Back Projection 기법의 연산순서도와 연산량을 분석하고 이를 시뮬레이션을 통하여 확인하고 실시간 영상재구성을 위하여 범용 Digital Signal Processor의 병렬처리시스템 구성에 기반된 최적 Architecture를 선정하고자 한다.

Occupancy sensor is a efficient light control system which light on/off automatically and reduces the unnecessary power waste. From now the research on occupancy sensor is restricted to the selection of the appropriate place or sensor. Exist occupancy sensor changes the delay time by manually to the place or situation, so it is unreliable. The delay time can been changed by the average time of the occupied and the preset time, but it is not enough to reliable. In this paper, so to acquire the reliance the average and the standard deviation of the occupied time change the delay time automatically and protect the malfunction from the detector. And to embody it, AT89C52 microcontroller is adopted to the control circuit. It is verified by simulation and experiment results of output characteristic for randomized input.

This paper aims at developing remote control system to control and monitor distributed various devices through internet or information communication network. SNMP (Simple Network Management Protocol) and UPS (Uninterruptible Power Supply) are adopted for network management protocol and applied device, respectively. For controlling and monitoring distributed devices in real-time, Java-environment software is constructed. Also, general-use interface controller between network device and applied device is proposed. Finally, serial communication such as RS-232 and RS-485 is used between controller and applied device.

In this paper, a temperature compensating system(TCS) for LPG dispenser has been developed. A TCS includes a processor(80C196) with an AID converter. I/O port(82C55) and 6-digit vacuum fluorescent display. Based on encoding signals from the gas flow meter, different calibration values from each apparatus and temperature compensating values from the temperature sensor, the TCS controls the LPG dispensing quantity with switching on or off the solenoid valves. The temperature compensation is performed with analog-to-digital conversion of the temperature sensor. The resolution of temperature compensation is nearly $0.5^{\circ}C$ using 10-bit ADC. The field test of the TCS shows the exact temperature compensation.

When a input image is extensively magnified on the computer system, it is almost impossible to replicate the original shape because of mismatched coordinates system. In order to resolve the problem, the shape of the magnified image has been reconfigured using the bilinear interpolation method, low pass special filtering interpolation method and B-spline interpolation method. Ferguson curve interpolation method based on the CAD/CAM curve interpolation algorithm.

One of the important purposes o Telecommunications power plant operation is to supply safe power for maintaining the reliable communication services. Therefore, the power plant operation support system is generally used for efficient and maintenance of power plant without the increment of the operation and maintenance staffs. To operate and maintain a number of power plants efficiently, Korea Telecom developed centralized power plant monitoring and control system. In this paper, the system feature and main functions are described.

교환기나 전송장치 등 각종 통신설비에 전원을 공급하기 위해서 정류기, 축전지 및 발전기 등의 전원설비가 사용되고 있다. 이들 중에서도 정류기는 통신설비에 직류전원을 공급하기 때문에 다른 전원설비 보 다도 신뢰성 및 안정성이 확보된 장치로 인식되어 왔다. 그러나 현재 사내전화국에 설치 운용중인 정류기는 교환 기별로 종류가 다양하여 유지보수에 어려움이 내재하고 있을 뿐만 아니라 통신망의 광대역화, 대용량화에 대처가 곤란하며 정류기를 전력실 또는 통신실에 집중해서 설치 운용하는 집중공급방식으로는 축전지의 만충전이 곤란하다. 또한 현재의 이러한 급전방식은 통신장치의 광대역화, 고도화 등 통신망의 급격한 발전과 함께 다음과 같은 문제점이 대두되고 있다. 첫째, 전력실에서 총괄하여 교류전력을 직류48V로 변환해서 급전하기 때문에 급전전류가 크게되고, 또한 전력실에서 통신실까지의 급전손실이 크다 둘째, 통신설비의 증감에 따른 전원설비의 증감이 어렵기 때문에 설비 가동율이 나쁘다 셋째, 전원설비의 고장에 의한 전화국 전체설비에 심각한 영향을 미칠수 있다 이러한 문제점을 해소하기 위하여 집중 및 분산급전방식으로 운용이 가능하며, 또한 모든 전원설비를 감시/제어하는 전원 집중관리 시스템과의 인터페이스 등이 가능한 정류시스템을 1997년부터 개발하였다. 본고에서는 신형 정류기와 기존의 정류기와의 성능 및 특성에 대해 비교하였고, 특히 경제성측면과 설치상련에 대해 비교분석 하였다. 또한 집중급전방식과 분산급전방식의 특성에 대해서도 서술하였다.

In this study, the wireless communication system configuration and major equipments for KNGR will be introduced. Also the reliability and safety impact on the KNGR will be checked by reviewing /testing the EMI/RFI conditions of wireless communication system, The elements of the wireless communication system are radio exchange, base stations, portable telephone handsets.

초음파 진단기의 신호처리에 필요한 8-b 해상도와 40MS/s 이상의 변환속도를 갖는 ADC를 Folding and Interpolating 형태로 설계했다. 전력소모와 입력단의 오프셋에 의한 영향을 줄이기 위해 프리엠프의 출력을 Interpolation하여 그 개수를 절반으로 줄임으로써 전력소모를 줄였고, 기존의 전압모드 Interpolation 회로에서의 단순한 source follower를 정궤환을 이용한 버퍼의 형태로 바꾸어 이득을 개선시킴으로써 전압의 이용율을 높일 수 있었다. ADC에서 가장 중요한 비교기를 설계함에 있어서는 다이나믹 전력 소모만 있는 구조에 킥-백 노이즈를 줄이기 위한 설계를 했다 $0.6{\mu}m$ CMOS 공정을 이용해 설계되었고, Layout 결과 칩의 면적은 $1.3mm{\times}1.3mm$. 모의 실험결과 40MS/s에서 70mw의 전력을 소모하였다.

A CMOS two-stage oscillator applicable to requiring in- and quadrature-phase components such as RF and data retiming applications are presented using phase-look-ahead technique. This paper clearly describes the operation principle of the presented two-stage oscillator and the principle can be also applicable to the high speed high speed divide-by-two is usually used for prescaler of the frequency synthesizer. Also, the sucessful oscillation of the proposed oscillator using PLA is confirmed through the experiment. The test vehicle is designed using 0.8 ${\mu}m$ N-well CMOS process and it has a maximum 914MHz oscillation showing -75dBclHz phase noise at 100kHz offset with single 2V supply.

In this paper, a new structure of fully differential delay cell VCO using quadrature phase for low phase noise and high speed operation is suggested. It is realized by inserting voltage clamp circuit into input pairs of delay cells that include three-control current source having high output impedance. In this reason. this newly designed delay cell for VCO has the low power supply sensitivity so that the phase noise can be reduced. The whole characteristics of VCO were simulated by using HSPICE and SABER. Simulation results show that the phase noise of new VCO is quite small compared with conventional fully differential delay cell VCO and ring oscillator type VCO. It is also very beneficial to low power supply design because of wide tuning range.

A novel wide-tunable quadratic gamma corrector for HDTV camera applications is proposed. The new gamma corrector controls gamma value in a wide range by simple electrical adjustment of multipliers' gain. It has wide signal bandwidth of 30MHz sufficient for HDTV applications. It also simplifies the circuit design, resulting in a compact surface mounting board implementation with reduced power consumption. Simulation and experimental results confirm these characteristics.

A Novel wide-band wide-tunable current-mode (CM) gamma corrector for HDTV camera applications is proposed. The gamma corrector provides accurate gamma control in a wide range by simple electrical adjustment of weighting amplifiers' gain. It has wide signal bandwidth more than 40MHz sufficient for HDTV video signal processing and is implementable with simple integrated circuit with low power dissipation of 125mW.

본 논문은 전자유도방식을 이용한 무선인식시스템을 지하매설물에 적용하였다. 설계된 시스템은 송신주파수 132KHz, 응답주파수 66KHz로서 부반송파에 의한 ASK 방식으로 쌍방향 전송방식을 채택하였다. 실험결과 지하 2m 범위까지 4800bps의 전송속도로 60km의 이동속도를 갖는 차량으로 쌍방향 통신이 가능하여 차량을 이용한 지중 매설물 위치탐지 시스템 적용에 별다른 은제점이 없었다. 따라서 본 시스템의 도입으로 방대한 도면이나 DB에 의존해야 하는 기존의 지중 매설물 관리시스템에서 벗어나 정확한 현장 데이터에 의한 효율적인 지하 매설물 탐색은 물론 쌍방향 통신에 의한 신속한 매설물 데이터의 변경으로 신뢰성 있는 지중 매설물 관리가 기대된다.

In this paper, we are proposed ATM AAL 1 source clock recovery methods for CBR service. The proposed method compute the difference between network clock level and the reference level by inspecting the variation of a buffer. Also it is the service clock recovery method that control local clock using the look-up table defined clock dividing rate of the difference in advance. It can be applicable to both SDH network and PDH network which has no common reference clock between its ends, it has an important mean in view of the internetworking between existing networks for the integrated service chased by B_ISDN.

Convolutional coding with Viterbi decoding is known as a powerful method for forward error correction among many kinds of channel coding methods. This paper presents a soft decision Viterbi decoder which has systolic array trace-back architecture[1]. Soft decision is known as more effective method than hard decision and most of digital communication systems use soft decision. The advantage of using a systolic array decoder is that the trace-back operation can be accomplished continuously in an array of registers in a pipe-line fashion, instead of waiting for the entire trace-back procedure to be completed at each iteration. Therefore it may be suitable for faster communication system. We described operations of each module of the decoder and showed results of the logic synthesis and functional simulation.

In this paper we show an integrated system of crane maneuvering, crane productivity, terminal operating system, and material handling system, so that the terminal users can have a unified database which enables them to improve the productivity, convenience for users and offer a wide variety of choices resulting in sharing information between terminal operating companies and efficient management of national key harbor industries.

G3 팩스가 G1 팩스나 G2 팩스와 구별되는 점은 문서 이미지를 스캔하여 얻은 아날로그 신호(전압)를 디지털 신호로 바꿔주는 A/D 변환과 여기서 얻어진 디지털 신호를 전송을 위해 다시 아날로그 신호(주파수, 위상 진폭)로 바꿔주는 모듈레이션 과정이 중간에 신호를 압축하여 표현하는 코딩 단계가 있다는 것이다. 따라서 G1 팩스나 G2 팩스에 비해 s훨씬 적은 신호를 가지고 문서 이미지를 표현할 수 있으며, 결과적으로 전송속도가 빨라지는 것이 된다. 표준 A4용지는 수평 방향으로 1728개의 픽셀, 수직방향으로 1145라인의 픽셀로 구성된다. 따라서 층 1,978,560($1728{\times}1145$) 비트의 데이터가 A4용지 한 장에 포함될 수 있는 것이다. 팩스가 이런한 표준 A4용지를 스캔하게될 경우 수캔되는 매 라인에는 1728개의 검은색(글자 및 그림) 및 흰색 (여백)픽 셀들이 존재한다. G3 팩스는 서로 다른 Run Length에 비교적 짧은 특정 코드를 미리 할당해 놓고 실제 픽셀들 대신 이러한 코드들을 모듈레이션해서 전송한다. 따라서 전송속도는 단축된다.

This paper describes the remote fault monitoring system for tower parking facilities. This system consists of central station, remote monitoring equipments and communication equipments. The central station is developed under client-server architecture which composed a DB server, a fault detection client, a status collection client and a A/S client. And the remote monitoring systems are connected to central station by LAN using RAS(Remote Access Service) which is constructed PSTN(Public Switched Telephone Network). This system offers real-time fault detection and status data acquisition of tower parking system.

We propose a robust Dual-Mode blind equalization algorithm based on Quadrant-partitioned Constant Modulus Algorithm (QCMA) and Modified Constant Modulus Algorithm(MCMA) for QAM demodulation and its performance evaluated. The proposed algorithm show that the stability in setting 2d range and the faster convergence accomplished to conventional Dual-Mode algorithm.

RS(Reed-Solomon)부호는 오류 정정을 위한 채널 코딩기법중의 하나로 특히 연집 오류에 대해 강한 특성을 갖고 있으며, CD-P(Compact Disc Player), DAT(Digital Audio Tape). VTR, DVD(Digital Video Disc), 디지탈 TV 디코더등에서 사용되고 있다. 본 논문은 Galois Field, GF[$2^8$]상에서 (204. 188. 8)의 규격을 갖는 디지탈 TV용 RS 복호기의 구현에 관한 연구로 8개의 심볼 오류까지 정정 가능하다. 오증 계산은 16개의 오증 계산셀로 구성되어 지며, 오류 위치 다항식을 계산하는데 있어서는 Berlekamp-Massey 알고리즘을 사용한다. VHDL로 설계되어 Synopsys를 이용하여 검증 및 합성하였다.

In this paper, a new structure of realizing switching control logic for Data Weighted Average Technique is suggested. It uses memory and adder for summing past binary input and this summed data is used to select one switch in control logic. This control logic acts in parallel regardless of resolution so increasing resolution don't affect on converting speed. In this reason, high speed and high resolution D/A converter based on Data Weighted Average Technique could be made. In this paper, 4 bits current mode thermometer code D/A converter is degined and simulated by using HSPICE. Simulated results show that new structure of D/A converter has more than 250MHz converting speed and less than 0.0003[LSB] INL error. It is very useful in low power circuit because of using 3.3 V supply voltage.

본 논문에서는 Local Multipoint Distribution Service(LMDS) 시스템을 위한 결정궤솬 적응 등화기를 웨이블릿 변환영역 적응 알고리즘을 이용하여 설계하였다. 아울러, 제시된 결정 궤환 등화기를 16-QAM/QPSK 변조 방식을 이용한 Rummler 채널 모델을 사용하여 성능을 검증하였다. LMDS 채널 및 시스템 특성에 적합한 수치적 복잡성과 수렴 속도를 얻을 수 있었다.

OAEs are low-level sounds produced by cochlea as part of the normal hearing process. OAEs can be measured with a microphone placed in the outer ear-cannel. We can diagnose cochlea's condition by using OAEs. To diagonose it's condition, however, is difficult by reason of OAEs' tiny. Thus, It need to a method using latency which essential diagnosing a time-element of OAEs. This study proposes a latency detection algorithm using 7-QMF for more effective detection of latency, 7-QMF designed by wavelet theory can process signal without a losses of information. The latency-detector based on 7-QMF is superior to former method.

This paper introduces a nonlinear wavelet transform based on the lifting scheme, which is applied to signal denoising through the translation invariant wavelet transform. The wavelet representation using orthogonal wavelet bases has received widespread attention. Recently the lifting scheme has been developed for the construction of biorthogonal wavelets in the spatial domain. In this paper, we adaptively reduce the vanishing moments in the discontinuities to suppress the ringing artifacts and this customizes wavelet transforms providing an efficient framework for the translation invariant denoising. Special care has been given to the boundaries, where we design a set of different prediction coefficients to reduce the prediction error.

수신된 초음파 파형이 표준 파형과 정합되는 시간을 수신 시점으로 사용함으로써 정확한 거리측정을 가능하게 하는 초음파 센서 거리계의 성능 개선을 제안하였다. 근거리 측정용으로 많이 사용되는 초음파센서는 다른 거리측정 시스템에 비해 하드웨어 구현이 용이하고 가격이 저렴한 장점이 있으나 센서 수신부측 Limit 회로의 threshold level의 선택 문제에 따른 거리 측정의 오차와 소음에 의한 거리 측정 오차가 매우 큰 문제가 되고 있다. 본 논문에서는 수신된 초음파 파형에 표준 파형을 정합하여 최대의 정합값을 가지는 시점을 수신 시간으로 간주하여, 소음환경비서도 거리 측정이 가능한 파형 정합 방법을 제한하였다. 본 논문의 실험을 통하여, 잡음이 심한 소음환경에서도 제안한 파형 정합 방법이 Threshold 방법 보다 초음파센서 거리 측정 성능이 개선됨을 확인할 수 있었다.

In this paper describes the design and improvement of a hybrid module for dual slope A/D converter. Since the input voltage to be converted is very sensitive and small. A/D converter must have the temperature stability. low-drift, and the high-resolution the conversion. A dual slop A/D converter circuit which is controlled by microprocessoer has been developed to reduce the offset voltage and the drift characteristics of operation amplifiers, and to improve the A/D conversion speed. Also hybrid module has been adapted to obtain the to obtain the stable and accurate A/D conversion for low cost use. The evaluation of the designed hybrid module has been shown as having a good performance, which will give usefull application to the industrial measurements use.

This paper describes development of a microprocessor-based optoelectronic guard system established a higher level of control reliability in machine guard design. The system uses the design concept of diverse redundancy and a fast software algorithm. We have accomplished an safety light curtain system that allows to be intentionally disabled moving machine by the interrupt of dangerous situations. As a result, it is showed that the proposed system is effective enough to practical applications.

This paper proposes a new face recognition technique in the dynamic link architecture which shows robustness against size variation and distortion. The face recognition technique in the dynamic link architecture so far was not appropriate for the recognition of various size of faces because of the fixed size of the graph and the fixed value of a of the Gabor filter not considering the size of the face. The proposed face recognition algorithm can represent the input facial image by a suitable size of labeled graph, and it can also adjust the dilation width and the height of the vibrating amplitude of the Gabor filter, thus face recognition in the dynamic link architecture is even applicable regardless of the size of the face.

Two-dimensional optical code-division multiple access is a system to transmit a two- dimensional data via parallel transmission line. The probability density function (pdf) of interference noise from other users is calculated and the pdf of asynchronous interference noise is newly calculated to present lower bounds of probability of error. The corresponding bit error rate is evaluated from this results.

The current educational software usually has limitations of accessing and mutual communication. Networking Technology can overcome these limitations. Using Internet, students can access the educational resources easily and learning process can be monitored. In this study a virtual experiment program is developed for students to practice the basic electronic experiment, which is a fundamental subject in electronic department curriculum. Students can understand the basic theory and rules easily by simulated experimental process. Almost the same result is obtained as in real experiment because this program is made to simulate the real experiment. The virtual experiment site can be accessed easily by Internet and an experiment is performed based on individual basis without restriction of location and time. This program can be used as fully the real experiment substitution or supplementary educational materials. In both case, it provides many benefits in education.

The APC is a coding algorithm which has the middle property of both Wave Coding(ex ADPCM) and Vocoding(ex CELP) and can decode a proper quality of sound by using scalar quantizer instead of vector quantizer at computation a low calculation. So, the APC required for Voice Codec of INMARSAT-B could be successfully implemented by full duplex using TMS32OC30(DSP).

In this paper, we present the Tele-PACS of radiology, which uses the communication network as asymetric satellite data communication system. The asymetric satellite data communication system uses receive-only satellite links for data delivery and PSTN(Public Switched Telephone Network) modem or N-ISDN(Integrate Services Digital Network) for communication. The satellite communication linking shows the very high-speed performance than terrestial linking such as 28.8 kbps modem linking and 56Kbps linking. The satellite linking is 5 - 10 times faster than the 56Kbps linking. We conclude that 1) Satellite networking is currently the cheapest and fastest solution for internet access. 2) Web-based Image-Viewer enables small size hospitals in rural area to connect to central PACS easily and to retrieve the image data reliably. 3) The suggested teleradiology system using satellite networking could be adequate to fast telemedicine and telecare for rural hospitals especially located in geographically isolated areas such as islands.

출생시 국내에서 영아 사망률은 약 1%에 이르고 태아의 질병발생과 사망은 계속적으로 일어나고 있으므로 저가의 태아감시기술의 개발이 절실하다. 이를 위하여 본 연구는 임산부의 복부로부터 태아의 움직임과 심음을 검출하는 증폭기의 개발을 목표로 한다. 검출된 신호는 듣거나 녹음할 수 있으며. A/D 변환할 경우 PC에서 태아의 심음을 분석할 수 있게 한다. 개발된 증폭기를 이용하여 잡음에 노출된 일반 대학병원 환경에서 30명의 임산부를 대상으로 임상실험을 수행한 결과, 저잡음 특성을 나타내고. 빠른 경우 22주에서도 태아의 심음을 검출할 수 있었고. 심음의 주기검출이 가능하였다.

Recently contactless ID system has emerged as new ID industry. It's called RF-ID. RF-ID is divided into active RF-ID and passive RF-ID. The passive RF-ID operates without battery and so has no limitation in its operating range and life time. But it needs the RF-OC conversion circuit. It also can be applied to batteryless sensor for many application. This paper presents the study of the RF-OC conversion circuit for batteryless system in high frequency and confirms it by simulation and experiment.

A passive RF transponder incorporating a non volatile memory element is powered by inductive coupling to a proximately located RF reader and communicates with reader. In this study, we designed and analyzed the passive RF transponder which is operated at 134kHz.

Capacitance-type alcohol gas sensors using porous silicon (PS) layer as sensitive film were fabricated to measure low alcohol gas concentration. Though sensors using porous silicon layer have show high sensitivity by large internal surface area, there is still much room for improvement to measure low breath alcohol concentration especially at room temperature. In this work, to discuss the response properties against exposure to organic vapor for breath alcohol measurements on the basis of experimental results. we measured the variation of the capacitance for the range of 0 to 0.5% alcohol concentration, and observed the improvement of sensitivity by illumination of UV light. In addition, the effect of CO2 and N2 gases involved commonly in exhaling breath was estimated, and the same procedure against methanol vapor was executed to compare qualitatively with the capacitance characteristics by alcohol vapor.

This paper presents the fabrication of a micro electromagnetic flowmeter for liquid flow rate measurement. The flowmeter consists of a silicon flow channel with two electrodes and two permanent magnets. The micro flow channel and the detection electrodes are fabricated by the anisotropic etching of two silicon substrates and the metal evaporation process respectively. If conductive fluid passes through a magnet field, electromotive force is generated and detected by two electrodes. When the flow rate is 2.6 ml/sec, the measured output voltage is 7.4 mV.

In this paper, new micromachined tunable bandpass filters for multi-band millimeter-wave telecommunication systems are proposed. Two types of mm-wave tunable filters are fabricated using micromachining technology and the responses of the filters are measured. One is two-pole lumped elements filter and the other two-pole resonators filter. Frequency tunability of the filter is achieved by changing the gap between a common CPW ground plate and the movable cantilever beam connected to the transmission line with the controllable range of 2.5 ${\mu}m$. The deflection of cantilever beam is measured with the applied DC voltage. With the applied bias voltage from 0 to 50 V, the fabricated filters show 0.6 GHz(2.3 %) at 26.6 GHz, and 0.8 GHz(2.5%) at 32 GHz center frequency shift for the lumped elements and resonators filter, respectively.

This paper presents a new method of spacer assembly using anodic bonding method which is very simple and clean. The spacer having $100{\mu}m(W){\times}2.1{\mu}m(H)$ was bonded on amorphous silicon film of anode plate. Then, the vertical-type electrode was used for assembling of spacer in high voltage field emission display. In these results, we suggested that the vertical-type electrode provided spacer alignment for high aspect ratio and more simple batch process than conventional method.

LIGA 기술을 제품의 대량생산에 적용하기 위해서는 한번에 넓은 면적을 노광할 수 있는 X-ray 마스크가 요구된다. 기존에 널리 사용되고 있는 SiN 멤브레인 마스크는 내구성이 좋지 않고 면적을 크게하기 어렵다. 따라서 본 연구에서는 이러한 단점을 보완하기 위해 상용 graphite sheet를 이용하여 X-ray 마스크를 제작하였다. 제작된 graphite 마스크와 SiN 마스크를 이용하여 동일한 조건에서 X-ray 노광 실험을 하였고 마스크의 외형변화를 관찰하였다. 그 결과 SiN 마스크는 에너지 2.3GeV, 평균 전류 110mA에서 약 18시간 만에 파괴되었으나 graphite mask는 60시간 경과 후에도 육안상의 변화는 관찰되지 않았다. 또한 graphite 마스크를 이용하여 제작된 미세구조물의 치수측정결과 오차가 $1{\mu}m$ 미만인 정밀한 구조물 제작이 가능함을 확인하였다.

This paper describes a method of direct wafer bonding using surfaces activated by a radio-frequency hydrogen plasma. The hydrogen plasma cleaning of silicon in the RIE mode was investigated as a pretreatment for silicon direct bonding. The cleaned silicon surface was successfully terminated by hydrogen, The hydrogen-terminated surfaces were rendered hydrophilic, which could be wetted by Dl water rinse. Two wafers of silicon and silicon dioxide were contacted to each other at room temperature and postannealed at $300{\sim}1100^{\circ}C$ in an $N_2$ atmosphere for 2 h. From the AFM results, it was revealed that the surface became rougher with the increased plasma exposure time and power. The effect of the plasma treatment on the surface chemistry was investigated by the AES analysis. It was shown that the carbon contamination at the surface could be reduced below 5 at %. The interfacial energy measured by the crack propagation method was 122 $mJ/m^2$ and 384 $mJ/m^2$ for RCA cleaning and hydrogen plasm, respectively.

Fluid characteristics at microscale were tried to be solved in this paper by showing how they deviate with conventional flow governing equations. (e.g. Navier-Stokes Equation) In earlier studies, this deviation phenomena was caused because of omitting no slip flow condition, micropolar effect and EDL(Electric Double Layer)effect of fluid which are usually negligible at macroscaled phenomena. The characteristics of fluid flow were tried to be studied by measuring pressure difference of specified length of the channels using the almost squared micromachined channels. By acquiring pressure difference, we could drive different values (viscosity, flow velocity. etc) from it and these data will be compared with macroscaled flow characteristics. As making microchannel is not easy work and that our knowledge is at mere stage, we had to fail to make it in this time. The hardest thing in this work is to make a hole which is directly connected with channel. The more efficient and easy way of making microchannel is proposed in this paper.

The electrostatically actuated test structure was presented to measure the micro mechanical characteristics of micromaterials as thin films forming the microactuators. The test structure was fabricated by the surface micromachining processes and driven by the electrostatic force, In order to measure the fracture toughness, the sharp notch in the test structure was introduced by the etching process. On the basis of the beam bending theory, the elastic modulus was measured by using the microcantilevr beam and the mechanical displacement, curvature and deflection curve under the electrostatic force was evaluated by using the electrostatic structure.

The vibration and impact hinders the movement of micro dynamic system. The controllable micro damper is a solution for this problem. In this paper, the controllable micro damper for MR(Magneto - Rheological) Fluid is designed and fabricated using bulk micromachining process and organic bonding technique. The damping constant of micro MR damper changes according to input magnetic field. The response of the micro MR damper is measured and the experimental results are compared.

In this paper, electrostatic scanner mirror for optical pick-up head is designed and fabricated. The mirror size is $20{\mu}m{\times}2400{\mu}m{\times}2400{\mu}m$ and torsional beam size is $10{\mu}m{\times}20{\mu}m{\times}500{\mu}m$. Static deflection angle is calculated ${\pm}0.4$ degrees when the maximum driving voltage is 20 V. Silicon mirror was fabricated using KOH etching and deep RIE. For passivation of the patterned mirror from KOH solution, parylene thin film was used and its usefulness has been verified. Driving electrode was fabricated using UV LIGA process. Mirror and electrode were bonded.

This paper presents the fabrication of an electromagnetic micro actuator consisting of a Parylene diaphragm with a spiral copper coil and a permanent magnet. The copper coil is fabricated by electroplating and patterning. The frequency response of the actuator are obtained using a laser vibrometer. When the input voltage is 3 V, the DC deflection is 5 ${\mu}m$, and the resonance frequency is about 35 Hz. Also, the mechanical sensitivity of the actuator diaphragm is 69 ${\mu}m/V$.

In this paper, a $10{\times}10$ micro SLM array for phase and amplitude modulation of incident light is designed and fabricated using surface micromachining technology. Hidden spring structure is used in order to maximize the fill-factor and minimize diffraction effect at the support posts. Static and dynamic characteristics of designed micro SLM are simulated with ABAQUS and measured with optical measurement system using He-Ne laser and PSD(position sensitive devise).

A new method of measuring residual stresses in micromachined films using beam or ring structures is proposed. Using the proposed method, more exact value of residual stress can be obtained without any ambiguities in conventional buckling method. Theoretical modeling with respect to this method is described, and experiment is performed. The structure and fabrication process in this paper are simple and widely used in surface micromachining. Therefore, it is possible to obtain a synchronous measurement. A synchronous and reason -able estimation of residual stresses in micromachined films enables us to obtain the prediction of more exact performance in micromachined devices.

In this study, we used the sputtering method with single target to obtain the thick and uniform PZT($PbZrTiO_3$) films for micromached IR sensor application. Then, we investigated the etching characteristics and conditions which is necessary process to fabricate the IR sensor. We tested the C-axis orientation and P-E loop of the deposited PZT films with the XRD and RT66A, respectively. Also we investigated the surface of the films by the AFM and SEM analysis.

Electrochemical discharge machining (ECDM) is a very recent technique in the fabrication of the micro-electro-mechanical system ( MEMS ) devices. This paper presents the experimental results of the machining of micro-holes on pyrex glass substrates by use of ECDM. Electrolyte is used with a KOH aqueous solution, cathode with copper, anode with platinum, and tool feed system is applied with gravity feed system. Already established experimental results were taken under the condition of constant voltage frequency. However in this paper, the effect of variation of the voltage frequency and duty ratio is considered. In this experiment, it is measured the ECDM performances with variation of the voltage frequency and duty ratio under the conditions of constant other machining variables. ECDM performances are described by the hole depth, and the top hole diameter.

We have studied the method of silicon direct bonding using the mixture of $HNO_$, $H_2O_2$, and HF chemicals called the controlled slight etch (CSE) solution for the effective wafer cleaning. CSE, two combinations of oxidizing and etching agents, have been used to clean the silicon surfaces prior to wafer bonding. Two wafers of silicon and silicon dioxide were contacted each other at room temperature and postannealed at $300{\sim}1100^{\circ}C$ in $N_2$ ambient for 2.5 h. We have cleaned silicon wafers with the various HF concentrations and characterized the parameters with regard to surface roughness, chemical nature, chemical oxide thickness, and bonding energy. It was observed that the chemical oxide thickness on silicon wafer decreased with increasing HF concentrations. The initial interfacial energy and final energy postannealed at $1100^{\circ}C$ for 2.5h measured by the crack propagation method was 122 $mJ/m^2$ and 2.96 $mJ/m^2$, respectively.

Si direct bonding(SDB) technology is very attractive for both Si-on-insulator(SOI) electric devices and MEMS applications because of its stress free structure and stability. This paper presents on pre-bonding according to HF pre-treatment conditions in Si wafer direct bonding. The characteristics of bonded sample were measured under different bonding conditions of HF concentration, and applied pressure. The bonding strength was evaluated by tensile strength method. The bonded interface and the void were analyzed by using SEM and IR camera respectively. A bond characteristic on the interface was analyzed by using IT- IR. Si-F bonds on Si surface after HF pre-treatment are replaced by Si-OH during a DI water rinse. Consequently, hydrophobic wafer was bonded by hydrogen bonding of Si $OH{\cdots}(HOH{\cdots}HOH{\cdots}HOH){\cdots}OH-Si$. The bond strength depends on the HF pre-treatment condition before pre- bonding (Min:$2.4kgf/crn^2{\sim}Max:14.9kgf/crn^2$)

PMMA(poly-methyl methacrylate) microlens array is fabricated using transparent acrylic resin. PMMA is commonly used material for plastic lens due to its excellent visibility larger than 90% and other optical characteristics so much close to those of glass. Orthodontic resin (DENTSPLY International Inc.), commonly used in dentistry, is an transparent acrylic resin kit including MMA liquid and polymerization powder. Their mixture results in PMMA through polymerization. Using the resin PMMA layer is formed on the substrate through spin-coating. Designed pattern of lens structure is transferred to PMMA layer by RIE (Reactive Ion Etching) with oxygen plasma. Final lens shape is formed by thermal treatment that causes PMMA to reflow, The thickness of PMMA spun on the substrate is $17{\mu}m$ that is also final sag of microlens, Designed diameters of the microlenses are $200{\mu}m$, $300{\mu}m$,and $500{\mu}m$, respectively.

Pt-RTD and Micro Heater was fabricated by using MgO as medium layer in order to improve adhesion of Pt thin-films to $SiO_2$ layer, MgO layer improved adhesion of Pt thin-films to $SiO_2$ layer without any chemical reactions to Pt thin-films under high annealing temperatures, In the analysis of properties of Pt-RTD, TCR value had 3927 $ppm/^{\circ}C$ and liner in the temperature range of $25-400^{\circ}C$. The temperature of Pt micro-heater had up to $400^{\circ}C$ with 1.5watts of the heating power. In investigating output characteristics of flow sensors output voltages increased as gas flow rate and its conductivity increased due to increase of heat-loss from sensor to external. Output voltage was 82 mV at $N_2$ flow rate of 2000sccm, heating power of 1.2W.

This paper studies on the design and fabrication of a micro in-plane positioning actuator integrated with a microlens. Proposed in-plane actuator is a micro XY-stage which is composed of two linear comb drive actuators being orthogonal to each other. In the fabrication of actuator, the single crystalline silicon substrate anodically bonded with a #7740 glass substrate is used because of simple release and passivation. The structure of actuator is formed on the silicon facet of bonded fixture by chlorine-based deep RIE and then released by isotropic wet etching of glass (#7740) in hydrofluoric acid solution. Fabricated actuator has a large travel range up to $30({\pm}15){\mu}m$ and high resolution less than 0.01f1l1l in each direction. Experimented resonant frequency of this actuator is 630Hz. The micro-Fresnel lens is fabricated on the square-shape glass structure prepared in the center of actuator.

A microgripper driven by E-T (electro-thermal) actuators has been designed and fabricated by surface micromachining. This microgripper consists of two E-T actuators. Each actuator has two arms with different widths joined at the end to form a 'U' shape. The wider 'cold' arm has a narrow flexure at the end (anchor or electrode side) for easy bending, This actuator can be fabricated with only two masks - one for the sacrificial layer and the other for the poly-Si structure layer. An E-T actuator bends its arm due to unequal thermal expansion between the 'cold' arm and the 'hot' arm, This actuator tip moves laterally in an arcing motion towards the cold arm side when the structure is unevenly heated by the applied current. Therefore each microgripper is actuated inwards and can hold a micro object. The fabricated E-T actuator was operated in the range of $2{\sim}12V$ and $1{\sim}5mA$. and maximum tip displacement was $13.6{\mu}m$. This device may become useful in many applications because an E-T actuator can be designed and fabricated easily, and obtain large displacement.

In this paper, the fabrication of a micro actuator with a micro electromagnet and an actuator diaphragm is presented. The micro electromagnet consists of a magnetic core and a micro inductive planar coil. The actuator diaphragm is the p+ silicon diaphragm on both sides of which magnetostrictive materials are deposited by sputtering. The micro electromagnet is fabricated by sputtering, evaporating, etching and electroplating. The magnetic flux density of the micro electromagnet is measured by using the gauss meter. The deflection of the actuator diaphragm is measured by using the laser vibrometer and optic microscope.

A novel antistiction method using photo resist is proposed and verified to improve the yield of polysilicon micromachining process. $7.5{\mu}m-thick$ polysilicon is used as a structural layer. Residual stress and stress gradient originated from polysilicon deposition with LPCVD process is relaxed by doping and thermal treatment. The stress gradient of stress-free polysilicon layer is $-0.755MPa/{\mu}m$.