In this paper, we exploit the cooperative diversity relay protocol to compensate for defects of wireless communication in 60 GHz. We derive and proof results of the numerical expressions versus various scenarios using the computer simulations. Optimal location and scaling factor of relay are presented through analysis of performances and compared between direct-path and time diversity transmission. Consequently, our results confirm that cooperative diversity relay protocol is an effective mean of enhancing the performance of wireless communication systems in 60 GHz.

In this paper. we propose receiver algorithms for VHF(Very High Frequency) digital link mode-2(VDL Mode-2) systems. Unlike conventional digital communication systems using the root raised cosine filter as a transmit and receive filter, raised cosine filter is used as a transmit filter in VDL Mode-2 systems. Hence, it is crucial to design and implement the optimum lowpass receive filter by considering the amount of inter-symbol interference and noise performance. On the other hand, due to the short preamble pattern, it is crucial to develop an efficient packet detection algorithm for reliable communication link. In this paper, we design the optimum receive filter and packet detection algorithm and evaluate the performance of receiver adopting the proposed receive filter and packet detection algorithm.

It is well-known that the performance of turbo codes can be improved by allocating different energies per code symbol. In this paper, based on this observation, we propose a joint encoding and modulation scheme for quadrature amplitude modulated turbo code systems. In the proposed scheme, the amount of energy difference between the turbo coded symbols is optimized by optimizing the constellation of quadrature amplitude modulation(QAM). The proposed scheme offers better coding gain compared to the conventional combination of binary turbo code and QAM at the bit error rate of $10^{-5}$.

본 연구는 PDA, 노트북 등에 IP주소의 이동성을 지원해 주는 프로토콜인 mobile IP에서 smooth handoff의 지연 요소를 최대한 줄이기 위해 지역 관리 방식의 FA를 사용하여 성능을 향상시키는 방안에 대해 연구하였다. 본 연구에서는 기존에 알려진 방식들의 성능을 NS-2를 이용하여 전송지연, 처리율 등의 분석을 실시하였으며 모든 FA에 버퍼를 내장한 방식과 지역관리용 FA를 이용한 방식에 대하여도 각종 성능을 측정하여 기존의 방식에 비해 어느 정도 성능 향상이 있는지 확인하였다. 본 연구를 통해 지역관리 기능을 수행하는 GFA를 핸드오프 발생 간격이 25초 이상에서는 바인딩 시간 단축에 의한 효과가 있음을 확인할 수 있었다. 이와 같은 연구 결과를 실제 무선 인터넷망 구축에 활용한다면 무선 인터넷망 구축에 관한 관련 자료가 많지 않은 현 상황에서 FA와 MN의 용량과 성능을 결정하는데 보탬이 될 것으로 확신한다.

VoIP(Voice over IP) is the technology to transport voice and video over IP networks such as Internet. Today, VoIP technology is viewed as the right choice for provide voice, video, and data communication over next generation network. We are sure that the multipoint VoIP will help enhancing the various application services in ubiquitous environment. The paper shows multipoint VoIP system implemented with end-point mixing model and introduces various embedded systems such as UFC(Ubiquitous Fashionable Computer), tourist guide terminal and industrial terminal which use the multipoint VoIP.

The reflectometry for locating the fault at a cable is the same as a problem estimating the time delay between the incident and the reflected signals. In this paper, we propose a method for estimating the time delay between the two signals. The proposed method is based on the modeling of the Gaussian enveloped linear chirp signal in the Gaussian noise environment. The phase and the instantaneous frequency of the received signal are estimated by linear Kalman filtering. From the estimated instantaneous frequency, we can measure the time interval between the center frequencies of the incident and the reflected signals. The time interval is the same as the time delay between the incident and the reflected signals. In a simulation assuming that the cable has open fault at the end of the cable, the proposed method showed a good result in estimating the time delay.

This paper presents the stereoscopic conversion of flame images. The stereoscopic conversion is a technology that generates left and right images from a monoscopic image. Even though many conversion methods have been introduced and commercialized so far, the processing of flame images is relatively few. Such conventional methods are effectively used either real-time or off-line. However, the application of such schemes to special-effect images such as flame is hard to be applied. The proposed method is designed to convert a flame image into a stereoscopic image. Depth map of flame regions are produced based on the analysis of color models of flames. Experimental results tested on diverse flame image sets validates the effectiveness of the proposed method.

This paper describes a 3-DTIP(3-D Tour Into Picture) using depth map for a Korean classical painting being composed of persons and landscape. Unlike conventional TIP methods providing 2-D image or video, our proposed TIP can provide users with 3-D stereoscopic contents. Navigating inside a picture provides more realistic and immersive perception. The method firstly makes depth map. Input data consists of foreground object, background image, depth map, foreground mask. Firstly we separate foreground object and background, make each of their depth map. Background is decomposed into polygons and assigned depth value to each vertexes. Then a polygon is decomposed into many triangles. Gouraud shading is used to make a final depth map. Navigating into a picture uses OpenGL library. Our proposed method was tested on "Danopungjun" and "Muyigido" that are famous paintings made in Chosun Dynasty. The stereoscopic video was proved to deliver new 3-D perception better than 2-D video.

Face detection using AdaBoost algorithm is capable of processing images rapidly while having high detection rates. It seemed to be the fastest and the most robust and it is still today. Many improvements or extensions of this method have been proposed. However, previous approaches only deal with upright faces. They suffer from limited discriminant capability for rotated faces as these methods apply the same features for both upright and rotated faces. To solve this problem, it is necessary that we rotate input images or make independently trained detectors. However, this can be slow and can require a lot of training data, since each classifier requires the computation of many different image features. This paper proposes a robust algorithm for finding rotated faces within an image. It reduces the computational and sample complexity, by finding common features that can be shared across the classes. And it will be able to apply with multi-class object detection.

This paper proposes an effective lane detection algorithm using hugh transform and lane model. The proposed lane detection algorithm includes two major components, i.e., lane marks segmentation and an exact lane extraction using a novel postprocessing technique. The first step is to segment lane marks from background images using HSV color model. Then, a novel postprocessing is used to detect an exact lane using Hugh transform and lane models(linear and curved lane models). The postprocessing consists of three parts, i.e, thinning process, Hugh Transform and filtering process. We divide input image into three regions of interests(ROIs). Based on lane curve function(LCF), we can detect an exact lane from various extracted lane lines. The lane models(linear and curved lane mode]) are used in order to judge whether each lane segment is fit or not in each ROIs. Experimental results show that the proposed scheme is very effective in lane detection.

In the research of speech recognition, locating the beginning and end of a speech utterance in a background of noise is of great importance. Since the background noise presenting to record will introduce disturbance while we just want to get the stationary parameters to represent the corresponding speech section, in particular, a major source of error in automatic recognition system of isolated words is the inaccurate detection of beginning and ending boundaries of test and reference templates, thus we must find potent method to remove the unnecessary regions of a speech signal. The conventional methods for speech endpoint detection are based on two simple time-domain measurements - short-time energy, and short-time zero-crossing rate, which couldn't guarantee the precise results if in the low signal-to-noise ratio environments. This paper proposes a novel approach that finds the Lyapunov exponent of time-domain waveform. This proposed method has no use for obtaining the frequency-domain parameters for endpoint detection process, e.g. Mel-Scale Features, which have been introduced in other paper. Comparing with the conventional methods based on short-time energy and short-time zero-crossing rate, the novel approach based on time-domain Lyapunov Exponents(LEs) is low complexity and suitable for Digital Isolated Word Recognition System.

This paper presents an algorithm, which is based on Otsu's method, for accurate and robust endpoint detection for speech recognition under noisy environments. The features are extracted in time domain, and then an optimal threshold is selected by minimizing the discriminant criterion, so as to maximize the separability of the speech part and environment part. The simulation results show that the method play a good performance in detection accuracy.

Wireless Sensor Network(WSN) has been very popular in unattended surveillance systems recently. For Applying WSN into Building Automation system(BAS), a novel hierarchial network structure and static routing algorithm which eliminates the scalability limitation of Zigbee are proposed in this paper. The static routing algorithm relying on the hierarchial network address reduces the computational complexity to a great extent and has a real-time performance which satisfies urgent applications well.

This paper presents an IAQ(Indoor Air Quality) Monitoring System using equipments for measurement of fine Particle($PM1{\sim}PM10$), $CO_2$, VOCs(Volatile Organic Compounds), temperature and humidity for IAQ monitoring of subway station which millions of people use a day. The necessity of IAQ monitoring system is getting increased for more effective subway station monitoring in line with the recent government's regulation for IAQ is reinforcing. Subway Station is an unusual case. The structure of subway station is closed and complicated. Therefore when data of equipments are transferred, transmission error can happen occasionally. To prevent transmission error, an IAQ Monitoring System is needed the appropriate position and selection of equipments or sensor module. In addition IT(Information Technology) can be utilized like "WiBro(Wireless Broadband)" and "GateWay" for facilitate movement of data and construction of IAQ monitoring system of subway station.

In wireless sensor networks(WSNs), geographic routing algorithms can enhance the network capacity. However, in the real WSNs, it is difficult for each node to know its accurate physical location. Geographic routing with location error may have serious problems such as disconnected links and delayed data transmission. In this letter, we present an efficient location error detection scheme for geographic routing. The proposed algorithm can efficiently update its incorrect location without additional procedure and finally enhance the performance on the geographic routing with the location errors.

We propose an image change detection algorithm implemented on sensor nodes of the ubiquitous sensor network(USN). The proposed algorithm was designed for the robust detection of image changes regardless of the continuously changing ambient illumination environment. Morphological lowpass filter was used for estimating the illumination component in order to reduce computational burden instead of the existing Gaussian lowpass filter. The decision of the change detection is based on the result of threshold of difference image between two consecutive images. We also propose a new thresholding method using precalculated histogram information. The proposed algorithm was implemented on the MSP430 16bit microprocessor.

본 논문에서는 DSDV 프로토콜을 사용하여 MN의 이동으로 포워딩이 실패하면 smooth handoff방식을 사용하지 않고 바로 애드 혹 라우팅 기법을 통해 이동 노드를 통해 데이터그램을 전달하도록 하는 실험을 수행하였는데, DSDV 라우팅 프로토콜을 사용한 방식의 경우 핸드오프가 발생하지 않은 경우와 거의 같은 성능을 나타냈으며, MN의 개수에 따라서는 전송지연시간이 증가하나 핸드오프 발생간격에는 거의 무관하며 기존의 방식들에 비해 전송지연시간이 작아짐을 확인할 수 있다. 중계 노드의 이동은 DSDV 라우팅 방식의 가장 큰 문제점이지만 중계 노드의 이동속도가 실제로는 5m/sec이내가 대부분이므로 크게 문제되지는 않는다. 이와 같은 연구 결과를 캠퍼스와 같이 제한된 지역에서 활용할 경우 smooth handoff의 속도 지연에 대한 문제를 줄일 수 있을 것으로 예상된다.

본 논문에서는 이동 애드 혹 네트워크의 성능 개선을 위한 방안으로 네트워크 중간에 고정 로드를 부가하여 어느 정도의 성능 향상이 있는지를 모의 실험을 통하여 평가하였다. 모의 실험 결과 이동 노드만을 사용했을 경우보다 고정노드를 함께 사용했을 때의 성능이 더 뛰어남을 알 수 있었고, 이동 노드의 이동 속도에 따른 비교에서도 고정 노드를 함께 사용한 경우가 성능이 더 뛰어남을 확인할 수 있었다. 또한 고정 노드의 개수에 따른 성능평가에서는 고정 노드를 여러 대 사용할수록 지연시간이 단축됨을 확인 할 수 있었다. 본 연구에서 제안한 방식은 이동 애드 혹 네트워크의 중간에 고정 노드를 부가하여야 하는 문제가 있으나, 비용과 처리율과의 관계를 비교한 후 비용 상승에도 불구하고 보다 높은 신뢰성과 빠른 처리율을 원하는 네트워크에 사용하면 효과적일 것이다.

This paper deals with the consensus problem for multi-agent linear dynamic systems with parameter uncertainties. All the agents are identical high-order linear systems with parameter uncertainties and their state information is exchanged through a communication network. It is shown that a consensus is achieved if there exists a feasible solution to a set of linear matrix inequalities obtained for a simultaneous stabilization problem for multiple systems. A numerical example is presented to show the effectiveness of the proposed method.

In this paper, nonlinear active noise control(ANC) of a 3rd-order Volterra system, which is robust to background noise variation, is proposed along with a variable step-size Gauss-Seidel pseudo affine projection(VSSGS-PAP) algorithm. Simulation results demonstrate that the proposed approach yields better nonlinear ANC performance in a background noise variation environment, compared with the conventional methods for the nonlinear ANC.

The smart grid which is called the future power system should satisfy the customers who want various choices and realtime energy price. The two-way information exchange platform for energy customers provides the infrastructure to transform today's ESP(Energy Service Provider)-centered power system operation into customer-oriented operation. It enables ESPs to provide their customers with a variety of services by communicating with various appliances in customer's premises. In this paper, the portal-based platform model for the two-way information exchange and its implementation are described.

This paper considers the problem of global adaptive regulation for a class of nonlinear systems which have multiple unknown virtual control coefficient. By using a new parameter estimator and backstepping technique, we design a smooth state feedback control law, parameter update laws that estimate the unknown virtual control coefficients, and a continuously differentiable Lyapunov function which is positive definite and proper.

In this paper, we design a dynamic state feedback smooth stabilizer for a nonlinear system whose Jacobian linearization may have uncontrollable because its eigenvalues are on the right half-plane. After designing an augmented system, a dynamic exponent scaling and backstepping enable one to explicitly design a smooth stabilizer and a continuously differentiable Lyapunov function which is positive definite and proper.

This paper presents a new PID controller for a DC/DC boost converter model that has a parasitic inductor resistance. In order to maintain the robust output regulation property under load variations the proposed controller is designed by using an additional state variable developed via a parallel-damped passivity-based control approach. Simulation results using Matlab/Simulink SimPowerSystems compare the performances of the proposed controller with a conventional PI controller for reference step changes and load uncertainties.

This paper deals with the consensus problem for multi-agent linear dynamic systems with communication delay. All the agents are identical high-order linear systems and their state information is exchanged through a communication network with constant communication delay. It is shown that a consensus is achieved if there exists a feasible solution to a set of linear matrix inequalities obtained for a simultaneous stabilization problem for multiple systems with delay. A numerical example is presented to show the effectiveness of the proposed method.

In this paper, we present the Q-learning method for adaptive traffic signal control on the basis of In this paper, we present the Q-learning method for adaptive traffic signal control on the basis of multi-agent technology. The structure is composed of sixphase agents and one intersection agent. Wireless communication network provides the possibility of the cooperation of agents. As one kind of reinforcement learning, Q-learning is adopted as the algorithm of the control mechanism, which can acquire optical control strategies from delayed reward; furthermore, we adopt dynamic learning method instead of static method, which is more practical. Simulation result indicates that it is more effective than traditional signal system.

In this paper, we present the Q-learning method for adaptive traffic signal control on the basis of multi-agent technology. The structure is composed of sixphase agents and one intersection agent. Wireless communication network provides the possibility of the cooperation of agents. As one kind of reinforcement learning, Q-learning is adopted as the algorithm of the control mechanism, which can acquire optical control strategies from delayed reward; furthermore, we adopt dynamic learning method instead of static method, which is more practical. Simulation result indicates that it is more effective than traditional signal system.

Bilateral teleoperation systems, connected to computer networks such as Internet have to deal with the time delay varying depending on factors such as congestion, bandwidth or distance. And the entire system is easy to become unstable due to irregular time delay. Passivity concept has been using as a framework to solve the stability problem in bilateral control of teleoperation. Acontrol scheme for teleoperation systems with varying time delay is proposed based on a passivity concept is proposed in this paper. One approach makinguse of the characteristic impedances is proposed to achieve a passive control. Since passive control does not mean that the system performance will be acceptable, another transmission scheme which focuses on both the passive feature and the acceptable performance is configured for varying time delay in this paper. The tracking performance has been proved through the computer simulation for varying time delay bilateral teleoperation system using Matlab Simulink.

This paper presents a pseudorandom tag arrangement for improved RFID based mobile robot localization. First, four repetitive tag arrangements, including square, parallelogram, tilted square, and equilateral triangle, are examined. For each tag arrangement, the difficulty in tag installation and the problem of tag invisibility are discussed. Then, taking into account both tag invisibility and tag installation, a pseudorandom tag arrangement is proposed, which is inspired from a Sudoku puzzle. It is shown that the proposed tag arrangement exhibits spatial randomness quite successively without increased difficulty in installation.

In this paper, we handle automatic estimation of mechanical parameters for mobile robots. Most estimation methods are based on the sequence and move-measurement-estimation. Estimated accuracy is largely dependent on the paths. Mathematical conditions minimizing estimation errors are derived, and then a method finding optimal paths for mechanical parameters estimation is proposed.

In this paper, we discuss how to design 2-wheeled mobile robot hard wares as reasonable and practical as possible. A segway type mobile robot consists of 2 wheels only, placed in parallel rather than horizon. 2-wheeled mobile robots make you overcome high cost and time consuming maintenance procedures of the robot by reducing the number of robot hardwares. The most challenging thing in a 2-wheeled mobile robot that has many more valid virtues than the traditional mobile robots is to make it balance itself whenever it stands still or goes forward. But balancing itself is not an easy matter and there are many researches and experiments on this issue. When researchers test theories on 2-wheeled mobile robots to improve its self balancing performance, they should consider how to design hard wares of that mobile robot. No matter how great those new theories are, if a testbed for those theories is not suitable, performance output would be poor and meaningless. In this point of view, to design a proper 2-wheeled mobile robot as a testbed is a very important issue with development of new theories. So we define 4 guide lines to design segway type mobile robots reasonably; about motor, battery, and MCU selection and shock-proof design with robust motor setting.

This paper presents localization performance enhancement on GPS interfering spot for mobile robot. Localization system applied Extended Kalman filter algorithm that utilized Diffrential GPS and odometry, inertial sensors. In this paper, different noise covariance is applied to Extended Kalman Filter according to the GPS quality. Experiment results show that proposed localization system improve considerably localization performance of mobile robots.

In this paper, we present the Q-learning method for adaptive traffic signal control on the basis of multi-agent technology. The structure is composed of sixphase agents and one intersection agent. Wireless communication network provides the possibility of the cooperation of agents. As one kind of reinforcement learning, Q-learning is adopted as the algorithm of the control mechanism, which can acquire optical control strategies from delayed reward; furthermore, we adopt dynamic learning method instead of static method, which is more practical. Simulation result indicates that it is more effective than traditional signal system.

뱀형 모듈라 로봇은 다양한 환경에 대해서 강인성을 가지고 있고, 모듈 일부의 고장에도 이동할 수 있는 장점을 가진다. 그러나 이동 제어 방법이 어렵고, 아직까지 효율적인 이동법의 개발이 미비한 편이다. 본 연구에서는 뱀형 로봇의 이동제어를 위하여 GA(Genetic Algorithm)기반의 위상제어 방식과 GP(Genetic Programing)를 사용한 임의의 관절궤적 생성 방식을 비교한다. KMC사의 뱀형 로봇을 대상으로 먼저 webots 시뮬레이터 상에서 모델링 및 시뮬레이션을 수행하여 위의 방법들을 비교하였다.

In this paper a pendulum-driven type spherical mobile robot is introduced. Many researchers have been studied about a spherical mobile robot. we developed a pendulum-driven type spherical mobile robot and analyzed mechanism of pendulum motion. Mechanism of pendulum motion applied to the robot. Consequently, we could verify the motion of the robot as motion of pendulum.

Hearing loss is one of the most common birth defects among infants. Most hearing-impaired children are not diagnosed until one to three years of age, which is too late to treat for normal speech and language development. If a hearing impairment is identified and treated in its early stage, child's speech and language skills could be comparable to his or her normal-hearing peers. In this study, we applied the 'Fsp' method to distinguish between normal and impaired hearing. We have developed a battery-operated portable A - ABR(automated auditory brain stem response) system that automatically detects hearing impairment for neonates or infants in a nursery room, as well as in a sound-proof room. We partially validated the accuracy of the system in five normal-hearing adults.

Hemorrhagic shock is a common cause of death in emergency rooms. Since the symptoms of hemorrhagic shock occur after shock has considerably progressed, it is difficult to diagnose shock early. The purpose of this study was to improve early diagnosis of hemorrhagic shock using a survival prediction model in rats. We measured ECG, blood pressure, respiration and temperature in 45 Sprague-Dawley rats, and then obtained a logistic regression equation predicting survival rates. Area under the ROC curves was 0.99. The Hosmer-Lemeshow goodness-of-fit chi-square was 0.86(degree of freedom=8, p=0.999). Applying the determined optimal boundary value of 0.25, the accuracy of survival prediction was 94.7%

Mathematical models for describing the Human Immunodeficiency Virus(HIV) infection can be devised to better understand how the HIV causes Acquired Immune Deficiency Syndrome(AIDS). The HIV models can then be used to find clues to curing AIDS from a control theoretical point of view. Some models take Cytotoxic T Lymphocytes(CTL) response to HIV infection into account, and others consider mutants against the drugs. However, to the best of our knowledge, there has been no model developed, which describes CTL response and mutant HIV together. Hence we propose a unified model to consider both of these. On the basis of the resulting model, we also present a Model Predictive Control(MPC) scheme to find an optimal treatment strategy. The optimization is performed under the assumption that the Structured Treatment Interruption(STI) policy is employed.

Hemorrhage shock occupies high rate in trauma patient's mortality and blood pressure is the variance that judges early diagnosis and the effect of remedy. Systolic blood pressure is related to pulse transit time(PTT). PTT means the time that is required to flow from the heart to peripheral artery. PTT is influenced from the length, cross section and stiffness of the blood vessels. It is hard to evaluate the correlation between systolic blood pressure and PTT because they are variable in human body. In this paper, we evaluated the correlation between the systolic blood pressure and PTT in normal and hemorrhage states using standardized rat. PTT is defined as the time differences between the R peak and the peak of pulse wave. The analyzed time differences of ECG and blood pressure are analyzed every 5minutes for 30 seconds when there is before and after bleeding. Before bleeding, systolic blood pressure and PTT are steadily preserved but when the bleeding comes started, systolic blood pressure is declined. However PTT was increased and decreased. Under the circumstance that the standardized rat is controlled by age, the length of the blood vessels, and any disease, it shows that PTT measurement using systolic blood pressure of bleeding is impossible.

The purpose of this study is to develop the auxiliary rehabilitation device for a patient of spinal curvature. The adolescent diopathic scoliosis(AIS) must be treated by rehabilitation brace if Cobb angle is $20^{\circ}{\sim}40^{\circ}$. The rehabilitation brace is consist of 4 vest and 2 hinge parts(hinge and couple bar) that give a force to the ribs. But thin and light hinge parts for young patient failed easily because of unusual movement of the upper body. We studied optimum design and structural analysis of hinge parts when it distorted by tensile and bending force. The specimen of hinge parts were tested to evaluate the failure strength. And we attached circuits with memory and sensor detecting pressure and displacement to recoding stress in hinge parts. These data are used to alarm the patient to stop unusual movement and understand the load history.

This research measures EEG signals which are generating on head skin and extracts brain concentration level related with brain activity. We have developed concentration wireless transmission system by displaying this EEG signal on PDA mobile device. The front head was used for measuring EEG signal and INA128 with TL084 and analog elements was used for measuring EEG signal, amplifying and filtering the signal. Measured analog EEG signals changed into digital signals by using ADC of PIC24FJ192 with 10bit resolution and 500Ks/s sampling rate. So The changed digital signals have transmitted to the PDA by using bluetooth. LabView 8.5 was also used for FFT transformation, frequency and spectrum analysis of the transferred EEG signal. As a result, $\alpha$ wave, $\beta$ wave, $\theta$ wave and $\delta$ wave were classified. we extracted the concentration index by adapting concentration extraction algorithm. This concentration index was transferred into PDA by wireless module and displaying.

본 논문에서는 진화연산 기법중 GP(Genetic Programming)를 이용한 관절좌표계 상에서의 걸음새 자동생성 기법과 생물체의 신경발생 신호 원리를 이용한 CPG(Central Pattern Generator) 기법을 구현한다. 바이올로이드로 구성된 4족 보행로봇에 대하여 Webots기반의 ODE 시뮬레이션을 통해 접근 기법들에 대한 최적화를 수행하고 결과를 비교 분석한다. 그리고 구해진 시뮬레이션과 결과를 실제 로봇에 대해서 각 동작을 실행시켜 보면서 CPG와 GP 기반 걸음새 방식 실제적인 성능 및 특성도 고찰한다.

Cleaning robot system consists of four parts; navigation system for moving of robot, cleaning system, power system, and main system with cleaning algorithm. Navigation system is the most expensive part because it has motors and sensors which is high price. Navigation system is also essential to service robot system, but user should buy two systems which are service robot system and cleaning robot system. If it is possible to share navigation system, user can save money. In this paper, we design the cleaning robot system based on modular architecture.

A graphic simulator is efficient to see what will happen to the target robot. But it is not exactly same as the real world. Because there are so many physical laws to be concerned. In this paper, we propose a simulator with physics engine to create motions for quadruped robot. It is not only to show more real simulations but also to be more efficient for teaching motions to quadruped robot. To solve the quadruped robot's dynamics or inverse kinematics, It takes much times and hard effort. Using physics engine make it easy to setup motions without calculating inverse kinematics or dynamics.

The necessity of radiation dosimeter with precise measurement of radiation dose is increased and required in the field of spacecraft, radiotheraphy hospital, atomic plant facility, etc. where radiation exists. Until now, a low power commercial metal-oxide semiconductor(MOS) transistor has been tested as a gamma radiation dosimeter. The measurement error between the actual value and the measurement one can occur since the MOSFET(MOS field-effect transistor) dosimeter, which is now being used, has two gates with same width. The measurement value of dosimeter depends on the variation of threshold voltage, which can be affected by the environment such as temperature. In this paper, a radiation dosimeter having a pair of MOSFET is designed in the same silicon substrate, in which each of the MOSFETs is operable in a bias mode and a test mode. It can measure the radiation dose by the difference between the threshold voltages regardless of the variation of temperature.

Automatic Vision Inspection(AVI) systems automatically detect defect features and measure their sizes via camera vision. It is important to predict the performance of an AVI to meet customer's specification in advance. In this paper, we propose a statistical method for prediction of false alarm rate regarding inconsistency of defect size measuremet process. We only need are a simple experimental trial for repeated defect size measurement test. The statistical features from the experiement are utilized in the prediction process. Therefore, the proposed method is swift and easy to implement and use. The experiment shows a close prediction compared to manual inspection results.

The histogram specification is to change the histogram shape of the image into the already defined shape. This technique can be applied usefully in various image processing fields which include a machine vision. However, the histogram specification technique has its basic limits. For example, the histogram does not have location information of pixel within the image and receives the digital image, which is stored through a quantization process, as an input. Namely, the accuracy of specification falls in the high-resolution image because the larger the resolution of image is becoming, the more the pixels having similar value are becoming. Therefore, we proposed the multiresolution histogram specification method for improving the accuracy of specification. Consequently, we can know that if the histogram specification is accomplished by using the proposed algorithm, destination image and source image were changed almost similarly.

This paper describes an implementation method for the 'People Counting System' which detects and tracks moving people using a fixed single camera. This system proposes the method of improving performances by compensating weakness of existing algorithm. For increasing effect of detection, this system uses Single Gaussian Background Modeling which is more robust at noise and has adaptiveness. It minimizes unnecessarily detected area that is a limitation of the detecting method by using the background differences. And this system prevents additional detecting problems by removing shadow. Also, This system solves the problems of segmentation and union of people by using a new method. This method can work appropriately, if the angle of camera would not strictly vertical or the direction of shadow were lopsided. Also, by using integration System, it can solve a number of special cases as many as possible. For example, if the system fails to tracking, it will detect the object again and will make it possible to count moving people.

통신이나 저장 매체에서 에러 정정을 위해 사용하는 비터비 디코더를 1에 해당하는 회로와 0에 해당하는 회로로 나누어 구성하고 각 출력 값의 크기를 비교함으로써 디코딩을 수행하는 구조를 연구하였다. 특히, 디코딩회로를 하드웨어 구현 시의 mismatching에 대비하기 위해, 경로에러를 증폭하여 두 회로 출력 값 사이의 마진을 크게 하는 방법을 제안하였다. 제안한 구조에 대한 시뮬레이션 결과 노이즈가 매우 심한 경우에도 높은 에러 정정 성능을 보였다.

본 논문에서는 선박용 항해정보기록장치의 개발을 위해 필요한 요구사항을 만족할 수 있는 기능을 갖추고, 향후 여러 가지 부가 기능이 쉽게 추갇힐 수 있는 구조를 갖도록 WnCE O/S 기반 ARM embedded 시스템용 플랫폼을 설계하였고, 주요 기능 중 영상 정보 압축 및 저장 회로를 구현하여 기능을 검증하였다.

FlexRay는 차세대 차량 및 선박 내 전자 장치간의 통신을 위해 고속의 시리얼 통신, time triggered bus, fault tolerant 통신을 제공하는 새로운 네트워크 통신 시스템의 표준이다. FlexRay Communication Controller(CC)는 FlexRay 프로토콜 규격의 핵심 부분이다. 본 논문에서는 먼저 SDL(Specification and Description Language)를 이용하여 FlexRay CC 프로토콜 규격과 기능 부분을 설계한다. 다음 설계한 SDL 소스를 기반으로 Verilog HDL을 이용하여 하드웨어로 설계한다. 설계한 FlexRay CC는 Samsung $0.35{\mu}m$ 공정을 이용하여 합성하였으며, 그 결과 80 MHz의 속도로 동작하는 것으로 나타났다. 또한 FlexRay 시스템의 동작을 확인하기 위해 로봇에 적용되는 음원위치 추정 시스템에 응용하였다. 응용 시스템은 ALTERA Excalibur ARM EPAX4F672C3을 이용하여 검증하였으며 성공적으로 동작함을 확인하였다.

Position estimation in indoor is significant problem, because GPS which is usually used for outdoor positioning cannot be utilized to indoor positioning. Sensor network can be a solution for the positioning. Recently, chirp spread spectrum(CSS) specified in IEEE 802.15.4a provides an ability of ranging. Based on the results of the ranging, a position of a CSS node can be calculated by using trilateration. In this case, Kalman filter can be applied to the trilateration because of the measurement noise. In this paper, we apply the unscented Kalman filter for the trilateration. The trilateration can be represented to a nonlinear state space equation, and the unscented Kalman filter is suitable for nonlinear state space equation. Through the experimental results. we show the accuracy of the estimated position.

Development of safety monitoring system for workers in the ship building industry is currently under progress using RFID(Radio Frequency IDentification) for successful development of the U-BUSS(Ubiquitous- Safety User Safety System). For decades, RFID technology has become a key technology to provide the real-time location system of worker and is variously used for safety monitoring system to increase productivity, improve the blasting quality and enhance the safety of working condition in the ship building industry In this paper, 2.45GHz band RTLS(Real Time Location System) technologies and the ubiquitous safety monitoring system of the ship yard's blasting cell are described.

In this paper, we propose an effective compression method for electrocardiogram(ECG) signals. 1-D ECG signals are reconstructed to 2-D ECG data by period and complexity sorting schemes with image compression techniques to Increase inter and intra-beat correlation. The proposed method added block division and mean-period normalization techniques on top of conventional 2-D data ECG compression methods. JPEG 2000 is chosen for compression of 2-D ECG data. Standard MIT-BIH arrhythmia database is used for evaluation and experiment. The results show that the proposed method outperforms compared to the most recent literature especially in case of high compression rate.

한방의학의 기초 진단요소로 활용할 수 있도록 인체 체질에 따른 전기전도 특성을 분류하기 위해, 생체신호 특성을 정량적으로 계측할 수 있는 방법에 대한 선행 기초연구를 수행하였다. 특정 "경혈"에서의 생체전기전도 특성을 통해 한의학적 진단에 필요한 생체신호의 종류와 병에 따른 신호를 객관적이고 정량적, 가시적으로 나타내기 위한 것이 본 연구의 목적이다. 전기전도성 측정은 양도락[7]의 계측원리를 사용하였으며, 기존 양도락 시스템의 계측 시 발생되는 제반 문제점을 보완하여 의학적 생체정보의 정량적, 가시적 획득을 위한 인체 전기전도 특성 계측 시스템을 구현하였다. 구현된 시스템을 통한 기초 실험 연구 결과에 대한 분석으로 한의학에서 필요로 하는 진단요소 획득 가능성을 알아보았다.

In the VANET, density is a most important factor for reception rate of packet. So, we have to find solutions to reduce packet collision. There are two approaches. First, packet collision avoid by controlling transmission interval. Second, packet collision avoid by controlling transmission power. In this paper, we propose a simple method to reduce a packet collision by controlling transmission power. It uses the number of neighbors and adaptive controlling method. This method have better performance about packet reception rate.

Opportunistic scheduling is one of the important techniques to maximize multiuser diversity gain. In this paper, we propose a distributed opportunistic scheduling scheme for ad-hoc network. In the proposed distributed scheduling scheme, each receiver estimates channel condition and calculates independently its own priority with probabilistic manner, which can reduce excessive probing overhead required to gather the channel conditions of all receivers. We evaluate the proposed scheduling using extensive simulation and simulation results show that proposed scheduling obtains higher network throughput than conventional scheduling schemes and has a flexibility to control the fairness and throughput by controlling the system parameter.

다양한 센서 및 영상 카메라를 이용한 교통, 보안 및 안전 감시 시스템에 있어 처리해야 하는 영상 데이터의 양은 점점 커져가고 있다. 또한 단일 카메라가 아닌 많은 수의 카메라를 이용할 경우 운영자가 모든 영상 데이터를 확인하고 이에 대한 응답을 즉시 하기가 힘이 든다. 따라서 영상 데이터를 이용하기 위한 시스템에서 소프트웨어적인 처리는 필수이며 물체를 정확하게 추적하기 위해서는 물체를 인식하고 물체의 움직임을 예측하고 움직임을 보정하는 단계가 필요하다. 본 논문에서는 물체의 움직임을 정확히 추적하기 위하여 이동 물체를 추적할 때에 적절한 Kalman 필터를 이용하여 고속 물체 추적 시스템을 구현하였다.

In object tracking based on the particle filter algorithm controlling the proper distribution of the samples is essential to accurately track the target. If the samples are spread too wide compared to the target size, the tracking accuracy may degrade as some samples can be caught by background clutters that is similar to the target. On the other hands if the samples are spread too narrow, the particle filter may fail to track the abrupt motion of the target. To solve this problem we propose an improved particle filter that adopts "re-weighting" technique at the observe step. We estimate the distribution of the weights of the current samples by its mean and variance. Then the samples are re-weighted so that the appropriate distribution of the samples in proportional to the target scale is obtained at the next select step. The proposed tracking method can avoid convergence to local mean and improve the accuracy of the estimated target state.

Using the object recognition processing on the captured images, we can inspect whether a packaging process is performed correctly in real time. So we realized the functions that acquire an image of each state of the packaging process using a camera, extract each object in the image, and inspect the packaging process using the extracted object data. In case an object shape is solid, for object search, a shape-based matching algorithm was used which searches the object utilizing the informations on the shape. In case an object shape is not solid, and Is flexible, gray-level difference of the pixels in the limited image region including the object was used to recognize the object.

This paper proposes an image processing algorithm to stabilize shaken scenes of UAV(Unmanned Aerial Vehicle) caused by vehicle self-vibration and aerodynamic disturbance. The proposed method stabilizes images by compensating estimated shake motion which is evaluated from global motion. The global motion between two continuous images modeled by 6 parameter warping model is estimated by non-linear square method based on Gauss-Newton algorithm with excluding outlier region. The shake motion is evaluated by subtracting the global motion from aerial vehicle motion obtained by averaging global motion. Experimental results show that the proposed method stabilize shaken scenes effectively.

In this paper, we present stereoscopic conversion based on movie shot information. To overcome the low stereoscopic quality of automatic stereo conversion technologies, the usage of the shot type is expected to provide more satisfactory stereoscopic perception. In general, movie clips are produced with a variety of shot techniques such as long shot, closeup shot, medium shot, etc. Each shot has its own characteristics that can be utilized during the conversion process. Furthermore, description sceme for shot and camera information is presented in XML. XML shot editor generates XML shot data. and conversion module parses such data and converts 2D image into stereoscopic image.

This paper presents an algorithm that extracts road lane's specific information by using HSI color information and performance enhancement of lane detection base on vision processing of drive assist. As a preprocessing for high speed lane detection, the optimal extraction of region of interest for lane boundary(ROI-LB) can be processed to reduction of detection region in which high speed processing is enabled and it also increases reliabilities by deleting edges those are misrecognized. Road lane is extracted with simultaneous processing of noise reduction and edge enhancement using the Laplacian filter, the reliability of feature extraction can be increased for various road lane patterns. Since noise can be removed by using saturation and brightness of HSI color model. Also it searches for the road lane's color information and extracts characteristics. The real road experimental results are presented to evaluate the effectiveness of the proposed method.

International standard specification, H.264/SVC improved from H.264/AVC, is set up so as to promote free use of huge multimedia data in various channel environments.;H.264/AVC is a international standard speicification for video compression, adopted and commercialized as standard for DMB broadcasting by JVT of ISO/IEC MPEG and ITU-T VCEG. SVC standard uses 'intra/inter prediction' in AVC as well as 'inter-layer intra prediction', 'inter-layer motion prediction' and 'inter-layer residual prediction' to improve efficiency of encoding. Among prediction technologies, 'inter-layer intra prediction' is to use co-located block of up sampled sublevels as a prediction signal. At this time, application of interpolation is one of the most important factors to determine encoding efficiency. SVC's currently using poly-phase FIR filter of 4-tap and 2-tap respectively to luma components. This paper is written for the purpose of analyzing encoding performance according to the interpolation. For this purpose, we applied poly-phase FIR filter of '2-tap', '4-tap' and '6-tap' respectively to luma components and then measured bit-rate, PNSR and running time of interpolation filter. We're expecting that the analysis results of this paper will be utilized for effective application of interpolation filter. SVC standard uses 'intra/inter prediction' in AVC as well as 'inter-layer intra prediction', 'inter-layer motion prediction' and 'inter-layer residual prediction' to improve efficiency of encoding.

Lane extraction is basically required for a driving car to understand its external road environments via a camera. In this paper, a lane extraction method using "Sobel Intensity Profile" is described. The Sobel intensity profile is obtained using only vertical edge components of Sobel edge outputs, and used to yield fitted lines for lanes. The RANAC algorithm is applied to fit lines using only inliers. Experimental results have shown the reliability of the proposed lane extraction method.

The object recognition is one of the major computer vision fields. The object recognition using features(SIFT) is finding common features in input images and query images. But the object recognition using feature methods has suffered of difficulties due to heavy calculations when resizing input images and query images. In this paper, we focused on speed up finding features in the images. we proposed method using block segmentation and histogram. Block segmentation used diving input image and than histogram decided correlation between each 1]lock and query image. This paper has confirmed that tile matching time reduced for object recognition since reducing block.

종래의 음향기기에서 소리 크기는 각 주파수별로 다른 감도를 갖는 개인의 주파수 청력 특성을 고려하지 않고 모든 주파수에 대하여 동일하게 선형으로 소리 크기를 조절한다. 따라서 감도가 높은 주파수대에서 청력 손상을 일으킨다. 이를 개선하기 위한 표준 청력특성, ISO266:2003 표준을 이용한 평활화 방법이 있지만, 이 표준에 따른 등청감곡선은 여러 사람에 대해 평균한 청력특성이기 때문에 다양한 환경에 의해 변형된 개인별 청력특성에 맞지 않아 청력 손상을 감소시키는 실질적인 효과가 저하되는 문제점이 있다. 본 연구는 사람마다 다른 최소가청한계 특성을 갖는 청각특성과 최대가청한계를 고려하여 소리 크기를 조절함으로써 음향기기에 의한 청각 손상을 감소시키는 방법에 관한 것이다. 컴퓨터 시뮬레이션을 통해 청력 특성이 좋은 대역에서 기존 방법에 비해 보다 낮은 소리 크기에서 불편없이 인지 가능하다는 것을 확인할 수 있었으며, 동시에 과도한 대역별 소리 에너지를 줄여 청각 손상도 방지할 수 있다는 것을 확인할 수 있었다.

The purpose of this research is to propose a system to detect a strip defect on a iron plate using an image processing, one way of finding defects on an iron plate. An existing way of image processing is using a light source which release a light energy in a certain frequency and a light absorbing display which responds to the light source. This research attempts to detect defects by using the image processing which handles an illumination, without depending on characteristics of light frequency. One of the advantages of this method is that it makes up for the weakness of the existing method which was too difficult for users to notice a defect. Also this method makes it possible to realize a real-time monitoring on a plate of iron.

Flash memories are one of best media to support future computer's storages. However, we need to improve traditional data management scheme due to the relatively slow characteristics of flash operation of SSD. Due to the unique characteristics of flash media and hard disk, the efficiency of I/O processing is severely reduced without special treatment, especially in the presence of heavy workload or bulk data copy. In this respect, we need to design and develop efficient hybrid-RAID storage system.

In recent years, a development of automotive embedded systems called Intelligent Vehicle are used for control and communication with CAN protocol. But as various devices and protocols are developed for Vehicle communication and control, it becomes difficult to manage the systems that contain limitation of bandwidth and various control requirement. To solve these problems, we introduce a research of automotive embedded systems which is considered the automotive real time operating system, automotive communications, and control systems.

In this paper, we will describe architecture and key characteristic for the DHS which is used in COMS. DHS is implemented in the fully redundant SCU, the dual redundant MIL-STD-1553B system bus, the payload interface units(MPIU and MI2U), the redundant ADE. the SCU interface with the other main digital units of the spacecraft through the MIL-STD-1553B.

Mobile patrol robots are mainly used in aerospace and military engineering because they can work at dangerous environment replacing a man. This paper presents a study on the remote monitoring and control system of a mobile patrol robot platform using TCP/IP. The mobile robot consists of intel PXA270 and linux-based system. It can get environment information such as images, temperature, humidity and slope by using two cameras and various sensors. And it transmits information data to a monitoring system through the ad-hoc network which is one of wireless network solutions. At this time, a mobile robot is a server and a monitoring system is a client. Users can monitor environment information which is received from a mobile robot by an application based on PC. We have used TCP/IP protocol, socket programming, interface technique of process and devices and control algorithm to embody the mobile robot and its monitoring system. Experimental results shows that the system can be utilized as a remote patrol monitoring tool.

본 논문에서는 저고도 탐지레이다 센서체계의 주파수 합성기는 송수신 장치의 기준 주파수원으로 이용될 국부 발진 주파수들을 생성해 내는 주파수 합성부에 대해 설명되었다. 주파수 합성기의 성능을 평가하기위하여 각 주파수 원들의 위상잡음 특성과 주파수 합성기의 스위칭 시간을 신호 혼합기를 이용하여 측정 하였으며, 그 결과 설계 시 제시한 30(usec)이하인 약18usec의 스위칭 시간이 대부분을 차지함을 알 수 있었다. 주파수 합성기에서 생성된 최종 출력 주파수는 저고도 탐지 레이다의 송수신 장치의 국부발진 주파수로 이용되므로 출력 레벨의 flatness를 측정하여 분석한다.

Recently, researchers are focusing on the usefulness of microkernels regarding to the virtualization of embedded systems. We ported OKL4 2.1 microkernel on MBA2440 and SMDK6410 that use ARM920T and ARM1176JFZ-S cores respectively. The ported OKL4 2.1 environment will be used to develop various virtualization applications.

본 논문에서는 최적화 알고리즘인 유전자 알고리즘과 context-based FCM 클러스터링 방법을 이용하여 새로운 형태의 RBF 뉴럴 네트워크의 포괄적인 설계 방법론을 소개한다. 제안된 구조는 클러스터링 기법을 기반하여 사용된 데이터의 특성에 효과적인 모델을 구축하고자 한다. 또한 유전자 알고리즘을 이용하여 모델의 최적화에 주요한 영향을 미치는 파리미터들(-은닉층에서의 contex의 수, contex에 포괄되는 노드의 수, 그리고 contex에 입력되는 입력변수)을 동조한다. 제안된 모델의 설계 공정은 1) K-means 클러스터링을 통한 context fuzzy set에 대한 정의와 설계, 2) context-based fuzzy clustering에 대한 모델의 적용과 이에 따른 모델 구축의 효율성, 3) 유전자 알고리즘을 통한 모델 최적화를 위한 파라미터들의 최적화와 같은 단계로 구성되어 있다. 구축된 RBF 뉴럴 네트워크의 후반부 다항식에 대한 parameter들은 성능지수를 최소화하기 위해 Least Square Method에 의해서 보정된다. 본 논문에서는 모델을 설계함에 있어서 체계적인 설계 알고리즘을 포괄적으로 설명하고 있으며, 더 나아가 제안된 모델의 성능을 다른 표준적인 모델들과 대조함으로써 제안된 모델의 우수성을 나타내고자 한다.

본 연구에서는 복잡한 비선형 모델링 방법인 RBF 뉴럴 네트워크(Radial Basis Function Neural Network)와 PNN(Polynomial Neural Network)을 접목한 새로운 형태의 Radial Basis Function Polynomial Neural Network(RPNN)를 제안한다. RBF 뉴럴 네트워크는 빠른 학습 시간, 일반화 그리고 단순화의 특징으로 비선형 시스템 모델링 등에 적용되고 있으며, PNN은 생성된 노드들 중에서 우수한 결과값을 가진 노드들을 선택함으로써 모델의 근사화 및 일반화에 탁월한 효과를 가진 비선형 모델링 방법이다. 제안된 RPNN모델의 기본적인 구조는 PNN의 형태를 이루고 있으며, 각각의 노드는 RBF 뉴럴 네트워크로 구성하였다. 사용된 RBF 뉴럴 네트워크에서의 커널 함수로는 FCM 클러스터링을 사용하였으며, 각 노드의 후반부는 다항식 구조로 표현하였다. 또한 각 노드의 후반부 파라미터들은 최소자승법을 이용하여 최적화 하였다. 제안한 모델의 적용 및 유용성을 비교 평가하기 위하여 비선형 데이터를 이용하여 그 우수성을 보인다.

A skill is defined as the special ability to do something well, especially as acquired by learning and practice. To learn a skill, a Bayesian network model for representing the skill is first learned. We will regard the Bayesian network for a skill as an affordance. We propose a soft Behavior Motivation(BM) switch as a method for ordering affordances to accomplish a task. Then, a skill is constructed as a combination of an affordance and a soft BM switch. To demonstrate the validity of our proposed method, some experiments were performed with GENIBO(Pet robot) performing a task using skills of Search-a-target-object, Approach-a-target-object, Push-up-in front of -a-target-object.

Incomplete knowledge instances may be registered from misidentifications of sensors, such as vision sensor. In previous study, we proposed robust object instance registration method to robot centered knowledge framework to guarantee the consistency of the registered knowledge. In real environment, a persistent update is necessary due to the objects can be moved dynamically. In this paper, we propose the way to update robot knowledge continually using the registration method. Our experiment in this paper shows that sound and complete knowledge can be registered and updated by the proposed method, even under imperfect sensing data.

본 연구에서는 자동차 사고나 뇌졸중 등에 의해 경추 이하의 마비나 손, 발 등의 움직임은 자유롭지 않은 사람들의 컴퓨터 사용을 돕고자 손이나 발을 이용하지 않고 머리의 움직임과 눈의 깜박임만으로 컴퓨터 마우스 제어가 가능한 장치를 제안하였다. 마우스의 좌우, 상하 이동은 각속도 센서를 이용하여 머리의 움직임으로 유발하고, 클릭과 더블 클릭은 광 센서를 시야를 방해하지 않는 위치에 장착하여 감지할 수 있도록 하였다. 제안한 마우스를 Quick Glance를 이용한 것과 비교해 보고 문자를 입력함에 있어 dasher을 이용하는 것과 윈도우에서 제공하는 화상키보드를 이용하는 것을 비교해 보았다. 공간 이동 능력과 이벤트 검출을 비교한 실험에서는 좌우, 상하 이동은 기존 마우스와 비교하여 속도 면에서는 큰 차이는 없었으나, 정확도가 조금 떨어지는 이유로 인하여 소요시간이 $3{\sim}4$배 정도 더 필요하였다. 그러나 Quick glance와 비교결과에서는 약 14%정도 빠랐고 dasher을 이용하여 문자를 입력함에 있어서도 약 32% 이상 빠르게 문자를 입력할 수 있었다. 실험 결과 눈이 쉽게 피로해지는 Quick glance를 이용하는 것보다 제안한 마우스를 사용하는 것이 더 효과적이었다.

The currently used methods to get this information include corneal reflection, electro-oculograph, and so on. In this paper, we propose an algorithm that is developed for the reflection of pupil by infrared. I assume that the pupil is a perfect circle in the captured eye images. The method to recognize an existing image has many data throughput very much. And the time to deal with an image data is very long. So, we did not use the camera. However we studied the algorithm to pursue the pupil to a mapping technique.

In this paper, we propose the smart management technique of applications using fuzzy logic in wireless sensor networks. We consider the intelligent action compared to the classical action that can only be controlled by on and off. The vagueness depends on the places of the sensor nodes, human's character and emotion. In order to control them with the smartness, the proposed technique considers the better performance of applications in wireless sensor networks. We performed the simulations and implementations on sensor nodes and checked out our ideas. The simulation results show that the proposed technique is more reasonable than the classical approach.

최근 경세성장과 함께 생활수준의 향상으로 인하여 에너지 수요는 매년 증가하고 있으며 그 중에서 하나인 전력수요도 역시 급격히 늘어나고 있는 추세이다. 이와 더불어 투자자원 및 입지확보의 어려움, 환경제약의 문제로 전력 공급의 어려움은 날로 증가되고 있다. 따라서 수요증가를 전력공급 능력의 증진뿐만 아니라 수요관리 측면에서도 필요성이 대두되고 있다. 전력선 통신은 전력선을 매체로 하기 때문에 신규선로의 포설 없이 가전기기 및 정보화 서비스 모뎀들의 네트워크화에 용이할 뿐만 아니라 커버리지 확장에도 뛰어나서 디지털 가전, 원격검침, 전력설비 감시제어, 국가 재난 감시 시스템 등의 기본 통신 방식으로 가장 유력한 기술로써 디지털 가전을 포함한 유비쿼터스 전기설비 네트워크 구성에서 필수적 기술로 채택되고 있기 때문에 지능형 홈 네트워크, 전력IT 부가서비스, 설비감시 네트워크, 유비쿼터스 네트워크 관련 기술에 대한 파급 효과가 매우 크며, 디지털 가전의 기본 통신 방식으로 가장 유력한 기술로써 디지털 가전 구성에서 필수적 기술로 채택되고 있기 때문에 지능형 홈 네트워크 관련 기술에 대한 파급 효과가 매우 크다. 본 연구에서는 전력선통신모뎀을 이용하여 가전기기의 전력 소비를 감지할 수 있는 센서를 내장한 전력선 통신기반의 전력 감시 모듈을 개발하여 실시간 원격 모니터링을 통해 소비전력 패턴을 작성한다. 그리고 전력감시 모듈에 연결된 가전기기의 소비전력 패턴 분석을 통해 전력소비 이상 유무를 감지할 수 있는 알고리즘을 개발, 탑재하여 이상유무를 판단하고 전력소비가 급증할 시 자동으로 전력을 차단하여 화재나 누전의 위험을 방지한다. 이에 본 연구는 전력선통신을 이용하여 전력소비감시 및 이상전력차단에 관한 연구에 관한 것이다.

Forming Community is important to manage and provide the service in Ubiquitous Environments including embedded tiny computers. Community Computing is that members constitute the community and cooperate. A mutual exclusion problem occurs when many processors try to use one resource and race condition happens. In the expanded concept, a group mutual exclusion problem is that processors in the same group can share the resource but processors in different groups cannot share. As mutual exclusion problems might be in community computing environments, we propose algorithm which improves the execution speed using RMS (resource management service). In this paper describes proposed algorithm and proves its performance by experiments, comparing proposed algorithm with previous method using quorum-based algorithm.

In this paper, we consider a cognitive radio system operating as secondary user. It uses an empty channel that is not currently used by primary users having the license to the channel. In the previous works, secondary user looks for an empty channel by choosing any channel in order or randomly and by sensing the channel to distinguish whether primary users are using. But if primary user is fixed type, we will find an empty channel faster than the mentioned channel selecting methods by using a method considering prior information about cases that primary user used the channel, since it is possible to analogize the channel access possibility of primary user according to regular time and position. Therefore, we propose a channel searching method based on the channel list for the purpose of reducing the channel searching time and improving throughput of secondary users. Firstly, we determine a weighting value of each channel based on the history of channel activities of primary users. This value is added to current channel state buffer and we search an empty channel from channel with smallest value to one with the biggest value. Finally, we compare the performances of the proposed method with those of the sequential channel searching and the random channel searching methods in terms of the average channel searching time and the average number of transmissions of secondary user.

The conventional computing is a centralizing system, but it has been gradually going to develop ubiquitous computing which moves roles away from the main. The Community Computing, a new paradigm, is proposed to implement environment of ubiquitous computing. In this environment, it is important to accept the user demand. Hence in this paper recognizes pattern of user's activity statistically and proposes a method of pattern estimation in community computing. In addition, user's activity varies with time and the activity has the priority We reflect these. Also, we improve accuracy of the method through Knowledge Base organization and the feedback system. We make program using Microsoft Visual C++ for evaluating performance of proposed method, then simulate it. We can confirm it from the experiment result that using proposal method is better in environment of community computing.

With advance in technologies for wireless sensor networks(WSNs), 2.4 GHz band has become gradually attractive due to increase in low-power wireless communication devices. Especially ZigBee(IEEE 802.15.4-based) technology whose frequency band includes the 2.4GHz industrial, scientific and medical band providing nearly worldwide availability has been universally applicable to a various remote monitoring system and applications related home network system. However network throughput of these systems is significantly deteriorated due to this ISM band is a license-exemption used in a variety of low-power wireless communication devices. For instance, other IEEE 802 wireless standards such as Bluetooth, WLAN, Wi-Fi and others cause radio interference to ZigBee. The experiments was carried out to analyze radio frequency interference between heterogeneous devices using ISM bands to improve the limited frequency utility factor. Finally this paper suggests a frequency hopping-based adaptive multi-channel methods to decrease interference with empirical results.

In an Intelligent Transport System(ITS), data dissemination based on inter-vehicle communication is effective for acquiring real-time traffic-jam information. In this paper, we propose a novel method for traffic jam information dissemination in vehicular ad-hoc networks. In our proposed method, vehicles already trapped in a Traffic-Jam elect leaders according to their locations from upstream and downstream respectively. Then each leader generates traffic data which contains their position, velocity and leader counter respectively, and disseminate the information. {{br}}The implementation of our proposed method is evaluated by means of simulation, and we also present simulation result

In this paper, we are performance analysis of IEEE 802.15.4b LR-WAPN(Low-Rate Wireless Personal Area Network; Zigbee) system noncoherent receivers at 915MHz under Jamming. IEEE 802.15.4b concerns itself with devices at 915MHz, which employ a higher data rate of up to 250 kbps, and which use O-QPSK(Offset Quradrature Phase Shift Keying modulation with DSSS(Direct Sequence Spread Spectrum). Communication between devices can still be hampered by the presence of interferers outside the network, whether the interference be intentional or not. Hence the receivers can not have stable receiving condition due to worse BER. To solve this problem, we present a mere stabilized receiver system of using noncoherent detection. In this paper, we look instead at the effect of jamming, i.e. intentional interference, on the BER performance of IEEE 802.15.4 devices.

Current standard for T-DMB Automatic Emergency Alert Service(AEAS) contains controversial problems in service signaling. In this paper, we first describe two important characteristics of AEAS which hinder normal MCI service signaling: Common Service and Aperiodic Service. Next, we propose four method to overcome the problems, followed by the characteristics of each method. In this analysis, current T-DMB standard, the broadcasting system, and receivers are the major player to decide the optimum service signaling method. This analysis will be also applied to the design of transmission standard for other media such as cable, satellite, the Internet, etc.

When we design the control system used Programmable Logic Controller(PLC), we program the main algorithm by Ladder Diagram(LD) among the standard language. We can substitute the select sequence function by the unique sequence. We can implement this function by the delay time. Therefore this thesis show the select sequence function by the unique sequence and we confirmed its feasibility through actual example.

본 논문은 도로상에 매설된 자기표지의 인식을 통해 주행 중인 바이모달 트램의 위치를 추정하는 추정알고리즘 설계 및 검증에 대한 내용을 다룬다. 바이모달 트램은 자동 안내제어를 위해 도로상에 4m 간격으로 매설된 자기표지를 인식하여 차량과 기준경로사이의 경로오차를 측정하고, 이 때 측정된 정보를 이용하여 차량의 위치를 계산한다. 경로오차 측정 정보는 125msec간격으로 이산적으로 주어지며, 차량의 선형모델에 근거한 관측기를 이용하여 차량의 위치를 실시간으로 추정하는 알고리즘을 설계하고, 시뮬레이션을 통해 검증한다.

The heterodyne laser interferometer has been widely used in precise measurement field. However, the accuracy is limited by the nonlinearity error caused from incomplete laser sources and nonideal optical components. In this paper, we propose the Dual-EKF which estimates states and weights simultaneously to improve the resolution of heterodyne laser interferometer. As a proof, we demonstrate the effectiveness of our proposed method through experimental results.

In this thesis, A methodology of system implement for PID controller, PWM logic, HSC logic, Host Communication and external DAC interface are implemented into single FPGA chip is proposed. The implemented system is used to control the speed of DC servo motor. A DATA block transfers set point value(SV) and P, I, D gain parameters to the corresponding Blocks respectively by the Host Communication to Computer. A HSC block generates process value(PV) by a pulse and $90^{\circ}$ shifted pulse from the encoder A PID block makes error(E) signal from the set value and process value and output manufacture value(MV) through the PID controller. In PWM block using the MV from the PID block, drives H-bridge controlling the Motor. Also DAC interface controls the DAC to graph the digital signal such as SV, PV, E, MV in FPGA onto the Oscilloscope.

Currently for exploring marine resources, After confirming the location of the resources by controlling search equipment and sensor module in research vessel, the method which collects sample of searched resources and analyzes the quality and a contents of the resources in research vessel is been applying. This search method is structure which analyzes an ingredient in ship and decides the quality of the resources. And real-time processing for an effective resources search is been demanding. Therefore in this paper, we have developed a resources identification algorithm that can display the type feature of resources by real-time 3D Graphic.

Support vector learning attracts great interests in the areas of pattern classification, function approximation, and abnormality detection. In this pater, we design the controller using support vector regression which has good properties in comparison with multi-layer perceptron or radial basis function. The applicability of the presented method is illustrated via an example simulation.

In this paper, we present simulation results of Dynamic Matrix Control(DMC) to a boiler steam temperature. In order to control of steam temperature, we choose the input-output variables and generate the step response model by each input variable's step test. After that, the control structure executes on-line control with optimization using step response model. Proposed controller is applied to the APESS(Doosan company's boiler model simulator) and it is observed that the simulation results show satisfactory performance of proposed control.

we an autotuning algorithm for PI controller with unknown plant. The proposed algorithm uses a saturation function and time delay element as a test signal. Since the integral element of PI controller reduces a phase margin and amplitude margin in the closed loop system, the closed loop system could be resulted in unstable with PI controller, To avoid unstable in the closed loop system with PI controller, the proposed algorithm identifies one point information in the 3rd quadrant of Nyquist plot with a time delay element. The proposed method improves an accuracy of one point identified information with one saturation function.

This paper is concerned with the stabilization problem of nonlinear networked control systems with time-delay via Takagi-Sugeno(T-S) fuzzy control approach. The T-S fuzzy models are employed to represent nonlinear systems with Markovian jump parameters and time-delay. The purpose of this paper is to design a fuzzy controller such that the closed-loop Markovian jump fuzzy system is stochastically stable. Based on a stocastic Lyapunov function, stabilization sufficient conditions using a mode-independent fuzzy controller are derived for the Markovian jump fuzzy system in terms of Linear Matrix Inequalities(LMIs). Finally, a simulation example is presented to illustrate the effectiveness of the proposed method.

This thesis puts forward a suggestion of measuring inner crack and center segregation in steel processing by using scanner and image processing with sulfur printer. This is a system to scan according to the program, to choose the size of the specimen and to press the 'Measurement' button, come to a check result, to send the result to the server, and to save the data and check the measurement result in web. To sum up, there are three points in this system.

A scanning electron microscope(SEM) is a system that visualizes complex surface features. The resolution of SEM is affected by each of equipment components. In this study, we examined the effects of the four factors including the beam current, magnification, voltage and working distance. A statistical analysis was conducted to investigate the main and interaction effects. For a systematic characterization, a $2^4$ full factorial experiment was conducted. The $R^2$ of constructed statistical model was 88.9%. The main effect revealed that the current and working distance are dominant factors. Of the interactions, those between the current and voltage yielded the highest interaction. 3D plots generated from the model were used to explore various parameter effects.

The asphalt pavement is usually non-uniform since achieving a non-segregated and homogeneous asphalt mixture is very difficult. The segregation can occur in the mixed material before it is fed onto the road and it become segregated as it is being placed onto the road surface. Note that this segregation determines the performance of the asphalt pavement. Hence, it is necessary to check the segregation by estimating the density of the asphalt pavement in the field. In this paper, a research on estimating the density of the asphalt mixture by measuring the dielectric constant of the material is conducted. An RF transceiver and an antenna are designed and tested to a series of asphalt density samples, and discussions are shown.

The Ring Laser Gyroscope makes use of the Sagnac effect within a resonant ring cavity of a He-Ne laser and has more accuracy than the other gyros. The Low Earth Orbit satellite for observatory use require the high accuracy Gyro to control and determine the altitude because of the need of payload pointing accuracy. In this paper, The theory of the Path Length Control is explained. The electrical design of Path Length Controller Is described. The Design for Path Length Controller is composed of the demodulator, integrator, phase shifter, high voltage amplifier. We apply the circuit to 28cm square ring laser gyro and get the test results.

Cell type packaging line is more suitable for the products with various models and small quantities like mobile phone or mp3 player than conveyor type packaging line. Cell type packaging line is applicable to package various product models, but it can cause wrong product compositions and missing of items. So, automatic missing item detection system is needed. We designed an missing item detection system with a bar code reader, infrared sensors, and s digital camera. and also developed the programs for sensor data acquisition, image data processing, GUI, and data management.

Air quality of indoor space environment is affected by various pollutants like as particles and chemical stuffs. The indoor air pollution affects directly the human respiration organs to cause consequently unpleasant mental status. The $CO_2$ concentration level is one of the harmful components of air pollutants. Major factor to increase the $CO_2$ concentration level is the people's breath amount in indoor. The car exhaust gas diffused from the around road also has strong affect on $CO_2$ concentration. There are some other reasons to affect the $CO_2$ concentration change, such as, real-time change of the population movement, closeness to the indoor air flow inlet window and changes in road car traffic amount. A remote monitoring system to measure environmental indoor air pollution concerning on the $CO_2$ concentration was studied and installed realized set-up model. Zigbee network configuration was applied for this system and the $CO_2$ concentration data were collected through USN network. A software program was developed to assure systematic analysis and to display real-time data on web pages. For the experimental test various condition was set up, like as, window opening, stopping air condition operation and adjusting fan heater work, etc. The analysis result showed the relation of various environmental conditions to $CO_2$ concentration changes. The causes to increase $CO_2$ concentration were experimentally defined as windows closing, the stopping air condition system, fan heater operation. To keep the $CO_2$ concentration under the legally required ppm level in public access indoor space, the developed remote measurement system will be usefully applied.

The shielding enclosure is very essential device to test the electromagnetic wave power generated by various RF equipments. Some standards for the shielding enclosures were established to test them in right method. Generally, There are IEEE-STD-299 and MIL-STD-285 and NSA-65-6 of the method for measuring the effectiveness of shielding enclosures, the IEEE-STD-299 combined MIL-STD-285 and NSA-65-6 about the method for measuring shielding effectiveness(SE) about 1969 years, but, the measurement point of 299 proposal is many points(including shielding wall, seam, coner beat, shielding door, etc) and demand long time of measurement. To improve SE test method for shielding enclosures was studied and suggested to develop a proper test procedure. First, we measure reference level as frequency range and H/V polarization, secondly, measure leakage point, and finally, measure shield effect and calculate SE. Our method has a merit of the less measurement point than IEEE-STD-299, and shorten time than 299, and define representation SE of shielding enclosure effectively.

Air quality analysis is done for subway trains and subway platforms of subway line number 2 using mobile environmental sensor modules. $CO_2$ and PM10/PM2.5 particulate concentration are investigated for screen door systems, under-ground platforms, and transfer stations. These results would help to increase the quality of life of subway railroad passengers.

In this paper, the 2.4GHz doppler radar system consisting of the doppler radar module and a baseband module were designed to detect heartbeat and respiration signal without direct skin contact. A bio-radar system emits continuous RF signal of 2.4GHz toward human chest, and then detects the reflected signal so as to investigate cardiopulmonary activities. The heartbeat and respiration signals acquired from quadrature signal of the doppler radar system are applied to the pre-processing circuit, amplification circuit, and the offset circuit of the baseband module. ECG(electrocardiogram) and reference respiration signals are measured simultaneously to evaluate the doppler radar system. As a result, the respiration signal of doppler radar signal is detected to 1m without complex digital signal processing. The sensitivity and calculated from I/Q respiration signal were $98.29{\pm}1.79%$, $97.11{\pm}2.75%$, respectively, and positive predictivity were $98.11{\pm}1.45%$, $92.21{\pm}10.92%$, respectively. The sensitivity and positive predictivity calculated from phase and magnitude of the doppler radar were $95.17{\pm}5.33%$, $94.99{\pm}5.43%$, respectively. In this paper, we confirmed that noncontact real-time heartbeat and respiration detection using the doppler radar system has the possibility and limitation.

In this paper, we studied for the real-time azimuthal measurement of HMD(Head Mounted Display) using the feature points detection to control the tele-operated vision system on the mobile robot. To give the sense of presence to the tele-operator, we used a HMD to display the remote scene, measured the rotation angle of the HMD on a real time basis, and transmitted the measured rotation angles to the mobile robot controller to synchronize the pan-tilt angles of remote camera with the HMD. In this paper, we suggest an algorithm for the real-time estimation of the HMD rotation angles using feature points extraction from pc-camera image.

대부분의 이동 로봇은 효율적인 경로계획을 위하여 최단거리 및 최소비용을 갖는 경로를 선택한다. 그러나 다수의 로봇이 존재하는 환경에서는 이웃하는 로봇 상호간에 동적 장애물로 인식되어 주행성능을 떨어뜨리게 된다. 또한 트래픽량이 거의 없는 환경에서는 무선 통신의 전송거리 제한으로 이동 로봇간 네트워킹이 원활하게 수행될 수 없는 문제도 있다. 따라서 적당한 거리의 이웃 로봇들과 협업을 위한 네트워킹을 하면서 동적인 경로계획 및 주행을 하는 것이 필수적이다. 본 논문에서는 기존의 A* 알고리즘을 수정하여 로봇의 동적인 트래픽을 고려한 경로계획 알고리즘을 제안한다. 제안된 기법을 이용하여 경로설정과정에서의 로봇 상호간 병목현상을 완화시키며, 일관된 협업 통신도 유지할 수 있다. 모의 실험을 통하여 제안된 알고리즘이 동적인 트래픽을 고려하여 경로를 선택함을 보인다.

본 논문에서는 모바일 로봇이 작업하는 공간상에서 빠르고 안전한 최적 경로계획을 수행할 수 있게 하는 가변적 리드 맵을 이용한 장애물 밀집 정보 기반 경로계획을 제안한다. 모바일 로봇이 작업 공간에 대해서 빠르고 안전한 경로계획을 해 클러스터링 기법을 이용하여 정적 및 동적 장애물의 분포에 대한 맵 정보를 재구성하여 정보화 시킨다. 최적의 경로계획을 위해서는 재구성된 장애물 밀집 클러스터 데이터를 이용하여 전통적 기법의 GA 방법을 변형한 최적 경로계획을 수행한다. 제안한 기술의 효율성을 검증하기 위해 그리드 기반 경로계획 중의 하나인 A*알고리즘과 다양한 맵을 이용하여 성능 비교를 수행하였다. 실험결과 제안한 경로계획 기술은 기존 알고리즘 보다 빠른 처리 성능과 동적 장애물이 밀집한 지역을 회피하는 최적 경로계획을 수행함을 확인하였다.

휴머노이드 로봇에서 스스로 환경을 인식하는 기술은 필수적으로 필요하다. 그러나 정확하게 환경을 인식하기 위해서는 휴머노이드 움직임을 추정하여 보정해야 한다. 따라서 본 논문에서는 type-2 퍼지셋을 이용하여 휴머노이드 로봇의 움직임을 스테레오 비전기반으로 추정하는 방법을 제안하고자 한다. 본 연구에서는 우선 스테레오 비전으로 얻은 Disparity Map을 Type-2 퍼지셋을 이용하여 추적할 대상을 추출한다. 추출된 대상은 보다 정확한 계산을 위하여 Wavelet Transform을 이용하여 정보량을 확장하였으며, 그 결과로 얻어진 결과영상들은 다시 Least suqare approximation과 Type-2 퍼지셋을 이용하여 하나의 결과값으로 나타내어진다. 연속된 두 이미지의 움직임을 추정함으로써 로봇의 움직임을 추정하게 된다. 제안된 방법은 실험을 통하여 그 추정 정확도나 연산속도 면에서 효율적임을 알 수 있었다.

In this research, an obstacle avoidance method is proposed. The common usage of a robot is indoor and the obstacles to the indoor robot is studied. The accurate detection of direction after overcoming the obstacles is necessary for performance of autonomous navigation and mission project. The sensors such as Laser, Ultrasound, PSD can be used to measure the obstacles. In this research, a PSD sensor is used to detect obstacles. It detects the height and width of obstacles located on the floor. Before measuring the obstacles, a calibration of the sensor was done and it produced a better accuracy. We have plotted an error graph using data obtained from the repeated experiments. The graph is fitted to a polynomial curve. The polynomial equation is used for the robot navigation. And in this research, a model of the error of the direction of the robot after overcoming obstacles was obtained also. The prototype of the obstacle and the error of the direction after overcoming the obstacles are modelled using a neural networks. The input of the neural network composed with the height of the obstacles, the speed of robot, the direction of wheels and the error of the direction. To implement the suggested algorithm, we set up a robot which is operated by a notebook computer. Experiment showed the suggested algorithm performed well.

This paper researched the algorithm of robot's walking and action on the basis of robot studied and made at our laboratory and studied how to efficiently control the robot joints by developing wireless Digital Servo Motor using Zigbee Sensor Network Module which is using at wide part recently. I realized the stable walking by adopt Press Sensor at the bottom of robot foot to get stability of walking. Also I let the algorithm calculate the robot movement to make the joint motion and monitored the robot walk to its motion. At this Paper, I studied the method organizing the motion by the each robot walking and measuring the torque applying to the joint. And I also knew that it is possible to make its control and construct hardware more conveniently than them of the existing studied and controling 2Legs Walking Robot by applying it at walking robot and developing wireless servo motor by Zirbee Sensor Network.

For the autonomous movement, the optimal pat]1 planning connecting between current and target positions is essential, and the optimal path of mobile robot means obstacle-free and the shortest length path to a target position. Many actual mobile robots should move without any information of surrounded obstacles. This paper suggests a new method of obstacle avoidment which is suitable in unknown environments. This method of obstacle avoidance is designed with a distributed fuzzy control system, and imitates a Potential Field method. A simulation confirms the performance and correctness of the obstacle avoidance.

본 논문에서는 대표적인 시스템 모델링 도구중의 하나인 RBF 뉴럴 네트워크(Radial Basis Function Neural Network)를 설계하고 모델을 최적화하기 위하여 최적화 알고리즘인 PSO(Particle Swarm Optimization) 알고리즘을 이용하였다. 즉, 모델의 최적화에 주요한 영향을 미치는 모델의 파라미터들을 PSO 알고리즘을 이용하여 동정한다. 제안된 RBF 뉴럴 네트워크는 은닉층에서의 활성함수로서 일반적으로 많이 사용되어지는 가우시안 커널함수를 사용한다. 더 나아가 모델의 최적화를 위하여 각 커널함수의 중심값은 HCM 클러스터링에 기반을 두어 중심값을 결정하고, PSO 알고리즘을 통하여 가우시안 커널함수의 분포상수, 은닉층에서의 노드 수 그리고 다수의 입력을 가질 경우 입력의 종류를 동정한다. 제안한 모델의 성능을 평가하기 위해 Mackey-Glass 시계열 공정 데이터를 적용하였으며 제안된 모델의 근사화와 일반화 능력을 분석한다.

This paper introduces an effectively optimized Fuzzy model identification by means of complex and nonlinear system applying PSO algorithm. In other words, we use PSO(Particle Swarm Optimization) for identification of Fuzzy model structure and parameter. PSO is an algorithm that follows a collaborative population-based search model. Each particle of swarm flies around in a multidimensional search space looking for the optimal solution. Then, Particles adjust their position according to their own and their neighboring-particles experience. This paper identifies the premise part parameters and the consequence structures that have many effects on Fuzzy system based on PSO. In the premise parts of the rules, we use triangular. Finally we evaluate the Fuzzy model that is widely used in the standard model of gas data and sew data.

본 논문에서는 다항식 기반 Radial Basis Function(RBF)신경 회로망을 설계하고 이를 패턴분류 문제에 적용하여 그 성능을 분석한다. 제안된 RBF 신경회로망은 입력층, 은닉층, 출력층으로 이루어진다. 입력층의 연결가중치는 1로서 입력층의 입력벡터는 그대로 은닉층으로 전달되고 은닉층은 FCM(Fuzzy C-means Clustering)방법을 통하여 뉴런의 출력 값으로 내보낸다. 은닉층과 출력층사이의 연결가중치는 상수, 선형식 또는 이차식으로 이루어지며 경사 하강법에 의해 학습되어진다. 네트워크의 최종 출력은 연결가중치와 은닉층 출력의 곱에 의한 퍼지추론의 결과로 얻어진다. 제안된 RBF 신경회로망은 여러 종류의 machine learning 데이터에 적용하여 패턴분류기로서의 성능을 평가받는다.

This paper is concerned with the stabilization problem of nonlinear networked control systems with time-delay via Takagi-Sugeno(T-S) fuzzy control approach. The T-S fuzzy models are employed to represent nonlinear systems with Markovian jump parameters and time-delay. The purpose of this paper is to design a fuzzy controller such that the closed-loop Markovian jump fuzzy system is stochastically stable. Based on a stocastic Lyapunov function, stabilization sufficient conditions using a mode-independent fuzzy controller are derived for the Markovian jump fuzzy system in terms of Linear Matrix Inequalities(LMIs). Finally, a simulation example is presented to illustrate the effectiveness of the proposed method.

심장의 활성 근육의 움직임에 의하여 발생되는 전기적 변화량을 나타내는 심전도는 부정맥 또는 허혈성 심장질환을 진단하는데 널리 활용되고 있다. 특히 심실빈맥(Ventricular Tachycardia) 또는 심실세동(Ventricular Fibrillation)과 같이 치명적인 심장리듬이 발생하기 이전에, 심실조기수축(Ventricular Premature Contraction)을 검출하여 생명을 위협할 수 있는 부정맥을 조기에 진단할 수 있는 연구들이 일부 진행되고 있다. 이에 따라서 본 연구에서는 심전도 신호의 R-R 간격 정보와 R-peak 정보의 진위성을 판단하여 PVC 부정맥 패턴뿐만 아니라 PVC 파형이 연속적으로 진행되는 PVC-RUNs을 효율적으로 검출할 수 있는 부정맥 진단 알고리즘을 제안하고자 하였다.

Scoliosis is a three-dimensional deformity caused by lateral curvature of the spine. The existing braces used to correct the posture were some drawbacks such as inconvenience, tightness as well as unfitness to wear. In this study, we devised a posture guidance system in order to monitor a posture continuously and lead to pose correctly and a new method fur measuring a Cobb's angle value in third dimension based on two 3-axis accelerometers. As a result, the correlation coefficients between desired and measured angles were and standard error between desired and measured angles were 0.99, 1.32(x-axis), 0.99 and 1.10(y-axis), respectively. The devised system showed good potential for the optimal posture guide and an early detection of scoliosis.

The purpose of this study is looking for deviation of change in HRV caused of posture. Total 20 adults were measured for 40 minutes(10 minutes rest section and 30 minutes analysis section) when volunteers were sitting and lying down. Other factors which can change in HRV were controlled during measurement. The analysis section were divided by total 6 stages(each by 5 minutes), and compared and analyzed between sitting and lying down groups. It was also compared and analyzed stages in each group. In the result, there was difference at stage 5($20{\sim}25$ minutes interval), but no difference in the total data. The results of each stage in the group, lying down had difference. Therefore, sitting is more stable measurement for HRV study when subjects was waking over 15 minutes.

The development of health information technology enables people to access, view and acquire personal health record. But still, there have been a number of obstacles such as the absence of the standard to realize the ideal Personal Health Record(PHR) system. In this study, we proposed the service model that serves periodic Health Record Summary which is made by a medical specialist to people who are in the busy lives. Healthcare data from EMR in a hospital including people generate themselves at home is sent to a physician to make a medical opinion, and then it is changed into Health Level 7 Continuity of Care Document(CCD) format for interoperability. After a physician writes his opinion about patient's health condition, it will send to people by email. People who receive the health record summary data by email can save them into a USB device to view own PHR and medical comments of a physician through a computer. It will help people managing their own health condition with an opinion of a medical specialist.

SVM(Support Vector Machine) is a classification method which is recently watched in mechanical learning system. Vapnik, Osuna, Platt etc. had suggested methodology in order to solve needed QP(Quadratic Programming) to realize SVM so that have extended application field. SVM find hyperplane which classify into 2 class by converting from input space converter vector to characteristic space vector using Kernel Function. This is very systematic and theoretical more than neural network which is experiential study method. Although SVM has superior generalization characteristic, it depends on Kernel Function. There are three category in the Kernel Function as Polynomial Kernel, RBF(Radial Basis Function) Kernel, Sigmoid Kernel. This paper has analyzed performance of SVM against kernel using virtual data.

We present an efficient and robust measurement model for visual tracking. This approach builds on and extends work on subspace representations of measurement model. Subspace-based tracking algorithms have been introduced to visual tracking literature for a decade and show considerable tracking performance due to its robustness in matching. However the measures used in their measurement models are often restricted to few approaches. We propose a novel measure of object matching using Angle In Feature Space, which aims to improve the discriminability of matching in subspace. Therefore, our tracking algorithm can distinguish target from similar background clutters which often cause erroneous drift by conventional Distance From Feature Space measure. Experiments demonstrate the effectiveness of the proposed tracking algorithm under severe cluttered background.