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The trend of unsustainable power consumption and large memory bandwidth demands in massively parallel multicore systems, with the advent of the big data era, has brought upon the onset of alternate computation paradigms utilizing heterogeneity, specialization, processor-in-memory and approximation. Approximate Computing is being touted as a viable solution for high performance computation by relaxing...
In electric distribution systems, a parallel arc is caused by a short circuit resulting from insulation breakdown of a wire or aged equipment. A series arc occurs when a load and a power source are disconnected from a connector such as a circuit breaker, a socket-plug or a coupler. In DC systems, these arcs are not extinguished unless the arc current decreases to zero. Sustaining plasma arc current...
The closer distance between robots and human partners in the same space makes compliant robots essential in these days. While torque sensor based impedance control scheme suffers from insufficient bandwidth, musculoskeletal systems can achieve similar ability with smaller resources by using mechanically guaranteed dynamics. In this study, inspired by active stiffness mechanism of biological muscle,...
The damping controller is popularly used in human-robot interaction to adapt the desired pose of the tool center via applied wrench (force and torque) by the human. However, the experimental identification of the suitable damping gain for the dynamical relationship between applied wrench and end-effector's velocity is an open problem. In addition, although the requirements of safe human-robot standards...
A modular approach for a robot has various advantages such as flexibility, re-configurability, and cost reduction. In this paper, we present a pick-and-place task with our modular manipulation system which is currently under development. The system consists of hardware platform, motion engine and task recognition engine and those elements are integrated for executing the task.
This paper introduces the fuzzy-PD controller, a novel approach of controlling a quadcopter, which is based on the Euler-Newton equations. The proposed fuzzy-PD includes a PD controller and a fuzzy system that adjusts the PD controller gains for stabilizing the quadcopter. It is an approach that applies a fuzzy concept to control a quadcopter. The proposed approach has been simulated and analyzed...
Scalable Networks-on-Chip (NoCs) have become the de facto interconnection mechanism in large scale Chip Multiprocessors. Not only are NoCs devouring a large fraction of the on-chip power budget but static NoC power consumption is becoming the dominant component as technology scales down. Hence reducing static NoC power consumption is critical for energy-efficient computing. Previous research has proposed...
Inspired from Hogan's myoelectric processor in 1980, this study presents a stochastic sEMG processing method to estimate the muscle activation level for manipulator control. Hogan's previous study showed the feasibility to estimate the muscle activation level with multi-channel sEMG under static force condition. However, it is difficult to continuously estimate muscle activation during dynamic contraction...
We examine a robot task sequencing problem for a flexible assembly system which consists of multiple 3D printers, two post-processing machines, multiple assembly machines, an inspection machine, and one material handling robot. The flexible assembly systems, which have been built in many large cities in Korea, are designed to produce customized products for start-up companies and individuals. In this...
Chip Multi-Processor (CMP) architectures have become mainstream for designing processors. With a large number of cores, Network-On-Chip (NOC) provides a scalable communication method for CMP architectures, where wires become abundant resources available inside the chip. NOC must be carefully designed to meet constraints of power and area, and provide ultra low latencies. In this paper, we propose...
Electronically steerable parasitic array radiator (ESPAR) antenna using analog RF switches for single RF chain is presented. A switch simplifies the design and implementation of reactance loads, does not require complex additional antenna matching circuits. The measured impedance bandwidth of the proposed ESPAR antenna is 650 MHz (2.35–3 GHz). The proposed antenna has a beam pattern is reconfigurable...
A method for enhancement of inter-layer reference (ILR) picture quality based on enhancement of temporal layer reference pictures with an up-sampled base layer picture is presented. The proposed scheme uses smoothing and sharpening filters to enhance the quality of inter-layer prediction. Based on two filters, a competitive scheme is proposed to get better quality of video. Experimental results showed...
Characterizing the channel for vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communications in the 5 GHz frequency band is of great interest within the increasingly growing field of intelligent transportation systems. In this study, we determine the Doppler shift effect in a simulation scenario with a V2I path loss model and various V2V channel models. The existence of both Doppler...
The stabilization of man-made artificial systems has been achieved by sensor based state feedback control with high computational bandwidth and high stiffness structures. In contrast, many biological systems have been achieved similar or superior stable behavior with low speed signal transmission via nervous systems, which is easy to introduce unstable performance from a control engineering perspective...
Grid injecting ac current from grid connected inverters contains harmonic components which can be effectively attenuated by LCL type filters with comparably low filter cost. Recent researches tell that the current harmonics stem not only from high order PWM switching itself but also from low order dead time control for the PWM switching. However, low order current harmonics from the dead time control...
The stabilization of most artificial systems has been achieved by sensor based state feedback control with high signal transmission speed and high computational power, and stiff structures. In contrast, many biological systems can achieve similar or superior stable behavior with low signal transmission speed and low computational power via nervous system, and flexible structures. In order to explain...
As the needs of education of programming language increase, the importance of the learning environment has been emphasized. Based on the social trends, various web services for the education of programming which improves the computational thinking of a student. Among the web services, block-based programming languages are well known as an effective educational tool for a primary student though a freshman...
We propose an optoelectronic force sensor based insole type ground reaction force (GRF) measurement system, which can be used to measure the absolute GRFs produced by the user. Although force sensitivity resistors (FSR) has been widely used to measure the GRFs, they provide only the relative weight of the user. Accurate measurement of GRFs is essential to control robotic devices, such as lower-limb...
The stabilization of the man-made dynamic systems has been achieved by sensor based state feedback control algorithms which require high computational bandwidth and high stiffness structures. However, many biological systems achieved similar or superior stable behavior with low speed signal transmission via nervous systems, which is easy to introduce unstable performance in the view of control engineering...
There are only a few insole ground reaction force (GRF) measurement systems for running and jumping because the capacity and durability of the system were not guaranteed to measure the heavy load on the foot. We propose insole-type measurement system that can measure up to 900N to assure the capacity of GRF during running and jumping. The proposed system was implemented using a sensor-embedded flexible...
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