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This paper suggests linearity enhancement algorithm for slope driving of Intelligent Walker. Intelligent Walker happens to get off track due to external forces from robot's weight and the degree of the slope while slope driving. In order to compensate this, this research used the controller that estimates the external forces according to the slope of road surface and adjusts it to the motor output...
In this paper, the haptic implementation using user-aware vibration pattern studied to recognize a surroundings of a teleoperated mobile robot in an environment where the user cannot see. The user teleoperates the mobile robots using the joystick in an environment where the user cannot see, haptic that enables the user perceive the perceived location information of obstacle during driving was implemented...
In order to precisely control motor positions, most motor systems use an encoder as the feedback sensor. In the case of a simple system, an incremental encoder and limit switches are used for initial position setting. However, this system loses the current position data when the power goes down and the final position is changed due to an external force. For this reason, absolute encoders are used...
The cognitive radio (CR) system in which multiple secondary users (SU) search for spectrum opportunities generated by the absence of primary users (PU) is considered in this paper. The occupancy of a CR channel is modeled as a Markov chain, and it is assumed that the Markov chain has only two states: idle or busy. Since parameters of the Markov chain are unknown to SUs \emph{a priori} and the states...
Spectrum sensing is a critical component in cognitive radio. Meanwhile, robust principal component analysis (rPCA) can decompose a matrix into low-rank and sparse matrices. In general, the covariance matrix of a correlated signal is low-rank and the covariance matrix of white noise is diagonal, which can be regarded as sparse. This fact implies that rPCA can be used as a powerful tool for spectrum...
In this paper, we present a smart handheld surgical tool with tactile feedback to help microsurgery. This device consists of force sensors attached to the tool tip and tactile displays on the position of the fingerhold. The sensor is capacitive one and measures not only the magnitude of force, but also the direction of force. The sensor can measure 9N of lateral forces along x-y-z direction. The tactile...
A 64Gb MLC NAND flash memory on 20nm CMOS technology has been developed. 135mm2 chip size is realized by 1-sided All-Bit-Line architecture and 128 cells in a string. 25MB/s program throughput with 2-bit/cell is achieved by reducing BL resistance and pump output loading using new BL control method and multi-split block decoder. This device also supports 400MB/s high speed interface.
This paper presents a preliminary design and experimental results of a multi-axial contact force sensor for robotic surgery graspers. The sensor is a thin-film type capacitive one with a multiple cell structure capable of measuring normal and shear forces at contacts simultaneously. The structure of the sensor is determined via numerical optimization for maximizing sensitivity and based on the results,...
This paper proposes an IEEE 802.21 Media Independent Handover (MIH) functionality assisted Proxy Mobile IPv6 (PMIPv6) mechanism for reducing handover latency and signaling cost in heterogeneous wireless networks. The proposed mechanism comes to support fast vertical handover for the mobile node (MN) irrespective of the presence or absence of MIH functionality as well as IP mobility functionality....
A photonic crystal fiber (PCF)-based multimodal multiphoton nonlinear microspectroscopy imaging system was developed and applied to hepatic fibrosis tissue. Multiphoton images and CARS spectrum at C-H vibration stretching differentiate liver fibrosis from normal liver tissue.
This paper presents a message passing interface called MATRIX for the MPMD (Multiple Program Multiple Data) type parallel application running on a distributed network. The proposed interface provides network abstraction and peer-to-peer message transfer method to the application layer. The interface is designed to have scalability for a large-scale application. The concurrent application established...
In this paper we propose a new hardware architecture for high-speed to reduce the amount of hardware resource for CGH (computer generated hologram) calculation without sacrificing the performance. It uses the block-parallel method in calculating a CGH. After analyzing the CGH equation, we rearrange it to design hardware to fit to our purpose. The main block of the proposed hardware is common term...
This paper is to propose a model to service digital holograms that can display a holographic image by interacting with viewer. This model includes both the cases of computing CCGH computer-generated hologram) at the transmitting side or receiving side, which depends on the computational power of each side. Interacting with the viewer is assumed and can be implemented with a face tracking technique,...
To overcome disadvantages of conventional manual or motorized wheelchairs, the push-rim activated power assisted wheelchair (PAPAW) has been developed. Though with the help of PAPAW the rider can climb slopes without much exertion, PAPAW cannot be finely position-controlled on the slopes, and the rider's hands are not free while pausing on the slopes. In order to solve these problems, the gravitation-compensating...
In this paper, the mobile robot equipped with a single ultrasonic sensor to measure the value of the distance between the mobile robot and the obstacle will be manipulated by a haptic joystick through the value of Force Feedback. Accordingly, the mobile robot will move based on the information of the ultrasonic sensor without colliding the obstacle to precise velocity control. Vibration part which...
To determine the best block mode among the different sizes in H.264/AVC, the rate distortion cost is used as a determining factor. This process requires relatively large amount of computation to encounter all the combinations of different sizes of MBs. In this paper, a new fast inter-mode decision algorithm is proposed in this context. The proposed method reduces the number of candidate modes using...
A CARS microspectroscopy system was developed and applied to live breast cancer cells. CARS image and spectrum at C-H vibration stretching in lipid droplets differentiate cancer cell from normal cell.
In the flux-weakening control, Interior Permanent Magnet Synchronous Motor (IPMSM) for traction motor of Hybrid Electric Vehicles (HEVs) makes it possible to operate at the region of high speed and assists the power, which improve the efficiency of HEV. If the magnetic flux generated by the rotor does not reduced enough in the constant power region, the current controller is saturated and then the...
The PMSM position sensor using two rectangular hall sensors can restrictively acquire the 90° position information of rotor according to electrical angle. Thus, the control method using this position sensor cannot react properly to a rapid load torque change. On the other hand, even though a sensorless method has the advantage of acquiring instantaneous rotor position information, the accuracy of...
This paper proposes the field weakening method of IPMSM(Interior Permanent Magnet Synchronous Machine) for the electric vehicle (EV) application. The method of using lookup-table generally used in automotive application has merits for fast dynamics, however containable data is limited especially on DC-link voltage. On the other hands, the method using a voltage feedback control has advantages in current...
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