• Smart Structures and Systems
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• 제7권2호
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• pp.103-116
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• 2011

This paper is concerned with the trajectory tracking and vibration suppression of a single-link flexible arm by using piezoelectric materials. The dynamics of a single flexible arm with PZT patches as sensor and actuator is derived using extended Hamilton's principle. Resulting equations show that the coupled beam dynamics including beam vibration and its rigid in-plane rotation takes place in two different time scales. By using singular perturbation theory, the system dynamics is divided into two subsystems. Then, a composite control scheme is elaborated that makes the orientation of the arm track a desired trajectory while suppressing its vibration. The proposed controller has two parts: one is a tracking controller designed for the slow (rigid) subsystem, and the other one is a stabilizing controller for the fast (flexible) subsystem. The outputs considered for the system are angular position of the hub and voltage of the sensor mounted on the structure. To avoid requiring further measurements of beam vibration and also angular velocity of the hub for the fast and slow control laws, respectively, two sliding mode observers for estimating the unknown states are also designed.

• 한국수산과학회지
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• 제46권3호
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• pp.273-281
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• 2013

The movement patterns of fish aggregations swimming freely near artificial reefs on August 24, 2006, at Suyeong Man, Busan, Korea, were acoustically investigated and analyzed. Acoustic surveys were conducted using a 70kHz split-beam echo sounder, 330 kHz side-scan sonar and a 310 kHz imaging sonar. Algorithms for tracking the movement of fish aggregations swimming in response to artificial reefs were developed. The travel direction and the swimming speed for two aggregations of fish were estimated from the trajectory orientations of echo responses recorded by the imaging sonar.The first group was floating just above the reef structure, while remaining in the midwater column, and the second group was swimming through and around artificial reefs near the seabed. The mean swimming speed was estimated to be 0.40 m/s for the midwater fish aggregation and 0.17 m/s for the bottom aggregation close to artificial reefs. These results suggest that the swimming behavior of fish aggregations passing close to artificial reefs near the seabed displayed a slower moving pattern than fish floating just above the reef structure in the midwater column.

• Advances in nano research
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• 제14권5호
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• pp.409-419
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• 2023

Tracking the motion of tennis balls is a challenging task in using cameras around the tennis court. The most important instance of the tennis trajectory is the time of impact and touch the court which in some cases could not be detected precisely. In the present study, we aim to present a novel design of tennis balls equipped with nano-sensors to detect the touch of the ball to the court. In the impact instance, tennis ball receives significant acceleration and change in the linear momentum. This large acceleration could deform a small-beam structure with piezoelectric layer to produce voltage. The voltage could further be utilized to produce infrared waves which could be easily detected by infrared detection sensors installed on the same video cameras or separately near the tennis court. Therefore, the exact time of the impact could be achieved with higher accuracy than image analyzing method. A detailed dynamical property of such sensors is discussed using nonlinear beam equations. The results show that within the acceleration range of tennis ball during an impact, the piezoelectric patches of the nano-sensors in the tennis ball could produce enough voltages to propagate infrared waves to be detected by infrared detectors.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2003년도 추계학술대회논문집
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• pp.643-648
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• 2003

The problem considered in this paper is that the tip position of a flexible cantilever beam is controlled to follow a command signal, using a pair of piezoelectric actuators at the clamped end. The beam is lightly damped and so the natural transient response is rather long, and also since the sensor and actuator are not collocated, the plant response is non-minimum phase. Two control strategies were investigated. The first involved conventional PID control in which the feedback gains were adjusted to give the fastest closed-loop response to a step input. The second control strategy was based on an internal model control (IMC) architecture. The control filter in the IMC controller was a digital FIR device designed to minimize the expectation of the mean square tracking error. The IMC controller designed fur the beam was found to have very much reduced settling times to a step input compared with those of the PID controller.

• 한국통신학회논문지
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• 제39C권12호
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• pp.1327-1337
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• 2014

밀리미터 웨이브 대역을 링크로 갖는 셀룰러 통신 시스템에서는 하향링크 제어신호를 사용하여 빔 추적을 할 경우에는 오랜 빔 트레이닝 시간과 많은 네트워크 자원이 소요된다. 본 논문에서는 아날로그 빔형성 방식의 단말기와 디지털 빔형성 방식의 기지국으로 구성된 밀리미터 웨이브 링크를 갖는 OFDM 기반 셀룰러 통신 시스템에 적합한 빔 추적 기법을 제안한다. 제안된 기법은 Zadoff-Chu 시퀀스 기반으로 설계된 상향 링크 프리앰블 신호와 단말기 ID, 단말기의 송신빔 ID, 수신 신호의 DoA 등의 파라메터를 추정할 수 있는 메트릭을 사용하여 기지국과 단말기 사이의 송수신 빔 쌍과 서빙 기지국을 추적할 수 있다. SCM 채널을 사용한 모의실험을 통하여 제안된 기법은 다수의 단말기가 존재하는 환경에서도 각 단말기의 송수신 빔 쌍을 효율적으로 추적하고, 빔 추적 시 요구되는 소요 시간과 계산 복잡도를 크게 줄일 수 있음을 확인한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.339-339
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• 2000

In this parer, a method of measuring the size of defects on the wall and restructing the defect image of 3-dimension is developed based on the tracking algorithm of a camera position which uses the inclination angle of line slit beam for overcoming the difficulty of the corresponding problem identifying the image point in the both image. In the experiments, an algorithm for estimating the horizontal angle of CCD camera is presented and validated by applying it to the measurement of area and length under the variations of both the distance and the angle of CCD camera. And its performance is compared to that of the rotating and mapping method of image which has the Euclidian distance.

• 로봇학회논문지
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• 제15권1호
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• pp.8-15
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• 2020

This research is a case study of underwater object tracking based on real-time recurrent regression networks (Re³). Re³ has the concept of generic object tracking. Because of these characteristics, it is very effective to apply this model to unclear underwater sonar images. The model also an pursues object tracking method, thus it solves the problem of calculating load that may be limited when object detection models are used, unlike the tracking models. The model is also highly intuitive, so it has excellent continuity of tracking even if the object being tracked temporarily becomes partially occluded or faded. There are 4 types of the dataset using multi-beam sonar images: including (a) dummy object floated at the testbed; (b) dummy object settled at the bottom of the sea; (c) tire object settled at the bottom of the testbed; (d) multi-objects settled at the bottom of the testbed. For this study, the experiments were conducted to obtain underwater sonar images from the sea and underwater testbed, and the validity of using noisy underwater sonar images was tested to be able to track objects robustly.

• 한국항행학회논문지
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• 제24권5호
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• pp.393-407
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• 2020

불법 무인기에 의한 위협을 줄이기 위해, 음향 기반 기법에 의한 추적시스템을 구현하였다. 드론 음향 추적 방식에는 3가지 주요 사항이 있다. 첫째, 가변 빔 형성을 통해 공간을 스캔하여 음원을 찾아 마이크 어레이를 사용하여 소리를 녹음한다. 둘째, 음원의 존재 유·무 여부를 알기 위해 은닉 마르코프 모델(HMM)로 분류한다. 마지막으로 음원이 드론인 경우, 적응형 빔 패턴을 기반의 추적기준 신호로 기록 및 저장된 음원을 사용한다. 시뮬레이션은 배경 노이즈 및 간섭 사운드가 없는 이상적인 상태와 배경 노이즈 및 간섭 사운드가 있는 비이상적인 조건 모두에서 수행되며 불법적인 드론의 추적 성능을 평가하였다. 드론 추적 시스템은 마이크 어레이 성능에 따른 탐색 거리 성능향상 및 음향 패턴 일치 정도에 따른 드론 유무 판정 기준을 설계하여 음성판독 회로설계에 반영하였다.

• 전기전자학회논문지
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• 제26권1호
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• pp.137-140
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• 2022

본 논문에서는 반사배열 안테나 구조를 이용한 W대역 모노펄스 추적 시스템을 제안하였다. 제안한 반사배열 안테나 모노펄스 추적 시스템은 단일 반사 방식의 4개의 급전 혼 안테나과 마이크로스트립 반사배열을 이용한 평판형 반사판으로 구성된다. 4개의 급전 혼 안테나는 10 dBi의 이득, E/H평면에서 대칭적으로 56도 반치각을 가지고 있다. 1개의 급전 혼 안테나를 사용한 반사배열 안테나는 41.8 × 41.8 mm²의 크기로, 26.8 dBi의 이득과 약 5.6도의 반치각 빔폭을 가지고 있다. 4개의 급전 혼 안테나를 사용한 반사배열 모노펄스 추적 시스템은 75 GHz에서 90 GHz까지 정합되어 있으며, 각 안테나 사이의 격리도는 10 dB 이상 확보되어 있다. 또한 전파신호의 추적범위는 5.98도를 가지고 있으며, 추적오차범위는 0.02도임을 확인하였다.

• 전자공학회논문지
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• 제53권11호
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• pp.89-96
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• 2016

잠수함 정숙화 기술의 발달로 대잠 소나의 탐지성능 향상이 요구되고 있다. 이와 같은 성능향상의 필요성에 의해 소나체계에 널리 쓰이는 일반적인 빔형성 기법(CBF : Conventional BeamForming)보다 성능이 뛰어난 적응 빔형성(ABF : Adaptive BeamForming) 기법이 대체 알고리즘으로 검토되고 있다. 소나 체계에 적응 빔형성기를 적용하여 성능향상을 도모하기 위해서는 적응 빔형성 기법의 체계 적용성이 검증되어야 하는데 이를 위해서는 체계 적용성을 측정하기 위한 성능지표가 정립되어야 한다. 본 논문에서는 적응 빔형성기와 일반적인 빔형성기의 추적 개시(Tracking initiation) 확률을 산출하여 두 기법의 성능을 정량화하여 적응 빔형성기의 체계 적용성을 검토하였다.