• Journal of Mechanical Science and Technology
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• v.19 no.10
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• pp.1856-1863
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• 2005

In this study, a visual sensor system for weld seam tracking the I-butt weld joints in GMA welding was constructed. The sensor system consists of a CCD camera, a diode laser with a cylindrical lens and a band-pass-filter to overcome the degrading of image due to spatters and arc light. In order to obtain the enhanced image, quantitative relationship between laser intensity and iris opening was investigated. Throughout the repeated experiments, the shutter speed was set at 1/1000 second for minimizing the effect of spatters on the image, and therefore the image without the spatter traces could be obtained. Region of interest was defined from the entire image and gray level of the searched laser stripe was compared to that of weld line. The differences between these gray levels lead to spot the position of weld joint using central difference method. The results showed that, as long as weld line is within $\pm15^{o}$ from the longitudinal straight line, the system constructed in this study could track the weld line successfully. Since the processing time is no longer than 0.05 sec, it is expected that the developed method could be adopted to high speed welding such as laser welding.

• Journal of Korean Physical Therapy Science
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• v.30 no.4
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• pp.1-8
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• 2023

Background: This study evaluates the usability of the Motion-Tracking Gait Assistive Walker (MTGAW) designed for elderly individuals and those with disabilities, identifying areas for improvement through interviews with physical and occupational therapists. Design: A survey study involves the usability test for MTGAW. Methods: Usability evaluations were conducted with 37 physical therapists and occupational therapists. The process included explanation, product usage, satisfaction surveys, and interviews. A satisfaction survey covering 19 items across safety, maneuverability, usability, and management areas was administered. Individual interviews identified areas for improvement. Results: Overall, high satisfaction was reported across the four areas, but interviews highlighted the need for improvements, such as addressing discomfort due to slow speed and enhancing safety measures to prevent rear-end falls. Adjusting the walker's height and width to suit the user's physique was also suggested. Conclusion: MTGAW enhances walking support and hand movement freedom but needs refinement in speed control, fall prevention, and customization based on the user physique. Future efforts should focus on developing an improved MTGAW, considering recommendations from physical therapy experts, and conducting studies to analyze its clinical effectiveness for commercialization.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.57-60
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• 2003

We have proposed the adaptive noise reduction algorithm using the MDFT. The algorithm proposed use the linear prediction coefficients of the AR method based on Sign algorithm that is the modified LMS instead of the least mean square(LMS). The signals with a random noise tracking performance are examined through computer simulations and confirmed that the high speed adaptive noise reduction processing system is realized with rapid convergence.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.734-738
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• 1996

An adaptive output feedback controller is designed for tracking control of an n-link robot manipulator with unknown load. High-gain observers with same structure as error dynamic systems are used to estimate joint velocities. The parameter adaptation is achieved by the smoothed projection algorithm. The control inputs are saturated outside a domain of interest. Simulation results on a 2-link manipulator illustrate that when the speed of the high-gain observer is sufficiently high, the proposed controller recovers the performance under state feedback control.

• Journal of Power Electronics
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• v.6 no.1
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• pp.52-66
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• 2006

This paper proposes a wind energy conversion system connected to a grid using a self-excited induction generator (SEIG) based on the maximum power point tracking (MPPT) control scheme. The induction generator (IG) is controlled by the MPPT below the base speed and the maximum energy can be captured from the wind turbine. Therefore, the stator currents of the IG are optimally controlled using the indirect field orientation control (IFOC) according to the generator speed in order to maximize the generated power from the wind turbine. The SEIG feeds a (CRPWM) converter which regulates the DC-link voltage at a constant value where the speed of the IG is varied. Based on the IG d-q axes dynamic model in the synchronous reference frame at field orientation, high-performance synchronous current controllers with satisfactory performance are designed and analyzed. Utilizing these current controllers and IFOC, a fast dynamic response and low current harmonic distortion are attained. The regulated DC-link voltage feeds a grid connected CRPWM inverter. By using the virtual flux orientation control and the synchronous frame current regulators for the grid connected CRPWM inverter, a fast current response, low harmonic distortion and unity power factor are achieved. The complete system has been simulated with different wind velocities. The simulation results are presented to illustrate the effectiveness of the proposed MPPT control scheme for a wind energy system. In the simulation results, the d-q axes current controllers and DC-link voltage controller give prominent dynamic response in command tracking and load regulation characteristics.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.05a
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• pp.775-779
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• 2003

Recently, a new type actuator using multi-pole magnet has been developed for high-density and high-speed disk drive, which can be achieved higher sensitivity than a conventional actuator for applying one-pole magnet. However, it is very difficult for the actuator of multi-pole magnet to meet simultaneously the optimal design condition for reducing rolling mode effect and improving driving sensitivity because the force center is different from the mass center In this paper, First We propose the new shape coil for tracking which can reverse moment additionally in tracking motion, Next we achieve the optimal design to reduce phase disturbance and peak gain at the rolling mode frequency. Finally, the validity of the proposed methods is proved from experimental results.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.329-330
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• 2011

• Journal of Broadcast Engineering
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• v.21 no.6
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• pp.913-919
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• 2016

In this paper, we propose the visual tracking algorithm that takes advantage of multiple random walkers. We first show the tracking method based on support vector machine as [1] and suggest a method that suppresses feature vectors extracted from backgrounds while preserve features vectors from foregrounds. We also show how to discriminate between foregrounds and backgrounds. Learned by reducing influences of backgrounds, support vector machine can clearly distinguish foregrounds and backgrounds from the image whose target objects are similar to backgrounds and occluded by another object. Thus, the algorithm can track target objects well. Furthermore, we introduce a simple method improving tracking speed. Finally, experiments validate that proposed algorithm yield better performance than the state-of-the-art trackers on the widely-used benchmark dataset with high speed.

• Asia-pacific Journal of Multimedia Services Convergent with Art, Humanities, and Sociology
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• v.7 no.6
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• pp.897-906
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• 2017

Projection Mapping, also known as Spatial Augmented Reality(SAR) has attracted much attention recently and used for many division, which can augment physical objects with projected various virtual replications. However, conventional approaches towards projection mapping have faced some limitations. Target objects' geometric transformation property does not considered, and movements of flexible objects-like paper are hard to handle, such as folding and bending as natural interaction. Also, precise registration and tracking has been a cumbersome process in the past. While there have been many researches on Projection Mapping on static objects, dynamic projection mapping that can keep tracking of a moving flexible target and aligning the projection at interactive level is still a challenge. Therefore, this paper propose a new method using Unity3D and ARToolkit for high-speed robust tracking and dynamic projection mapping onto non-rigid deforming objects rapidly and interactively. The method consists of four stages, forming cubic bezier surface, process of rendering transformation values, multiple marker recognition and tracking, and webcam real time-lapse imaging. Users can fold, curve, bend and twist to make interaction. This method can achieve three high-quality results. First, the system can detect the strong deformation of objects. Second, it reduces the occlusion error which reduces the misalignment between the target object and the projected video. Lastly, the accuracy and the robustness of this method can make result values to be projected exactly onto the target object in real-time with high-speed and precise transformation tracking.

• Journal of Power Electronics
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• v.4 no.4
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• pp.217-227
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• 2004

A robust controller that combines the merits of the feed-back, feed-forward and model-following control for induction motor drives utilizing field orientation control is designed in this paper. The proposed controller is a two-degrees-of­freedom (2DOF) integral plus proportional & rate feedback (I-PD) speed controller combined with a model-following (2DOF I-PD MFC) speed controller. A systematic mathematical procedure is derived to find the parameters of the 2DOF I-PD MFC speed controller according to certain specifications for the drive system. Initially, we start with the I-PD feed­back controller design, then we add the feed-forward controller. These two controllers combine to form the 2DOF I-PD speed controller. To realize high dynamic performance for disturbance rejection and set point tracking characterisitics, a MFC controller is designed and added to the 2DOF I-PD controller. This combination is called a 2DOF I-PD MFC speed controller. We then study the effect of the 2DOF I-PD MFC speed controller on the performance of the drive system under different operating conditions. A computer simulation is also run to demonstrate the effectiveness of the proposed controller. The results verify that the proposed 2DOF I-PD MFC controller is more accurate and more reliable in the presence of load disturbance and motor parameter variations than a 2DOF I-PD controller without a MFC. Also, the proposed controller grants rapid and accurate responses to the reference model, regardless of whether a load disturbance is imposed or the induction machine parameters vary.