• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.5 no.1
• /
• pp.144-149
• /
• 2001

There are many types of seam tracking methods actually used in industrial spot. Lately, Non-contact sensor technics are mostly used because non-contact sensor has more advantage than contact sensor in many parts. This paper also concerned about fiber sensor a kind of non-contact sensor. X-Y robot and fiber sensor scan the seam tracking to be weld. After scanning, X-Y robot moves the first working point of being scanned and welding starts automatically. It makes an experiment on some types of Seam tracking like straight line tracking, leaned line tracking and curved line tracking to confirm how well the fibers sensor tracks the seam pass to be weld. And the seam pass that had been tracked was welded by inverter $CO_2$ voiding machine.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2000.10a
• /
• pp.558-561
• /
• 2000

There are many types of seam tracking methods actually used in industrial spot. Lately, Non-contact sensor technics are mostly used because non-contact sensor has more advantage than contact sensor in many parts. This paper also concerned about fiber sensor a kind of non-contact sensor. X-Y robot and fiber sensor scan the seam tracking to be weld. After scanning, X-Y robot moves the first working point of being scanned and welding starts automatically. It makes an experiment on some types of Seam tracking like straight line tracking, leaned line tracking and curved line tracking to confirm how well the fibers sensor tracks the seam pass to be weld. And the seam pass that had been tracked was welded by inverter CO2 welding machine.

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.187-190
• /
• 1997

In the past few years, many researchers are interesting of control of mobile robot with nonholonomic constraints. And tracking problems is important as well as regulation in nonholonomic system control. Some researchers have investigated the stable tracking control law for mobile robot. But, few results showed the globally asymptotically stable control method simply. So, we address the design of globally asymptotically stable tracking control law for mobile robot with nonholonomic velocity constraints using simple method. The stabilizability of the controller is derived by Lyapunov direct method. And we analyze the system responses according to the variation of control parameters in line tracking problem. It is derived that the responses represent no overshoot property in line tracking. Examples are two-wheeled mobile robot and car-like mobile robot and the simulation results represent the effectiveness of our method.

• Journal of Institute of Control, Robotics and Systems
• /
• v.5 no.1
• /
• pp.54-61
• /
• 1999

Objective of the research is to put the vast and complex fault tracking knowledge of human experts in semiconductor production line into the knowledge base of computer system. We mined the fault tracking knowledge of domain experts(engineers of production line) for the construction of knowledge base of the expert system. Object oriented fact models which increase the extensibility and reusability have been built. The rules are designed to perform the fault diagnosis of the items in production device. We have exploited the evidence accumulation method to assign check priority in rules. The major contribution is in the overall design and implementation of the nile base and related facts of the expert system in object oriented paradigm for the application of the system in fault diagnosis in semiconductor production line.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.27 no.4
• /
• pp.446-456
• /
• 2024

This paper addresses a novel approach to performance enhancement of the naval gun fire control system(FCS) by using the projectile tracking filter without any distortion of radar measurements. Under the assumption that the maneuvering between the projectile and the ship equipped with the radar is not quite large, this method is based on the concept of polar-coordinate target tracking, which separates the range estimation filter and the direction cosine estimation filter. Note that using polar-coordinates allows tracking to be performed in the same coordinate system from which the radar line-of-sight(LOS) measurements are obtained, unlike the conventional tracking process in Cartesian. Also, it is easy to implement in real-time and guarantees consistent estimates due to its linear filter structure. With the help of the above method, therefore, the proposed filter is able to improve the overall performance of FCS which requires stability of projectile estimates within a short engagement time. The effectiveness of the presented scheme is validated through computer simulations.

• Journal of Electrical Engineering and Technology
• /
• v.13 no.6
• /
• pp.2521-2529
• /
• 2018

This paper deals with a sampled-data tracking control problem for the Takagi-Sugeno fuzzy system with external disturbances. We derive a stability condition guaranteeing both asymptotic stability and H-infinity tracking performance by employing a newly proposed time-dependent line-integral fuzzy Lyapunov-Krasovskii functional. A new integral inequality is also introduced, by which the proposed stability condition is formulated in terms of linear matrix inequalities. Finally, the effectiveness of the proposed method is demonstrated through a simulation example.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2004.05a
• /
• pp.568-574
• /
• 2004

On-line phase tracking of an extrinsic Fabry-Perot interferometer (EFPI) and experimental vibration control of a composite beam with a sensing-patch are investigated. We propose a sensing-patch for the compensation of the interferometric non-linearity. In this paper, a sensing-patch that comprises an EFPI and a piezo ceramic(PZT) is fabricated and the characteristics of the sensing-patch are experimentally investigated. A simple and practical logic is applied for the real-time tracking of optical phase of an interferometer. Experimental results show that the proposed sensing-patch does not have the non-linear behavior of conventional EFPI and hysteresis of piezoelectric material. Moreover, it has good strain resolution and wide dynamic sensing range. Finally, the vibration control with the developed sensing-patch has been performed using Fuzzy logic controller, and the possibility of sensing-patch as a sensoriactuator is considered.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
• /
• 2005.07a
• /
• pp.558-559
• /
• 2005

Recently, polymer insulators that are used for high voltage applications have some advantages such as light weight, small size, vandalism resistance, hydrophobicity and easy making process. During outdoor service of polymer insulators, the surface of the insulating material is frequently subjected to moisture and contamination that lead to dry band arcing. Their tracking resistance, erosion resistance, end sealing and shed design are very important because dry band arcing causes degradation of polymer surface. In this paper, the tracking property of polymer suspension insulator for power transmission is investigated with CEA tracking wheel test. The diagnosis of insulator sample in tracking test has been analyzed by leakage current, STRI Guide, SEM, FTIR and thermal image.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1995.10a
• /
• pp.1105-1109
• /
• 1995

A CCD-camera, which is structured with vision system, was used to realize automatic seam-tracking system and 3-D information which is needed to generate torch path, was obtained by using laser-slip beam. To extract laser strip and obtain welding-specific point, Adaptive Hough-transformation was used. Although the basic Hough transformation takes too much time to process image on line, it has a tendency to be robust to the noises as like spatter. For that reson, it was complemented with Adaptive Hough transformation to have an on-line processing ability for scanning a welding-specific point. the dead zone,where the sensing of weld line is impossible, is eliminated by rotating the camera with its rotating axis centered at welding torch. The camera angle is controlled so as to get the minimum image data for the sensing of weld line, hence the image processing time is reduced. The fuzzy controller is adapted to control the camera angle.

• Journal of Institute of Control, Robotics and Systems
• /
• v.18 no.6
• /
• pp.562-570
• /
• 2012

This paper proposes a robust object tracking algorithm using object features and on-line learning based particle filter for mobile robots. Mobile robots with a side-view camera have problems as camera jitter, illumination change, object shape variation and occlusion in variety environments. In order to overcome these problems, color histogram and HOG descriptor are fused for efficient representation of an object. Particle filter is used for robust object tracking with on-line learning method IPCA in non-linear environment. The validity of the proposed algorithm is revealed via experiments with DBs acquired in variety environment. The experiments show that the accuracy performance of particle filter using combined color and shape information associated with online learning (92.4 %) is more robust than that of particle filter using only color information (71.1 %) or particle filter using shape and color information without on-line learning (90.3 %).