• Journal of Advanced Marine Engineering and Technology
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• 제29권5호
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• pp.560-570
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• 2005

In this paper, we discuss the tracking system for a wheelchair which can follow the path of a human target such as a nurse in hospital. The problem of human tracking is that it requires recognition of feature as well as the tracking of human positions. For this purpose the use of a high cost visual sensor such as laser finder or streo camera makes the tracking a high cost additional expense. This paper proposes the tracking system uses a low cost infrared range-finder and CCD camera, The Infrared range-finder and CCD camera can create a target candidate through each target recognition algorithm. and this information is fused in order to reduce the uncertainties of a target decision and correct the positional error of the human. The effectiveness of the proposed system is verified through experiments.

• 제어로봇시스템학회논문지
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• 제13권5호
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• pp.507-512
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• 2007

This paper presents a tracking filter with ship's motion compensation for a ship-borne radar tracking system. The ship's maneuver is described by displacement and rotational motions in the ship-centered east-north frame. The first order Taylor series approximation of the measurement error covariance of the converted measurement is derived in the ship-centered east-north frame. The ship's maneuver is compensated by incorporating the measurement error covariance of the converted measurement and displacement of the position state in the tracking filter. The simulation results via 500 Monte-Carlo runs show that the proposed method follows the target successfully and provides consistent tracking performance during ship's maneuvers while the conventional tracking filter without ship motion compensation fails to track during such periods.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2016년도 추계학술대회
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• pp.489-492
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• 2016

Transportation in the logistics, many business organizations are engaged in monitoring and tracking the vehicles in order to improve logistics services, reduce expenses and secure security in cargo transportation. It is saving time and money by tracking and monitoring vehicles which transport cargo in supply chain of logistics. Therefore the main issue of delivery flow is to improve services, and ensure the safety in transportation system. This article suggests the tracking and monitoring model to keep safety transports on ICT network. It focuses on precise delivery control by monitoring and tracking vehicles to save time and costs. The status of product movement is analyzed for proper decision making. The vehicle embedded with RFID is automatically tracked in the movement process by tracking and monitoring model. The main role keeps safety tracking to reduce costs and to deliver products at proper time and location.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 추계학술대회논문집
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• pp.271-274
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• 2005

For noise and vibration order-analysis on rotating machinery, it is compulsory to measure the RPM of the rotating part of the machine. Normally the RPM is measured using dedicated tacho-probes. In this paper we describe a new method that in real-time synthesizes a tacho signal from the measured noise or vibration signal thus eliminating the tacho probe. The method strengths and weaknesses are evaluated on practical signals.

• 로봇학회논문지
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• 제17권2호
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• pp.124-132
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• 2022

With growth in intelligence of mobile robots, interaction with humans is emerging as a very important issue for mobile robots and the pedestrian tracking technique following the designated person is adopted in many cases in a way that interacts with humans. Among the existing multi-object tracking techniques for pedestrian tracking, Simple Online and Realtime Tracking (SORT) is suitable for small mobile robots that require real-time processing while having limited computational performance. However, SORT fails to reflect changes in object detection values caused by the movement of the mobile robot, resulting in poor tracking performance. In order to solve this performance degradation, this paper proposes a more stable pedestrian tracking algorithm by correcting object tracking errors caused by robot movement in real time using wheel odometry information of a mobile robot and dynamically managing the survival period of the tracker that tracks the object. In addition, the experimental results show that the proposed methodology using data collected from actual mobile robots maintains real-time and has improved tracking accuracy with resistance to the movement of the mobile robot.

• 제어로봇시스템학회논문지
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• 제20권12호
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• pp.1231-1237
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• 2014

본 논문에서는 축소 차수 외란 관측기를 이용하여 외란이 있는 이종 다개체 시스템을 위한 협조 추종 제어기를 제안하였다. 이를 위해 우선 주어진 제어 문제가 외란과 모델 불확실성을 가지는 시스템을 위한 강인 제어 문제로 변환 될 수 있음을 보이고 변환된 문제에 외란 관측기 기반의 동적 협조 추종 제어기를 설계하였다. 모의 실험을 통해서 제안하는 이종 다개체 시스템의 협조 추종을 성공적으로 달성함을 보였다.

• International Journal of Automotive Technology
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• 제8권4호
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• pp.521-531
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• 2007

Measurement of the vibration transmitted through rotating shafts such as half shafts in vehicles is of interest in applications such as noise transfer analysis and the study of operating deflections. Vibration signals transmitted through a rotating shaft usually include six degree-of-freedom components, thus making the measurement of vibration a challenging task. In the present work, a new measurement method is presented, one that resolves the minimum of only two one-axis accelerometer signals into all components of vibration with reasonable accuracy. The method utilizes the Dopplerized signals obtained from accelerometers attached to a rotating shaft and a Void-Kalman order tracking filter to decompose signals into orders of different vibration components. The new method proposed in the present work is verified by simulated run-up test data and applied to an experimentally obtained data set.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제11권2호
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• pp.1162-1179
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• 2017

In this paper, we propose indoor location tracking method using RSSI(Received Signal Strength Indicator) value received from BLE(Bluetooth Low Energy) beacon. Due to the influence of various external environmental factors, it is very difficult to improve the accuracy in indoor location tracking. In order to solve this problem, we propose a novel method of reducing the noise generated in the external environment by using a double Gaussian filter. In addition, the value of the RSSI signal generated in the BLE beacon is different for each device. In this study, we propose a method to allocate additional weights in order to compensate the intensity of signal generated in each device. This makes it possible to improve the accuracy of indoor location tracking using beacons. The experiment results show that the proposed method effectively decrease the RSSI deviation and increase location accuracy. In order to verify the usefulness of this study, we compared the Kalman filter algorithm which is widely used in signal processing. We further performed additional experiments for application area for indoor location service and find that the proposed scheme is useful for BLE-based indoor location service.

• 한국화재소방학회논문지
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• 제29권2호
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• pp.1-7
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• 2015

전기화재의 주요 원인 중 하나인 트래킹은 서서히 진전하는 특징을 가지기 때문에 진전단계를 분석함으로서 화재가능성을 예측할 수 있다. 본 논문은 부하가 연결된 모의 전기설비에서 트래킹에 의한 전기화재 가능성을 예측하고자 시도하였다. 부하는 무유도 저항을 사용하였고, 트래킹은 모의 전기설비의 일부인 비닐캡타이어 타원형코드에 전해액을 적하하여 발생시켰다. 트래킹에 의한 전기화재 가능성을 예측하기 위해 모의 전기설비의 전체 전류파형을 검출하였다. 전류파형으로부터 트래킹 진전을 분석하기 위해 시간-에너지 변환과 확률분포를 이용하였고, 이를 신경망에 입력함으로써 전기설비 내에서 전기화재의 발생가능성을 4단계로 예측할 수 있게 하였다.

• 한국군사과학기술학회지
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• 제7권4호
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• pp.5-12
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• 2004

The tracking algorithm based on the interacting multiple model(IMM) requires a considerable number of sub-models for the various maneuvering targets in order to have a good performance. But it is not feasible to use the nm algorithm in the real system because of the computational burden. Therefore, we need an algorithm which requires less computing resources while maintaining a good performance. In this paper, we propose a fuzzy interacting multiple model algorithm(FIMMA) for the tracking of maneuvering targets, which uses a minimal number of sub-models by considering the maneuvering properties and adjusts the mode transition probabilities by using the mode probability as a fuzzy input. In order to verify the performance of FIMMA, the developed algorithm is applied to the tracking of i borne targets. Simulation results show that the FIMMA is very effective in the tracking of maneuvering targets.