• Journal of Advanced Marine Engineering and Technology
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• v.37 no.2
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• pp.192-198
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• 2013

This paper presents the stabilization and design of a pan-tilt control part for the directional pan-tilt system for shipboard directional equipment. In order to control each control axis with compensation for ship motion, the 2 degree of freedom(2DOF) PID controller is designed and its parameters are tuned using a real-coded genetic algorithm(RCGA). Simulation demonstrates the effectiveness of the 2 DOF PID controller tuning.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.45 no.3
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• pp.55-63
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• 2008

This paper presents a panorama background generation and object tracking technique using a Pan-Tilt-Zoom camera. The proposed method estimates local motion vectors rapidly using phase correlation matching at the prespecified multiple local regions, and it makes minimized estimation error by vector quantization. We obtain the required image patches, by estimating the overlapped region using local motion vectors, we can then project the images to cylinder and realign the images to make the panoramic image. The object tracking is performed by extracting object's motion and by separating foreground from input image using background subtraction. The proposed PTZ-based object tracking method can efficiently generated a stable panorama background, which covers up to 360 degree FOV The proposed algorithm is designed for real-time implementation and it can be applied to many commercial applications such as object shape detection and face recognition in various surveillance video systems.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2009.05a
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• pp.627-630
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• 2009

The combination of the marine use various multi sensor surveillance system technology with the development of servo motion control algorithm and gyro sensor in six freedom motion is implemented to analyze the movement response. The stabilization of the motion control is developed and Nano driving Precision Pan-Tilt/Gimbal system is obtained from the security positioning cameras with ultra high speed device is used to carry out the exact behavior of the device. The exact behavior will be used to make a essential equipment. Finally the development of the Nano Driving Multi Sensor, Nano of Surveillance System Driving Precision Pan-Tilt/Gimbal optimal design and production, 3-aix Gyro Sensor based with Servo Motion Control algorithm development, Image trace video software and hardware tracking the development is organized and discuss in details. The development of the equipment and the system integration are fully experimented and verified.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.14 no.4
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• pp.22-31
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• 2005

The purpose of this study is to design a flexural structure that has a function of pan and tilt for an artificial eyeball. The artificial eyeball system has a function of image stabilization, which compensate panning and tilting vibration of the body on which the artificial eyeball is attached. The target closed loop control bandwidth is 50Hz, so the mechanical resonance frequency is required to be more than the control bandwidth, which is a tough design problem because of a big mass of camera and actuator. In this study, the design process including the selection of the principal parameters by numerical analysis with ANSYS will be described, as well as the design results and frequency response.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.49 no.4
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• pp.55-60
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• 2012

When operating a surveillance system in the maritime environment, its stabilization performance is degraded due to undesirable disturbance motions. For accurate target pointing of a 2-axes surveillance system on shipboard, the kinematic stabilization is first applied, which compensates a deviated motion via coordinate transformations of attitude information. Resultantly, the stabilization error is no longer reduced due to less accuracy of a MEMS sensor and kinematic constraint, leading to introduction of the image stabilization as a complementary function. And for real-time execution of the present dual stabilization scheme, a HILS (Hardware In the Loop Simulation) test bed including 6-dof motion simulator has been constructed, and through the obtained HILS data, it has been confirmed that the stabilization is successfully.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.32 no.4
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• pp.340-346
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• 2008

An unmanned surveillance robot consists of a machine gun, a laser receiver, a thermal imager, a color CCD camera, and a laser illuminator. It has two axis control systems for elevation and azimuth. Because the current robot system is mounded at a fixed post to take care of surveillance tasks, it is necessary to modify such a surveillance robot to be installed on an UGV (Unmanned Ground Vehicle) system in order to watch blind areas. Thus, it is required to have a stabilization system to compensate the disturbance from the UGV. In this paper, a simulation based design scheme has been adopted to develop a mobile surveillance robot. The 3D CAD geometry model has first been produced by using Pro-Engineer. The required pan and tilt motor capacities have been analyzed using ADAMS inverse dynamics analysis. A target tracking and stabilization control algorithm of the mobile surveillance robot has been developed in order to compensate the motion of the vehicle which will experience the rough terrain. To test the performance of the stabilization control system of the robot, ADAMS/simulink co-simulations has been carried out.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.38 no.5
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• pp.490-498
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• 2010

This paper presents an autonomous target tracking approach and technique for transmitting ground control station image periodically for an unmanned aerial vehicle using onboard gimbaled(pan-tilt) camera system. The miniature rotary UAV which was used in this study has a small, high-performance camera, improved target acquisition technique, and autonomous target tracking algorithm. Also in order to stabilize real-time image sequences, image stabilization algorithm was adopted. Finally the target tracking performance was verified through a real flight test.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2010.05a
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• pp.725-727
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• 2010

For simulation of Boat motion, pitch, motion element of roll and yaw direction could simulated. The combination of the marine use various multi sensor surveillance system technology with the development of servo motion control algorithm and gyro sensor in six freedom motion is implemented to analyze the movement response. The stabilization of the motion control is developed and Nano driving Precision Pan-Tilt/Gimbal system is obtained from the security positioning cameras with ultra high speed device is used to carry out the exact behavior of the device.

• International Journal of Control, Automation, and Systems
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• v.5 no.1
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• pp.15-23
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• 2007

In surveillance, monitoring, and target tracking operations, high-resolution images should be obtained even if the target is in a far distance. Frequent movements of vehicles such as boats degrade the image quality of onboard camera systems. Therefore, stabilizer mechanisms are required to stabilize the line of sight of boatboard camera systems against boat movements. This paper addresses design and implementation of a strapdown boatboard camera stabilizer. A two degree of freedom(DOF)(pan/tilt) robot performs the stabilization task. The main problem is divided into two subproblems dealing with attitude estimation and attitude control. It is assumed that exact estimate of the boat movement is available from an attitude estimation system. Estimates obtained in this way are carefully transformed to robot coordinate frame to provide desired trajectories, which should be tracked by the robot to compensate for the boat movements. Such a practical robotic system includes actuators with fast dynamics(electrical dynamics) and has more degrees of freedom than control inputs. Backstepping method is employed to deal with this problem by extending the control effectiveness.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.11
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• pp.1463-1471
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• 2012

In this study, a 3-axis camera system design is proposed for application to an existing 2-axis surveillance robot. A camera-image-based target-tracking algorithm for this robot has also been proposed. The algorithm has been validated using a virtual simulation. In the algorithm, the heading direction vector of the camera system in the mobile surveillance robot is obtained by the position error between the center of the view finder and the center of the object in the camera image. By using the heading direction vector of the camera system, the desired pan and tilt angles for target-tracking and the desired roll angle for the stabilization of the camera image are obtained through inverse kinematics. The algorithm has been validated using a virtual simulation model based on MATLAB and ADAMS by checking the corresponding movement of the robot to the target motion and the virtual image error of the view finder.