• Title/Summary/Keyword: Parameter Tracking

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Noisy Parameter Estimation of Noisy Passive Telemetry Sensor System using Unscented Kalman Filter (잡음환경에서 UKF를 이용한 원격센서시스템의 파라메타 추정)

  • Kim, Kyung-Yup;Yu, Dong-Gook;Choi, Woo-Jin;Lee, Kwan-Tae;Lee, Joon-Tark
    • Proceedings of the KIEE Conference
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    • 2006.07d
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    • pp.1787-1788
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    • 2006
  • In this paper, a noisy passive telemetry sensor system using Unscented Kalman Filter (UKF) is proposed. To overcome these trouble problems such as a power limitation and a estimation complexity that the general passive telemetry sensor system including IC chip has, the principle of inductive coupling was applied to the modelling of a passive telemetry sensor system (PTSS) and its noisy capacitive parameter was estimated by the UKF algorithm. Specialty, to show the effective tracking performance of the UKF, we compared with the tracking performance of Recursive Least Square Estimation (RLSE) using linearization

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Uncalibrated Visual Servoing through the Efficient Estimation of the Image Jacobian for Large Residual

  • Kim, Gon-Woo
    • Journal of Electrical Engineering and Technology
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    • v.8 no.2
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    • pp.385-392
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    • 2013
  • An uncalibrated visual servo control method for tracking a target is presented. We define the robot-positioning problem as an unconstrained optimization problem to minimize the image error between the target feature and the robot end-effector feature. We propose a method to find the residual term for more precise modeling using the secant approximation method. The composite image Jacobian is estimated by the proper method for eye-to-hand configuration without knowledge of the kinematic structure, imaging geometry and intrinsic parameter of camera. This method is independent of the motion of a target feature. The algorithm for regulation of the joint velocity for safety and stability is presented using the cost function. Adaptive regulation for visibility constraints is proposed using the adaptive parameter.

Non-regressor Based Adaptive Tracking Control of an Underwater Vehicle-mounted Manipulator (수중 선체에 장착된 로봇팔 궤적의 비귀환형 적응제어)

  • 여준구
    • Journal of Ocean Engineering and Technology
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    • v.14 no.2
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    • pp.7-12
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    • 2000
  • This paper presents a non-regressor based adaptive control scheme for the trajectory tracking of underwater vehicle-mounted manipulator systems(UVMS). The adaptive control system includes a class of unmodeled effects is applied to the trajectory control of an UVMS. The only information required to implement this scheme ios the upper bound and lowe bound of the system parameter matrices the upper bound of unmodeled effects the number of joints the position and attitude of the vehicle and trajectory commands. The adaptive control law estimates control gains defined by the combinations of the bounded constants of system parameter matrices and of a filtered error equation. To evaluate the performance of the non-regressor based adaptive controller computer simulation was performed with a two-link planar robot model mounted on an underwater vehicle. The hydrodynamic effects acting on the manipulator are included. It is assumed that the vehicle's motion is slow and can be predicted with a proper compensator.

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Free Surface Tracking for the Accurate Time Response Analysis of Nonlinear Liquid Sloshing

  • Cho Jin-Rae;Lee Hong-Woo
    • Journal of Mechanical Science and Technology
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    • v.19 no.7
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    • pp.1517-1525
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    • 2005
  • Liquid sloshing displays the highly nonlinear free surface fluctuation when either the external excitation is of large amplitude or its frequency approaches natural sloshing frequencies. Naturally, the accurate tracking of time-varying free surface configuration becomes a key task for the reliable prediction of the sloshing time-history response. However, the numerical instability and dissipation may occur in the nonlinear sloshing analysis, particularly in the long-time beating simulation, when two simulation parameters, the relative time-increment parameter a and the fluid mesh pattern, are not elaborately chosen. This paper intends to examine the effects of these two parameters on the potential-based nonlinear finite element method introduced for the large amplitude sloshing flow.

A discrete iterative learning control method with application to electric servo motor control

  • Park, Hee-J.;Cho, Hyung-S.;Oh, Sang-R.
    • 제어로봇시스템학회:학술대회논문집
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    • 1990.10b
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    • pp.1387-1392
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    • 1990
  • In this paper, an iterative learning control algorithm for unknown linear discrete systems is proposed by employing a parameter estimator together with an inverse system model. Regardless of initial error and inherent parameter uncertainty, a good tracking control performance is obtained using the proposed learning control algorithm characterized by recursive operations. A sufficient condition for convergency is provided to show the effectiveness of the proposed algorithm. To investigate the performance of the algorithm a series of simulations and experiments were performed for the tracking control of a servo motor.

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The variations of tracking resistance of outdoor Epoxy composites due to complex degradation (복합열화로 인한 옥외용 에폭시수지의 내트래킹성 변화)

  • Kim, T.Y.;Kim, K.M.;Lee, D.J.;Son, I.H.;Ka, C.H.;Kim, J.H.
    • Proceedings of the KIEE Conference
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    • 1999.07d
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    • pp.1614-1616
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    • 1999
  • Epoxy resin has been used as matrix resin of advanced composites owing to ideally suitable properties and inherent physical and chemical properties for electrical and electronic insulation. In this paper, in order to evaluate the performance of epoxy composites for out door insulation, variations of tracking resistance were investigated on the complex ageing parameter. Also, IPN methods were introduced in order to improve performance for out door use. As a result, it was confirmed that tracking resistance were degraded with complex ageing parameters. But, it was confirmed that specimen of IPN structure have the better tracking resistance properties than SIN structure by moisture absorption aging.

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An Adaptive Multiple Target Tracking Filter Using the EM Algorithm (EM 알고리즘을 이용한 적응다중표적추적필터)

  • Hong Jeong;Park, Jeong-Ho
    • Journal of the Institute of Electronics Engineers of Korea SP
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    • v.38 no.5
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    • pp.583-597
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    • 2001
  • Tracking the targets of interest has been one of the major research areas in radar surveillance system. We formulate the tracking problem as an incomplete data problem and apply the EM algorithm to obtain the MAP estimate. The resulting filter has a recursive structure analogous to the Kalman filter. The difference is that the measurement-update deals with multiple measurements and the parameter-update can estimate the system parameters. Through extensive experiments, it turns out that the proposed system is better than PDAF and NNF in tracking the targets. Also, the performance degrades gracefully as the disturbances become stronger.

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Robust Tracking Control of Robotic Manipulators Using Fuzzy-Sliding Modes (퍼지-슬라이딩모드를 이용한 로봇의 강건추적제어)

  • 김정식;최승복
    • Transactions of the Korean Society of Mechanical Engineers
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    • v.18 no.8
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    • pp.2088-2100
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    • 1994
  • Considerable attention has been given to controller designs that utilize the variable structure system theory in order to achieve robust tracking performance of robotic manipulators subjected to parameter variations and extraneous disturbances. However, the theory has not had wide spread acceptance in practical control engineering community due mainly to the worry of chattering which is inherently ever-existing in the variable structure system. This paper presents a novel type of fuzzy-sliding mode controller to alleviate the chattering problem. A sliding mode controller for robust robot control is firstly synthesized with an assumption that the imposed system uncertainties satisfy matching conditions so that certain deterministic performances can parameters and control rules are obtained from a relation between predetermined sliding surfaces and representative points in the error state space. A two degree-of-freedom robotic manipulator subjected to a variable payload and a torque disturbance is considered in order to demonstrate superior tracking performance accrued from the proposed methodology.

Performance Analysis of Omni-Directional Automatic Target Detection and Tracking for a Towed Array Passive Sonar System (예인형 수동소나에 적합한 전방위 표적 자동탐지 및 추적기법 성능 분석)

  • Seo, Ik-Su
    • Journal of the Korea Institute of Military Science and Technology
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    • v.9 no.3
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    • pp.33-40
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    • 2006
  • In towed array passive sonar system, sonar operators cannot detect and track the all targets simultaneously in the omni-directional area by just Operator Initiated Tracking(OIT). In this paper, omni-directional automatic target detection and tracking algorithm is described and optimize the parameters through ocean data to overcome the drawbacks of OITs. The algorithm is verified through sea trials with submarines.

Visual Tracking Control of Aerial Robotic Systems with Adaptive Depth Estimation

  • Metni, Najib;Hamel, Tarek
    • International Journal of Control, Automation, and Systems
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    • v.5 no.1
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    • pp.51-60
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    • 2007
  • This paper describes a visual tracking control law of an Unmanned Aerial Vehicle(UAV) for monitoring of structures and maintenance of bridges. It presents a control law based on computer vision for quasi-stationary flights above a planar target. The first part of the UAV's mission is the navigation from an initial position to a final position to define a desired trajectory in an unknown 3D environment. The proposed method uses the homography matrix computed from the visual information and derives, using backstepping techniques, an adaptive nonlinear tracking control law allowing the effective tracking and depth estimation. The depth represents the desired distance separating the camera from the target.