• Journal of information and communication convergence engineering
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• v.10 no.4
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• pp.390-395
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• 2012

This paper describes an implementation of automatic mutual localization of swarm robots using a particle filter. Each robot determines the location of the other robots using wireless sensors. The measured data will be used for determination of the movement method of the robot itself. It also affects the other robots' self-arrangement into formations such as circles and lines. We discuss the problem of a circle formation enclosing a target that moves. This method is the solution for enclosing an invader in a circle formation based on mutual localization of the multi-robot without infrastructure. We use trilateration, which does require knowing the value of the coordinates of the reference points. Therefore, specifying the enclosure point based on the number of robots and their relative positions in the coordinate system. A particle filter is used to improve the accuracy of the robot's location. The particle filter is operates better for mutual location of robots than any other estimation algorithms. Through the experiments, we show that the proposed scheme is stable and works well in real environments.

• Smart Media Journal
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• v.5 no.1
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• pp.88-94
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• 2016

In this paper, we proposed a new object tracking algorithm based on sparse representation to handle the drifting problem. In APG-L1(accelerated proximal gradient) tracking, the sparse representation is applied to model the appearance of object using linear combination of target templates and trivial templates with proper coefficients. Also, the particle filter based on affine transformation matrix is applied to find the location of object and APG method is used to minimize the l1-norm of sparse representation. In this paper, we make use of the trivial template coefficients actively to block the drifting problem. We experiment the various videos with diverse challenges and the result shows better performance than others.

• Journal of Power Electronics
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• v.19 no.2
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• pp.549-559
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• 2019

This paper proposes an adaptive sliding mode control (ASMC) strategy with an enhanced optimal reaching law (EORL) for the robust current tracking control of the boost converter based hybrid power source (HPS) in an electric vehicle (EV). A conventional ASMC strategy based on state observers and the hysteresis control method is used to realize the current tracking control for the boost converter based HPS. Then a novel enhanced exponential reaching law is proposed to improve the ASMC. Moreover, an enhanced exponential reaching law is optimized by particle swarm optimization. Finally, the adaptive control factor is redesigned based on the EORL. Simulations and experiments are established to validate the ASMC strategy with the EORL. Results show that the ASMC strategy with the EORL has an excellent current tracking control effect for the boost converter based HPS. When compared with the conventional ASMC strategy, the convergence time of the ASMC strategy with the EORL can be effectively improved. In EV applications, the ASMC strategy with the EORL can achieve robust current tracking control of the boost converter based HPS. It can guarantee the active and stable power distribution for boost converter based HPS.

• Journal of Biomedical Engineering Research
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• v.15 no.4
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• pp.489-497
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• 1994

The most serious problems related to the cardiovascular prothesis are thrombosis and hemolysis. It is known that the flow pattern of cardiovascular prostheses is highly correlated with thrombosis and hemolysis. Laser Doppler Anemometry (LDA) is a usual method to get flow pattern, which is difficult to operate and has narrow measure region. Particle Image Velocimetry (PIV) can solve these problems. Because the flow speed of valve is too high to catch particles by CCD camera, high-speed camera (Hyspeed : Holland-Photonics) was used. The estimated maximum flow speed was 5m/sec and maximum trackable length is 0.5 cm, so the shutter speed was determined as 1000 frames per sec. Several image processing techniques (blurring, segmentation, morphology, etc) were used for the preprocessing. Particle tracking algorithm and 2-D interpolation technique which were necessary in making gridrized velocity pronto, were applied to this PIV program. By using Single-Pulse Multi-Frame particle tracking algorithm, some problems of PIV can be solved. To eliminate particles which penetrate the sheeted plane and to determine the direction of particle paths are these solving methods. 1-D relaxation fomula is modified to interpolate 2-D field. Parachute artificial heart valve which was developed by Seoul National University and Bjork-Shiely valve was testified. For each valve, different flow pattern, velocity profile, wall shear stress and mean velocity were obtained.

• The Journal of Engineering Geology
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• v.19 no.2
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• pp.205-215
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• 2009

The conventional numerical models to analyze flow in subsurface porous media under the transient state usually generate numerical oscillation and unstability due to local flux domain for critical cases such as infiltration into initially dry soil during rainfall period. In this case, it is required refined mesh and small time step, but it decrease efficiency of computation. In this study, numerical unstability in discontinuity domain is removed by applying particle tracking algorithm to simulate unsteady subsurface flow with inflow boundary condition. Finally the hybrid LE FEM improving numerical stability is proposed. The hypothetical domains with unsteady uniform and nonuniform flow field were used to demonstrated algorithm verification. In comparison with analytic solution, we obtained reasonable results and conducted simulation of hypothetical 3-D recharge/pumping area. The proposed algorithm can simulate saturated/unsaturated porous media with more practical problems and will greatly contribute to accuracy and stability of numerical computation.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.24 no.5
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• pp.733-743
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• 2000

We solve the integral representation of the Navier-Stokes equations in a lagrangian view by tracking the particles, which have vortex strengths. We simulate the unsteady viscous flow around an impulsively started cylinder using the vortex particle method. Particles are advanced via the Biot-Savart law for a lagrangian evolution of particles. The particle strength is modified based on the scheme of particle strength exchange. The solid boundary satisfies the no-slip boundary condition by the vorticity generation algorithm. We newly modify the diffusion scheme and the boundary condition for simulating an unsteady flow efficiently. To save the computation time, we propose the mixed scheme of particle strength exchange and core expansion. We also use a lot of panels to ignore the curvature of the cylinder, and not to solve the evaluation of the surface density. Results are compared to those from other theoretical and experimental works.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.17 no.6
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• pp.1273-1280
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• 2013

The UKF algorithm for tracking moving objects has fast convergence speed and good tracking performance without the derivative computation. However, this algorithm has serious drawbacks which limit its use in conditions such as Gaussian noise distribution. Meanwhile, the particle filter(PF) is a state estimation method applied to nonlinear and non-Gaussian systems without these limitations. But this method also has some disadvantages such as computation increase as the number of particles rises. In this paper, we propose the Unscented Particle Filter (UPF) algorithm which combines Unscented Kalman Filter (UKF) and Particle Filter (PF) in order to overcome these drawbacks.The performance of the UPF algorithm was tested to compare with Particle Filter using a 2-DOF (Degree of Freedom) Pendulum System. The results show that the proposed algorithm is more suitable to the nonlinear and non-Gaussian state estimation compared with PF.

• Proceedings of the KSME Conference
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• 2001.06e
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• pp.714-719
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• 2001

The Holographic Particle Velocimetry system can be a promising optical tool for the measurements of three dimensional particle velocities. In this research, the optical system for double pulse holographic recording and reconstruction of particle images was developed. Validation experiments for the developed system were conducted measuring the velocities of glass beads on a rotating disk. Uncertainty analysis was performed to identify the sources of all relevant errors and to evaluate their magnitude. The measurement results of distance between glass beads, size, and velocities of them using holographic method compared reasonalbly well with the known values within acceptable range of errors.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.26 no.4
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• pp.539-546
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• 2002

The Holographic Particle Velocimetry system can be a promising optical tool leer the measurements of three dimensional particle velocities. In this research, validation experiments for the development of holographic particle velocimetry system for spray droplets were conducted with measuring the velocities of glass beads on a rotating disk. Uncertainty analysis was performed to identify the sources of all relevant errors and to evaluate their magnitude. The measurement results of distance between glass beads, size, and velocities obtained with holographic method are compared reasonably well with the known values within acceptable range of errors.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.23 no.6
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• pp.442-450
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• 2011

A three dimensional random walk particle tracking method is applied to the Saemangeum area in order to find stepwise environmental changes according to long term construction. Flow regime around Mangyeong, Dongjin and Geum river estuary changed greatly due to dike construction. It is distinctive that reduction of Byeonsan area's flow field and stagnant change in the northern part of the inner reservoir. Similar characteristics are found through the tidal excursion analysis. By analysis of the vertical mixing structures according to density stratification based on temperature and salinity variation, a salt wedge and very strong stratification arises in the inner part of the reservoir after final closure, while it has been well mixed or partially mixed estuary during construction. Shrinking of horizontal dispersion and vertical mixing capability may cause adverse effect on water quality not only inner part but also outer region of the Saemangeum reservoir.