• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1140-1145
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• 2003

Image normalization is one of the important areas in pattern recognition. Also, log-polar images are useful in the sense that their image data size is reduced dramatically comparing with conventional images and it is possible to develop faster pattern recognition algorithms. Especially, the log-polar image is very similar with the structure of human eyes. However, there are almost no researches on pattern recognition using the log-polar images while a number of researches on visual tracking have been executed. We propose an image normalization technique of log-polar images using momentums applicable for affine-invariant pattern recognition. We handle basic distortions of an image including translation, rotation, scaling, and skew of a log-polar image. The algorithm is experimented in a PC-based real-time vision system successfully.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.1
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• pp.1187-1195
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• 2001

This paper presents a sweeping path planning algorithm for an autonomous smearing robot. An automatic planner generates a sweeping path pattern by proposed five basic procedures. This algorithm rocog-nizes obstacle on the architectural CAD draft and generates subgoals as tracking points which executes the area filling task based on heuristic approach. A sweeping path is planned by sequentially connecting the track-ing points in such a way that(1) the connected line segments should not be crossed, (2) the total tracking points should be as short as possible, and (3) the tracking line should not pass through the obstacle, Feasibility of the developed techniques has been demonstrated on a real architectural CAD draft.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.143-148
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• 2004

This paper presents the two modes for maximum power point tracking of the photovoltaic system. The method combines the merits of the two methods consisting of the open circuit method and the three point weight comparison method. The maximum point found by this method is exactly than by the open circuit method. By the simulation results, the actual maximum point can be found that is better than the Perturb and Observe (P&O) method or the three point weight method only one method, especially, in the case of non regular pattern of Power-Voltage (P-V) curve.

• Proceedings of the KIEE Conference
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• 2003.04a
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• pp.176-178
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• 2003

This paper presents a new velocity estimation strategy of a non-salient permanent magnet synchronous motor(PMSM) drive without high frequency signal injection or special PWM pattern. This approach is based on the d-axis current regulator output voltage of the drive system which has the information of rotor position error. The rotor velocity can be estimated through a rotor position tracking PI controller that controls the position error to aero. For zero and low speed operation, the PI gains of rotor position tracking controller have a variable structure. The PI tuning formulas are derived by analyzing this control system using the frequency domain specifications such as phase margin and bandwidth assignment.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.10
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• pp.890-897
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• 2002

This paper deals with the reduction of trajectory tracking error by changing the initial postures of a biped robot. Gait of a biped robot depends on the constraints of mechanical kinematics and the initial states including the posture. Also the dynamic walking stability in a biped robot system is analyzed by zero moment point(ZMP) among the stabilization indices. Path trajectory, in which knee joint is bent forward like human's cases, is applied to most cases considered with above conditions. A new initial posture, which is similar to bird's gait, is proposed to decrease trajectory tracking error and it is verified through real experimental results.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.870-875
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• 2008

The main objective of this paper is to control a trajectory tracking of the fish-mimetic robot by CPG (Central Pattern Generator), which is biological approach. CPG is biological neural networks that generate rhythmic movements for locomotion of animals, such as walking, running, swimming and flying. Animals show marvelous ability of autonomous dynamic adaptation for an unsteady fluid dynamic environment or various environments. So, we propose the 3-DOF CPG controller to track the trajectory of the fish robot in plane motion. The conformity of the proposed control algorithm is validated by simulation for a fish robot model, which is made by a commercial dynamic package.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.1
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• pp.90-95
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• 2010

This paper describes the development of integrated head and eye tracker system. Vision based head tracker is performed and it has 7mm error in 300mm translation. The epi-polar method and point matching are used for determining a position of head and rotational degree. High brightness LEDs are installed on helmet and the installed pattern is very important to match the points of stereo system. Eye tracker also uses LED for constant illumination. A Position of gazed object(3m distance) is determined by pupil tracking and eye tracker has 1~5 pixel error. Integration of result data of each tracking system is important. RS-232C communication is applied to integrated system and triggering signal is used for synchronization.

• Journal of Environmental Science International
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• v.6 no.3
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• pp.239-247
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• 1997

The numerical experiments using a particle tracking model have been performed for predicting the change of water Quality and shoreline. In present study, comparison of the numerical model results with the analytic solution shows that the point of the mainmum concentration and the distribution pattern is very similar. The reflection effect from the boundary was newly Introduced for making clear the effect of the closed boundary which set limits to application of a particle tracking model. The present model seems to reappear physical phenomenon well. This model shows well qualitative appearance of pollutant diffusion in Kwangan beach. Therefore, this model is regarded as a useful means for predicting diffusion movement of suspended sand, and change of water quality.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2000.05a
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• pp.59-63
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• 2000

The conventional tracking testing as IEC-60587 is widely used in surface aging measurement of outside insulator because those testing can carry out very short time in Lab testing. Also IEC-60587 testing is able to offer the standard judgement of relative degradation level of outside HV machine. Therefore it is very useful method compare to previous conventional tracking testing method and effective Lab testing method. But surface discharges(SD) have very complex characteristics of discharge pattern so it is required estimation research to development of precise analysis method. In recent, the study of IIR-camera is carrying out discover of temperature of power equipment through condition diagnosis and system development of degradation diagnosis. In this study, SD occurred from IEC-60587 is measured with partial temperature distribution in real time, the degradation grade of SD is analyzed through produced patterns in IEC-60587 according to applied time.

• IEMEK Journal of Embedded Systems and Applications
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• v.6 no.5
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• pp.295-302
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• 2011

This paper proposes facial feature tracking based on modified ART2 neural networks. And we also suggest new measurement devices such as 'Persistence Exponent' and 'Moving Space Exponent' for the criterion of input vector which consists features. The proposed methods have been applied to classify 48 students by 2-class (ADHD positive, ADHD negative). The results of the experiment have shown that the proposed methods are effective for ADHD Behavior Pattern Classification based on the Image Processing.