• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1816-1819
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• 1997

Using the vision system, robotic tasks in unstructured environments can be accompished, which reduces greatly the cost and steup time for the robotic system to fit to he well-defined and structured working environments. This paper proposes a dynamic control scheme for robot manipulator with eye-in-hand camera configuration. To perfom the tasks defined in the image plane, the camera motion Jacobian (image Jacobian) matrix is used to transform the camera motion to the objection position change. In addition, the dynamic learning controller is designed to improve the tracking performance of robotic system. the proposed control scheme is implemented for tasks of tracking moving objects and shown to outperform the conventional visual servo system in convergence and robustness to parameter uncertainty, disturbances, low sampling rate, etc.

• Proceedings of the Korea Institute of Applied Superconductivity and Cryogenics Conference
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• 2002.02a
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• pp.114-118
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• 2002

This paper were investigated discharge characteristics in the Liquid Nitrogen($LN_{2}$) noticed as a cooling medium of high temperature superconductor, and the characteristics of surface discharge and tracking phenomena on the solid insulators of cryocable. In order to investigate the bubbles which have much influence on electric surface discharge in Liquid Nitrogen, knife type electrode and plane electrode was formed oppositely with mode A and B, C configuration. It is considered that these result are fundamental data for electric insulation design of superconductivity and cryogenic application machinery which will be studied and developed in the future.

• International Journal of Control, Automation, and Systems
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• v.3 no.3
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• pp.444-452
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• 2005

A new scheme for a mobile robot to track and capture a moving object using camera images is proposed. The moving object is assumed to be a point-object and is projected onto an image plane to form a geometrical constraint equation that provides the position data of the object based on the kinematics of the active camera. Uncertainties in position estimation caused by the point-object assumption are compensated for using the Kalman filter. To generate the shortest time path to capture the moving object, the linear and angular velocities are estimated and utilized. In this paper, the experimental results of the tracking and capturing of a target object with the mobile robot are presented.

• Proceedings of the KIEE Conference
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• 1991.07a
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• pp.682-686
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• 1991

The purpose of a solar tracking system (STS) is to control the attitude of a space vehicle so that it will track the sun with high accuracy. In this paper, the literature of tracking of the sun in a plane is surveyed and a control modeling for the analysis of STS is presented by simultaneous transfer functions and state-space equations. Also a program for obtaining state variables by the single term Walsh series(STWS) approach is developed. The proposed approach is much simpler in analysis and easier in implementation than the Runge-Kutta numerical integration Method. The results of computer simulation are shown for the dynamic behaviors of vehicle axis, armature-controlled dc motor and controller of STS via a Runge-Kutta method and a single term Walsh series approach, respectively.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.41-46
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• 1987

A new control scheme is developed to achieve fast and accurate decoupled tracking for an n-Joint robotic manipulator In the Presence of disturbances and unknown Parameter variations. The control system is designed so that a new type of state trajectories called sliding mode may exist in a phase plane. In order to remove the reaching Phase and high frequency chattering phenomenon which ate the common shortcomings of variable structure control(VSC) scheme, this paper presents the new switching line which is composed of three segments and the continuous control law which is derived from the existence condition of a sliding mode. The Proposed methods in this Paper are applied to a 3-Joint robotic manipulator as a numerical example-The digital simulation results which are compared with those of typical VSC scheme show the validity of accurate tracking capability and robust Performance of the system.

• Proceedings of the KIEE Conference
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• 1996.07c
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• pp.1597-1599
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• 1996

In this study, we investigated the electrical characteristics such as tracking resistance, dielectric constant, insulating resistance, and arc resistance, of silicone rubber for outdoor use, and, focused on the tracking resistance. In the Inclined Plane Test, two kind of the contamination solutions were used, and their phenomena were observed. The average leakage current and the tracking breakdown time decreased, and erosion rate increased, using anionic surfactant added contaminant solution. The dielectric constant and dissipation factor were increased with increasing temperature.

• 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.

• KIEAE Journal
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• v.7 no.6
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• pp.9-15
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• 2007

Ventilation of buildings provide occupants with comfort and plays a very informant role in supplying indoor ventilation requirement. Also, natural ventilation is more comfortable than forced ventilation taking account of mental comfort. Especially factors, airflow velocity and direction etc., should be reflected in establishment of comfortable indoor environment because indoor airflow can directly affect comfort of occupants. However, a device which enables indoor air movement to be analyzed has not existed until now. Hence, it has mostly depended on simulation results of fluid analysis but the results often differ far from reality. PST(Particle-Streak-Tracking) System, an alternative to improve this problem, is currently applied to natural ventilation in building, air conditioning, and airflow analysis in the inside of a plane etc. This study closely examine the property and strength and weakness of PST that is first introduced into KICT and then evaluate applicable possibility.

• Proceedings of the KIEE Conference
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• 1987.07a
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• pp.82-85
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• 1987

Electromagnetic waves from the satellite may be utilized to direct the tracking antenna toward the satellite. We design and fabricate the feed appropriate to the monopulse tracking technique which derive angle-error information on the basis of a single pulse. The feed consists of five cavity-backed turnstile elements mounted on a common ground plane. The turnstile dipole are connected to a set of five quadrature hybrids which convert the dual linear polarization into dual circular polarization. The five feed outputs are then processed in the monopulse comparator which is constructed in microstrip for compactness.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.8 no.9
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• pp.3196-3210
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• 2014

This paper presents a novel video metrology approach based on robust tracking. From videos acquired by an uncalibrated stationary camera, the foreground likelihood map is obtained by using the Codebook background modeling algorithm, and the multiple moving objects are tracked by a combined tracking algorithm. Then, we compute vanishing line of the ground plane and the vertical vanishing point of the scene, and extract the head feature points and the feet feature points in each frame of video sequences. Finally, we apply a single view mensuration algorithm to each of the frames to obtain height measurements and fuse the multi-frame measurements using RANSAC algorithm. Compared with other popular methods, our proposed algorithm does not require calibrating the camera, and can track the multiple moving objects when occlusion occurs. Therefore, it reduces the complexity of calculation and improves the accuracy of measurement simultaneously. The experimental results demonstrate that our method is effective and robust to occlusion.