• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2008년도 하계종합학술대회
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• pp.781-782
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• 2008

An object tracking system, which uses an omni-directional camera, is proposed in this work. First, we construct a mapping table, which describes the relationships between image coordinates and omni-directional angles Then, we develop a surveillance system to detect unexpected objects automatically from omni-directional images. Finally, we generate perspective views for detected objects by using the mapping table. Simulation results demonstrate that the proposed algorithm provides efficient performances.

• International Journal of Precision Engineering and Manufacturing
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• 제4권5호
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• pp.5-14
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• 2003

Tracking control schemes on the precise mechanical system in presence of nonlinear dynamic friction is proposed. A nonlinear dynamic friction is regarded as the bristle friction model to compensate fer effects of friction. The conventional SMC method often shows poor tracking performance in high-precision position tracking application since it cannot completely compensate for the friction effect below a certain precision level. Thus to improve the precise position tracking performance, we propose the SMC method combined with the disturbance observer having tunable transient performance. Then this control scheme has the high precise tracking peformance as well as a good transient response when it is compared with the conventional SMC method and the similar types of observers, The experiment on the XY ball-screw drive system with the nonlinear dynamic friction confirms the feasibility of the proposed control scheme.

• 대한전자공학회논문지TC
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• 제39권8호
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• pp.14-25
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• 2002

본 논문에서는 제 3 세대 이동 통신인 WCDMA 기지국 모뎀의 실제 구현에 적합하도록 변형된 AFC(Automatic Frequency Control) 루프를 제안한다. 제안된 AFC 루프에는 구현상의 복잡도 감소를 위하여 기존의 CP-FDD(Cross Product Frequency Difference Detector) 알고리즘을 변형한 Normalized CP-FDD 알고리즘을 적용하였다. 제안된 Normalized CP-FDD는 입력 신호 진폭 변화에 민감한 기존 CP-FDD 출력 특성을 보완하며, FDD의 출력(S-curve)의 선형화 구간을 증가시킴으로써 안정적인 주파수 오차에 대한 추정을 가능하게 한다. WCDMA에서는 IS-95 시스템과 다르게 파일롯 심볼이 연속적으로 전송되지 않으므로, FDD 입력단에 이동 평균 필터(Moving Average Filter)를 도입하여 교차곱(Cross-product)의 수를 증가시킴으로써 잡음의 영향을 감소시키고 주파수 오차에 대한 추적 시간 성능과 안정성을 향상시켰다. 또한 다단 추적 모드를 적용함으로써 수신 신호의 주파수 오차의 크기에 대한 능동적인 보상이 가능하도록 하였으며, 루프 필터의 출력을 이용한 ROM table 도약 구조의 NCO(Numerical Controled Oscillator)를 적용하여 주파수 오차를 보상하였다. 본 논문에서 제안한 알고리즘은 WCDMA 기지국 모뎀 구현에서 성공적으로 적용되었다.

• 한국멀티미디어학회논문지
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• 제9권10호
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• pp.1266-1275
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• 2006

본 논문은 AdaBoost(Adaptive Boosting)알고리즘을 이용한 실시간 얼굴 검출 및 추적에 패한 기법을 제안한다. 얼굴 검출은 8종류의 간단한 웨이블릿 특징 모형을 이용한다. 각각의 특징들은 $20{\times}20$의 훈련 영상에서 다양한 크기와 위치로 배치되어 초기의 특징 집합을 구성한다. 초기의 특징 집합과 훈련 영상은 AdaBoost알고리즘의 입력으로 사용된다. AdaBoost알고리즘의 기본원리는 약한 분류기를 선형적으로 결합하여 최종적으로는 계층적 구조를 갖는 강한 분류기론 생성하는 것이다. 본 논문에서는 AdaBoost알고리즘에서 훈련 영상과 초기의 특징 집합 간에 이루어지는 반복적 계산량을 줄이기 위해 SAT(Summed-Area Table) 기법을 이용하였다. 얼굴 추적은 Pan-Tilt카메라를 통해 동적으로 가시 영역을 확장해 가면서 검출된 영역의 위치와 크기정보를 이용하여 실시간으로 이루어진다. 검출된 얼굴 영역의 중심을 전체 영상의 중심으로 이동하는 방법을 사용하였다. 실험결과 92.5%의 얼굴 검출율과 평균 12프레임의 얼굴 추적속도를 얻었다.

• 제어로봇시스템학회논문지
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• 제7권11호
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• pp.918-926
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• 2001

In this paper, intelligent control method using neural network as a nonlinear controller is presented. Simulation studies for three link rotary robot are performed. Neural network controller is implemented on DSP board in PC to make real time computing possible. On-line training algorithms for neural network control are proposed. As a test-bed, a large x-y table was build and interface with PC has been implemented. Experiments such as inverted pendulum control and large x-y table position control are performed. The results for different PD controller gains with neural network show excellent position tracking for circular trajectory compared with those for PD controller only. Neural control scheme also works better for controlling inverted pendulum on x-y table.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2000년도 제13회 신호처리 합동 학술대회 논문집
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• pp.907-910
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• 2000

QPSK 복조기는 위상 오차에 따른 문제점을 극복하기 위해 수신단에서는 반송파의 주파수와 위상을 tracking 하는 Carrier recovery loop부분이 필요하다〔1〕. Carrier recovery loop는 multiplier, arm filter, matched filter, decimator, loop filter, NCO로 구성이 된다〔2〕.기존 Carrier recovery loop의 NCO는 sine과 cosine의 lookup table을 갖는 구조로 되어있어, 전력소모가 크다는 문제점을 가지고 있다. 따라서 본 논문에서는 lookup table을 사용하지 않는 저 전력 구조의 QPSK복조기의 Carrier recovery loop의 NCO를 설계했다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1999년도 하계종합학술대회 논문집
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• pp.813-816
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• 1999

In this paper is Proposed a VSC(variable structure controller) for a high-speed and high-precision position control of a XY Table, which is based on the PI type reaching mode. Also the comparative study between the proposed method and the conventional PID controller is presented as well. Designed and tuned under repeated experiments, the proposed method showed a better reasonable performance than PID controller in the aspect of tracking error.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.433-437
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• 1988

Direct measurement of the relative position between the end effector of robot and moving objects reduces difficulties caused by the joint encoder reading and transformation. For those purpose, the on-line sensing method using PSD sensor was developed in this paper. The sensor was calibrated on the precision table. Then, the relative position of a moving objects on the conveyor was measured while the robot was tracking the one.

• 제어로봇시스템학회논문지
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• 제15권5호
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• pp.496-504
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• 2009

This paper presents a recognition performance of VOR (Vestibular-Ocular Reflex) based vision tracking system for mobile robot. The VOR is a reflex eye movement which, during head movements, produces an eye movement in the direction opposite to the head movement, thus maintaining the image of interested objects placed on the center of retina. We applied this physiological concept to the vision tracking system for high recognition performance in mobile environments. The proposed method was implemented in a vision tracking system consisting of a motion sensor module and an actuation module with vision sensor. We tested the developed system on an x/y stage and a rate table for linear motion and angular motion, respectively. The experimental results show that the recognition rates of the VOR-based method are three times more than non-VOR conventional vision system, which is mainly due to the fact that VOR-based vision tracking system has the line of sight of vision system to be fixed to the object, eventually reducing the blurring effect of images under the dynamic environment. It suggests that the VOR concept proposed in this paper can be applied efficiently to the vision tracking system for mobile robot.

• Earthquakes and Structures
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• 제6권5호
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• pp.539-560
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• 2014

Shaking tables are devices for testing structures or structural components models with a wide range of synthetic ground motions or real recorded earthquakes. They are essential tools in earthquake engineering research since they simulate the effects of the true inertial forces on the test specimens. The destructive earthquakes that occurred at the north part of Algeria during the period of 1954-2003 resulted in an initiative from the Algerian authorities for the construction of a shaking simulator at the National Earthquake Engineering Research Center, CGS. The acceleration tracking performance and specifically the inability of the earthquake simulator to accurately replicate the input signal can be considered as the main challenge during shaking table test. The objective of this study is to validate the uni-axial sinusoidal performances curves and to assess the accuracy and fidelity in signal reproduction using the advanced adaptive control techniques incorporated into the MTS Digital controller and software of the CGS shaking table. A set of shake table tests using harmonic and earthquake acceleration records as reference/commanded signals were performed for four test configurations: bare table, 60 t rigid mass and two 20 t elastic specimens with natural frequencies of 5 Hz and 10 Hz.