• Title/Summary/Keyword: Tracking performance

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LSTM Network with Tracking Association for Multi-Object Tracking

  • Farhodov, Xurshedjon;Moon, Kwang-Seok;Lee, Suk-Hwan;Kwon, Ki-Ryong
    • Journal of Korea Multimedia Society
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    • v.23 no.10
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    • pp.1236-1249
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    • 2020
  • In a most recent object tracking research work, applying Convolutional Neural Network and Recurrent Neural Network-based strategies become relevant for resolving the noticeable challenges in it, like, occlusion, motion, object, and camera viewpoint variations, changing several targets, lighting variations. In this paper, the LSTM Network-based Tracking association method has proposed where the technique capable of real-time multi-object tracking by creating one of the useful LSTM networks that associated with tracking, which supports the long term tracking along with solving challenges. The LSTM network is a different neural network defined in Keras as a sequence of layers, where the Sequential classes would be a container for these layers. This purposing network structure builds with the integration of tracking association on Keras neural-network library. The tracking process has been associated with the LSTM Network feature learning output and obtained outstanding real-time detection and tracking performance. In this work, the main focus was learning trackable objects locations, appearance, and motion details, then predicting the feature location of objects on boxes according to their initial position. The performance of the joint object tracking system has shown that the LSTM network is more powerful and capable of working on a real-time multi-object tracking process.

Robust Stability Condition and Analysis on Steady-State Tracking Errors of Repetitive Control Systems

  • Doh, Tae-Yong;Ryoo, Jung-Rae
    • International Journal of Control, Automation, and Systems
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    • v.6 no.6
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    • pp.960-967
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    • 2008
  • This paper shows that design of a robustly stable repetitive control system is equivalent to that of a feedback control system for an uncertain linear time-invariant system satisfying the well-known robust performance condition. Once a feedback controller is designed to satisfy the robust performance condition, the feedback controller and the repetitive controller using the performance weighting function robustly stabilizes the repetitive control system. It is also shown that we can obtain a steady-state tracking error described in a simple form without time-delay element if the robust stability condition is satisfied for the repetitive control system. Moreover, using this result, a sufficient condition is provided, which ensures that the least upper bound of the steady-state tracking error generated by the repetitive control system is less than or equal to the least upper bound of the steady-state tracking error only by the feedback system.

Enhancing Tracking Performance of a Bilinear System using MPC (쌍선형 시스템의 추종 성능 강화를 위한 예측 제어 알고리즘)

  • Kim, Seok-Kyoon;Kim, Jung-Su;Lee, Youngil
    • Journal of Institute of Control, Robotics and Systems
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    • v.21 no.3
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    • pp.237-242
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    • 2015
  • This paper presents a method to enhance tracking performance of an input-constrained bilinear system using MPC (Model Predictive Control) when a feasible tracking control is known. Since the error dynamics induced by the known tracking control is asymptotically stable, there exists a Lyapunov function for the stable error dynamics. By defining a cost function including the Lyapunov function and describing tracking performance, an MPC law is derived. In simulation, the performance of the proposed MPC law is demonstrated by applying it to a converter model.

The Surface Treatment of Fillers and Tracking Performance of Silicone Rubber (충진재의 표면처리와 실리콘 고무의 트래킹특성)

  • Lee, Soo-Boo;Ji, Won-Yeong;Lee, Chir-Kuy;Lee, June-Ho
    • Proceedings of the KIEE Conference
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    • 1999.07e
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    • pp.2364-2367
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    • 1999
  • Polymer insulating materials are widely used in power distribution and transmission systems for their good dielectric properties, light weight, low cost, and good contamination performance. Tracking is one of the biggest problems to be overcome in polymer insulating materials. The alumina trihydrate(ATH) is widely used as a filler for improve the tracking performance of silicone rubber. In this paper, we have investigated the influence of surface treatment of fillers on the tracking performance of silicone insulator using the IEC 587 tracking test method.

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Performance analysis of TDL for tracking of a direct-sequence spread-spectrum system in a multipath fading channel (다중경로 페이딩 전송로에서 직접시퀀스 확산대역 시스템이 추적을 위한 TDL의 성능분석)

  • 김진영;이재홍
    • Journal of the Korean Institute of Telematics and Electronics A
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    • v.33A no.3
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    • pp.10-17
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    • 1996
  • The performance of tau-dither loop (TDL) is evaluated for a direct-sequence spread-spectrum system in a multipath fading channel. The multipath fading channel is modeled as a two-ray rayleight fading channel. The code tracking perfomrance of TDL is analyzed in terms of tracking jitter and mean-tiem-to-lose-lick (MTLL). The tracking jitter performance is degraded while MTLL perfomrance is improved with increasing discriminator offset and decreasing power ratio of main to second paths. It is shown that for a large bit SNR, the effect of multipath fading becomes more significant. And it is also shown that tracking jitter and MTLL performance is less sensitive to delay spacing and discriminator offset for a small bit SNR than for a large bit SNR.

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Robust Trajectory Tracking Control of Mecanum Wheeled AGV Using State Space Disturbance Observer Based Impedance Control and ISMC (상태 공간 외란관측기 기반의 임피던스 제어와 ISMC를 이용한 메카넘 휠 AGV의 강인 궤도 추적 제어)

  • Hyoseok Cheon;Seungkyu Park
    • The Journal of Korea Robotics Society
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    • v.18 no.2
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    • pp.155-163
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    • 2023
  • Auto Guided Vehicle (AGV) equipped with mecanum wheels can move in all directions, unlike ordinary wheeled AGVs. In this paper, we propose a robust trejectory tracking control method for the mecanum wheeled AGVs in the presence of disturbances. It is constructed by combining impedance control with Integral Sliding Mode Control (ISMC), which shows robust performance against disturbances, and adding a disturbance observer (DOB) that estimates and removes disturbances. Simulation result using MATLAB/SIMULINK shows that the proposed control method has robust performance in tracking the reference trajectory under the circumstance with disturbance. The control performance is further improved when the disturbance observer is additionally used. In addition, the performance of the proposed control method was verified through experiment. It shows the result of tracking the set trajectory well.

A Study on Design and Control of Tracking Actuator in Optical Disc (광디스크용 트랙킹 구동기의 설계 및 제어에 관한 연구)

  • 최인묵;한창수;김수현;곽윤근
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 1995.10a
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    • pp.454-457
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    • 1995
  • In optical disc system, tracking actuator is consisted of coarse actuator and fine tracking actuator. This, two-stage actuator, requires many devices and two servos for large stroke and precisional displacement. These complicate configuration increases moving mass. So dynamic characteristics become bad, that is, sensitivity of high frequency gain decrease. In this paper, frequency performance is willing to be better as so one dimensional tracking actuator is designed. In order to investigate the performance of the proposed tracking actuator, the Bode diagram is plotted with Dynamic analyzer and friction characteristic is explained. Finally, tracking error performance is ins investigated into 0.1 .mu.m resolution with MATLAB simulation.

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Performance Evaluation of the Modified IMMPDA Filter Using 3-D Maneuvering Targets In Clutter (클러터 환경하에서 3 차원 기동표적을 사용한 수정된 IMMPDA 필터의 성능 분석)

  • 김기철;홍금식;최성린
    • 제어로봇시스템학회:학술대회논문집
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    • 2000.10a
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    • pp.211-211
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    • 2000
  • The multiple targets tracking problem has been one of main issues in the radar applications area in the last decade. Besides the standard Kalman filtering, various methods including the variable dimension filter, input estimation filter, interacting multiple model (IMM) filter, federated variable dimension filter with input estimation, probable data association (PDA) filter etc. have been proposed to address the tracking and sensor fusion issues. In this paper, two existing tracking algorithms, i.e. the IMMPDA filter and the variable dimension filter with input estimation (VDIE), are combined for the purpose of improving the tracking performance of maneuvering targets in clutter. To evaluate the tracking performance of the proposed algorithm, three typical maneuvering patterns i.e. Waver, Pop-Up, and High-Diver motions, are defined and are applied to the modified IMMPDA filter considered as well as the standard IMM filter. The smaller RMS tracking errors, in position and velocity, of the modified IMMPDA filter than the standard IMM filter are demonstrated through computer simulations.

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Model Following Control of Linear Time-Invariant System with Uncertain Time Delay (불확실성 지연시간 시스템의 모델추종제어)

  • Kim, Hye-Kyung;Kim, Young Chol
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.63 no.6
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    • pp.786-796
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    • 2014
  • This paper presents a new approach to design a robust tracking controller for linear time-invariant systems with uncertain time-delay. By introducing the model following control (MFC) structure which consists of two loops in nature, we show that the controller is capable of having a predictive control action and effectively tracking the reference output with a desired transient response as well. Three design techniques to achieve good tracking performance are suggested. It is also analytically shown that the tracking performance of the proposed scheme is more robust than that of typical single-loop feedback structure. An illustrative example is given to compare the tracking performances of the proposed methods with a single loop method.

THE EFFECT OF MASKED SIGNAL ON THE PERFORMANCE OF GNSS CODE TRACKING SYSTEM

  • Chang, Chung-Liang;Juang, Jyh-Ching
    • Proceedings of the Korean Institute of Navigation and Port Research Conference
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    • v.2
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    • pp.223-228
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    • 2006
  • The main purpose of this paper is to describe the code tracking performance of a non-coherent digital delay lock loop (DLL) or coherent DLL while tracking GNSS signal in the presence of signal masking. The masking effect is usually caused by buildings that obscure the signal in either a periodic or random manner. In some cases, ideal masking is used to remove random or periodic interference. Three types of the masked signal are considered - no masking, periodic masking, and random masking of the signal input to the receiver. The mean time to lose lock (MTLL) of the code tracking loop are evaluated, and some numerical result and simulation results are reported. Finally, the steadystate tracking errors on the performance of the tracking loop in interference environment are also presented.

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