• Journal of Korea Multimedia Society
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• v.16 no.5
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• pp.619-628
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• 2013

In this paper, we describe a strongly improved tracking method using combination of CAMshift and Kalman filter algorithm. CAMshift algorithm doesn't consider the object's moving direction and velocity information when it set the search windows for tracking. However if Kalman filter is combined with CAMshift for setting the search window, it can accurately predict the object's location with the object's present location and velocity information. By using this prediction before CAMshift algorithm, we can track fast moving objects successfully. Also in this research, we show better tracking results than conventional approaches which make use of single color information by using both color information of HSV and YCrCb simultaneously. This modified approach obtains more robust color segmentation than others using single color information.

• Journal of IKEEE
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• v.11 no.4
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• pp.137-144
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• 2007

Fire Control System(FCS) errors can be classified as hardware errors and software errors, and one of the software errors is from target tracking filter which estimates target's location, velocity, acceleration, and so on. It affects function of ballistic calculation equipment significantly. For gun to form predicted hitting point accurately and enhance hitting rate, we need status information of target's future location. Target tracking filter algorithms consist of Single Singer Model, Fixed Gain filter algorithm, IMM, PBIMM and so on. This paper will design IMM tracking filer, which is going to be! applied to domestic warship. Target tracking filter using CV model, Song model and CRT model for IMM tracking filter is made, and tracking ability is analyzed through Monte-Carlo simulation.

• Environmental Analysis Health and Toxicology
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• v.14 no.4
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• pp.217-222
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• 1999

Changes in certain fish behaviors are known to be very sensitive indicators of sublethal exposure to environmental contaminants. Therefore, behavioral toxicity tests, if properly designed, can be very useful to assess the influence of hazardous chemicals on fish. However, quantitative analysis of xenobiotic-mediated changes in locomotor behavior in fishes are rare, due mainly to the methodological difficulties. In general, fish movement has been known to be hypertrophic or hypotrophic according to the chemicals. As a study of fish behavioral toxicities, we qualified the swimming movement of Oryzias latipes using computer-automated video tracking system. Oryzias latipes was exposed to cadmium of 128 mg/L for 1 hour in a limited aquaria, then the total swimming distance, the average swimming velocity, the histogram of turning angles, and the turning frequency were analyzed. Fish treated with cadmium showed decreased swimming activities, decreased velocity, and decreased turning frequency, which means hypotrophic activity. From these results, the computer-automated video tracking system of this study seems to be a good tool for the evaluation of the potential ecotoxicological studies.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.27 no.3
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• pp.307-316
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• 2016

A multiple radar system is comprised of early warning radar for fast detection of a target and air defense radar for precision intercept. For this reason, target take-over process is required between the two radars. The target take-over should be performed at an appropriate time by consideration of stable tracking and effective fire control. In this paper, operation characteristics of multiple radar system are analyzed and target take-over time determination method using estimation of target tracking performance is proposed for high-velocity targets. The proposed method is validated with ballistic target defense scenarios in the developed integrated simulator.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.40 no.1
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• pp.78-85
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• 2004

The new biotelemetry method and system that the installation and the treatment of equipment is convenient and the instantaneously detailed position of the fish attached a pinger is able to track comparatively easily had been developed, an practicality of it were verified in the water tank and the small sea port through the tracking of fish. The biotelemetry method had been gotten the three dimensional locations of fish to the receiving transducer by combining of the super short base line (SSBL) method to detect the direction of pinger and the pinger synchronizing method to measure the range from receiving transducer to pinger. The receiving system had been designed to realize the high precision or wide detection range by application of the basic design method for receiving system of biotelemetry and the hydrophone array configuration. From tracking test of carp in the water tank, the migration course and the velocity of carp was investigated and the observed migration course was compared with measurement. The measured migration course of carp coincided with the observation in the main and the position of carp was able to track three dimensionally. The velocity of carp measured by the moving average method was 11.2cm/s. From tracking test of yellowtail in the small sea port, the migration course and the velocity of yellowtail was investigated at natural condition. The position of yellowtail was able to track three dimensionally and the velocity of it measured by moving average method was 43.9cm/s.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2015.10a
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• pp.53-54
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• 2015

The maritime industry is expanding at an alarming rate and as such there is a perpetual need to improve situation awareness in the maritime environment using new and emerging technology. Tracking is one of the numerous ways of enhancing situation awareness by providing information that may be useful to the operator. The tracking system described herein comprises determining existing states of own ship, state prediction and state compensation caused by random noise. The purpose of this paper is to analyze the process of tracking and develop a tracking algorithm by using ${\alpha}-{\beta}-{\gamma}$ tracking filter under a random noise or irregular motion for use in a warship. The algorithm involves initializing the input parameters of position, velocity and course. The actual positions are then computed for each time interval. In addition, a weighted difference of the observed and predicted position at the nth observation is added to the predicted position to obtain the smoothed position. This estimation is subsequently employed to determine the predicted position at (n+1). The smoothed values, predicted values and the observed values are used to compute the twice distance root mean square (2drms) error as a measure of accuracy of the tracking module.

• Journal of Welding and Joining
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• v.8 no.1
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• pp.23-30
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• 1990

The robotic welding has been adapted positively in many welding shops forthe purpose of improving the welding efficiency and liberating operators from the severe working atmosphere. But for a large-size structure with thick plates like ship-building and every kind of plants manufacturing, the application of the arc welding robots is not established yet. The reason is assumed that the conventional arc welding robots are not adaptive for multi-pass welding of thick plates whose grooves are not so accurate. As one solution to this problem, a guidance system which uses the welding arc itself as a sensor is largely used. In this study the velocity controller which changes the tip to workpiece distance for regulating the weld proposed. The proportional and integral gain of velocity controller were determined by using the computer simulation of the control system, and the simulation results compared with the experimental ones. It was revealed that the developed control system using the arc sensor principle has a good capability of tracking the weld joint, although some more studies will be needed to refine the model of arc current.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.11
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• pp.1117-1124
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• 2010

This paper presents a foot movement tracking system using ultrasonic sensors and inertial sensors, where the position and velocity of foot are computed using inertial sensors and ultrasonic sensors mounted on a shoe. A foot movement can be estimated using an inertial navigation algorithm only; however, the error tends to increase due to biases of gyroscopes and accelerometers. To reduce the error, a localization system using ultrasonic sensors is additionally used. In the localization system using ultrasonic sensors, the position is continuously calculated in the absolute coordinate. An indirect Kalman filter is used to combine inertial sensors and ultrasonic sensors. Through experiments, it is shown that the proposed system can track a foot movement.

• IEMEK Journal of Embedded Systems and Applications
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• v.6 no.1
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• pp.16-24
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• 2011

Automotive Radar Systems are currently under development for various applications to increase accuracy and reliability. The target tracking is most important in single or multiple target environments for accuracy. The tracking algorithm provides smoothed and predicted data for target position and velocity(Doppler). To this end, the fixed gain filter(${\alpha}{\beta}$ filter, ${\alpha}{\beta}{\gamma}$ filter) and dynamic filter(Kalman filter, Singer-Kalman filter, etc) are commonly used. Gating is used to decide whether an observation is assigned to an existing track or new track. Gating algorithms are normally based on computing a statistical error distance between an observation and prediction. The data association takes the observation-to-track pairings that satisfied gating and determines which observation-to-track assignment will actually be made. For data association, NNPDA(Nearest Neighbor Probabilistic Data Association) algorithm is proposed. In this paper, we designed a target tracking system developed for an Automotive Radar System. We show the experimental results of the 77GHz FMCW radar sensor on the roads. Four tracking algorithms(${\alpha}{\beta}$ filter, ${\alpha}{\beta}{\gamma}$ filter, 2nd order Kalman filter, Singer-Kalman filter) have been compared and analyzed to evaluate the performance in test scenario.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.20 no.11
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• pp.43-51
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• 2021

A robust tracking controller design was developed for a rotary motion control system. The friction force versus the angular velocity was measured and modeled as a combination of linear and nonlinear components. By adding a model-based friction compensator to a nominal proportional-integral-derivative controller, it was possible to build a simulated control system model that agreed well with the experimental results. A zero-phase error tracking controller was selected as the feedforward tracking controller and implemented based on the estimated closed-loop transfer function. To provide robustness against external disturbances and modeling uncertainties, a disturbance observer was added in the position feedback loop. The performance improvement of the overall tracking controller structure was verified through simulations and experiments.