• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1995.10a
• /
• pp.295-298
• /
• 1995

We performed a research to improve the performance of active bar model which is used in tracking algorithm. Active bar model is a simplified model of snake model. If we used the sctive bar model, the numerical procedure for real time tracking problem can be carried out faster than snake model. However the demerit of active bar algorithms is that we can't used the provious image data because each time it has to reconstruct the active bar. In this paper we proposed advanced algorithm for active bar model. The proposed model can improve tracking abilities by preserving the active bar during the process and changing the energy functional.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.89-92
• /
• 1996

In this paper, we developed visual tracking algorithm using double active bar. The active bar model to represent the object can reduce the search space of energy surface and better performance than those of snake model. However, the contour will not find global equilibrium when driving force caused by image may be weak. To overcome this problem. Double active bar is proposed for finding the global minimum point without any dependence on initialization. To achieve the goal, an deformable model with two initial contours in attempted to search for a global minimum within two specific initial contours. This approach improve the performance of finding the contour of target. To evaluate the performance, some experiments are executed. We can achieved the good result for tracking a object on noisy image.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.19 no.5
• /
• pp.1220-1228
• /
• 1995

In this paper, we consider the problems of tracking an object in a real image. In evaluating these problems, we explore a new technique based on an active contour model commonly called a snake model, and propose the active bar models to represent target. Using this model, we simplified the target welection problems, reduced the search space of energy surface, and obtained the better performances than those of snake model. This approach improves the numerical stability and the tendency for points to bunch up and speed up the computational efficiency. Representing the object by active bar, we can easily obtain the zeroth, the first, and the second moment and it facilitates the target tracking. Finally, we present the good result for the visual tracking problem.

• IEMEK Journal of Embedded Systems and Applications
• /
• v.17 no.5
• /
• pp.257-263
• /
• 2022

Active stabilizers use signals such as steering angle, yaw rate, and lateral acceleration to vary the roll stiffness of the front and rear suspension depending on the vehicle's driving conditions, and are attracting attention as RSC (Roll Stability Control) system that suppresses roll when turning and improves ride comfort when going straight. Various studies have been conducted in relation to active stabilizer bars and RSC systems. However, accurate modeling of passive stabilizer model and active stabilizer model and vehicle dynamics analysis result verification are insufficient, and performance result analysis related to vehicle roll angle estimation and electric motor control is insufficient. Therefore, in this study, an accurate vehicle dynamics model was constructed by measuring the passive/active stabilizer bar model and component parameters. Based on this, the analysis result with high reliability was derived by comparing the roll angle estimation algorithm based on the lateral acceleration and suspension of the vehicle with the actual vehicle driving test result. In addition, it was intended to accurately analyze the motor torque characteristics and roll reduction effects of the electric motor-driven RSC system.

• Journal of Institute of Control, Robotics and Systems
• /
• v.20 no.8
• /
• pp.828-834
• /
• 2014

This paper presents a comparison among three types of approaches to an ARC (Active Roll Control) with an AARB(Active Anti-Roll Bar) for a vehicle system. Lateral acceleration and road profile are considered as disturbance. The ARC is designed with an LQ SOF (Linear Quadratic Static Output Feedback) control, $H_{\infty}$ control and SMC (Sliding Mode Control). These approaches are compared in terms of rollover prevention and ride comfort. For comparison, Bode plot analysis based on linear model and frequency response analysis based on CarSim simulation are performed.

• Geomechanics and Engineering
• /
• v.11 no.2
• /
• pp.177-195
• /
• 2016

To secure the stability of geotechnical infrastructures and minimize failures during the construction process, a number of support systems have been introduced in the last several decades. In particular, stabilization methods using steel bars have been widely used in the field of geotechnical engineering. Rock bolt system is representative support system using steel bars. Pre-stressing has been applied to enhance reinforcement performance but can be released because of the failure of head or anchor sections. To overcome this deficiency, this paper proposes an innovative support system that can actively reinforce the weak ground along the whole structural element by introducing an active tension bolt containing a spring unit to the middle of the steel bar to increase its reinforcement capacity. In addition, the paper presents the support mechanism of the active tension bolt based on a theoretical study and employs an experimental study to validate the performance of the proposed active tension bolt based on a down-scaled model. To examine the feasibility of the active tension unit in a pillar, the paper considers a pullout test and a small-scale experimental model. The experimental results suggest the active tension bolt to be an effective support system for pillar reinforcement.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.9 no.3
• /
• pp.92-99
• /
• 2001

This paper presents a simulation study using a robust controller to improve the roll stability of a vehicle. The controller is designed in the framework of an output feedback H$_{\infty}$ control scheme based on the 3DOF linear vehicle model, solving the mixed-sensitivity problem to guarantee the robust stability and disturbance rejection with respect to parameter variations due to laden and running vehicle conditions. In order to investigate the feasibility of the active roll control system in a real car, its performance is evaluated by simulation in a 10DOF full vehicle model with actuator dynamics and tire characteristics.

• Plant Biotechnology Reports
• /
• v.2 no.1
• /
• pp.47-58
• /
• 2008

To select agronomically useful transgenic plants, a large number of transgenic events are initially produced, gene transfer confirmed, and advanced to obtain homozygous lines for testing in field trials. Direct in planta assays for identifying the transgene carriers in the segregating progeny are based on the activity of selectable marker gene and are easy, simple and inexpensive. For this purpose, expression of bar gene as measured by tolerance to damage by glufosinate ammonium, the active ingredient in the herbicide BASTA, was investigated. Dose damage curves were generated by leaf paint tests with BASTA on four genotypes of sorghum. Transgenic plants were characterized in terms of sensitivity to the concentration of glufosinate ammonium. In transgenics, symptoms of BASTA swab tests at different growth stages and PCR analysis for cry1B were carried out and correlated. Germination tests could not be employed for large scale evaluation of transgenic progeny because of mortality of tolerant seedlings after transplantation to soil. Based on the above findings, a simple, inexpensive, time-saving, two-step scheme for effective evaluation of transgenics and their progeny containing bar gene as selection marker using BASTA swab tests is described.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.37 no.4
• /
• pp.447-459
• /
• 2013

Many problems need to be solved before vision systems can actually be applied in industry, such as the precision of the kinematics model of the robot control algorithm based on visual information, active compensation of the camera's focal length and orientation during the movement of the robot, and understanding the mapping of the physical 3-D space into 2-D camera coordinates. An algorithm is proposed to enable robot to move actively even if the relative positions between the camera and the robot is unknown. To solve the correction problem, this study proposes vision system model with six camera parameters. To develop the robot vision control algorithm, the N-R and EKF methods are applied to the vision system model. Finally, the position accuracy and processing time of the two algorithms developed based based on the EKF and the N-R methods are compared experimentally by making the robot perform slender bar placement task.

• Proceedings of the Korean Vacuum Society Conference
• /
• 2014.02a
• /
• pp.191.2-191.2
• /
• 2014

Cu/ZnO/$Al_2O_3$ is widely used methanol synthesis catalyst at elevated pressures P (50 to 100 bar) and temperatures T (473 to 573 K) using $CO_2$, CO, $H_2$ syngas mixture. Although Cu step and planar defects have been regarded as active sites in this catalyst, detailed $CO_2$ hydrogenation procedure has been still unknown and debated as well as initial intermediate. In this study, we investigated the mechanism of $CO_2$ hydrogenation on Cu(111) model surface at P (1 bar) and T (298 to 450 K) using reflection absorption infrared spectroscopy (RAIRS). Two distinct formates by hydrogenation of $CO_2$, on step and on terrace, show different behavior with elevating temperature. The peak intensity of on step formate was continuously decreased above 360 K up to 450K in contrast to the increase of on terrace formate. These phenomena are strong possibilities that the formate is initial intermediate and is desorbed by hydrogenation reaction because thermal desorption temperature of formate (~470 K) is much higher than desorption of on step formate. And the formate production peak of on step site was weakly correlated with CO formation.