• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.307-311
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• 2003

2-mass system is generally used as controller of the variable-speed to transfer electromotion power to mechanical load such as industrial robot, driving parts of electric vehicle, rolling machine system of steel plant and driving parts of elevator. In this case, PI controller is often used as a velocity controller because of simplicity of system. But PI control algorithm is not enough for obtaining the control characteristics required for this system. To solve this problem, 2-mass system based on the PID controller derives the optimum PID parameters by pole assignment and estimation of the ITAE performance index. In this case, the system have tenacious properties about disturbance, but it causes extreme overshoot and vibration because of rapidly output of controller in early transient response about desired value. And if speed control system is applied by 2-DOF parameter ${\alpha}$, a temporary value, we must induce most suitable parameter by complicate pole assignment and estimation of the ITAE performance index whenever ${\alpha}$ changes. In this paper, to solve this problem we suggest control algorithm to followed exactly value of ${\alpha}$ as 2-DOF parameter by using fuzzy algorithm . So, intelligence algorithm modeled by human knowledge, experience, teachability and judgment follow exact ${\alpha}$ value and it can compose the efficient 2-DOF PID controller to improve following performance, overshoot decrease.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.11 no.11
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• pp.2179-2184
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• 2007

The Intelligent Space(ISpace) provides challenging research fields for surveillance, human-computer interfacing, networked camera conferencing, industrial monitoring or service and training applications. ISpace is the space where many intelligent devices, such as computers and sensors, are distributed. According to the cooperation of many intelligent devices, the environment, it is very important that the system knows the location information to offer the useful services. In order to achieve these goals, we present a method for representing, tracking and human following by fusing distributed multiple vision systems in ISpace, with application to pedestrian tracking in a crowd. This paper described appearance based unknown object tracking with the distributed vision system in intelligent space. First, we discuss how object color information is obtained and how the color appearance based model is constructed from this data. Then, we discuss the global color model based on the local color information. The process of learning within global model and the experimental results are also presented.

• Journal of IKEEE
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• v.24 no.2
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• pp.638-648
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• 2020

Currently, the method of user-follwoing in intelligent cooperative robots usually based in vision system and using Lidar is common and have excellent performance. But in the closed space of Corona 19, which spread worldwide in 2020, robots for cooperation with medical staff were insignificant. This is because Medical staff are all wearing protective clothing to prevent virus infection, which is not easy to apply with existing research techniques. Therefore, in order to solve these problems in this paper, the ultrasonic sensor is separated from the transmitting and receiving parts, and based on this, this paper propose that estimating the user's position and can actively follow and cooperate with people. However, the ultrasonic sensors were partially applied by improving the Median filter in order to reduce the error caused by the short circuit in communication between hard reflection and the number of light reflections, and the operation technology was improved by applying the curvature trajectory for smooth operation in a small area. Median filter reduced the error of degree and distance by 70%, vehicle running stability was verified through the training course such as 'S' and '8' in the result.