• International Journal of Aeronautical and Space Sciences
• /
• v.8 no.1
• /
• pp.10-20
• /
• 2007

For spacecraft attitude control, reaction wheel (RW) steering laws with more than three wheels for three-axis attitude control can be derived by using a control allocation (CA) approach.1-2 The CA technique deals with a problem of distributing a given control demand to available sets of actuators.3-4 There are many references for CA with applications to aerospace systems. For spacecraft, the control torque command for three body-fixed reference frames can be constructed by a combination of multiple wheels, usually four-wheel pyramid sets. Multi-wheel configurations can be exploited to satisfy a body-axis control torque requirement while satisfying objectives such as minimum control energy.1-2 In general, the reaction wheel steering laws determine required torque command for each wheel in the form of matrix pseudo-inverse. In general, the attitude control command is generated in the form of a feedback control. The spacecraft body angular rate measured by gyros is used to estimate angular displacement also.⁵ Combination of the body angular rate and attitude parameters such as quaternion and MRPs(Modified Rodrigues Parameters) is typically used in synthesizing the control command which should be produced by RWs.¹ The attitude sensor signals are usually corrupted by noise; gyros tend to contain errors such as drift and random noise. The attitude determination system can estimate such errors, and provide best true signals for feedback control.⁶ Even if the attitude determination system, for instance, sophisticated algorithm such as the EKF(Extended Kalman Filter) algorithm⁶, can eliminate the errors efficiently, it is quite probable that the control command still contains noise sources. The noise and/or other high frequency components in the control command would cause the wheel speed to change in an undesirable manner. The closed-loop system, governed by the feedback control law, is also directly affected by the noise due to imperfect sensor characteristics. The noise components in the sensor signal should be mitigated so that the control command is isolated from the noise effect. This can be done by adding a filter to the sensor output or preventing rapid change in the control command. Dynamic control allocation(DCA), recently studied by Härkegård, is to distribute the control command in the sense of dynamics⁴: the allocation is made over a certain time interval, not a fixed time instant. The dynamic behavior of the control command is taken into account in the course of distributing the control command. Not only the control command requirement, but also variation of the control command over a sampling interval is included in the performance criterion to be optimized. The result is a control command in the form of a finite difference equation over the given time interval.⁴ It results in a filter dynamics by taking the previous control command into account for the synthesis of current control command. Stability of the proposed dynamic control allocation (CA) approach was proved to ensure the control command is bounded at the steady-state. In this study, we extended the results presented in Ref. 4 by adding a two-step dynamic CA term in deriving the control allocation law. Also, the strict equality constraint, between the virtual and actual control inputs, is relaxed in order to construct control command with a smooth profile. The proposed DCA technique is applied to a spacecraft attitude control problem. The sensor noise and/or irregular signals, which are existent in most of spacecraft attitude sensors, can be handled effectively by the proposed approach.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.50 no.6
• /
• pp.201-211
• /
• 2013

In this paper, we propose a hand tracking and gesture recognition system. Our system employs a depth capture device to obtain 3D geometric information of user's bare hand. In particular, we build a flexible tracking volume and restrict the hand tracking area, so that we can avoid diverse problems caused by conventional object detection/tracking systems. The proposed system computes running average of the hand position, and tracking volume is actively adjusted according to the statistical information that is computed on the basis of uncertainty of the user's hand motion in the 3D space. Once the position of user's hand is obtained, then the system attempts to detect stretched fingers to recognize finger gesture of the user's hand. In order to test the proposed framework, we built a NUI system using the proposed technique, and verified that our system presents very stable performance even in the case that multiple objects exist simultaneously in the crowded environment, as well as in the situation that the scene is occluded temporarily. We also verified that our system ensures running speed of 24-30 frames per second throughout the experiments.

• Journal of the Institute of Electronics Engineers of Korea SP
• /
• v.48 no.4
• /
• pp.116-128
• /
• 2011

In this paper, we propose the structure of a high-performance face-detection engine that responds well to facial rotating changes using rotation transformation which minimize the required memory usage compared to the previous face-detection engine. The validity of the proposed structure has been verified through the implementation of FPGA. For high performance face detection, the MCT (Modified Census Transform) method, which is robust against lighting change, was used. The Adaboost learning algorithm was used for creating optimized learning data. And the rotation transformation method was added to maintain effectiveness against face rotating changes. The proposed hardware structure was composed of Color Space Converter, Noise Filter, Memory Controller Interface, Image Rotator, Image Scaler, MCT(Modified Census Transform), Candidate Detector / Confidence Mapper, Position Resizer, Data Grouper, Overlay Processor / Color Overlay Processor. The face detection engine was tested using a Virtex5 LX330 FPGA board, a QVGA grade CMOS camera, and an LCD Display. It was verified that the engine demonstrated excellent performance in diverse real life environments and in a face detection standard database. As a result, a high performance real time face detection engine that can conduct real time processing at speeds of at least 60 frames per second, which is effective against lighting changes and face rotating changes and can detect 32 faces in diverse sizes simultaneously, was developed.

• Journal of Broadcast Engineering
• /
• v.25 no.5
• /
• pp.665-671
• /
• 2020

MPEG-I is actively working on standardization on the coding of immersive video which provides up to 6 degree of freedom (6DoF) in terms of viewpoint. 3DoF+ video, which provides motion parallax to omnidirectional view of 360 video, renders a view at any desired viewpoint using multiple view videos acquisitioned in a limited 3D space covered with upper body motion at a fixed position. The MPEG-I visual group is developing a test model called TMIV (Test Model for Immersive Video) in the process of development of the standard for 3DoF+ video coding. In the TMIV, the redundancy between a set of input view videos is removed, and several atlases are generated by packing patches including the remaining texture and depth regions into frames as compact as possible, and coded. This paper presents an atlas generation method that removes small-sized blocks in the atlas for more efficient 3DoF+ video coding. The proposed method shows a performance improvement of BD-rate bit savings of 0.7% and 1.4%, respectively, in natural and graphic sequences compared to TMIV.

• Proceedings of the Microbiological Society of Korea Conference
• /
• 2002.10a
• /
• pp.180-182
• /
• 2002

Substantial genomic diversity has been expected among clinical isolates of H. pylori. We have suggested that the two complete H. pylori genomes already sequenced may be insufficient for providing a discriminatory tool for typing clinical isolates as well as an insight into the genomic diversity, which enable to establish strategy for control of H. pylori infection. In this study, we determine the nucleotide sequence of the entire genome of Korean strain 51 and compare it with two reported genomic sequences to suggest validity for extensive genomic sequencing of H. pylori. The genome of H. pylori 51 consists of a circular chromosome with a size of 1,591,297 bp, which is corresponding to $95.4\%\;and\;96.8\%$ of the 26695 and J99 chromosome length, respectively. We predict that there are 1,454 open reading frames (ORFs) in 51, representing $91.4\%\;and\;97.2\%$ of the reported numbers of ORF of 26695 and J99, respectively. In contrast to 26695 and J99 that have 123 and 65 strain-specific genes, respectively, of the 1,454 genes, only 39 genes are unique to 51. Differences in genomic organization between 51 and each foreign strain were greater than between 2 foreign strains in pair wise entire sequence alignments by BLASTN. Particularly, the extent of genomic rearrangement observed between 51 and 26695 is higher than between 51 and J99. Multiple sequence alignment of orthologous genes among 3 strains showed that 51 is genetically closer to 26695 rather than J99. Phylogenetic analysis of nonsynonymous and synonymous mutation indicated J99 has the longest branch length in the unrooted phylogenetic tree, suggesting that J99 has higher mutation rate than the other 2 strains.

• Journal of Digital Convergence
• /
• v.15 no.2
• /
• pp.173-181
• /
• 2017

In this paper, we have studied tracking as a training stage of considering the position and the scale of a person given its previous position, scale, as well as next and forward image fraction. Unlike other learning methods, CNN is thereby learning combines both time and spatial features from the image for the two consecutive frames. We introduce multiple path ways in CNN to better fuse local and global information. A creative shift-variant CNN architecture is designed so as to alleviate the drift problem when the distracting objects are similar to the target in cluttered environment. Furthermore, we employ CNNs to estimate the scale through the accurate localization of some key points. These techniques are object-independent so that the proposed method can be applied to track other types of object. The capability of the tracker of handling complex situations is demonstrated in many testing sequences. The accuracy of the SVM classifier using the features learnt by the CNN is equivalent to the accuracy of the CNN. This fact confirms the importance of automatically optimized features. However, the computation time for the classification of a person using the convolutional neural network classifier is less than approximately 1/40 of the SVM computation time, regardless of the type of the used features.

• Journal of the Korean Society of Radiology
• /
• v.17 no.3
• /
• pp.359-365
• /
• 2023

In order to satisfy the requirements of dynamic X-ray imaging with high frame rate and low image lag, minimizing parasitic capacitance in photodiode and overlapped electrodes in pixels is critically required. This study presents duoPIX^TM dynamic X-ray imaging sensor composing of readout thin film transistor, reset thin film transistor and photodiode in a pixel. Furthermore, dynamic X-ray detector using duoPIX^TM imaging sensor was manufactured and evaluated its X-ray imaging performances such as frame rate, sensitivity, noise, MTF and image lag. duoPIX^TM dynamic X-ray detector has 150 × 150 mm² imaging area, 73 um pixel pitch, 2048 × 2048 matrix resolution(4.2M pixels) and maximum 50 frames per second. By means of comparison with conventional dynamic X-ray detector, duoPIX^TM dynamic X-ray detector showed overall better performances than conventional dynamic X-ray detector as shown in the previous study.

• Korean journal of applied entomology
• /
• v.60 no.4
• /
• pp.387-401
• /
• 2021

Thrips infesting hot peppers were monitored in greenhouses using yellow sticky traps. In addition, the hot peppers infected with tomato spotted wilt virus (TSWV) were observed during the monitoring period. The flower thrips (Frankliniella intonsa) were initially trapped at a low density just after transplanting seedlings of hot peppers at late March. The western flower thrips (Frankliniella occidentalis) were trapped after mid April. These two thrips represented more than 98% of the total thrips attracted to the traps after May, in which F. intonsa showed higher occurrence frequency than F. occidentalis. The total number of thrips had two peaks at mid May with a small and short-term peak and at June-July with a large and long-term peak. The trapped thrips exhibited inconsistent sex ratios, suggesting a seasonal parthenogenesis. Different geographical populations were varied in cytochrome oxidase I sequences, in which local populations in Andong shared a high sequence similarity. TSWV-infected hot peppers, which might be mediated by these two thrips species, were observed and confirmed by an immunoassay kit and a molecular diagnosis using RT-PCR. In addition, the TSWV was detected in F. occidentalis collected from the infected hot peppers. Three open reading frames (NS_S, N, and NS_M) of the isolated TSWV genomes were sequenced and showed multiple point mutations containing missense mutations among geographical variants. When the isolated TSWV was fed to nonvirulent thrips of F. occidentalis, the virus was detected in both larvae and adults. However, the viral replication occurred in larvae, but not in adults.