• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.700-703
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• 1997

A robust controller for a 6 DOF magnetically levitated fine manipulator is presented. The proposed controller consists of following two parts : a model reference controller (MRC) and a H$_{\infty}$ controller (HIC). First, the MRC stabilizes the motion of the manipulator. Then, the motion of the manipulator follows that of the reference model. Second, the HIC minimizes errors generated from the MRC due to noise and disturbance since the HIC is a kind of robust controller. The experiments of position control and tracking control are carried out by use of the proposed controller under the conditions of free disturbances and forced disturbances. Also, the experiments using PID controller are carried out under the same conditions. The results from above two controllers are compared to investigate the control performances. As the results, it is observed that the proposed controller has similar position accuracy but better tracking performances comparing to the PID controller as well as good disturbance rejection effect due to the robust characteristics of the controller. In conclusion, it is verified that the proposed controller has the simple control structure, the good tracking performances and good disturbance rejection effect due to the robust characteristics of the controller..

• Journal of Korea Multimedia Society
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• v.23 no.9
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• pp.1210-1218
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• 2020

This study selected brand logos of six South Korean and Chinese banks including KB, IBK, SH, ICBC, ABC, and SISB, conducted Eye Tracking experiment among 36 South Korean and Chinese university students(Nine male and female students, respectively), and analyzed the difference of visual attention of consumers on bank brand logo, symbol, Korean/Chinese character logo types as well as the difference of visual attention of these consumers on English logo types. Results were represented by using statistics and visualization including GAZEPLOT, HEATMAP, and visual expression. Results showed that most generally gazed logo types more often and longer than symbols when they watched bank brand logos. A slight difference was observed between both groups in terms of gazing English logo types. This study has a implication that it proposed the possibility of drawing quantitative and reliable outcomes by utilizing eye tracking device and approaching in an objective standpoint beyond a methodological aspect on bank brand logo primarily leaning over the analysis of case research or design development. Moreover, findings are expected to serve as basic data for proposing the direction of special bank brand logo design and marketing strategies.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.17 no.1
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• pp.280-294
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• 2023

Unmanned aerial vehicles (UAVs) and millimeter-wave frequencies play key roles in supporting 5G wireless communication systems. They expand the field of wireless communication by increasing the data capacities of communication systems and supporting high data rates. However, short wavelengths, owing to the high millimeter-wave frequencies can cause problems, such as signal attenuation and path loss. To address these limitations, research on high directional beamforming technologies continue to garner interest. Furthermore, owing to the mobility of the UAVs, it is essential to track the beam angle accurately to obtain full beamforming gain. This study presents a beam tracking method based on the unscented Kalman filter using hybrid beamforming. The simulation results reveal that the proposed beam tracking scheme improves the overall performance in terms of the mean-squared error and spectral efficiency. In addition, by expanding analog beamforming to hybrid beamforming, the proposed algorithm can be used even in multi-user and multi-stream environments to increase data capacity, thereby increasing utilization in new-radio multiple-input multiple-output orthogonal frequency-division multiplexing systems.

• Journal of Drive and Control
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• v.21 no.3
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• pp.28-35
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• 2024

This study compared performances of PID (Proportional Integral Derivative), SMC (Sliding Mode Control), and MPC (Model Predictive Control) strategies applied to a 2DOF (Degree Of Freedom) drone tracking robot. The developed 2DOF robot utilized a depth camera with an IMU (Inertial Measurement Unit), laser pointers, and servo motors to rapidly detect and track objects. Image processing was conducted using the YOLO deep learning model. Through this setup, controllers were attached to the robot to track random drone movements, comparing performances in terms of accuracy and energy consumption. This study revealed that while SMC demonstrated precise tracking without deviating from the path, both PID and MPC controllers showed deviations. Performance-wise, SMC is superior. However, considering economic aspects, PID is more advantageous due to its lower power consumption and relatively minor tracking errors.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.10
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• pp.64-74
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• 2007

Because of the size and environment in the shipbuilding process, the portable type robot is required for the automatic seam tracking. For this reason, the structure of laser sensor should be considered in the initial design step and the coordinate transformation between welding robot and laser sensor, which is joint finder, must be identified exactly and the real time tracking algorithm based on these consideration could be developed. In this research, laser displacement sensor in which its structure is laser beam's vertical projection, is developed to recognize the location of weld joint. In practical applications, however, images of weld joints are often degraded because of the surface specularity or spatter. To overcome the problem, the constrained joint finding algorithm is proposed. In the approach of coordinate conversion rule for the visual feedback control among welding torch, robot body and laser sensor is applied by the same reference point method. In the real time seam tracking algorithms we propose constrained sampling method which uses look ahead distance. The RLS(Recursive Least Square) filter is applied to obtain the smooth tracking path from the sensitive edge data. From the experimental results, we could see the possibility that the developed laser sensor with proposed processing algorithm and real time seam tracking method can be used as a welding under the shipbuilding condition.

• Fire Science and Engineering
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• v.30 no.6
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• pp.71-77
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• 2016

The electrolyte of the capacitor in mobile phone chargers leaks to the power input terminal resulting in tracking on the PCB board to form a carbonized conductive path. As a result of structural analysis of the cause of the tracking, It occurred when the power input terminal and the PCB board were connected directly using the connector. The larger the amount of electrolyte leaked from the capacitor into the power input terminal, or the lower the height of the partition provided between the plug pins of the power input terminal, the higher the tracking occurrence rate. Accordingly, to lower the occurrence rate of tracking in the charger, it is necessary to provide a partition on the capacitor or increase the height of the partition provided on the power input terminal so that the leaked electrolyte does not flow to the power input terminal. In addition, the tracking occurrence rate will be reduced further if the shape of the PCB board touching ther power connection terminal is changed to ${\Pi}$.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.10
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• pp.1879-1885
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• 2017

This paper discusses the trajectory tracking system of unmanned ground vehicles based on predictive control. Because the unmanned ground vehicles can not satisfactorily complete the path tracking task, highly efficient and stable trajectory control system is necessary for unmanned ground vehicle to be realized intelligent and practical. According to the characteristics of unmanned vehicle, this paper built the kinematics tracking models firstly. Then studied algorithm solution with the tools of the optimal stability analysis method and proposed a tracking control method based on the model predictive control. The controller used a kinematics-based prediction model to calculate the predictive error. This controller helps the unmanned vehicle drive along the target trajectory quickly and accurately. The designed control strategy has the true robustness, simplicity as well as generality for kinematics model of the unmanned vehicle. Furthermore, the computer Simulink/Carsim results verified the validity of the proposed control method.

• Journal of the Korean Society of Safety
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• v.24 no.4
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• pp.28-33
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• 2009

This study examined the mounting status of cigar lighter receptacles for vehicles and analyzed the tracking phenomenon that occurs when foreign material entered a cigar lighter receptacle to obtain data for the analysis of accident investigation. Regardless of the vehicle's output, cigar lighter receptacles are mounted in a vehicle horizontally, vertically, or at tilting or inclined angle. The tilting type cigar lighter receptacle is much easier to use but current leakage resulting from foreign materials (coffee, beverages, water, etc.) falling into the cigar lighter receptacle may cause a fire to start. This study used a vehicle battery (DC 12V) as a power supply for the tracking test and configured its circuit in the same way as that of an electrical device in a vehicle. The tracking phenomenon that occurred in the standby mode of the vehicle exhibited a fine flame and an irregular occurrence of smoke. While this tracking phenomenon was occurring, the leakage current and the reaching distance of the flame were measured to be approximately 930mA and $20{\sim}50cm$, respectively. It is thought that the resultant flame may ignite toluene, dust, cigarettes, etc. It was observed that as the tracking progressed, the internal metal socket melted and a hole was created, the surface of which was also severely carbonized. In addition, the electrical resistance of the carbonized conductive path was measured to be approximately $30{\Omega}$. It is thought that this much resistance may cause local heating when leakage current flows and could ignite any nearby flammable material.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.50 no.11
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• pp.809-817
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• 2022

The development of unmanned robots and UAVs has increased the need for path planning methods such as RRT^* algorithm. It mostly works well in various environments and is utilized in many fields. A lot of research has been conducted to obtain a better path in terms of efficiency through various modifications to the RRT^* algorithm, and the performance of the algorithm is continuously improved thanks to these efforts. In this study, a method using the limitation of sampling range is proposed as an extension of these efforts. Based on the idea that a path passing close to obstacles is similar to the optimal path in obstacle environments, nodes are produced around the obstacle. Also, rewiring algorithm is modified to quickly obtain the path. The performance of the proposed algorithm is validated by comparative analysis of the previous basic algorithm and the generated path is tracked by a UAV's kinematic model for further verification.

• Journal of Auto-vehicle Safety Association
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• v.13 no.2
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• pp.35-41
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• 2021

In this study, improved path tracking control algorithm based on pure pursuit algorithm is newly proposed by using improved lane detection algorithm through real time post-processing with interpolation methodology. Since the original pure pursuit works well only at speeds below 20 km/h, the look-ahead distance is implemented as a sigmoid function to work well at an average speed of 45 km/h to improve tracking performance. In addition, a smoothing filter was added to reduce the steering angle vibration of the original algorithm, and the stability of the steering angle was improved. The post-processing algorithm presented has implemented more robust lane recognition system using real-time pre/post processing method with deep learning and estimated interpolation. Real time processing is more cost-effective than the method using lots of computing resources and building abundant datasets for improving the performance of deep learning networks. Therefore, this paper also presents improved lane detection performance by using the final results with naive computer vision codes and pre/post processing. Firstly, the pre-processing was newly designed for real-time processing and robust recognition performance of augmentation. Secondly, the post-processing was designed to detect lanes by receiving the segmentation results based on the estimated interpolation in consideration of the properties of the continuous lanes. Consequently, experimental results by utilizing driving guidance line information from processing parts show that the improved lane detection algorithm is effective to minimize the lateral offset error in the diverse maneuvering roads.