• Title/Summary/Keyword: position tracking

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Control Strategies for Landing Quadcopters on Ships with Legged Platform Based on Impedance Control (선박 위 착륙을 위한 임피던스 제어기반 쿼드콥터 족형 랜딩플랫폼 제어 전략)

  • Hwang, Seonghyeon;Lee, Seunghyeon;Jin, Seongho;Lee, Inho
    • The Journal of Korea Robotics Society
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    • v.17 no.1
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    • pp.48-57
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    • 2022
  • In this paper, we propose a legged landing platform for the quadcopter taking off and landing in the ship environment. In the ship environment with waves and winds, the aircraft has risks being overturned by contact impact and excessive inclination during landing on the ship. This landing platform has four landing legs under the quadcopter for balancing and shock relief. In order to make the quadcopter balanced on ships, the position of each end effector was controlled by PID control. And shocks have mainly happened when quadcopter contacts the ship's surface as well as legs move fast. Hence, impedance control was used to cope with the shocks. The performance of the landing platform was demonstrated by a simulation and a prototype in three sea states based on a specific size of a ship. During landing and tracking the slope of the ship's surface, oscillations of rotation and translation from the shock were mitigated by the controller. As a result, it was verified that transient response and stability got better by adding impedance control in simulation models and prototype experiments.

Performance Evaluation of ARCore Anchors According to Camera Tracking

  • Shinhyup Lee;Leehwan Hwang;Seunghyun Lee;Taewook Kim;Soonchul Kwon
    • International Journal of Internet, Broadcasting and Communication
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    • v.15 no.4
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    • pp.215-222
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    • 2023
  • Augmented reality (AR), which integrates virtual media into reality, is increasingly utilized across various industrial sectors, thanks to advancements in 3D graphics and mobile device technologies. The IT industry is thus carrying out active R&D activities about AR platforms. Google plays a significant role in the AR landscape, with a focus on ARCore services. An essential aspect of ARCore is the use of anchors, which serve as reference points that help maintain the position and orientation of virtual objects within the physical environment. However, if the accuracy of anchor positioning is suboptimal when running AR content, it can significantly diminish the user's immersive experience. We are to assess the performance of these anchors in this study. To conduct the performance evaluation, virtual 3D objects, matching the shape and size of real-world objects, we strategically positioned ourselves to overlap with their physical counterparts. Images of both real and virtual objects were captured from five distinct camera trajectories, and ARCore's performance was analyzed by examining the difference between these captured images.

Buoyancy Engine Independent Test Module Test in the the Deep Ocean Engineering Basin and at Sea (부력엔진 독립시험 모듈 심해공학수조 시험과 실해역 시험)

  • Chong-Moo Lee;Hyungwoo Kim;Heung Hyun Lim
    • Journal of the Korean Society of Industry Convergence
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    • v.27 no.3
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    • pp.629-634
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    • 2024
  • The Korea Research Institute of Ships and Ocean Engineering (KRISO) has developed a test module that can vertically ascend and descend with a buoyancy engine to verify the performance of the developed buoyancy engine. The independent test module has been tested in the Ocean Engineering Basin(C.M.Lee et al., 2023). After that, more tests were performed in the Deep Ocean Engineering Basin and at sea. In the 50-meter depth pit test of the Deep Ocean Engineering Basin, there were no problems with the ascent and descent operations, but the buoyancy engine was not properly maintained due to various problems in the independent test module, resulting in a difference between the calculated results using the solution of the equations of motion and the actual measurement results. The East Sea test was conducted at a depth of approximately 110 meters north-east of Pohang, with a dive to 100 meters. The difference between the pressure sensor value and the calculated value was observed, but after checking the results of the underwater position tracking device(USBL, Ultra Short Base Line system), it was estimated that the difference was caused by the influence of the current.

Smart composite repetitive-control design for nonlinear perturbation

  • ZY Chen;Ruei-Yuan Wang;Yahui Meng;Timothy Chen
    • Steel and Composite Structures
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    • v.51 no.5
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    • pp.473-485
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    • 2024
  • This paper proposes a composite form of fuzzy adaptive control plan based on a robust observer. The fuzzy 2D control gains are regulated by the parameters in the LMIs. Then, control and learning performance indices with weight matrices are constructed as the cost functions, which allows the regulation of the trade-off between the two performance by setting appropriate weight matrices. The design of 2D control gains is equivalent to the LMIs-constrained multi-objective optimization problem under dual performance indices. By using this proposed smart tracking design via fuzzy nonlinear criterion, the data link can be further extended. To evaluate the performance of the controller, the proposed controller was compared with other control technologies. This ensures the execution of the control program used to track position and trajectory in the presence of great model uncertainty and external disturbances. The performance of monitoring and control is verified by quantitative analysis. The goals of this paper are towards access to adequate, safe and affordable housing and basic services, promotion of inclusive and sustainable urbanization and participation, implementation of sustainable and disaster-resilient buildings, sustainable human settlement planning and manage. Therefore, the goal is believed to achieved in the near future by the ongoing development of AI and control theory.

Analysis of Localization Technology Performance Based on Accumulated RSSI Signal Using Simulation (시뮬레이션을 이용한 누적 RSSI 신호 기반의 항법 기술 성능 분석)

  • Beomju Shin;Taikjin Lee
    • Journal of Positioning, Navigation, and Timing
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    • v.13 no.3
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    • pp.331-339
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    • 2024
  • Reliable and precise indoor localization is crucial for personal navigation, emergency rescue, and monitoring workers indoors. To use this technology in different applications, it is important to make it less dependent on infrastructure and to keep the error as small as possible. Fingerprinting stands out as a popular choice for indoor positioning because it leverages existing infrastructure and works with just a smartphone. However, its accuracy heavily relies on the quality of that infrastructure. For instance, having too few access points or beacons can greatly reduce its effectiveness. To reduce dependence on RF infrastructure, we have developed surface correlation (SC) using accumulated Received Signal Strength Indicator (RSSI) signals This approach constructs a user mask for radio map comparisons using an accumulated RSSI vector and the trajectory of the user, which is estimated through PDR. The location with the highest correlation is considered as the user's position after comparison. Through a simulation, the performance of short RSSI vector-based technology and SC is analyzed, and future directions for the development of SC are discussed.

An accuracy analysis of Cyberknife tumor tracking radiotherapy according to unpredictable change of respiration (예측 불가능한 호흡 변화에 따른 사이버나이프 종양 추적 방사선 치료의 정확도 분석)

  • Seo, jung min;Lee, chang yeol;Huh, hyun do;Kim, wan sun
    • The Journal of Korean Society for Radiation Therapy
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    • v.27 no.2
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    • pp.157-166
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    • 2015
  • Purpose : Cyber-Knife tumor tracking system, based on the correlation relationship between the position of a tumor which moves in response to the real time respiratory cycle signal and respiration was obtained by the LED marker attached to the outside of the patient, the location of the tumor to predict in advance, the movement of the tumor in synchronization with the therapeutic device to track real-time tumor, is a system for treating. The purpose of this study, in the cyber knife tumor tracking radiation therapy, trying to evaluate the accuracy of tumor tracking radiation therapy system due to the change in the form of unpredictable sudden breathing due to cough and sleep. Materials and Methods : Breathing Log files that were used in the study, based on the Respiratory gating radiotherapy and Cyber-knife tracking radiosurgery breathing Log files of patients who received herein, measured using the Log files in the form of a Sinusoidal pattern and Sudden change pattern. it has been reconstituted as possible. Enter the reconstructed respiratory Log file cyber knife dynamic chest Phantom, so that it is possible to implement a motion due to respiration, add manufacturing the driving apparatus of the existing dynamic chest Phantom, Phantom the form of respiration we have developed a program that can be applied to. Movement of the phantom inside the target (Ball cube target) was driven by the displacement of three sizes of according to the size of the respiratory vertical (Superior-Inferior) direction to the 5 mm, 10 mm, 20 mm. Insert crosses two EBT3 films in phantom inside the target in response to changes in the target movement, the End-to-End (E2E) test provided in Cyber-Knife manufacturer depending on the form of the breathing five times each. It was determined by carrying. Accuracy of tumor tracking system is indicated by the target error by analyzing the inserted film, additional E2E test is analyzed by measuring the correlation error while being advanced. Results : If the target error is a sine curve breathing form, the size of the target of the movement is in response to the 5 mm, 10 mm, 20 mm, respectively, of the average $1.14{\pm}0.13mm$, $1.05{\pm}0.20mm$, with $2.37{\pm}0.17mm$, suddenly for it is variations in breathing, respective average $1.87{\pm}0.19mm$, $2.15{\pm}0.21mm$, and analyzed with $2.44{\pm}0.26mm$. If the correlation error can be defined by the length of the displacement vector in the target track is a sinusoidal breathing mode, the size of the target of the movement in response to 5 mm, 10 mm, 20 mm, respective average $0.84{\pm}0.01mm$, $0.70{\pm}0.13mm$, with $1.63{\pm}0.10mm$, if it is a variant of sudden breathing respective average $0.97{\pm}0.06mm$, $1.44{\pm}0.11mm$, and analyzed with $1.98{\pm}0.10mm$. The larger the correlation error values in both the both the respiratory form, the target error value is large. If the motion size of the target of the sine curve breathing form is greater than or equal to 20 mm, was measured at 1.5 mm or more is a recommendation value of both cyber knife manufacturer of both error value. Conclusion : There is a tendency that the correlation error value between about target error value magnitude of the target motion is large is increased, the error value becomes large in variation of rapid respiration than breathing the form of a sine curve. The more the shape of the breathing large movements regular shape of sine curves target accuracy of the tumor tracking system can be judged to be reduced. Using the algorithm of Cyber-Knife tumor tracking system, when there is a change in the sudden unpredictable respiratory due patient coughing during treatment enforcement is to stop the treatment, it is assumed to carry out the internal target validation process again, it is necessary to readjust the form of respiration. Patients under treatment is determined to be able to improve the treatment of accuracy to induce the observed form of regular breathing and put like to see the goggles monitor capable of the respiratory form of the person.

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A Study on the Sediment Transport using Radioisotope Tracer (방사성동위원소 추적자를 이용한 표사이동 추적실험)

  • Choi Byung-Jong;Jung Sung-Hee;Kim Jong-Bum;Lee Jong-Sup
    • Journal of Korean Society of Coastal and Ocean Engineers
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    • v.16 no.3
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    • pp.162-170
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    • 2004
  • On the basis of the radiotracer technology and the related equipments which have been developed for its industrial application through the nuclear long-term research project, a radiotracer study on sediment transport was carried out as a part of the development of the radiotracer technology for a coastal environment. The crystalline material doped with iridium having a similar composition and specific gravity as those of the bedload sand collected from the research area was produced by the oxide-route method. A radioisotope container was specially designed to inject the radiotracer from 1 m above the sea bedload without radioactive contamination during the transport from the nuclear reactor at KAERI. The position data from the DGPS and the radiation measurement data were collected concurrently and stored by means of the application software programmed with the LabVIEW of the National Instrument. The position data was reprocessed to represent the real position of the radiation probe under water and not that of the DGPS antenna on board. The time dependency of the spatial distribution of the sediment was studied in the area through three tracking measurements after the iridium glass was injected. This trial application showed the potential of the radiotracer technology as an important role for maintaining and developing the coastal environment in the future.

An Improvement for Location Accuracy Algorithm of Moving Indoor Objects (실내 이동 객체의 위치 정확도 개선을 위한 알고리즘)

  • Kim, Mi-Kyeong;Jeon, Hyeon-Sig;Yeom, Jin-Young;Park, Hyun-Ju
    • Journal of Internet Computing and Services
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    • v.11 no.2
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    • pp.61-72
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    • 2010
  • This paper addresses the problem of moving object localization using Ultra-Wide-Band(UWB) range measurement and the method of location accuracy improvement of the indoor moving object. Unlike outdoor environment, it is difficult to track moving object position due to various noises in indoor. UWB is a radio technology that has attention for localization applications recently. UWB's ranging technique offer the cm accuracy. Its capabilities for data transmission, range accurate estimation and material penetration are suitable technology for indoor positioning application. This paper propose a positioning algorithm of an moving object using UWB ranging technique and particle filter. Existing positioning algorithms eliminate estimation errors and bias after location estimation of mobile object. But in this paper, the proposed algorithm is that eliminate predictable UWB range distance error first and then estimate the moving object's position. This paper shows that the proposed positioning algorithm is more accurate than existing location algorithms through experiments. In this study, the position of moving object is estimated after the triangulation and eliminating the bias and the ranging error from estimation range between three fixed known anchors and a mobile object using UWB. Finally, a particle filter is used to improve on accuracy of mobile object positioning. The results of experiment show that the proposed localization scheme is more precise under the indoor.

Development of Mobile System for Crop Situation Investigation using GPS based on GIS (GIS기반 GPS를 이용한 농작물 작황 조사 모바일 시스템 구축)

  • Mun, Young-Chae;Lee, Hong-Ro
    • Journal of the Korean Association of Geographic Information Studies
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    • v.11 no.4
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    • pp.22-31
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    • 2008
  • Recently, with the develop of the location tracking technology using GPS and mobile device such as PDA and UMPC, it is used in various application fields that is coordinate transformation and compensation using GPS, is client development for Mobile GIS using GIS and is development of surface survey system for archaeological site based on mobile. In this paper, we develop the system that can investigate the growth information and production information of rice in crop of the field using mobile device, show position information of user and rice in digital map using GIS and save the investigated crop information and position information in database in server. The system which is developed in this paper consists of modules that the user management module is able to restrict database approaches in authority by of the user, the crops management module is able to save and search crop information in database in server, the map module is able to show position information of user and crops in digital map, the location information module is able to convert received location information from GPS and the communication module is able to send and receive data between GPS and mobile device and between mobile device and database. Finally, this paper shall contribute to efficient management and investigation of birth information of crop in field.

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A Study on the Propagation Environment for VHF Maritime Digital Communications Operation in South Sea Area (남해안의 VHF 해상디지털통신 운용을 위한 전파환경 연구)

  • Ju, Yang-Ro;Kim, Kab-Ki;Choi, Jo-Cheon;Lee, Seong-Ro
    • Journal of the Korea Institute of Information and Communication Engineering
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    • v.18 no.6
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    • pp.1310-1316
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    • 2014
  • The IMO has recommended on VHF digital communications operation for sailing ships from 2017. And ships more than 5 tons is obliged to digital communications by fishing Vessels Act and Vessel Safety Act in domestic. The owner of all vessel is equipped to the automatic position reporting device in accordance with the Notice of the Ministry of Oceans and Fisheries to regulations, It shall be ensure to navigations safety and in order to respond quickly in the event of maritime accidents on all vessels. The info-communications station of fishery is operating the automatic position reporting system using the VHF DSC in east sea from 2012, Continuously, which is underway the install plan in south sea and yellow sea. But this plan is very difficult, because of propagation environment is poor on account of complicated coastline and many islands. This paper has analyzed the propagation coverage for position setting of coast station in south sea and the traffic zone set up by compare with RSSI and methode of navigation tracking by VMS.