• Special Issue of the Society of Naval Architects of Korea
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• 2013.12a
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• pp.73-80
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• 2013

From broad point of view, seam tracking has been one of main issues with respect to welding automation. Several attempts have been successful for seam tracking of fixed weaving width. As a solution of the seam tracking methods for varying groove width, the visual sensors such as CCD cameras have been adopted. Although the vision sensing techniques can achieve high accuracy, the weak point is that well-prepared vision sensor environment should be required to obtain high-quality visual measurements which can be easily affected by significant noises in industrial areas. This paper proposed an alternative seam tracking algorithm for narrow groove. A special measurement device for arc voltage, in this study, is developed to enhance the reliability of the measured welding signals. Based on the developed arc sensor algorithm, an automatic weld-width tracking algorithm is also proposed, which is able to predict the weld-position more accurately. The usefulness of the automatic weld-width tracking algorithm was well verified by applying it to gas tungsten arc welding (GTAW).

• Aerospace Engineering and Technology
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• v.10 no.1
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• pp.116-121
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• 2011

The tracking radar systems in NARO space center are used in order to acquire the TSPI (Time, Space, and Position Information) data of the launch vehicle. The tracking radar produce the measurements of tracked targets in the radar-centered coordinate system. When the tracking radar is in the Cartesian/Polar tracking mode, the state vector data is sent in radar-centered Cartesian/Polar coordinate system to RCC. RCC also send the slaving data in Test Range coordinate system to the tracking radar. So, the tracking radars have to transform the slaving data in Test Range coordinate system into in radar-centered coordinate system. In this study, we described the coordinate transformation between radar-centered coordinate system and Test Range coordinated system.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2015.10a
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• pp.55-57
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• 2015

The tracking system plays a key role in accurate estimation and prediction of maneuvering vessel's position and velocity in a bid to enhance safety by taking avoiding action against collision. Therefore, in order to achieve this, many ocean- going vessels are equipped with radar and the ARPA system. However, the accuracy of prediction highly depends on the choice of the gain parameters, ${\alpha}$, ${\beta}$ and ${\gamma}$ employed in the tracking filter. P revious research of this paper was based on theoretically developing an algorithm for a tracking module. This research paper is hence a continuation by the authors to determine the optimal values of the gain parameters used in the tracking module. A tracking algorithm is developed using the ${\alpha}-{\beta}-{\gamma}$ filter to carry out prediction and smoothing of the positions and velocities. Numerical simulations are then performed to evaluate the optimal values of the smoothing parameters that will improve the performance of the tracking module and reduce measurement noise. The twice distance root mean square (2drms) is then calculated to determine error variation.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.779-782
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• 1997

In this paper, accurate position control of a stenciling robot manipulator is designed. The stenciling robot is requried to draw lines and characters on the pavement. Since the robot is huge and heavy, the inertia is expected to play a major role in the tracking performance as desired. Here we are proposing neural network control scheme for a computed-torque like controller for the stenciling robot. On-line compensation is achieved by neural network. Simulation studies with stenciling robot are carried out to test the performance of the proposed control scheme.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1997.10a
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• pp.121-124
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• 1997

In this paper, applications of self-recurrent neural networks based of adaptive controller to position control of flexible robot link are considered. The self-recurrent neural networks can be used to approximate any continuous function to any desired degree of accuracy and the weights are updated by feedback-error learning algorithm. Therefore, a comparative analysis was mode with linear controller through an simulation. The results are presented to illustrate the advantages and improved performance of the proposed position tracking controller over the conventional linear controller.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1996.10a
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• pp.28-33
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• 1996

This paper presents a position control of ultra-precision machine tool post using piezoelectric material. A stack-type piezoelectric actuator is employed in a hinge-type tool holder. An assumed linear transfer function of the practical nonlinear plant is established through the comparison of transfer functions and step responses in the experiments and the simulations. Several types of feedforward/feedback controllers are designed via computer simulations using the assumed linear transfer function, The position tracking control experiments are undertaken to show the control efficiency of each controller.

• Proceedings of the KSR Conference
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• 2005.05a
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• pp.915-921
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• 2005

Accurate and reliable tracking system is essential for the central train control system. There are two systems widely being used. one is the fixed block system which utilizes the track circuit for the detection of train position. the other is the moving block system which has the advantage over the former since it enables shorter radio signal for the train position detection. In this paper a new algorithm is proposed which uses signal's phase difference of arrival to detect the train position. Experimental verification of the algorithm is presented in the paper.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1995.10b
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• pp.165-173
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• 1995

In order to eliminate position errors existing at the steady state in the motion control of robotic maniprlators, a new fuzzy control algorithm is proposed using three variables, position error, velocity error and integral of position errors as input variables of the fuzzy controller, This controller is applied to the tracking control of robotic manipulators in Cartesian space. Three dimensional look-up table is used to reduce the computational time in rel-time control. Simulation and experimental studies are conducted to evaluate the control performance for the two axis direct drive SCARA robot system.

• Journal of KIISE:Information Networking
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• v.29 no.1
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• pp.97-107
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• 2002

In general, under interactive broadcasting environment, user finds additional service using top-down menu. However, user can't know that additional service provides information until retrieval has finished and top-down menu requires multi-level retrieval. This paper proposes the new method for additional service providing not using top-down menu but using object selection. For the purpose of this method, the movie of a MPEG should be synchronized with the object information(position, size, shape) and object tracking technique is required. Synchronization technique uses the Directshow provided by the Microsoft. Object tracking techniques use a motion-based tracking and a model-based tracking together. We divide object into two parts. One is face and the other is substance. Face tracking uses model-based tracking and Substance uses motion-based tracking base on the block matching algorithm. To improve precise tracking, motion-based tracking apply the temporal prediction search algorithm and model-based tracking apply the face model which merge ellipse model and color model.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.29 no.7
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• pp.532-539
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• 2018

A position estimation technique is presented for a missile using high-resolution range profiles obtained by three wideband radars. Radar measures a target range using a reflected signal from the surface of a missile. However, it is difficult to obtain the range between the radar and the origin of the missile. For this reason, the interior angle between the moving missile and tracking radar is calculated, and a compensated range between surface of the missile and its origin is added to the tracking range of the radar. Therefore, position estimation of a missile can be achieved by using three total ranges from each radar to the origin of the missile. To verify the position estimation of the missile, electromagnetic numerical analysis software was used to prove the compensated range according to the flight position. Moreover, a wideband radar operating at 500-MHz bandwidth was applied, and its range profile was used for the position estimation of a missile.