• Title/Summary/Keyword: single track model

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Real-Time Hand Pose Tracking and Finger Action Recognition Based on 3D Hand Modeling (3차원 손 모델링 기반의 실시간 손 포즈 추적 및 손가락 동작 인식)

  • Suk, Heung-Il;Lee, Ji-Hong;Lee, Seong-Whan
    • Journal of KIISE:Software and Applications
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    • v.35 no.12
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    • pp.780-788
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    • 2008
  • Modeling hand poses and tracking its movement are one of the challenging problems in computer vision. There are two typical approaches for the reconstruction of hand poses in 3D, depending on the number of cameras from which images are captured. One is to capture images from multiple cameras or a stereo camera. The other is to capture images from a single camera. The former approach is relatively limited, because of the environmental constraints for setting up multiple cameras. In this paper we propose a method of reconstructing 3D hand poses from a 2D input image sequence captured from a single camera by means of Belief Propagation in a graphical model and recognizing a finger clicking motion using a hidden Markov model. We define a graphical model with hidden nodes representing joints of a hand, and observable nodes with the features extracted from a 2D input image sequence. To track hand poses in 3D, we use a Belief Propagation algorithm, which provides a robust and unified framework for inference in a graphical model. From the estimated 3D hand pose we extract the information for each finger's motion, which is then fed into a hidden Markov model. To recognize natural finger actions, we consider the movements of all the fingers to recognize a single finger's action. We applied the proposed method to a virtual keypad system and the result showed a high recognition rate of 94.66% with 300 test data.

Decoupling Control of 2WS Cars Using Direct Yaw Moment (직접요오모멘트를 이용한 이륜조향차량의 비결합 제어기 설계)

  • Choi, Jae-Weon;Cho, Chung-Nae
    • Journal of Institute of Control, Robotics and Systems
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    • v.11 no.9
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    • pp.761-767
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    • 2005
  • There exists a structural limit of 2WS cars that drivers would not like simultaneously to follow the desired path and attenuate moments resulting from disturbances because lateral acceleration and yaw rate are coupled inherently. In order to overcome the limit, the 4WS cars that have rear wheel steering as an additional input have been introduced. But the 4WS cars have disadvantages that much cost is required due to structural alteration, it is difficult to be used to the driving circumstances and tire performances are not efficient in nonlinear or large lateral acceleration ranges. Therefore, it is proposed that, in this paper, a robust controller is easy to apply to 2WS cars by using direct yaw moment, decouples lateral acceleration from yaw motion and is robust against disturbances and uncertainties of system parameters, and thus the proposed control method has the advantages of 4WS cars which can be achieved in 2WS cars.

Numerical Study on Chaotic Dynamics of Repeated Impacts with Friction - Vibratory Bowl Feeders (마찰력이 개재된 반복충돌 혼돈 동역학의 수치해석적 연구 -진동보울피더)

  • Han, In-Hwan;Lee, Yun-Jae;Yoon, Koo-Young
    • Journal of the Korean Society for Precision Engineering
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    • v.13 no.1
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    • pp.143-152
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    • 1996
  • The vibratory bowl feeder is the most versatile of all hopper feeding devices for small engineering parts, and the typical nonlinear dynamic system experiencing repeated impacts with friction. We model and analyze the dynamic behavior of a single part on the vibrating track of the bowl feeder. While the previous studies are restricted to the sliding regime, we focus our analysis on the hopping regime where the high conveying rate is available. We present the numerical analysis results for conveying rate and frictional impact process both in periodic and chaotic regimes. We examined the dynamic effects from the variation of several physical parameters, and presented the important features for the design of the vibratory bowl feeder. This research holds much potential for leverage over design problems of wide range of mechanisms and tools with repeated collisions.

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LOS (Line of Sight) Algorithm and Unknown Input Observer Based Leader-Follower Formation Control (LOS 알고리듬과 미지 입력 관측기에 기초한 선도-추종 대형 제어)

  • Yoon, Suk-Min;Yeu, Tae-Kyeong;Park, Seong-Jea;Hong, Sup;Kim, Sang-Bong
    • Journal of Institute of Control, Robotics and Systems
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    • v.16 no.3
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    • pp.207-214
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    • 2010
  • This paper proposes about decentralized control approach based Leader-Follower formation control using LOS (Line of Sight) algorithm and unknown input observer. The position of robots which is a basic information in multi-robot or single robot motion control is determined by localization algorithm fusing UPS (Ultrasonic Position System) and kinematics model. For formation control, a decentralized control approach individually installing a local controller in leader and follower robot is adopted. Leader robot is controlled to track a specified trajectory by LOS algorithm, and the other robots follow the leader by local controller based on tracking platoon level function, self-sensing data and estimated information from unknown input observer. The performance of proposed method is proven through the formation experiment of two vehicle models.

Research on Safety-related Communication of Railway Automatic Block Between Railway Stations System

  • Yun, Pei-Yan;Guo, Jin
    • International Journal of Railway
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    • v.2 no.3
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    • pp.127-130
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    • 2009
  • The system improves the safety and efficiency of railway transport, combining the advanced axle-counter with single-track semiautomatic block. Using computer, to accomplish relay-based semiautomatic block logic operation and axle-counter to check section status, it will further increase the performance of railway transport. Safety-related communication is one of the important topics in railway signal system. By referring to relevant safety-related communication standards, to research on safety-related communication of Micro-computer automatic block between Railway Stations System, the thesis introduces the basic requirements, concept model, codes, and the process, etc.

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Video Analysis System for Action and Emotion Detection by Object with Hierarchical Clustering based Re-ID (계층적 군집화 기반 Re-ID를 활용한 객체별 행동 및 표정 검출용 영상 분석 시스템)

  • Lee, Sang-Hyun;Yang, Seong-Hun;Oh, Seung-Jin;Kang, Jinbeom
    • Journal of Intelligence and Information Systems
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    • v.28 no.1
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    • pp.89-106
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    • 2022
  • Recently, the amount of video data collected from smartphones, CCTVs, black boxes, and high-definition cameras has increased rapidly. According to the increasing video data, the requirements for analysis and utilization are increasing. Due to the lack of skilled manpower to analyze videos in many industries, machine learning and artificial intelligence are actively used to assist manpower. In this situation, the demand for various computer vision technologies such as object detection and tracking, action detection, emotion detection, and Re-ID also increased rapidly. However, the object detection and tracking technology has many difficulties that degrade performance, such as re-appearance after the object's departure from the video recording location, and occlusion. Accordingly, action and emotion detection models based on object detection and tracking models also have difficulties in extracting data for each object. In addition, deep learning architectures consist of various models suffer from performance degradation due to bottlenects and lack of optimization. In this study, we propose an video analysis system consists of YOLOv5 based DeepSORT object tracking model, SlowFast based action recognition model, Torchreid based Re-ID model, and AWS Rekognition which is emotion recognition service. Proposed model uses single-linkage hierarchical clustering based Re-ID and some processing method which maximize hardware throughput. It has higher accuracy than the performance of the re-identification model using simple metrics, near real-time processing performance, and prevents tracking failure due to object departure and re-emergence, occlusion, etc. By continuously linking the action and facial emotion detection results of each object to the same object, it is possible to efficiently analyze videos. The re-identification model extracts a feature vector from the bounding box of object image detected by the object tracking model for each frame, and applies the single-linkage hierarchical clustering from the past frame using the extracted feature vectors to identify the same object that failed to track. Through the above process, it is possible to re-track the same object that has failed to tracking in the case of re-appearance or occlusion after leaving the video location. As a result, action and facial emotion detection results of the newly recognized object due to the tracking fails can be linked to those of the object that appeared in the past. On the other hand, as a way to improve processing performance, we introduce Bounding Box Queue by Object and Feature Queue method that can reduce RAM memory requirements while maximizing GPU memory throughput. Also we introduce the IoF(Intersection over Face) algorithm that allows facial emotion recognized through AWS Rekognition to be linked with object tracking information. The academic significance of this study is that the two-stage re-identification model can have real-time performance even in a high-cost environment that performs action and facial emotion detection according to processing techniques without reducing the accuracy by using simple metrics to achieve real-time performance. The practical implication of this study is that in various industrial fields that require action and facial emotion detection but have many difficulties due to the fails in object tracking can analyze videos effectively through proposed model. Proposed model which has high accuracy of retrace and processing performance can be used in various fields such as intelligent monitoring, observation services and behavioral or psychological analysis services where the integration of tracking information and extracted metadata creates greate industrial and business value. In the future, in order to measure the object tracking performance more precisely, there is a need to conduct an experiment using the MOT Challenge dataset, which is data used by many international conferences. We will investigate the problem that the IoF algorithm cannot solve to develop an additional complementary algorithm. In addition, we plan to conduct additional research to apply this model to various fields' dataset related to intelligent video analysis.

Improvement of the Steering Feel of an Electric Power Steering System by Torque Map Modification

  • Lee Man Hyung;Ha Seung Ki;Choi Ju Yong;Yoon Kang Sup
    • Journal of Mechanical Science and Technology
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    • v.19 no.3
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    • pp.792-801
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    • 2005
  • This paper discusses a dc motor equipped electric power steering (EPS) system and demonstrates its advantages over a typical hydraulic power steering (HPS) system. The tire-road interaction torque at the steering tires is calculated using the 2 d.o.f. bicycle model, in other words by using a single-track model, which was verified with the J-turn test of a real vehicle. Because the detail parameters of a steering system are not easily acquired, a simple system is modeled here. In previous EPS systems, the assisting torque for the measured driving torque is developed as a boost curve similar to that of the HPS system. To improve steering stiffness and return-ability of the steering system, a third-order polynomial as a torque map is introduced and modified within the preferred driving torques researched by Bertollini. Using the torque map modification sufficiently improves the EPS system.

Construction Plan by Large Diameter Shield TBM Method and Analysis of Deformation on Site Under Soo-Young River (대구경 Shield TBM공법에 의한 수영강 하저터널 시공계획 및 시공중 발생되는 거동의 공학적 분석)

  • 윤현돈;황규호;최기훈
    • Proceedings of the Korean Geotechical Society Conference
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    • 2001.03a
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    • pp.25-32
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    • 2001
  • Doosan Construction & Engineering Co., Ltd is building a railway tunnel beneath the Soo-Young River connecting MinLak Station and Centum City Station, a section 230, subway line 2, Pusan City, Korea. When completed the tunnel will have a finished inner diameter of 6.5m(21.311) throughout its total length of 840m(420m = 0.52 miles, Two Single Track Tunnel : 420m+420m). The ground profile of the face toward shield machine is composed of multi layers, silty clay, clayey gravel, soft rock etc. This research paper is to predict ground deformation and variation of stresses around tunnel using Hyperbolic model, and to reflect the works on the next shield tunneling project. And this research paper is analyzed data of measuring instrument (such as settlement gauge, inclinometer, Multiple extensometer, etc.) which is installed along tunnel line for safety of tunnel. For calculations, the finite difference Method is applied. Backfill grouting material is supposed to have instantly strength of 10kg/$\textrm{cm}^2$ above, although its strength is available after 24 hours passed.

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Numerical investigation of solitary wave interaction with a row of vertical slotted piles on a sloping beach

  • Jiang, Changbo;Liu, Xiaojian;Yao, Yu;Deng, Bin
    • International Journal of Naval Architecture and Ocean Engineering
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    • v.11 no.1
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    • pp.530-541
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    • 2019
  • To improve our current understanding of tsunami-like solitary waves interacting with a row of vertical slotted piles on a sloping beach, a 3D numerical wave tank based on the CFD tool $OpenFOAM^{(R)}$ was developed in this study. The Navier-Stokes equations were employed to solve the two-phase incompressible flow, combining with an improved VOF method to track the free surface and a LES model to resolve the turbulence. The numerical model was firstly validated by our laboratory measurements of wave, flow and dynamic pressure around both a row of piles and a single pile on a slope subjected to solitary waves. Subsequently, a series of numerical experiments were conducted to analyze the breaking wave force in view of varying incident wave heights, offshore water depths, spaces between adjacent piles and beach slopes. Finally, a slamming coefficient was discussed to account for the breaking wave force impacting on the piles.

Dynamic Behavior Analysis of PSC Train Bridge Friction Bearings for Considering Next-generation High-speed Train (차세대 고속철의 증속을 고려한 PSC 철도교 마찰 교량받침의 동적 거동 해석)

  • Soon-Taek Oh;Seong-Tae Yi
    • Journal of the Korea institute for structural maintenance and inspection
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    • v.27 no.6
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    • pp.39-46
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    • 2023
  • In this study, the dynamic behavior of friction bearings of PSC (Pre-Stressed Concrete) box train continuous bridge was numerically analyzed at 10 km/h intervals up to 600 km/h according to the increasing speed of the next-generation high-speed train. A frame model was generated targeting the 40-meter single-span and two-span continuous PSC box bridges in the Gyeongbu High-Speed Railway section. The interaction forces including the inertial mass vehicle model with 38 degrees of freedom and the irregularities of the bridge and track were considered. It was calculated the longitudinal displacement, cumulative sliding distance and displacement speed of the bridge bearings at each running speed so that compared with the dynamic behavior trend analysis of the bridge. In addition, long-term friction test standards were applied to evaluate the durability of friction plates.