• Journal of Institute of Control, Robotics and Systems
• /
• v.15 no.7
• /
• pp.694-699
• /
• 2009

This paper presents the implementation of the real-time object tracking control of the ROBOKER head. The visual servoing technique is used to track the moving object, but suffers from ill-estimated Jacobian of the virtual link design. To improve the tracking performance, the RBF(Radial Basis Function) network is used to compensate for uncertainties in the kinematics of the robot head in on-line fashion. The reference compensation technique is employed as a neural network control scheme. Performances of three schemes, the kinematic based scheme, the Jacobian based scheme, and the neural network compensation scheme are verified by experimental studies. The neural compensation scheme performs best.

• Journal of Positioning, Navigation, and Timing
• /
• v.7 no.3
• /
• pp.113-125
• /
• 2018

Since the global positioning system receivers on the surface of the Earth use satellite signals sent from a remote distance and the intensity of received signals is weak, they are vulnerable to jamming. This paper implements a vector-tracking loop (VTL)-based global navigation satellite system (GNSS) receiver algorithm as an anti-jamming technique and compares the performance of VTL-based receivers with that of scalar-tracking loop (STL) that is used in general GNSS receivers at various jamming environments and a vehicle's dynamics. The simulation results shows that VTL is more robust against jamming than STL in all operating environments.

• 제어로봇시스템학회:학술대회논문집
• /
• 1992.10a
• /
• pp.376-381
• /
• 1992

In this thesis, a self-tuning control method based on Variable Structure System technique for tracking control of Direct-Drive motor is presented. The self-tuning control could not make the tracking error zero in the transient period. This tracking error may be due to disturbances or the error in parameter identification. To overcome this problem, a self-tuning control method based on discrete time VSS technique is presented. The STC based on VSS technique gives good tracking performance of the reference signal in the transient period. The proposed controller is robust to parameter errors and disturbances. The performance of the proposed controller is compared with that of simple STC through digital computer simulation.

• Journal of Institute of Control, Robotics and Systems
• /
• v.20 no.1
• /
• pp.29-36
• /
• 2014

In this paper, a novel MBE (Model Based target size Estimator) is presented for SDIIR (Strap Down Imaging Infrared) seekers. The target tracking requires the target size information for which residual range between target and missile should be provided. Unfortunately, in general, the missile with passive sensor such as IIR (Imaging Infrared), CCD (Coupled Charging Device) cannot obtain range information. To overcome the problem, the proposed method enables the SDIIR seeker to estimates target size by using target size model and track the target. The performance of proposed method is tested at IIR target tracking of target intercept scenario. The experiment results show that the proposed algorithm has the relatively good performance.

• Journal of the Korea Society of Computer and Information
• /
• v.22 no.12
• /
• pp.17-25
• /
• 2017

In this paper, we have implemented a low-cost mobile robot supporting the person tracking by detection using RGB-D cameras and ROS(Robot Operating System) framework. The mobile robot was developed based on the Kobuki mobile base equipped with 2's Kinect devices and a high performance controller. One kinect device was used to detect and track the single person among people in the constrained working area by combining point cloud data filtering & clustering, HOG classifier and Kalman Filter-based estimation successively, and the other to perform the SLAM-based navigation supported in ROS framework. In performance evaluation, the person tracking by detection was proved to be robustly executed in real-time, and the navigation function showed the accuracy with the mean distance error being lower than 50mm. The mobile robot implemented has a significance in using the open-source based, general-purpose and low-cost approach.

• Proceedings of the KIEE Conference
• /
• 2006.04a
• /
• pp.54-56
• /
• 2006

To get the robust and reliable input command, we designed shaping function for target tracking system with commander's handle. Input signals of the commander's handle are generated by human operator. It is response of the human to reduce the error between target and gun. But, tracking error while operator aim a moving target manually gives poor system performance. Input noise, particularly, affects hit accuracy as the system performance. We proposed the design method of input command shaping to reduce the Input noise and to improve the operation ability and convenience. We performed the experiments with combat vehicle, example of Target Tracking System, to show the proposed method is efficient and practical.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.19 no.7
• /
• pp.1741-1748
• /
• 1995

A new particle tracking algorithm using the concept of match probability between two consequent image frames has been developed to obtain an instantaneous 2-dimensional velocity field. A computer simulation has been carried out to check the performance and usefulness of the developed algorithm by comparing with the conventional 4-frame Particle Tracking Velocimetry(PTV) method. As a result the newly developed algorithm shows very good performance. Although the major part of the developed algorithm is time-consuming iterative updating routine of match probability, computational elapse time to get the resonable results is a very short compared with the 4-frame PTv.Additionally, the present 2-frame PTV algorithm recovers more velocity vectors and has higher dynamic range and lower error ratio compared with the conventional 4-frame PTV.

• Proceedings of the KSME Conference
• /
• 2000.04a
• /
• pp.440-445
• /
• 2000

Robust tracking controller of optical disk drive(ODD) is designed using quantitative feedback theory(QFT). Nominal plant model is identified from real system through modal test. Uncertainties and control performance of tracking servo are specified, and robust controller satisfying these specifications is designed in the QFT framework. To verify the performances of designed controller, experiment are performed in a digital signal processor(DSP) environment, and experimental results are compared with simulations.

• International Journal of Control, Automation, and Systems
• /
• v.2 no.3
• /
• pp.289-297
• /
• 2004

This paper deals with the design and control of passive multiple trailer systems for practical applications. Due to the cost and complexity of the trailer mechanism, passive systems are preferred to active systems in this research. The design and control objective is to minimize the trajectory tracking errors occurring in passive multiple trailers. Three sorts of passive trailer systems, off-hooked, direct-hooked, and three-point, are discussed in this paper. Trajectory tracking performance and stability issues under constant curvature reference trajectories are investigated for these three types. As well, various simulations and experiments have been performed for each type. It is shown that the proposed off-hooked trailer system produces a tracking performance that is superior to the others.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
• /
• 1999.05a
• /
• pp.526-528
• /
• 1999

Epoxy resin has been used as matrix resin of advanced composites owing to ideally suitable properties and inherent physical and chemical properties for electrical and electronic insulation In this paper, in order to evaluate the performance of epoxy composites for out door insulation, variations of tracking resistance were investigated on the moisture absorption aging condition. Also, IPN methods were introduced in order to improve performance for out door use. As a result, it was confirmed that tracking resistance were degraded with boilling time. But, it was confirmed that specimen of IPN structure and KC-335 have the better tracking resistance properties than SIN structure by moisture absorption aging