• The Journal of Korean Institute of Communications and Information Sciences
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• v.36 no.2C
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• pp.78-85
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• 2011

In this paper we proposed an intelligent PTZ camera system which detects, classifies and tracks moving objects. If a moving object is detected, features are extracted for classification and then realtime tracking follows. We used GMM for detection followed by shadow removal. Legendre moment is used for classification. Without auto focusing, we can control the PTZ camera movement by using center points of the image and object's direction, distance and velocity. To implement the realtime system, we used TI DM6446 Davinci processor. Throughout the experiment, we obtained system's high performance in classification and tracking both at vehicle's normal and high speed motion.

• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.221-229
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• 2022

Sliding mode control (SMC) is a robust control method to control a robot arm with nonlinear properties. A high switching gain of SMC causes chattering problems, although the SMC allows the adequate control performance by giving high switching gain, without the exact robot model containing nonlinear and uncertainty terms. In order to solve this problem, SMC with sliding perturbation observer (SMCSPO) has been researched, where the method can reduce the chattering by compensating the perturbation, which is estimated by the observer, and then choosing a lower switching control gain of SMC. However, optimal gain tuning is necessary to get a better tracking performance and reducing a chattering. This paper proposes a method that the Q-learning automatically tunes the control gains of SMCSPO with an iterative operation. In this tuning method, the rewards of reinforcement learning (RL) are set minus tracking errors of states, and the action of RL is a change of control gain to maximize rewards whenever the iteration number of movements increases. The simple motion test for a 7-DOF robot arm was simulated in MATLAB program to prove this RL tuning algorithm. The simulation showed that this method can automatically tune the control gains for SMCSPO.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.25 no.4B
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• pp.613-623
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• 2000

Digital TV tuner for 8-VSB modulation was developed with satisfying the requirements of ATSC. The double frequency conversion and the active tracking filter in the front-end were used to reduce interference of the adjacent channels and multi-channels, which suppress If beat and image band. However, it was impossible to get frequency mapping between tracking filter and first VCO(Voltage Controlled Oscillator) in the double conversion digital TV tuner differing from conventional NTSC tuner. This paper, therefore, suggests the available structure and a new method for automatic frequency selection by obtaining the mapping of frequency characteristic over tracking voltage and the combined hardware which compose of Micro-controller, EEPROM, D/A(Digital-to-Analog Converter), OP amp and switch driver to solve above problems.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.36S no.11
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• pp.79-88
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• 1999

In this paper we address the tracking method which tracks only target object in image sequence including moving object. We use a contour tracking algorithm based on intensity and motion boundaries. The motion of the moving object contour in the image is assumed to be well describable by an affine motion model with a translation, a change in scale and a rotation. The moving object contour is represented by B-spline, the position and motion of which is estimated along the image sequence. we use pattern recognition to identify target object. In order to use linear Kalman Filters we decompose the estimation process into two filters. One is estimating the affine motion parameters and the other the shape of moving object contour. In some experiments with dial plate we show that this method enables us to obtain the robust motion estimates and tracking trajectories even in case of including obstructive object.

• Journal of the Society of Naval Architects of Korea
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• v.51 no.2
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• pp.130-137
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• 2014

As one of the largest shipbuilding company in the world, STX Offshore & Shipbuilding currently developed an inventory managing system for steel-plates, which is applied to their steel stock yard. In a traditional way to manage steel yard, almost every work has been done by manually. The manual steel-plate piling process caused some problems such as process delay due to piling errors and the uncertainty of work plan due to lack of information. To solve these problems, we developed an integrated inventory managing system based on real-time crane tracking system which automatically updates steel-plates' piling status. We built the integrated steel-plate database, developed several programs including steel-plate input program, real-time steel-plate monitoring program and steel-yard management program, and constructed hardware system for tracking magnetic cranes. As a result, a supervisor of steel-yard can manage the inventory of steel-plates efficiently and furthermore plan an efficient piling schedule and crane working schedule.

• Journal of the Korean Society of Marine Environment & Safety
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• v.21 no.5
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• pp.531-537
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• 2015

In order to maximize power output from the solar panels, one needs to keep the panels aligned with the sun. So solar tracker having high reliability must be designed. This paper cares about the design and evaluation of a two-axis solar tracker system based on fuzzy logic control with LabVIEW. The research focus on planning mechanical parts, making an intelligent controller which controls and monitors all parameters via user interface implemented of a fuzzy decision support system for control of photovoltaic panel movement. We also develop a real solar tracker system and analyze the influence indexes such as environment, weather, season, and light condition. The solar tracker is tested in real condition and all parameters related to the system operation are recorded and analyzed. The developed solar tracking system got a much higher efficiency about 38 % compare to fixed solar panel although the weather condition is affected a lot to the solar panel. So we confirmed the our auto tracking system is more effective and can allow more energy to be produced.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2007.04a
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• pp.161-164
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• 2007

The paper studies in the wide-angle lens and distortion tendency and employs the correction techniques suitable to the fish-eye lens using the existing photographic survey methods. After carrying out the calibration of the the fish-eye lens, we calculated the correction parameters, and then developed the method that convert the original image-point to new image-point correcting distortion. The objectives of suggested calibration method in this paper are to calibrate the image of the the fish-eye lens used in the computer-vision and the control-instrumentation field widely. The proposed technique expects to improve the accuracy of the image of the fish-eye lens in the indoor tracking and monitoring field. Also the referenced cross point auto-extraction program is embodied for improving efficiency of the lens correction techniques. Consequently, this calibration method would be applied to the automated distorting correction method on not only the fish-eye lens also general lens.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.11
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• pp.891-898
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• 2003

Unmanned remote survey system is proposed to measure distance and angle of the present position of micro-tunneling machine from any starting point of entrance. Cross type linear LED that can be controlled remotely is attached to the tunneling machine. Range finder and angle measuring devise fixed to internal of the pipe can scan the center of LED. Distance and angle measuring devises are disposed in the measurable position of the pipe, then the present position of tunneling machine can be calculated automatically from the measurements.

• Journal of Industrial Technology
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• v.22 no.B
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• pp.133-139
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• 2002

In precision instrumentation system, an A/D conversion of signal conditioning has been always suffered from some problems ; offset and drift voltage with environmental situation. This paper suggests a method of reducing the offset voltage and the drift error from the A/D conversion hardware using analog signal switching technique with specific operational amplifier circuits. Also, we have designed a hardware active filter and a software digital filter with Auto Zero Tracking algorithm for better dignal process of the our proposed weighing system. Software technique was performed to obtain the stable data from A/D converter. As a result of our experimental works, the proposed system is expected to be used in the industrial field where a high precision measurement is required.

• Proceedings of the IEEK Conference
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• 2008.06a
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• pp.789-790
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• 2008

In this paper, we introduce the multi-target-based auto surveillance algorithm. Multi-target-based surveillance system detects intrusion objects in the specified areas. The proposed algorithm can divide into two parts: i) background generation, ii) object extraction. In this paper, one of the optical flow equation methods for estimation of gradient method used to generate the background [2]. In addition, the objects and back- ground video images that are continually entering the differential extraction.