• The Journal of Korea Robotics Society
• /
• v.15 no.1
• /
• pp.32-38
• /
• 2020

This paper describes a method for tracking attitude and position of underwater robots. Underwater work with underwater robots is subject to differences in work efficiency depending on the skill of the operator and the utilization of additional sensors. Therefore, this study developed an underwater robot that can operate autonomously and maintain a certain attitude when working underwater to reduce difference of work efficiency. The developed underwater robot uses 8 thrusters to control 6 degrees of freedom motion, IMU (Inertial Measurement Unit), DVL (Doppler Velocity Log) and PS (Pressure Sensor) to measure attitude and position. In addition, the thruster allocation algorithm was designed to follow the control desired value using 8 thrusters, and the motion control experiments were performed in the engineering water basin using the thruster allocation method.

• Aerospace Engineering and Technology
• /
• v.6 no.2
• /
• pp.1-7
• /
• 2007

The control design for attitude and yaw rate of 40 % scaled SMART UA Vhas been performed. Analytic selection method for a control gain is proposed to meet the design specification of desired time response considering stability margin. The sliding mode attitude controller is also proposed and compared with the simulation results of a linear controller. Additionally, a velocity and height tracking controller is devised to prepar for the flight test.

• 제어로봇시스템학회:학술대회논문집
• /
• 1998.10a
• /
• pp.221-225
• /
• 1998

This paper is to present a method for recognizing an image of a tracking object by processing the image from a camera, whose attitude is controlled in inertial space with inertial co-ordinate system. In order to recognize an object, a pseudo-random M-array is attached on the object and it is observed by the camera which is controlled on inertial coordinate basis by inertial stabilization unit. When the attitude of the camera is changed, the observed image of M-array is transformed by use of affine transformation to the image in inertial coordinate system. Taking the cross-correlation function between the affine-transformed image and the original image, we can recognize the object. As parameters of the attitude of the camera, we used the azimuth angle of camera, which is de-fected by gyroscope of an inertial sensor, and elevation an91e of camera which is calculated from the gravitational acceleration detected by servo accelerometer.

• Proceedings of the IEEK Conference
• /
• 2000.06c
• /
• pp.153-156
• /
• 2000

In this paper, we developed an outdoor augmented reality system which has remote real scenes acquisition ability. The real scenes acquisition system consists of Image acquisition system, tracking system, wireless data transceiver and power supply. The tracking system consists of Tans Vector and RT-20 which measures a position and attitude of the CCD camera that attached to the remote control helicopter. Wireless data transceiver system is utilized for data transmission of remote system that of attitude, position information, and real scenes data that acquired by the CCD camera. Maximum propelling power of remote control helicopter is 15Kg, so we used 7.2V li-ion cell as a power supply for system minimize. As the results of experiment, the developing system presented application possibility of remote information acquisition system such as construction simulation & estimation, broadcasting, tour guide.

• Journal of Ocean Engineering and Technology
• /
• v.32 no.2
• /
• pp.138-142
• /
• 2018

The marine industry is rapidly developing as a result of the increase in various needs in the marine environment. In addition, accidents involving ship fires and explosions and the resulting casualties are increasing. Generally, manpower and safety problems exist in fire fighting. A fire fighter in the form of an autonomous surface robot would be ideal for marine fire safety, because it has no manpower and safety problems. Therefore, an autonomous surface robot with the abilities of fire recognition and tracking, nozzle selection, position and attitude control, and fire fighting was developed and is discussed in this paper. The test and evaluation results of this robot showed the possibility of real-size applications and the need for additional studies.

• Journal of Ocean Engineering and Technology
• /
• v.32 no.3
• /
• pp.208-212
• /
• 2018

In this paper, we focus on planing avoidance control for a supercavitating underwater vehicle based on the potential function method. The planing margin can be calculated using the relative position between the cavity center and vehicle center at the end of the vehicle. The planing margin was transformed into a limit variable such as the pitch angle and yaw angle limit. To prevent the vehicle attitude from exceeding the limit variable, a potential function based planing envelope protection method was proposed. The planing envelope protection system overrides commands from the tracking controller, and the vehicle attitude converges to a desired angle, in which the potential function is minimized. Numerical simulations were performed to analyze the physical feasibility and performance of the proposed method. The results showed that the proposed methods eliminated the planing, allowing the vehicle to follow tracking commands.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.31 no.3
• /
• pp.50-57
• /
• 2003

In the paper, the design and evaluation of a helicopter trajectory tracking controller are presented. The control algorithm is implemented using the feedback linearization technique and the two time-scale separation architecture. In addition, and on-line adaptive architecture that employs a neural network compensating the model inversion error caused by the deficiency of full knowledge of helicopter dynamic is applied to augment the attitude control system. Trajectory tracking performance of the control system in evaluated using modified TMAN simulation program representing as Apache helicopter. It is show that the on-line neural network in an adaptive control architecture is very effective in dealing with the performance depreciation problem of the trajectory tracking control caused by insufficient information of dynamics.

• Spatial Information Research
• /
• v.14 no.2 s.37
• /
• pp.235-244
• /
• 2006

The MMS(Mobile Mapping System) using the vehicle equipped GPS, IMU and CCD Cameras is the effective system for the management of the road facilities, update of the digital map, and etc. The image, vehicle's 3 dimensional position and attitude information provided MMS is a important source for positioning objects included the image. In this research we applied the tracking technique to the specific object in image. The extraction of important object from immense MMS data makes more effectiveness in this system.

• Journal of the Institute of Electronics Engineers of Korea CI
• /
• v.48 no.5
• /
• pp.1-7
• /
• 2011

EOTS(Electro-Optical Tracking System) provides stabilized images while tracking a moving target. The key of geo-pointing is the function that fixes EOTS's sight to a specific position(geo-point) throughout aircraft maneuvers. In this paper, a major error source for the geo-pointing is identified as the transport delay of navigation information, and an augmented Kalman filter is designed to estimate the present attitude of aircraft using delayed navigation information. Simulation results including the presented scheme shows that the error due to the information transport delay reduces under half.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.50 no.8
• /
• pp.591-597
• /
• 2022

In this paper, we analyzed linkbudget with comparing actual received level of telemetry system at Palau Tracking Station. Because Palau Tracking Station participated in the launch mission for the first time and lack of verification tests for antenna tracking and signal reception performance, we analyzed the linkbudget more accurately by predicting transmit antenna polarization gain according to the trajectory and attitude of launch vehicle. The analysis results were used to analyze signal reception range, antenna operation angle and LHCP/RHCP received level. The actual received level of the antenna was similar to the linkbudget result as a result of the launch mission operation.