• 한국컴퓨터정보학회논문지
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• 제22권12호
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• pp.17-25
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• 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.

• International Journal of Control, Automation, and Systems
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• 제5권2호
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• pp.200-207
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• 2007

The passive direction finding cross localization method is widely adopted in passive tracking, therefore there will exist masses of false intersection points. Eliminating these false intersection points correctly and quickly is a key technique in passive localization. A new method is proposed for passive locating and tracking multi-jammer target in this paper. It not only solves the difficulty of determining the number of targets when masses of false intersection points existing, but also solves the initialization problem of elastic network. Thus this method solves the problem of multi-jammer target correlation and the elimination of static false intersection points. The method which dynamically establishes multiple hypothesis trajectory trees solves the problem of eliminating the remaining false intersection points. Simulation results show that computational burden of the method is lower, the elastic network can more quickly find all or most of the targets and have a more probability of locking the real targets. This method can eliminate more false intersection points.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회A
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• pp.795-800
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• 2008

The paper presents research for the established experiment environment of multi vehicle robot, localization algorithm that is based on vehicle control, and path tracking. The established experiment environment consists of ultrasonic positioning system, vehicle robot, server and wireless module. Ultrasonic positioning system measures positioning for using ultrasonic sensor and generates many errors because of the influence of environment such as a reflection of wall. For a solution of this fact, localization algorithm is proposed to determine a location using vehicle kinematics and selection of a reliable location data. And path tracking algorithm is proposed to apply localization algorithm and LOS, finally, that algorithms are verified via simulation and experimental

• 한국군사과학기술학회지
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• 제14권4호
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• pp.676-683
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• 2011

In this paper, we propose a robust method which can detect and track a high-speed small approaching target in a cluttered environment for Korean Active Protection System. The proposed method uses a temporal and spatial filter, tracking filter to detect and track a single target in consecutive order. And it is comprised of a candidate target detection step, a prior target selection step and a target tracking. Field tests on real infrared image sequences show that the proposed method could stably track a high speed and small target in complex background and target occlusion.

• 한국정밀공학회지
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• 제26권12호
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• pp.69-77
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• 2009

In this study an ANFIS-based trajectory tracking motion control algorithm is proposed for autonomous garage and parallel parking of a model car. The ANFIS controller is trained off-line using data set which obtained by Mandani fuzzy inference system and thereby the processing time decreases almost in half. The controller with a steering delay compensator is tuned through simulations performed under MATLAB/Simulink environment. Experiments are carried out with the model car for garage and parallel parking. The experimental results show that the trajectory tracking performance is satisfactory under various initial and road conditions

• 지구물리와물리탐사
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• 제2권3호
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• pp.154-158
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• 1999

본 논문에서는 부분 윤곽선 추출기법을 이용하여 다중 시차 영상을 위한 자동 변화 추적 시스템의 속도를 증가시키고자 한다. 기존의 변화 추적 시스템에서는 전체 영상에서 윤곽선을 추출하여 사용하였으나, 본 연구에서는 윤곽선 추출이 필요한 부분을 미리 선택하여 이 부분에서만 윤곽선을 추출하게 함으로써 처리 속도를 향상시킬 수 있었다. 따라서 본 시스템은 특히 위성 영상 자료나 물리 탐사 자료 등의 방대한 영상 자료에서의 변화 탐지와 추적, 정량적인 분석 등을 위해 효과적으로 활용될 수 있을 것으로 기대된다.

• Journal of Electrical Engineering and Technology
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• 제12권3호
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• pp.1299-1306
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• 2017

This paper presents a boundary tracking control of an agent. To this end, it is shown that the boundary tracking problem can be reformulated into a robust control of uncertain double integrator first. Then, a disturbance observer (DOB) based control is proposed solving the robust control problem. Unlike the existing results in the literature, the proposed DOB based control requires only the local position measurement of the boundary (not the gradient information). The performance of the proposed control is demonstrated for two cases: the measurement of the boundary is given in a continuous or discrete manner. Finally, it is shown that the proposed control can be used for environmental monitoring as well by showing that the agent follows a level curve of real environmental monitoring data.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.2
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• pp.285-289
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• 2006

In this paper, a design and implementation of GPS/Galileo software receiver is given. As a GPS receiver, it is able to perform every function of receiver such as acquisition, code and carrier tracking, navigation bit extraction, navigation data decoding, pseudorange calculations, and position calculations. A method to acquire and track the Galileo BOC(1,1) signal is also required because the correlation of BOC(1,1) signal has multiple peaks different from that of GPS signal. Therefore, a method to detect the main-peak in correlation function of BOC signal is required to avoid false acquisition. In this paper, very-early, very late correlation is implemented to track the correct main peak. The performance of implemented GPS/Galileo software receiver with BOC(1,1) signal tracking feature is evaluated with GPS/Galileo IF signal generator.

• 한국항공우주학회지
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• 제31권1호
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• pp.58-66
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• 2003

본 논문에서는 무궁화위성을 대상으로 추적 안테나의 바이어스를 추정하기 위한 방안들을 제시하고 있다. 먼저 거리, 방위각, 앙각에 이어 선회시선거리를 포함하는 배치필터를 구성하였으며 시뮬레이션을 통하여 바이어스 추정성능 변화를 분석하였다. 또한 결과를 보완하기 위하여 정밀하게 보정된 타 추적 안테나의 정보를 이용하여 대상 안테나의 바이어스를 정확하게 예측하기 위한 방안을 제시하였다. 마지막으로 안테나 바이어스 추정 결과를 분석하고 평가할 수 있도록 안테나 바이어스간의 상관관계에 대한 분석을 수행하였다.

• 한국정보전자통신기술학회논문지
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• 제2권2호
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• pp.87-95
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• 2009

이 연구는 정보유통시스템으로 컴퓨터통신망에서 파일저장 장치의 보안과 인증시스템으로 설계하고 연구하려는 것으로 컴퓨터 정보처리에 이용되고 활용되어야 할 암호화된 정보와 데이터 파일 저장장치에 대한 보안을 유지되도록 사용자 이용권한(access)을 시스템적 접근 문제로 해결하려는 인증네트워크 시스템으로서, 1회용 암호와 네트워크 IP Tracking을 이용한 인증시스템의 설계를 연구하였다.