• Proceedings of the KSME Conference
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• 2004.11a
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• pp.696-701
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• 2004

A vehicle cruise control algorithm using an Interacting Multiple Model (IMM)-based Multi-Target Tracking (MTT) method has been presented in this paper. The vehicle cruise control algorithm consists of three parts; track estimator using IMM-Probabilistic Data Association Filter (PDAF), a primary target vehicle determination algorithm and a single-target adaptive cruise control algorithm. Three motion models; uniform motion, lane-change motion and acceleration motion, have been adopted to distinguish large lateral motions from longitudinal motions. The models have been validated using simulated and experimental data. The improvement in the state estimation performance when using three models is verified in target tracking simulations. The performance and safety benefits of a multi-model-based MTT-ACC system is investigated via simulations using real driving radar sensor data. These simulations show system response that is more realistic and reflective of actual human driving behavior.

• Journal of Korea Multimedia Society
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• v.19 no.2
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• pp.180-188
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• 2016

In this paper, we propose a fire detection algorithm based on motion information and color information analysis. Conventional fire detection algorithms have as main problem the difficulty to detect fire due to external light, intensity, background image complexity, and little fire diffusion. So we propose a fire detection algorithm that accurate and fast. First, it analyzes the motion information in video data and then set the first candidate. Second, it determines this domain after analyzing the color and the domain. This algorithm assures a fast fire detection and a high accuracy compared with conventional fire detection algorithms. Our algorithm will be useful to real-time fire detection in real world.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.33 no.2
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• pp.595-608
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• 2013

This paper is proposed the computation method of moored ship motion considering harbor resonance, and estimated that the harbor resonance have an effect on moored ship motion. The computation of harbor resonance was used CGWAVE model and the computation of moored sip motion was used the Green function method expressed by three dimensions. This method was verified with the field observation data of moored ship motion, and the application of actual harbor was investigated with wave field data and down time record data in Pohang New Harbor. The resonance periods in Pohang New Harbor that obtained from wave field data were 80, 33, 23, 8 minute, which are the long waves, and 42, 54, 60 second, which are the infra-gravity waves inside harbor slip. The simulated results of harbor resonance were corresponded with the wave field data. This study was investigated on 5,000 ton, 10,000 ton and 30,000 ton ship sized in Pier 8 of Pohang New Harbor that the harbor resonance has effect on moored ship motion from simulated results of ship motion in case of included resonance and excluded resonance. In case of included resonance, the ship motion have increased by 12~400 percent when compared with results of excluded resonance. We could find that the harbor resonance have still more an effect on the surge and heave motions of a large size ship and the roll and yaw motions of a small size ship.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.653-656
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• 2005

This paper introduces design, fabrication and experiment process of a novel scanner for the high speed AFM(Atomic Force Microscope). A proper design modification is proposed through analyses on the dynamic characteristics of the existing linear motion stages using a dynamic analysis program, Recurdyn. Since the scanning speed of each direction is allowed to be different, the linear motion stage for the high-speed scanner of AFM can be so designed to have different resonance frequencies for the modes with one dominant displacement in the desired directions. One way to achieve this objective is to use one-direction flexure mechanism for each direction and to mount one stage for fast motion on the other stage for slow motion. This unsymmetrical configuration separates the frequencies of the two vibration modes with one dominant displacement in each desired direction, hence, the coupling between the motions in the two directions. In addition, a pair of actuators is used for each axis to decrease the cross talks in the two motions and gives a force large enough to actuate the slow motion stage, which carries the fast motion stage. After these design modifications, a novel scanner with scanning speed higher than 10 Hz can be achieved to realize undistorted images in the high speed AFM.

• Journal of Positioning, Navigation, and Timing
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• v.2 no.1
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• pp.81-89
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• 2013

Many of the current visual odometry algorithms suffer from some extreme limitations such as requiring a high amount of computation time, complex algorithms, and not working in urban environments. In this paper, we present an approach that can solve all the above problems using a single camera. Using a planar motion assumption and Ackermann's principle of motion, we construct the vehicle's motion model as a circular planar motion (2DOF). Then, we adopt a 1-point method to improve the Ransac algorithm and the relative motion estimation. In the Ransac algorithm, we use a 1-point method to generate the hypothesis and then adopt the Levenberg-Marquardt method to minimize the geometric error function and verify inliers. In motion estimation, we combine the 1-point method with a simple least-square minimization solution to handle cases in which only a few feature points are present. The 1-point method is the key to speed up our visual odometry application to real-time systems. Finally, a Bundle Adjustment algorithm is adopted to refine the pose estimation. The results on real datasets in urban dynamic environments demonstrate the effectiveness of our proposed algorithm.

• IEMEK Journal of Embedded Systems and Applications
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• v.9 no.2
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• pp.81-86
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• 2014

In the scalable video coding standard, inter-layer prediction based on the coding information of the base layer was adopted to increase the coding performance. This prediction tool results in new syntax elements called motion_prediction_flag (mPF) and residul_prediction_flag(rPF), which are carried to notify the motion vector predictor (MVP) and reference block required in the motion compensation of the decoder. In this paper, an efficient coding method for mPF is proposed to enhance coding efficiency of the salable video coding standard. Through an analysis on the transmission of mPF based on the relationship between the MVPs, we discover the conditions where mPF is unnecessary at the decoder and suggest a modified rate-distortion (RD) cost function to make RD optimization more effective. Simulation results show that the proposed method offers BD rate savings of approximately 1.4%, compared with the conventional SVC standard.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.9
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• pp.818-826
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• 2015

This paper presents a novel methodology for estimating vehicle ego-motion, i.e. tri-axis linear velocities and angular velocities by using stereo vision sensor and 2G1Y sensor (longitudinal acceleration, lateral acceleration, and yaw rate). The estimated ego-motion information can be utilized to predict future ego-path and improve the accuracy of 3D coordinate of obstacle by compensating for disturbance from vehicle movement representatively for collision avoidance system. For the purpose of incorporating vehicle dynamic characteristics into ego-motion estimation, the state evolution model of Kalman filter has been augmented with lateral vehicle dynamics and the vanishing point estimation has been also taken into account because the optical flow radiates from a vanishing point which might be varied due to vehicle pitch motion. Experimental results based on real-world data have shown the effectiveness of the proposed methodology in view of accuracy.

• Journal of the Korean Society of Industry Convergence
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• v.17 no.4
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• pp.217-226
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• 2014

Since the world has changed to a society of 21st century high-tech industries, the modern people have become reluctant to work in a difficult and dirty environment. Therefore, unmanned technologies through robots are being demanded. Now days, effects such as voice, control, obstacle avoidance are being suggested, and especially, voice recognition technique that enables convenient interaction between human and machines is very important. In this study, in order to conduct study on the stable motion control of the robot system that has mobile-manipulator structure and is voice command-based, kinetic interpretation and dynamic modeling of two-armed manipulator and three-wheel mobile robot were conducted. In addition, autonomous driving of three-wheel mobile robot and motion control system of two-armed manipulator were designed, and combined robot control through voice command was conducted. For the performance experiment method, driving control and simulation mock experiment of manipulator that has two-armed structure was conducted, and for experiment of combined robot motion control which is voice command-based, through driving control, motion control of two-armed manipulator, and combined control based on voice command, experiment on stable motion control of voice command-based robot system that has mobile-manipulator structure was verified.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.117.4-117
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• 2001

This paper introduces the movement creation and control technique of an avatar, whose replacement of the user is increasing due to the rapid development of the internet and hardware that generalizes the VR. A 3D avatar´s movement is usually created through the key-framing technique or motion-capture equipment. This paper introduce the production of the avatar´s movement by constructing a articulated avatar whose speed and movement are automatically created by the neural oscillatory network and avatar´s joint is controlled by the use of kinematics and motion editor.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2010.10a
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• pp.391-392
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• 2010