• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.608-613
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• 2004

This paper is concerned with the design of a predictive PID controller, which has similar features to the model-based predictive controller. A PID type control structure is defined which includes prediction of the outputs and the recalculation of new set points using the future set point data. The optimal values of the PID gains are pre-calculated using the values of gains calculated from an unconstrained generalized predictive control algorithm. Simulation studies demonstrate the performance of the proposed controller and the results are compared with generalized predictive controller and the results are compared with generalized predictive control solutions.

• 제어로봇시스템학회:학술대회논문집
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• 1999.10a
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• pp.104-107
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• 1999

Tracking control of an arbitrary reference has been discussed for 7Th order 2-input 2-output non-minimum phase EGR/VGT diesel engines. To meet strict emission regulations and customer demands, the desired set points, the air-fuel ratio and the ERG flow fraction, determined from a static engine data based on engine speed and the desired fueling rate are transformed into the set points for the two sensor measurement outputs. Applying the sliding mode tracking control theory proposed by Jeong and Utkin, two step design was carried out using the bounded solution of an unstable zero dynamics for the given reference signals. This paper shows through simulations how stabilization of unstable zero dynamics and reference tracking can be accomplished simultaneously.

• Korean Journal of Veterinary Service
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• v.36 no.4
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• pp.291-296
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• 2013

The purpose of this study was to determine food safety practices and procedures based on Hazard Analysis Critical Control Point (HACCP) system and to suggest more effective method of HACCP implementation in meat packaging industry in Korea. We used the non-compliance rate of each evaluation item to compare the weak points of prerequisite requirements and HACCP. The prerequisite items related to facility, equipment, and tools showed inadequate level of requirements or unsanitary conditions for proper HACCP operation. A lack of understanding of sanitation standard operation procedures was identified as a fundamental barrier to HACCP implementation. High rate of non-compliance in HACCP items compared to prerequisite requirements signify that small businesses have potential difficulties of applying HACCP due to lack of technical expertise, financial resources for prerequisite requirements, and available personnel to prepare and operate HACCP plan. Also we suggest to revise and minimize current critical control points (CCPs). Time-temperature control of cold-storage rooms for carcasses and final products could be performed by control points of prerequisite requirements. As the occurrence frequency getting lower, metal detector should be replaced by intensified training of sanitary handling and safety procedure. This will be more effective and preventive measures against physical contaminants including metal particles. In conclusion, control point of prerequisite requirement may replace CCP in the plant with simple processing line and no heating process such as meat packaging industry.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.7
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• pp.602-608
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• 2015

This paper proposes an algorithm for precise detection of corner points on a coplanar checkerboard in order to perform stereo camera calibration using a single frame. Considering the conditions of automobile production lines where a stereo camera is attached to the windshield of a vehicle, this research focuses on a coplanar calibration methodology. To obtain the accurate values of the stereo camera parameters using the calibration methodology, precise localization of a large number of feature points on a calibration target image should be ensured. To realize this demand, the idea with respect to a checkerboard pattern design and the use of a Homography matrix are provided. The calibration result obtained by the proposed method is also verified by comparing the depth information from stereo matching and a laser scanner.

• Journal of the Institute of Convergence Signal Processing
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• v.7 no.4
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• pp.178-183
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• 2006

As a lot of researches on the speech signal processing are performed due to the recent rapid development of the information-communication technology. the pitch period is used as an important element to various speech signal application fields such as the speech recognition. speaker identification. speech analysis. or speech synthesis. A variety of algorithms for the time and the frequency domains related with such pitch period detection have been suggested. One of the pitch detection algorithms for the time domain. AMDF (average magnitude difference function) uses distance between two valley points as the calculated pitch period. However, it has a problem that the algorithm becomes complex in selecting the valley points for the pitch period detection. Therefore, in this paper we proposed the modified AMDF(M-AMDF) algorithm which recognizes the entire minimum valley points as the pitch period of the speech signal by using the rotation transform of AMDF. In addition, a threshold is set to the beginning portion of speech so that it can be used as the selection criteria for the pitch period. Moreover the proposed algorithm is compared with the conventional ones by means of the simulation, and presents better properties than others.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.4
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• pp.375-381
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• 2011

This paper deals with the improvement of visual path following through velocity variation according to the coordinate of feature points. Visual path follow first teaches driving path by selecting milestone images then follows the route by comparing the milestone image and current image. We follow the visual path following algorithm of Chen and Birchfield [8]. In [8], they use fixed translational and rotational velocity. We propose an algorithm that uses different translational velocity according to the driving condition. Translational velocity is adjusted according to the variation of the coordinate of feature points on image. Experimental results including diverse indoor cases show the feasibility of the proposed algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.10
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• pp.886-890
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• 2013

In this paper, a 3D coordinates acquisition method for a mechanical assembly is developed by using multiview X-ray images. The multi-view X-ray images of an object are obtained by a rotary table. From the rotation transformation, it is possible to obtain the 3D coordinates of corresponding edge points on multi-view X-ray images by triangulation. The edge detection algorithm in this paper is based on the attenuation characteristic of the X-ray. The 3D coordinates of the object points are represented on a graphic display, which is used for the inspection of a mechanical assembly.

• Proceedings of the KSRS Conference
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• 2003.11a
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• pp.750-752
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• 2003

The objective of this investigation is to compare the geometric precision of Rigorous Sensor Model and Rational Function Model for QuickBird images. In rigorous sensor model, we use the on-board data and ground control points to fit an orbit; then, a least squares filtering technique is applied to collocate the orbit. In rational function model, we first use the rational polynomial coefficients provided by the satellite company. Then the systematic bias of the coefficients is compensated by an affine transformation using ground control points. Experimental results indicate that, the RFM provides a good approximation in the position accuracy.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 2003.05a
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• pp.474-479
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• 2003

This paper addresses the problem of B-spline surface interpolation to serial contours, where the number of points varies from contour to contour. A traditional lofting approach creates a set of B-spline curves via B-spline curve interpolation to each contour, makes them compatible via degree elevation and knot insertion, and performs B-spline surface lofting to get a B-spline surface interpolating them. The approach tends to result in an astonishing number of control points in the resulting B-spline surface. This situation arises mainly from the inevitable process of progressively merging different knot vectors to make the B-spline curves compatible. This paper presents a new approach for avoiding this troublesome situation. The approach includes a novel process of getting a set of compatible B-spline curves from the given contours. The process is based on the universal parameterization [1,2] allowing the knots to be selected freely but leading to a more stable linear system for B-spline curve interpolation. Since the number of control points in each compatible B-spline curve is equal to the highest number of contour points, the proposed approach can realize efficient data reduction and provide a compact representation of a B-spline surface while keeping the desired surface shape. Some experimental results demonstrate its usefulness and quality.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.1
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• pp.54-61
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• 2012

In this paper, the pose estimation method for the satellite GTB (Ground Test Bed) using vision/MEMS IMU (Inertial Measurement Unit) integrated system is presented. The GTB for verifying a satellite system on the ground is similar to the mobile robot having thrusters and a reaction wheel as actuators and floating on the floor by compressed air. The EKF (Extended Kalman Filter) is also used for fusion of MEMS IMU and vision system that consists of a single camera and infrared LEDs that is ceiling landmarks. The fusion filter generally utilizes the position of feature points from the image as measurement. However, this method can cause position error due to the bias of MEMS IMU when the camera image is not obtained if the bias is not properly estimated through the filter. Therefore, it is proposed that the fusion method which uses the position of feature points and the velocity of the camera determined from optical flow of feature points. It is verified by experiments that the performance of the proposed method is robust to the bias of IMU compared to the method that uses only the position of feature points.