• Journal of Advanced Marine Engineering and Technology
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• v.37 no.2
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• pp.192-198
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• 2013

This paper presents the stabilization and design of a pan-tilt control part for the directional pan-tilt system for shipboard directional equipment. In order to control each control axis with compensation for ship motion, the 2 degree of freedom(2DOF) PID controller is designed and its parameters are tuned using a real-coded genetic algorithm(RCGA). Simulation demonstrates the effectiveness of the 2 DOF PID controller tuning.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.3031-3033
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• 2000

Surveillance system on the internet has attained lots of interests recently. Computer gives surveillance system various functions like remote control and motion detecting. In this paper. auto target tracking system using Pan/Tilt camera is suggested. It consists of UNIX server and Pan/Tilt camera. When UNIX server detect motions from images it sends Pan/Tilt command to camera and camera moves by command. After finishing movement camera replies to server and server starts detecting motion again. To improve performance of motion detecting and tracking images are divided into 9 sub-regions and camera behaves differently. It is certain that robust tracking is achieved when sub-region is applied.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2009.05a
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• pp.615-618
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• 2009

2 axis Pan-tilt had been developed and utilize by vessel for the purpose of motion characteristic measurement. Besides, it also use to analysis structural design and fabrication. Test procedure had been created to produce most optimal design and to show the Nano Driving precision result performance.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2009.05a
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• pp.627-630
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• 2009

The combination of the marine use various multi sensor surveillance system technology with the development of servo motion control algorithm and gyro sensor in six freedom motion is implemented to analyze the movement response. The stabilization of the motion control is developed and Nano driving Precision Pan-Tilt/Gimbal system is obtained from the security positioning cameras with ultra high speed device is used to carry out the exact behavior of the device. The exact behavior will be used to make a essential equipment. Finally the development of the Nano Driving Multi Sensor, Nano of Surveillance System Driving Precision Pan-Tilt/Gimbal optimal design and production, 3-aix Gyro Sensor based with Servo Motion Control algorithm development, Image trace video software and hardware tracking the development is organized and discuss in details. The development of the equipment and the system integration are fully experimented and verified.

• Proceedings of the IEEK Conference
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• 2002.06d
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• pp.141-144
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• 2002

This paper describes a new feature based tracking system that can track moving objects with a pan-tilt camera. We extract corner features of the scene and tracks the features using filtering, The global motion energy caused by camera movement is eliminated by finding the maximal matching position between consecutive frames using Pyramidal template matching. The region of moving object is segmented by clustering the motion trajectories and command the pan-tilt controller to follow the object such that the object will always lie at the center of the camera. The proposed system has demonstrated good performance for several video sequences.

• Journal of the Korean Society for Precision Engineering
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• v.27 no.9
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• pp.43-51
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• 2010

Speed, accuracy and smoothness are the important properties of pan-tilt camera. In the case of a high ratio zoom lens system, low vibration characteristic is a crucial point in driving pan-tilt mechanism. In this paper, a novel micro-stepping controller with a function of reducing vibration was designed using field programmable gate arrays (FPGA) technology for high zoom ratio pan-tilt camera. The proposed variable reference current (VRC) control scheme reduces vibration decently and optimizing coil current in order to prevent the step motor from occurring missing steps. By employing VRC control scheme, the vibration in low speed could be significantly minimized. The proposed controller can also make very high speed of 378kpps micro-step driving, and increase maximum acceleration in motion profiles.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 1999.06a
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• pp.77-82
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• 1999

Information about camera operating such as zoom, focus, pan, tilt and tracking is useful not only for efficient video coding, but also for content-based video representation. A camera operating parameter measurement system designed specifically for these applications is therefore developed. This system, implemented in real time and synchronized with the video signal, measures the precise camera operating parameters. We calibrated the camera lens using a camera model that accounts for redial lens distortion. The system is then applied to infer image motion from pan and tilt operating parameters. The experimental results show that the inferred motion coincides with the actual motion very well, with an error of less than 0.5 pixel even for large motion up to 80 pixels.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.45 no.3
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• pp.55-63
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• 2008

This paper presents a panorama background generation and object tracking technique using a Pan-Tilt-Zoom camera. The proposed method estimates local motion vectors rapidly using phase correlation matching at the prespecified multiple local regions, and it makes minimized estimation error by vector quantization. We obtain the required image patches, by estimating the overlapped region using local motion vectors, we can then project the images to cylinder and realign the images to make the panoramic image. The object tracking is performed by extracting object's motion and by separating foreground from input image using background subtraction. The proposed PTZ-based object tracking method can efficiently generated a stable panorama background, which covers up to 360 degree FOV The proposed algorithm is designed for real-time implementation and it can be applied to many commercial applications such as object shape detection and face recognition in various surveillance video systems.

• The Journal of Korea Robotics Society
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• v.15 no.4
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• pp.309-315
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• 2020

This study shows a control strategy that acquires both precision and manipulation sensitivity of remote center motion with manual traction for a surgical assistant robot. Remote center motion is an essential function of a laparoscopic surgical robot. The robot has to keep the position of the insertion port in a three-dimensional space, and general laparoscopic surgery needs 4-DoF (degree-of-freedom) motions such as pan, tilt, spin, and forward/backward. The proposed robot consists of a 6-axis collaborative robot and a 2-DoF end-effector. A 6-axis collaborative robot performs the cone-shaped trajectory with pan and tilt motion of an end-effector maintaining the position of remote center. An end-effector deals with the remaining 2-DoF movement. The most intuitive way a surgeon manipulates a robot is through direct teaching. Since the accuracy of maintaining the remote center position is important, direct teaching is implemented based on position control in this study. A force/torque sensor which is attached to between robot and end-effector estimates the surgeon's intention and generates the command of motion. The predefined remote center position and the pan and tilt angles generated from direct teaching are input as a command for position control. The command generation algorithm determines the direct teaching sensitivity. Required torque for direct teaching and accuracy of remote center motion are analyzed by experiments of panning and tilting motion.

• Proceedings of the KIEE Conference
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• 2008.10b
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• pp.445-447
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• 2008

The CCTV systems is the most extensively used for a burglar proof, a crime prevention and a Prevention forest fires etc. The CCTV systems which is used in present is a PAN/TILT form. We want to control of CCTV systems motion by Up/Down, Left/Right, Zoom In/Out, Focus, TELE. We design a 8051 microcontroller board and a Key Controller and a Relay Controller. We conformed its feasibility through the simulation.