• Journal of Institute of Control, Robotics and Systems
• /
• v.10 no.6
• /
• pp.510-518
• /
• 2004

The PID trajectory tracking controller for robotic systems shows performance limitation imposed by inverse dynamics according to desired trajectory. Since the equilibrium point can not be defined for the control system involving performance limitation, we define newly the quasi-equilibrium region as an alternative for equilibrium point. This analysis result of performance limitation can guide us the auto-tuning method for PID controller. Also, the quasi-equilibrium region is used as the target performance of auto-tuning PID trajectory tracking controller. The auto-tuning law is derived from the direct adaptive control scheme, based on the extended disturbance input-to-state stability and the characteristics of performance limitation. Finally, experimental results show that the target performance can be achieved by the proposed automatic tuning method.

• Proceedings of the KOSOMBE Conference
• /
• v.1997 no.11
• /
• pp.150-153
• /
• 1997

The proposed tracking algorithm approaches geometrical method or position, direction, width of vessel. This algorithm using continuity of vessel in spatial coordinates used to determine direction of the center point, after estimating boundary point in dynamic region. Therefore the tracking of vessel's contour is tracked contour as direction of entire contour in coronary artery. This algorithm is automatically processed by DIP as a compared with conventional method, because searching area varies adaptively to allocate searching region from extracted information at past. And ML estimation expressed robust method or angiography as evaluating sample values after preprocessing.

• Journal of the Korea Society of Computer and Information
• /
• v.10 no.1 s.33
• /
• pp.149-156
• /
• 2005

In the actuality that the various services are provided in connection with the network of internet by activating the communication using Propagation, the importance of the feature point and chase of an object is greatly raised to increase the quality of the detection and tracking of the communication service. This paper is to detect the shadow space by using Snakes Algorithms and Present a system's base which tracts the route from start to target points in the detected shadow space as a study for the detection and tracking the shadow space which does not reach the propagation.

• Proceedings of the Korean Society of Computer Information Conference
• /
• 2012.07a
• /
• pp.433-434
• /
• 2012

In this paper, we developed the algorithm which tracking the vehicle and deciding the moment of dumping in landfills. We first trace the position of vehicle using the difference image between current image and background image and then we decide the stop point from the shape of vehicle route and detect the dumping point by comparing the dumping image with the image that vehicle is stopping.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.58 no.10
• /
• pp.1968-1975
• /
• 2009

The paper proposes a novel control algorithm for tracking maximum power of PV generation system.. The maximum power of PV array is determinated by a insolation and temperature. Prior considered the term in PV generation system is how maximum power point(MPP) is accurately tracked.. The paper proposes a fuzzy neural network(FNN) control algorithm so as to accurately track those maximum power points. The proposed control algorithm comprises the antecedence part of fuzzy rule and clustering method, multi-layer neural network in the consequent part. FNN has the advantages which are depicted both high performance and robustness in fuzzy control and high adaptive control in neural network.. Specially, it can show the outstanding control performance for parameter variations appling to non-linear character of PV array. In this paper, the tracking speed and the accuracy prove the validity through comparing a proposed algorithm with a conventional one.

• Journal of Power Electronics
• /
• v.19 no.6
• /
• pp.1544-1553
• /
• 2019

The efficiency of photovoltaic generation systems depends on the maximum power point tracking (MPPT) technique. Among the various schemes presented in the literature, the incremental conductance (INC) method is one of the most frequently used due to its superb tracking ability under changes in insolation and temperature. Generally, conventional INC algorithms implement a simple duty-cycle updating rule that is mainly found on the polarity of the peak-power evaluation function. However, this fails to maximize the performance in both steady-state and transient conditions. In order to overcome this limitation, a novel regulated INC (r-INC) method is proposed in this paper. Like the compensators in automatic control systems, this method applies a digital compensator to evaluate the INC function and improve the capability of power tracking. Precise modeling of a new MPPT system is also presented in the optimized design process. A 120W boost peak power tracker is utilized to obtain comparative test results and to confirm the superiority of the proposed method over existing techniques.

• Journal of Korea Multimedia Society
• /
• v.25 no.2
• /
• pp.421-431
• /
• 2022

The purpose of this research is to determine the point of fixation of the driver during the process of driving. Based on the results of this research, the driving instructor can make a judgement on what the trainee stare on the most. Traffic accidents have become a serious concern in modern society. Especially, the traffic accidents among unskilled and elderly drivers are at issue. A driver should put attention on the vehicles around, traffic signs, passersby, passengers, road situation and its dashboard. An eye-tracking-based application was developed to analyze the driver's gaze behavior. It is a prototype for real-time eye tracking for monitoring the point of interest of drivers in driving practice. In this study, the driver's attention was measured by capturing the movement of the eyes in real road driving conditions using these tools. As a result, dwelling duration time, entry time and the average of fixation of the eye gaze are leading parameters that could help us prove the idea of this study.

• Advances in nano research
• /
• v.12 no.3
• /
• pp.263-279
• /
• 2022

In this research, the physical education training quality was investigated using the entropy model to compute variance associated with a random value (a strong tool). The entropy and undefined estimation principles are used to extract the greatest entropy of information dependent on the index system. In the study of tennis motion tracking from a dynamic viewpoint, such stages are utilized to improve the perception of the players' achievement (Lv et al. 2020). Six female tennis players served on the right side (50 cm from the T point). The initial flat serve from T point was the movement under consideration, and the entropy was utilized to weigh all indications. As a result, a multi-index measurement vector is stabilized, followed by the confidence level to determine the structural plane establishment range. As a result, the use of the unascertained measuring technique of information entropy showed an excellent approach to assessing athlete performance more accurately than traditional ways, enabling coaches and athletes to enhance their movements successfully.

• Proceedings of the KIPE Conference
• /
• 2020.08a
• /
• pp.4-6
• /
• 2020

태양광 모듈은 일사량과 온도에 의해 P-V 및 I-V의 특성이 변하여 최대 전력 점 추종 기업(MPPT, Maximum Power Point Tracking)이 필요하다. 기존의 기법들의 경우 모듈의 온도로 인해 개방전압이 변하거나 음영이 발생하면 태양광 모듈의 최대 전력 점을 추종하지 못한다. 본 논문에서는 태양광 패널에서의 P-V 및 I-V의 상관관계와 온도 변화에 대한 태양광 모듈의 최대 전력 점을 추종하는 기법을 제안한다. 본 논문에서 제안된 제어기법은 3kW 태양광 인버터 시스템을 구성하여 시뮬레이션을 통해 타당성을 검증하였다.

• International Journal of Advanced Culture Technology
• /
• v.4 no.4
• /
• pp.81-86
• /
• 2016

In this paper, we propose a simple and effective vision-based tracking controller design for autonomous object tracking using multicopter. The multicopter based automatic tracking system usually unstable when the object moved so the tracking process can't define the object position location exactly that means when the object moves, the system can't track object suddenly along to the direction of objects movement. The system will always looking for the object from the first point or its home position. In this paper, PID control used to improve the stability of tracking system, so that the result object tracking became more stable than before, it can be seen from error of tracking. A computer vision and control strategy is applied to detect a diverse set of moving objects on Raspberry Pi based platform and Software defined PID controller design to control Yaw, Throttle, Pitch of the multicopter in real time. Finally based series of experiment results and concluded that the PID control make the tracking system become more stable in real time.