• Title/Summary/Keyword: Target Tracking Movement

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Object Tracking Algorithm for a Mobile Robot Using Ultrasonic Sensors

  • Park, M.G.;Lee, M.C.
    • 제어로봇시스템학회:학술대회논문집
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    • 2001.10a
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    • pp.44.5-44
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    • 2001
  • This paper proposes the algorithm which a mobile robot tracks the object captured by ultrasonic sensors of the robot and automatically generates a path according to the object In the proposed algorithm, a robot detects movements of the object as using ultrasonic sensors and then the robot follows the moving object. This algorithm simplifies robot path planning. The eight ultrasonic sensors on the robot capture distances between the robot and objects. The robot detects the movements of the object by using the changes of the distances captured by ultrasonic sensors. The target position of the robot is determined as the position of the detected moving object. The robot follows the object according to this movement strategy. The effectiveness of the proposed algorithm is verified through experiments.

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Sensor Based Path Planning and Obstacle Avoidance Using Predictive Local Target and Distributed Fuzzy Control in Unknown Environments (예측 지역 목표와 분산 퍼지 제어를 이용한 미지 환경에서의 센서 기반 경로 계획 및 장애물 회피)

  • Kwak, Hwan-Joo;Park, Gwi-Tae
    • Journal of IKEEE
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    • v.13 no.2
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    • pp.150-158
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    • 2009
  • For the autonomous movement, the optimal path planning connecting between current and target positions is essential, and the optimal path of mobile robot means obstacle-free and the shortest length path to a target position. Many actual mobile robots should move without any information of surrounded obstacles. Thus, this paper suggests new methods of path planning and obstacle avoidment, suitable in unknown environments. This method of path planning always tracks the local target expected as the optimal one, and the result of continuous tracking becomes the first generated moving path. This path, however, do not regard the collision with obstacles. Thus, this paper suggests a new method of obstacle avoidance resembled with the Potential Field method. Finally, a simulation confirms the performance and correctness of the path planning and obstacle avoidance, suggested in this paper.

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Accuracy Analysis of Indoor Positioning System Using Wireless Lan Network (무선 랜 네트워크를 이용한 실내측위 시스템의 정확도 분석)

  • Park Jun-Ku;Cho Woo-Sug;Kim Byung-Guk;Lee Jin-Young
    • Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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    • v.24 no.1
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    • pp.65-71
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    • 2006
  • There has been equipped wireless network infrastructure making possible to contact mobile computing at buildings, university, airport etc. Due to increase of mobile user dramatically, it raises interest about application and importance of LBS. The purpose of this study is to develop an indoor positioning system which is position of mobile users using Wireless LAN signal strength. We present Euclidean distance model and Bayesian inference model for analyzing position determination. The experimental results showed that the positioning of Bayesian inference model is more accurate than that of Euclidean distance model. In case of static target, the positioning accuracy of Bayesian inference model is within 2 m and increases when the number of cumulative tracking points increase. We suppose, however, Bayesian inference model using 5- cumulative tracking points is the most optimized thing, to decrease operation rate of mobile instruments and distance error of tracking points by movement of mobile user.

Analysis of the characteristics of inertial sensors to detect position changes in a large space (넓은 공간에서 위치 변화를 감지하기위한 관성 센서의 특성 분석)

  • Hong, Jong-Kyun
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.22 no.3
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    • pp.770-776
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    • 2021
  • Positioning systems have been actively researched and developed over the past few years and have been used in many applications. This paper presents a method to determine a location in a large space using a sensor system consisting of an accelerometer and a single-axis gyroscope. In particular, to consider usability, a sensor device was loosely worn on the waist so that the experimental data could be used in practical applications. Based on the experimental results of circular tracks with radiuses of 1m and 3m, in this paper, an algorithm using the threshold of rotation angle was proposed and applied to the experimental results. A tracking experiment was performed on the grid-pattern track model. For raw sensor data, the average deviation between the final tracking point and the target point was approximately 15.2 m, which could be reduced to approximately 4.0 m using an algorithm applying the rotation angle threshold.

Influence of Perceptual Information of Previewing Stimulus on the Target Search Process: An Eye-tracking Study (사전제시 자극의 지각적 정보가 목표자극 탐색에 미치는 영향: 안구추적연구)

  • Lee, Donghoon;Kim, Shinjung;Jeong, Myung Yung
    • Korean Journal of Cognitive Science
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    • v.25 no.3
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    • pp.211-232
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    • 2014
  • People search a certain object or a person so many time in a day. Besides the information about what the target is, perceptual information of the target can influence on the search process. In the current study, using an eye-tracker we aimed to examine whether the perceptual information of previewing target stimuli on the visual search process of the target and the task performance. Participants had to identify the previewing target stimulus presented in the middle of the screen, and then had to search the target among 8 items presented in a circle array, and had to decide whether the size of the target in the search display was same as that of the previewing stimulus. The experimental conditions were divided into 8 within-subject conditions by whether the search display was consisted of all the same size items or different size items (homogeneous search display vs. inhomogeneous search display), by the size of the preview target stimulus, and by the size of the target stimulus in the search display. Research hypothesis is that the size information of the previewing influence on the visual search process of the target and task performance when the items in the search display are in different sizes. In the results of behavioral data analysis, the reaction time showed the main effect of the search display, and the size of the target stimulus in the search display. and the interaction between the size consistency effect of target stimulus and the search display condition. In the results of analysis of eye-movement information, the Initial Saccade to Target Ratio measurement showed the interaction between the size consistency effect of target stimulus and the search display condition as the reaction time measurement did. That is, the size consistency effect of target stimulus only in the inhomogeneous search display condition indicated that participants searched the items in the same size as that of preview target stimulus. Post-hoc analyses revealed that the search and task performance in the inhomogeneous display condition were faster when the target size was consistent, but rather slower when the target size was inconsistent.

A Comparative Analysis between Photogrammetric and Auto Tracking Total Station Techniques for Determining UAV Positions (무인항공기의 위치 결정을 위한 사진 측량 기법과 오토 트래킹 토탈스테이션 기법의 비교 분석)

  • Kim, Won Jin;Kim, Chang Jae;Cho, Yeon Ju;Kim, Ji Sun;Kim, Hee Jeong;Lee, Dong Hoon;Lee, On Yu;Meng, Ju Pil
    • Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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    • v.35 no.6
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    • pp.553-562
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    • 2017
  • GPS (Global Positioning System) receiver among various sensors mounted on UAV (Unmanned Aerial Vehicle) helps to perform various functions such as hovering flight and waypoint flight based on GPS signals. GPS receiver can be used in an environment where GPS signals are smoothly received. However, recently, the use of UAV has been diversifying into various fields such as facility monitoring, delivery service and leisure as UAV's application field has been expended. For this reason, GPS signals may be interrupted by UAV's flight in a shadow area where the GPS signal is limited. Multipath can also include various noises in the signal, while flying in dense areas such as high-rise buildings. In this study, we used analytical photogrammetry and auto tracking total station technique for 3D positioning of UAV. The analytical photogrammetry is based on the bundle adjustment using the collinearity equations, which is the geometric principle of the center projection. The auto tracking total station technique is based on the principle of tracking the 360 degree prism target in units of seconds or less. In both techniques, the target used for positioning the UAV is mounted on top of the UAV and there is a geometric separation in the x, y and z directions between the targets. Data were acquired at different speeds of 0.86m/s, 1.5m/s and 2.4m/s to verify the flight speed of the UAV. Accuracy was evaluated by geometric separation of the target. As a result, there was an error from 1mm to 12.9cm in the x and y directions of the UAV flight. In the z direction with relatively small movement, approximately 7cm error occurred regardless of the flight speed.

Parafoveal Preview Effects on Semantic Relatedness in Eye Movement Tracking (안구운동 추적을 통해 살펴본 중심와주변 정보의 의미적 관련 정도에 따른 미리보기 효과)

  • Wang, Shang;Choo, Hyeree;Koh, Sungryoung
    • Korean Journal of Cognitive Science
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    • v.35 no.2
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    • pp.129-159
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    • 2024
  • In the process of reading, readers can process information not only within the fixated region, known as the fovea, but also in the parafoveal region to the right of the fovea. While the parafoveal semantic preview effect has been confirmed in eye-tracking experiments using boundary techniques, research on how the parafoveal preview effects differ depending on the degree of semantic relatedness is still limited. This study investigates the parafoveal preview effects as a function of semantic relatedness with the target word. The experiment utilized Korean-Chinese bilinguals and presented mixed-language sentences as experimental stimuli. Four parafoveal preview conditions were applied to the target words in each sentence: (1) Korean identical condition, where the parafoveal word was the same as the target word (e.g., "나라," meaning "country" in English), (2) Chinese synonymous condition, where the parafoveal word had the same meaning as the target word (e.g., "国家," also meaning "country" in English), (3) Chinese semantically related condition, where the parafoveal word was semantically related to the target word (e.g., "政权," meaning "political power" in English), and (4) Chinese unrelated condition, where the parafoveal word was semantically unrelated to the target word (e.g., "围裙," meaning "apron" in English). The study explored the parafoveal preview effect in terms of the degree of semantic association with the target word. We found the most pronounced preview effect in conditions where the preview and the target word shared the same meaning, and we also observed preview effects in conditions where the semantic relatedness with the target word was relatively weak. This study suggests that the degree of semantic relatedness between the parafoveal preview word and the target word can influence readers' reading processes. It contributes to a better understanding of readers' eye movements and comprehension processes, with potential implications for the development of effective reading strategies and educational methods.

The Saccades Distance Extraction Technique of Sight and the Spatial search Characteristics - Target Department Sports Store Space - (시선의 도약거리 추출 기법과 공간탐색 특성 - 백화점 스포츠 매장 공간을 대상으로 -)

  • Kim, Jong-Ha
    • Korean Institute of Interior Design Journal
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    • v.26 no.5
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    • pp.83-92
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    • 2017
  • This research is about the characteristics of the saccades that occurring in the process of observing the spatial. The size of the saccades is the visual activity for acquiring the information, and the search trace that left by the spatial visitor. Reviewed over the saccade through the analysis of observation process that appeared in the eye-tracking experiment of sports store from the department store, the saccade is defined as the sight movement in the process of finding a component to view in the spatial. If some spatial component induces saccade, and able to know which specific component acquired through the saccade, then the designer will have a clue which able to provide the spatial desired by the consumer. The results of analyzing the process in the deriving the spatial component and saccade characteristic from industrial space, can be summarised as follows. The first, the average fixed number of [IN].[OUT] zone appeared similarly, and it leads to knowing that the time used for attention with one frequency is about 0.3 seconds. Second, there were more saccades toward [$IN{\rightarrow}OUT$] (13 persons, 76.5%) than [$OUT{\rightarrow}IN$] (4 persons, 23.5%). The Los Angeles area has lots of interesting things to watch, so it able to thinks to begins with small saccade and then occur to bigger saccade activity to find new interests shortly after [OUT] saccade. Third, according to time range changes, keep eyes on the characteristics of saccade, [IN].[OUT] frequency has slightly decreased the changes of viewing time, but there was no significant change in an average number of observations. This means that the frequency and the number of observations are decreased together. Therefore, it can be seen that the amount of information to be acquired (frequency) is decreased (count) as the observation time elapses.

Cluster-based Continuous Object Prediction Algorithm for Energy Efficiency in Wireless Sensor Networks (무선 센서 네트워크에서 에너지 효율성을 위한 클러스터 기반의 연속 객체 예측 기법)

  • Lee, Wan-Seop;Hong, Hyung-Seop;Kim, Sang-Ha
    • The Journal of Korean Institute of Communications and Information Sciences
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    • v.36 no.8C
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    • pp.489-496
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    • 2011
  • Energy efficiency in wireless sensor networks is a principal issue to prolong applications to track the movement of the large-scale phenomena. It is a selective wakeup approach that is an effective way to save energy in the networks. However, most previous studies with the selective wakeup scheme are concentrated on individual objects such as intruders and tanks, and thus cannot be applied for tracking continuous objects such as wild fire and poison gas. This is because the continuous object is pretty flexible and volatile due to its sensitiveness to surrounding circumferences so that movable area cannot be estimated by the just spatiotemporal mechanism. Therefore, we propose a cluster-based algorithm for applying the efficient and more accurate technique to the continuous object tracking in enough dense sensor networks. Proposed algorithm wakes up the sensors in unit cluster where target objects may be diffused or shrunken. Moreover, our scheme is asynchronous because it does not need to calculate the next area at the same time.

Optimized design of Jansen mechanism based on target trajectory tracking method using multi-objective genetic algorithm (Multi-objective Genetic Algorithm 을 이용한 얀센 메커니즘의 목표 궤적 트래킹 기반 최적 설계)

  • Heo, Joon;Hur, Youngkun
    • Proceeding of EDISON Challenge
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    • 2016.03a
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    • pp.455-462
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    • 2016
  • Recently, followed by rapid growth of robotics field, multi-linkage mechanism which can even pass by rough road is getting lots of attention. In this paper, I focused on Jansen mechanism. It's a kinematics object which is named after Dutch artist Theo jansen. Jansen mechanism embraces structure and mechanism which creates locomotion with the combination of the power and simple structure. Theo jansen suggests a 'Holy number'. It's an ideal ratio of leg components length. However, if there's desired gait locomotion, you have to adjust the ratio and the length. But even slight change of the length could cause a big change at the end-point. To solve this problem, I suggest a reverse engineering method to get a ratio of each links by nonlinear optimization with pre-set desired trajectory. First, we converted a movement of the joint of Jansen mechanism to vectors by kinematics analysis of multi-linkage structure. And we showed the trajectory at the end-point. After that, we set desired trajectory which we found most ideal. Then we got the length of the leg components which draws a trajectory as same as trajectory we set, using Multi-objective genetic algorithm toolbox in MATLAB. Result is verified by Edison designer and mSketch. And we analyzed if it could pass through the obstruction which is set dynamically.

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