• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2006.11a
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• pp.297-300
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• 2006

본 논문에서는 비선형 기동표적의 추적에 대한 새로운 접근 방식을 소개한다. 이 논문에서는 표적의 가속도를 시변 변수인 표적의 추가적인 잡음으로 두고 각각의 가속도 간격의 정도에 따라 얻어지는 모든 잡음에 대한 변수에 의해 각각의 하부 모델들을 특성화시켰다. 표적의 기동중에 나타나는 가속도를 효과적으로 다루기 위하여, 잡음의 크기가 급격히 증가할 경우 증가분을 가속도로 인식하여 기동표적 관계식에 이용하였다. 또한 모르는 가속도에 따른 시변 변수를 적응적으로 어립잡기는 어렵기 때문에 정밀한 계산을 위하여 퍼지 뉴럴 네트워크와 적응 상호작용 다중모델 기법을 이용하였다. 퍼지 뉴럴 네트워크의 동정을 위해서는 오차 역전파 학습법을 사용하였다. 그리고 제안된 알고리즘의 수행 가능성을 보여주기 위하여 몇 가지 예를 제시하였다.

• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.9
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• pp.1319-1324
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• 2013

The mean shift algorithm has achieved considerable success in object tracking due to its simplicity and robustness. It finds local minima of a similarity measure between the color histograms or kernel density estimates of the target and candidate image. However, it is sensitive to the noises due to objects or background having similar color distributions. In addition, occlusion by another object often causes a face region to change in size and position although a face region is a critical clue to perform face recognition or compute face orientation. We assume that depth and color are effective to separate a face from a background and a face from objects, respectively. From the assumption we devised a bilateral filter using color and depth and incorporate it into the mean-shift algorithm. We demonstrated the proposed method by some experiments.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.20 no.6
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• pp.175-182
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• 2020

The non-contact eye tracking is a nonintrusive human-computer interface providing hands-free communications for people with severe disabilities. Recently. it is expected to do an important role in non-contact systems due to the recent coronavirus COVID-19, etc. This paper proposes a novel approach for an eye mouse using an eye tracking method based on a context-aware based AdaBoost multi-region classifier and ASSL algorithm. The conventional AdaBoost algorithm, however, cannot provide sufficiently reliable performance in face tracking for eye cursor pointing estimation, because it cannot take advantage of the spatial context relations among facial features. Therefore, we propose the eye-region context based AdaBoost multiple classifier for the efficient non-contact gaze tracking and mouse implementation. The proposed method detects, tracks, and aggregates various eye features to evaluate the gaze and adjusts active and semi-supervised learning based on the on-screen cursor. The proposed system has been successfully employed in eye location, and it can also be used to detect and track eye features. This system controls the computer cursor along the user's gaze and it was postprocessing by applying Gaussian modeling to prevent shaking during the real-time tracking using Kalman filter. In this system, target objects were randomly generated and the eye tracking performance was analyzed according to the Fits law in real time. It is expected that the utilization of non-contact interfaces.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.21 no.12
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• pp.1412-1422
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• 2010

A bistatic radar using the pulse chasing can detect a target to track successive transmitted pulses using a receive beam for effectively scanning the cosite search area. When tracking a transmitted pulse with the receive beam, some beam pointing errors within pulse-to-pulse can cause the timing error in received pulse and the variation of the signal strength. In this paper, we have proposed that some errors due to the receive beam pointing error could limit the MTI filter's performance and derived that the relationship between the MTI performance and the geometric factors which are the inherent properties in bistatic configuration. Through the simulation, we have considered the limitations of the improvement performance restricted by the receiving beam pointing error and confirmed the contribution to the performance improvement in maintaining the receiving beam pointing error of under 0.5 degrees.

• Journal of IKEEE
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• v.24 no.2
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• pp.638-648
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• 2020

Currently, the method of user-follwoing in intelligent cooperative robots usually based in vision system and using Lidar is common and have excellent performance. But in the closed space of Corona 19, which spread worldwide in 2020, robots for cooperation with medical staff were insignificant. This is because Medical staff are all wearing protective clothing to prevent virus infection, which is not easy to apply with existing research techniques. Therefore, in order to solve these problems in this paper, the ultrasonic sensor is separated from the transmitting and receiving parts, and based on this, this paper propose that estimating the user's position and can actively follow and cooperate with people. However, the ultrasonic sensors were partially applied by improving the Median filter in order to reduce the error caused by the short circuit in communication between hard reflection and the number of light reflections, and the operation technology was improved by applying the curvature trajectory for smooth operation in a small area. Median filter reduced the error of degree and distance by 70%, vehicle running stability was verified through the training course such as 'S' and '8' in the result.

• Journal of Astronomy and Space Sciences
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• v.36 no.4
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• pp.293-306
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• 2019

In this study, the observational arc-length effect on orbit determination (OD) for the Korea Pathfinder Lunar Orbiter (KPLO) in the Earth-Moon Transfer phase was investigated. For the OD, we employed a sequential estimation using the extended Kalman filter and a fixed-point smoother. The mission periods, comprised between the perigee maneuvers (PM) and the lunar orbit insertion (LOI) maneuver in a 3.5 phasing loop of the KPLO, was the primary target. The total period was divided into three phases: launch-PM1, PM1-PM3, and PM3-LOI. The Doppler and range data obtained from three tracking stations [included in the deep space network (DSN) and Korea Deep Space Antenna (KDSA)] were utilized for the OD. Six arc-length cases (24 hrs, 48 hrs, 60 hrs, 3 days, 4 days, and 5 days) were considered for the arc-length effect investigation. In order to evaluate the OD accuracy, we analyzed the position uncertainties, the precision of orbit overlaps, and the position differences between true and estimated trajectories. The maximum performance of 3-day OD approach was observed in the case of stable flight dynamics operations and robust navigation capability. This study provides a guideline for the flight dynamics operations of the KPLO in the trans-lunar phase.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.12
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• pp.57-63
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• 2002

In this paper, the feedforward control with least mean square (LMS) adaptive algorithm is proposed and examined to reduce rotating error by runout of an active magnetic bearing system. Using eddy-current type gap sensor fur control, the electrical runout caused by non-uniform material properties of sensor target produces rotational error amplified in feedback control loop, so this runout should be eliminated to increase rotating accuracy. The adaptive feedforward controller is designed and examined its tracking and stability performances numerically with established frequency response function. The tested grinding spindle system is manufactured with a 5.5 ㎾ internal motor and 5-axis active magnetic bearing system including 5 eddy current gap sensors which have approximately 15 ~ 30 ${\mu}{\textrm}{m}$ of electrical runout. According to the experimental analysis, the error signal in radial bearings is reduced to less than 5 ${\mu}{\textrm}{m}$ when it is rotating up to 50,000 rpm due to applying the feedforward control for first order harmonic frequency, and vibration of the spindle base is also reduced about same frequency.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2008.10a
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• pp.628-631
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• 2008

For the remote sensing purpose, radar systems extract the target information, such as the magnitude of reflectivity and the velocity from the spectrum analysis of return echoes through the Doppler filter bank. This conventional spectrum estimation method, FFT(Fast fourier Transform) is widely used in most radar systems. However, the frequency resolution of return echoes can be seriously degraded in fast moving targets because of the short acquisition time. Since the high Doppler frequency resolution is important in the detection and tracking of fast moving targets, it can cause very unsatisfactory results. Therefore, in this paper, the parameter spectrum estimation method called AR(Autoregressive) spectrum estimation, is investigated to overcome these problems.

• International Journal of Precision Engineering and Manufacturing
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• v.6 no.2
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• pp.19-25
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• 2005

In this paper, the feedforward control with least mean square (LMS) adaptive algorithm is proposed and examined to reduce rotating error by runout of an active magnetic bearing system. Using eddy-current type gap sensors for control, the electrical runout caused by non-uniform material properties of sensor target produces rotational error amplified in feedback control loop, so this runout should be eliminated to increase rotating accuracy. The adaptive feedforward controller is designed and examined its tracking performances and stability numerically with established frequency response function. The designed feedforward controller was applied to a grinding spindle system which is manufactured with a 5.5 kW internal motor and 5-axis active magnetic bearing system including 5 eddy current gap sensors which have approximately 15∼30㎛ of electrical runout. According to the experimental results, the error signal in radial bearings is reduced to less than 5 ,Urn when it is rotating up to 50,000 rpm due to applying the feedforward control for first order harmonic frequency, and corresponding vibration of the spindle is also removed.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.48 no.3
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• pp.6-12
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• 2011

Electric vehicles and robots are real-time distributed control systems composed of multiple drive subsystems using micro controller units. Each control subsystem should be modular, compact, power saving, interoperable and fault tolerable in order to be incorporated into the networked real-time distributed control system. Under the networked real-time distributed control the synchronization problem can be occurred to the position and orientation tracking control due to the load variance, mismatch and time delay between the multiple drive subsystems. This paper suggests two types of position synchronization control of the single link manipulators. One of them is composed of cross controller, Kalman filter and disturbance observer, and the other uses the generation of target trajectories to minimize the gradient vector of the scalar function which is composed of the sum of square errors between the reference input vector and the output vectors. The availability of the proposed control schemes is shown through the control experiments.