• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1995년도 추계학술대회 학술발표 논문집
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• pp.165-173
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• 1995

In order to eliminate position errors existing at the steady state in the motion control of robotic maniprlators, a new fuzzy control algorithm is proposed using three variables, position error, velocity error and integral of position errors as input variables of the fuzzy controller, This controller is applied to the tracking control of robotic manipulators in Cartesian space. Three dimensional look-up table is used to reduce the computational time in rel-time control. Simulation and experimental studies are conducted to evaluate the control performance for the two axis direct drive SCARA robot system.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제16권2호
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• pp.131-139
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• 2016

Recognition of human motions has become a main area of computer vision due to its potential human-computer interface (HCI) and surveillance. Among those existing recognition techniques for human motions, head detection and tracking is basis for all human motion recognitions. Various approaches have been tried to detect and trace the position of human head in two-dimensional (2D) images precisely. However, it is still a challenging problem because the human appearance is too changeable by pose, and images are affected by illumination change. To enhance the performance of head detection and tracking, the real-time three-dimensional (3D) data acquisition sensors such as time-of-flight and Kinect depth sensor are recently used. In this paper, we propose an effective feature extraction method, called adaptive local binary pattern (ALBP), for depth image based applications. Contrasting to well-known conventional local binary pattern (LBP), the proposed ALBP cannot only extract shape information without texture in depth images, but also is invariant distance change in range images. We apply the proposed ALBP for head detection and tracking in depth images to show its effectiveness and its usefulness.

• Journal of Welding and Joining
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• 제22권6호
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• pp.43-49
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• 2004

In this study, a visual sensor system which can detect I-butt weld joint with height variation and includes a seam tracking algorithm was investigated. Three-dimensional position of an object can be acquired by using the method of distance measurement, i.e., an optical trigonometry which results from the spatial relations between the camera, the object and the structured light by a visible laser. Effects of laser intensity and iris number for the image quality as well as object material were investigated for the optical system design. For the image processing, a region of interest is defined from the whole image and a line image of laser is drew by using the gray level difference in the image. From the drew laser line, the weld joint can be recognized in searching the biggest point position calculated from the central difference method. Through a series of welding experiments, a good tracking performance was confirmed under GMA welding.

• Journal of Electrical Engineering and Technology
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• 제13권2호
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• pp.969-980
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• 2018

This paper aims to design of the neutrosophic fuzzy-PID controller and it has been compared with the conventional fuzzy-PID controller for position tracking control in terms of robustness. In the neutrosophic fuzzy-PID controller, error (e) and change of error (ce) were assessed separately on two fuzzy inference systems (FISs). In this study, the designed method is different from the conventional fuzzy logic controller design, membership degrees of antecedent variables were determined by using the T(true), I(indeterminacy), and F(false) membership functions. These membership functions are grouped on the universe of discourse with the neutrosophic set approach. These methods were tested on three-dimensional (3-D) position-tracking control application of a spherical robot manipulator in the MATLAB Simulink. In all tests, reference trajectory was defined for movements of all axes of the robot manipulator. According to the results of the study, when the moment of inertia of the rotor is changed, less overshoot ratio and less oscillation are obtained in the neutrosophic fuzzy-PID controller. Thus, our suggested method is seen to be more robust than the fuzzy-PID controllers.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 B
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• pp.507-510
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• 2003

In this paper, optical sensor system using PSD(Position Sensitive Detection) is proposed to obtain the three dimensional position of moving markers attached to human body. To find the coordinates of an moving marrer with stereo vision system, two different sight rays of an moving marker are required. Usually, those are acquired with two optical sensors synchronized at the same time. PSD sensor is used to measure the position of an incidence light in real-time. To get the three-dimension position of light source on moving markers, a conventional camera calibration method are used. In this research, we realized a low cost motion capture system. The proposed system shows high three-dimension measurement accuracy and fast sampling frequency.

• 한국해양공학회지
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• 제11권3호
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• pp.170-179
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• 1997

This paper presents a hybrid navigation system for AUV to locate its position precisely in rough sea. The tracking system is composed of various sensors such as an inclinometer, a tri-axis magnetometer, a flow meter, and a super short baseline(SSBL) acoustic position tracking system. Due to the inaccuracy of the attitude sensors, the heading sensor and the flowmeter, the predicted position slowly drifts and the estimation error of position becomes larger. On the other hand, the measured position is liable to change abruptly due to the corrupted data of the SSBL system in the case of low signal to noise ratio or large ship motions. By introducing a sensor fusion technique with the position data of the SSBL system and those of the attitude heading flowmeter reference system (AHFRS), the hybrid navigation system updates the three-dimensional position robustly. A Kalman filter algorithm is derived on the basis of the error models for the flowmeter dynamics with the use of the external measurement from the SSBL. A failure detection algorithm decides the confidence degree of external measurement signals by using a fuzzy inference. Simulation is included to demonstrate the validity of the hybrid navigation system.

• 한국게임학회 논문지
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• 제21권5호
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• pp.41-48
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• 2021

본 논문은 2개의 포즈(위치 및 회전) 추적 센서를 사용하여 마네킹 모델위에 3차원의 가상 인체를 증강하는 모바일 증강 가시화 기술에 대해서 소개한다. 증강 가시화를 위해 사용된 종래의 카메라 트래킹 기술은 카메라 영상을 사용하기 때문에 카메라의 떨림이나 빠른 이동시 카메라의 포즈 계산에 실패하는 단점이 있으나, 바이브 트래커를 이용하게 되면 이러한 단점을 극복할 수 있다. 또한 증강하고자 하는 객체인 마네킹의 위치가 바뀌거나 회전을 하게 되더라도 마네킹에 부착된 포즈 추적 센서를 사용하여 증강 가시화가 가능한 장점이 있으며 무엇보다 카메라 트래킹을 위한 부하가 없다는 장점을 가진다.

• 수산해양기술연구
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• 제40권1호
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• pp.78-85
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• 2004

SSBL ${\circ}$ 핑거동기 바이오텔레메터리 방식과 시스템을 사용하여 핑거를 부착한 어류의 행동 추적실험을 실시하였다. 이상의 연구 성과를 정리하면 다음과 같다. 1) 수조의 추적실험에서는 어류의 대략적인 행동을 관측할 수 있기 때문에 어류의 이동경로의 계측치와 대체적인 관측치를 비교하면서 어류의 이동경로와 속도 등을 조사하였다. 계측한 잉어의 행동이 관측치와 대체적으로 일치하였으며, 3차원으로 추적이 가능하였다. 잉어의 평균 이동속도는 11.2cm/s로 거의 적당한 결과를 얻을 수 있었다. 2) 계류장의 추적실험에서는 상하, 좌우 방향으로 회전가능한 지지 파이프에 수파기를 설치하고 수파기를 회전시키며 자연상태에서 어류의 이동경로와 속도 등을 조사하였다. 방어의 행동이 상세하게 추적 가능함을 확인할 수 있었으며, 방어의 평균이동 속도는 439cm/s이었다. 이상에 의해 본 연구에서 개발한 SSBL ${\circ}$ 핑거동기 바이오텔레메터리 방식에 의하면 수신계의 고도화만으로도 핑거를 부착한 어류의 상세한 행동추적 이 가능함을 확인할 수 있었다.

• 한국정보디스플레이학회:학술대회논문집
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• 한국정보디스플레이학회 2009년도 9th International Meeting on Information Display
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• pp.1341-1344
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• 2009

A novel method to control the viewing direction by moving aperture location in 4-f illumination optics to control light direction is proposed. Based on integral imaging principle, the relayed point light sources by 4-f optics are modulated by a spatial light modulator, displaying three-dimensional images. In the proposed method, we locate the aperture, which acts as a band pass filter, around an optic axis to control the light direction. Resultantly, assuming that we know the viewer position by a tracking system, we can display appropriate three-dimensional images over large viewing angle.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2006년도 하계종합학술대회
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• pp.839-840
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• 2006

Our paper proposes a novel moving object tracking scheme for biped robot using a single camera. For walking control of a biped robot we analyze the dynamics of a three-dimensional inverted pendulum model. This analysis leads us a simple linear dynamics. And, the control parameter of the biped robot is derived from the feedback signal which converges the position of a image feature to the feature position of a desired image and the feedforward signal which compensates the motion component due to the moving object.