• 제목/요약/키워드: Tracker

검색결과 609건 처리시간 0.028초

유비쿼터스 환경에서 사용 가능한 핸드 헬드형 3차원 움직임 추적장치 (A Handheld 3-Dimensional Motion Tracking Device for Ubiquitous Computing Environment)

  • 박명관;이상훈;서일홍
    • 제어로봇시스템학회논문지
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    • 제11권12호
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    • pp.1045-1050
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    • 2005
  • This paper describes a design experience of a low-cost 6 DOF spatial tracker system where relative low accuracy and relatively long ranges, wireless communication will be achieved by means of low cost accelerometers and gyros with contemporary microprocessor. However, there are two key problems; one is the bias drift problem and the other is that single or double integration of acceleration signal suffers not only from noise but also from nonlinear effects caused by gravity. To be specific, beginning and stopping of hand motions needs to be accurately detected to initiate and terminate integration process to get position and pose of the hand from accelerometer and gyro signals, since errors due to noise and/or hand-shaking motions accumulated by integration processes. Several experimental results are shown to validate our proposed algorithms.

자율이동로봇 이동음원 추적센서 개발을 위한 의사선형 도래각 추정기법 (Acoustic Source Tracker Based on Pseudo-Linear DOA Estimator for Autonomous Robots)

  • 임재일;나원상
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2011년도 제42회 하계학술대회
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    • pp.1788-1789
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    • 2011
  • In order to develop a one-axis gimbaled acoustic source tracker for mobile robots, a pseudo-linear direction of arrival(DOA) estimator is proposed using a linear ultrasonic sensor array. Under the assumption that the sensor measurement errors are negligible, a linear measurement model is derived using the linear prediction relation of the received sinusoidal acoustic signals. Applying the Kalman filtering technique for this model, the linear recursive DOA estimator is designed. For its linear recursive filter structure, it is preferable for real-time implementation on a commercial DSP. Through the experiments, the effectiveness of the suggested method is demonstrated.

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${\alpha}\;-\;{\beta}$ 추적 필터 이득 산출 연구 (A Study of New Filter Gains for the Alpha-beta Tracker)

  • 신상진;오선진;홍동희;박진규
    • 한국군사과학기술학회지
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    • 제10권4호
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    • pp.145-151
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    • 2007
  • This paper considers new filter gains for the ${\alpha}\;-\;{\beta}$ tracker which is optimized particularly to minimize the tracking gate size. Optimizing the performance index which is composed of tracking errors due to target maneuver and measurement noise is not different from the existing method to obtain the ${\alpha}\;-\;{\beta}$ gains. However, holding the probability 0.997 that a target exists in the tracking gate and minimizing the gate size produce the new result not similar to the existing ${\alpha}\;-\;{\beta}$ gains.

초 중량물 핸드링 로봇의 성능평가에 관한 연구 (A Study on the Performance Evaluation of Heavy Duty Handling Robot using Laser Tracker)

  • 고해주;정윤교;신혁;유한식
    • 한국기계가공학회지
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    • 제9권3호
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    • pp.1-7
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    • 2010
  • The aim of this research is to evaluate movement and path characteristics of developed heavy duty handling robot using laser tracker(API T3) according to the ISO 9283 robot performance evaluation criteria. As carry out 3D modeling and simulation using CATIA, a test cube was set up to select moving and measuring range of robot. Performance test for pose and distance accuracy, path and path velocity accuracy under payload zero and 440kgf was accomplished. The resulted output data show the reliability of the developed robot.

펄스 레이더의 다단 Stagger PRI 신호분리 알고리즘 (The Algorithm for Deinterleaving of Multi-Step Stagger PRI Signals of Pulse Radars)

  • 임중수
    • 한국위성정보통신학회논문지
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    • 제8권4호
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    • pp.159-163
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    • 2013
  • 본 논문에서는 전자정보시스템을 사용하여 펄스 레이더에서 송신되는 다단 스태거(stagger) PRI(pulse repetition interval) 신호를 정확하게 분석하는 새로운 방법을 제안하였다. 기존의 PRI 신호분석 방법은 레이더 펄스신호 하드웨어 추적기(tracker)를 이용하여 신호도착시간(time of arrival)의 1차 차분을 이용하여 PRI 패턴을 분석하였으나 본 논문에서는 펄스신호들의 도착시간(TOA)의 1차 차분, 2차 차분과 PRI 히스토그램을 이용하여 다단 스태거 PRI 신호를 분석하는 알고리즘을 개발하였다. 본 연구는 펄스 레이더의 다단 스태거 PRI 신호식별에 매우 유용하게 사용할 수 있을 것으로 판단된다.

태양전지 어레이를 위한 최대 전력점 추종기에 관한 연구 (A study on maximum power Point tracker for solar array)

  • 이상용;김한구;오방원;김흥성;최규하
    • 전력전자학회:학술대회논문집
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    • 전력전자학회 2004년도 전력전자학술대회 논문집(2)
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    • pp.484-488
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    • 2004
  • The output of solar array is changed non-linearly by variation of insolation and temperature. Hence, as varying insolation and temperature, Maximum Power Point Tracking(WPPT) is necessary to increase generation efficiency of solar array. This paper presented WPPT algorithm using position control of output voltage and current of solar array and implemented hardware MPP tracker which is appropriate and inexpensive for low power system$(tens\~hundreds\;watt)$. Finally, those were verified through simulation.

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강인 칼만필터를 이용한 유도탄 기체 진동 주파수 추정기 설계 (Direct Missile Bending Frequency Estimation using the Robust Kalman Filter)

  • 나원상;황익호
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2005년도 제36회 하계학술대회 논문집 D
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    • pp.2477-2479
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    • 2005
  • A robust bending frequency tracker is proposed to design the adaptive notch filter which removes the time-varying missile structural modes from the sensor measurements. To do this, the state-space form of a bending frequency model is derived under the assumption that the bending signal could be described as the lightly damped sinusoid. Since the resultant bending frequency model contains the parametric uncertainties in the measurement matrix, the design problem of bending frequency tracker is tackled by applying the robust Kalman filter to the model. This technique could be easily expanded to the multiple frequencies case because it newly illuminates the bending frequency tracking problem in view of general state estimation.

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태양광 발전을 위한 태양추적시스템 설계 (Design of Sun Tracker System for Solar Power Generation)

  • 안준식;허남억;김일환
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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    • pp.330-332
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    • 2006
  • In this paper, sun tracking system using Sun position sensor is proposed, the sun tracking system designed as which raises the efficiency of solar power generation. It design the structure being simple and it develops the system which is economical efficiency. It develops the hazard technique such as location tracking method of the sun which uses the sensor and to use the motor solar cell module movement. The Sun tracking system makes the drive in order to do with one axis and to use the sensor and to know in order to put out, the location of the sun and it makes. To make the solar location tracking sensor where the structure is simple it used two solar cells.

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소형 태양광 발전시스템 상용화를 위한 프로그램 방식의 태양위치추적기 개발 (A Development of the Solar Position Tracker on the Program Method for the Small Typed Stand-alone PV System Commercialization)

  • 이양규;강신영;김광헌
    • 전력전자학회논문지
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    • 제8권3호
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    • pp.260-265
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    • 2003
  • 태양의 고도와 방위각에 따라 태양광 발전 시스템의 에너지량이 차이가 많이 난다. 본 연구는 소규모 독립형 시스템인 가로등에 맞는 경제적인 추적장치 개발에 관한 것이다. 위치추적시스템은 프로그램을 사용한 방식으로서 시스템을 기존 유사 시스템에 비해 저가화를 실현하였다. 개발된 태양 위치 추적 시스템을 가로등에 적용하여 고정식과 추적식의 에너지량을 일정 기간 동안 실측 비교한 결과 평균 86%의 효율개선 효과를 보았다.

DSP를 이용한 실시간 영상추적 시스템 구현 (An Implementation on the Real-Time Moving Object Tracking System Using DSP)

  • 최재근;나종인;안도랑;이동욱
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2001년도 합동 추계학술대회 논문집 정보 및 제어부문
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    • pp.406-408
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    • 2001
  • In this thesis, a video tracker with a TMS320C31 DSP is designed and implemented. It is intended to work with PC through PCI Bus and can be used in real-time applications. The DSP board is capable of grabbing image data from camera, and calculating the position of a target, and tracking its movement. The tracking situation can be displayed in a PC monitor and displacement of the movement is fed back to pan and tilt the camera. Experimental results show that the tracker implemented here works well in real applications.

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