• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.40 no.2
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• pp.118-128
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• 2012

The goal of this paper is to design the target tracking controller for a quadrotor micro UAV using a vision sensor. First of all, the mathematical model of the quadrotor was estimated through the Prediction Error Method(PEM) using experimental input/output flight data, and then the estimated model was validated via the comparison with new experimental flight data. Next, the target tracking controller was designed using LQR(Linear Quadratic Regulator) method based on the estimated model. The relative distance between an object and the quadrotor was obtained by a vision sensor, and the altitude was obtained by a ultra sonic sensor. Finally, the performance of the designed target tracking controller was evaluated through flight tests.

• Proceedings of the KIEE Conference
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• 2006.10c
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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.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1506-1511
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• 2003

This paper describes an automatic weld seam tracking method of plasma arc welding system designed for the corrugation panel that consists of a linear section and a curved section with various curvatures. Due to the complexity of the panel shape, it is difficult to find a seam and operate a torch manually in the welding process. So, the laser vision sensor for seam tracking is designed for sensing the seam position and controlling a torch automatically. To achieve precise seam tracking, the design of sensor head, image simulation, and calibration are carried out. Through a series of experiment result, compensation algorithm is added and real time error compensation is achieved. The experiment result shows that this vision sensor works effectively. It will provide more precise welding performance and convenience to the operator.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.15 no.8
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• pp.3011-3024
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• 2021

Pose estimation of the sensor is important issue in many applications such as robotics, navigation, tracking, and Augmented Reality. This paper proposes visual-inertial integration system appropriate for dynamically moving condition of the sensor. The orientation estimated from Inertial Measurement Unit (IMU) sensor is used to calculate the essential matrix based on the intrinsic parameters of the camera. Using the epipolar geometry, the outliers of the feature point matching are eliminated in the image sequences. The pose of the sensor can be obtained from the feature point matching. The use of IMU sensor can help initially eliminate erroneous point matches in the image of dynamic scene. After the outliers are removed from the feature points, these selected feature points matching relations are used to calculate the precise fundamental matrix. Finally, with the feature point matching relation, the pose of the sensor is estimated. The proposed procedure was implemented and tested, comparing with the existing methods. Experimental results have shown the effectiveness of the technique proposed in this paper.

• Journal of Korea Multimedia Society
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• v.10 no.1
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• pp.139-146
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• 2007

Many researches had been gone about method to track moving object using wireless sensor network. We examined tradeoffs that exist between quantity of energy and correctness of tracking, and we confirmed that can get more energy sayings through improved motion prediction method. The consumed energy in the tracking is used by sensor node for sensing the object, and tracking correctness is a differ once of actual object position from calculated value by sensing. Some tracking methods and controlling parameters causes a variation of tracking correctness and energy consuming, we can get best energy effectiveness by motion prediction algorithm. Furthermore, we get better tracking quality and energy effectiveness through using a motion prediction algorithm that consider acceleration. By the simulation, we know that if we use an accurate motion prediction algorithm, node activation range that is used for target's predicted position should be restricted to sensing range of sensor is better.

• The Journal of the Korea Contents Association
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• v.12 no.3
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• pp.44-54
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• 2012

In wireless sensor networks, a moving object tracking scheme is one of core technologies for real applications such as environment monitering and enemy moving tracking in military areas. However, no works have been carried out on processing the failure of object tracking in sparse sensor networks with holes. Therefore, the energy consumption in the existing schemes significantly increases due to plenty of failures of moving object tracking. To overcome this problem, we propose a novel moving object tracking scheme based on polynomial regression prediction in sparse sensor networks. The proposed scheme activates the minimum sensor nodes by predicting the trajectory of an object based on polynomial regression analysis. Moreover, in the case of the failure of moving object tracking, it just activates only the boundary nodes of a hole for failure recovery. By doing so, the proposed scheme reduces the energy consumption and ensures the high accuracy for object tracking in the sensor network with holes. To show the superiority of our proposed scheme, we compare it with the existing scheme. Our experimental results show that our proposed scheme reduces about 47% energy consumption for object tracking over the existing scheme and achieves about 91% accuracy of object tracking even in sensor networks with holes.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.10
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• pp.1823-1831
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• 2010

This paper proposes an automatic tracking control algorithm for efficiency improvement of photovoltaic generation. Increasing the power of PV systems should improve the efficiency of solar cells or the power condition system. The normal alignment of the PV module always have to run perpendicular to the sun's rays. The solar tracking system, able to improve the efficiency of the PV system, was initiated by applying that to the PV power plant. The tracking system of conventional PV power plant has been studied with regard to the tracking accuracy of the solar cells. Power generation efficiency were increased by aligning the cells for maximum exposure to the sun's rays. Using a perpendicular position facilitated optimum condition. However, there is a problem about the reliability of tracking systems unable to not track the sun correctly during environmental variations. Therefore, a novel control algorithm needs to improve the generation efficiency of the PV systems and reduce the loss of generation. This control algorithm is the proposed automatic tracking algorithm in this paper. Automatic tracking control is combined the sensor and program method for robust control in environment changing condition. This tracking system includes the insolation, rain sensor and anemometer for climate environment changing. Proposed algorithm in this paper, is compared to performance of conventional tracking control algorithm in variative insolation condition. And prove the validity of proposed algorithm through the experimental data.

• Journal of Information Processing Systems
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• v.7 no.1
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• pp.17-28
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• 2011

Despite the fact that the deployment of sensor networks and target tracking could both be managed by taking full advantage of Voronoi diagrams, very little few have been made in this regard. In this paper, we designed an optimized barrier coverage and an energy-efficient clustering algorithm for forming Vonoroi-based Wireless Sensor Networks(WSN) in which we proposed a mobile target tracking scheme (CTT&MAV) that takes full advantage of Voronoi-diagram boundary to improve detectability. Simulations verified that CTT&MAV outperforms random walk, random waypoint, random direction and Gauss-Markov in terms of both the average hop distance that the mobile target moved before being detected and lower sensor death rate. Moreover, we demonstrate that our results are robust as realistic sensing models and also validate our observations through extensive simulations.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.1
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• pp.121-126
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• 2017

Tracking system is essential for Image Guided Surgery(IGS). Optical Tracking System(OTS) is widely used to IGS for its high accuracy and easy usage. However, OTS doesn't work when occlusion of marker occurs. In this paper sensor data fusion with OTS and Inertial Navigation System(INS) is proposed to solve this problem. The proposed system improves the accuracy of tracking system by eliminating gaussian error of the sensor and supplements the disadvantages of OTS and IMU through sensor fusion based on Kalman filter. Also, sensor calibration method that improves the accuracy is introduced. The performed experiment verifies the effectualness of the proposed algorithm.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2017.10a
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• pp.450-453
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• 2017

In this abstract, the FPGA system using solar tracking is introduced. Solar tracking system combined with sensor tracking and solar altitude programming is utilized. The sensor tracking system consists of image sensor, light sensor, and the programs for sun altitude received by the computer. The sun altitude is received from the national weather database by wireless communication. The goal is to have maximum energy generation efficiency using bi-directional tracking and mixed tracking with FPGAs that are relatively inexpensive in terms of developing and programming the system.