• The Journal of Korea Robotics Society
• /
• v.2 no.2
• /
• pp.129-136
• /
• 2007

This paper introduces a position-based robust visual servoing method which is developed for operation of a human-like robot with two arms. The proposed visual servoing method utilizes SIFT algorithm for object detection and CAMSHIFT algorithm for object tracking. While the conventional CAMSHIFT has been used mainly for object tracking in a 2D image plane, we extend its usage for object tracking in 3D space, by combining the results of CAMSHIFT for two image plane of a stereo camera. This approach shows a robust and dependable result. Once the robot's task is defined based on the extracted 3D information, the robot is commanded to carry out the task. We conduct several position-based visual servoing tasks and compare performances under different conditions. The results show that the proposed visual tracking algorithm is simple but very effective for position-based visual servoing.

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.720-723
• /
• 1997

This paper presents a cooperative control method for multiple robots. This method is based on local sensors. The proposed method integrates all information obtained by local perception through a set of sensors and generates commands without logical conflicts in designing control logic. To control multiple robots effectively, a global control strategy is proposed. These methods are constructed by using AND/OR logic and transition firing sequences in Petri nets. To evaluate these methods, the object-searching task is introduced. This task is to search an object like a box by two robots and consists of two sub-tasks, i.e., a wall tracking task and a robot tracking task. Simulation results for the object-searching task and the wall tracking task are presented to show the effectiveness of the method.

• Journal of Engineering Education Research
• /
• v.17 no.1
• /
• pp.3-11
• /
• 2014

The purpose of this study was to verity the effect of project method on the task performance ability in development of a solar-tracking-control-system of specialized high school. In order to carry out this study, 2 classes of technical high school in Jeonbuk are chosen as experimental and control groups. The experimental group was taught by project method and the control group was taught by traditional instruction. Project method was designed by 4 stages-selection of goal, planning, implementation and evaluation. According to these stages, experimental group's students carried out the project that developing solar tracking control system in solar generation. The results of this study are as follows; the project method was more effective than the traditional instruction in planning ability for task performance and implementation ability, subordinates of task performance ability. However, information gathering ability and evaluation ability on task performance, others in subordinates, it is not clear that the project method is more effective.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.24 no.2
• /
• pp.127-136
• /
• 2016

The camera based object detection systems should satisfy the recognition performance as well as real-time constraints. Particularly, in safety-critical systems such as Autonomous Emergency Braking (AEB), the real-time constraints significantly affects the system performance. Recently, multi-core processors and system-on-chip technologies are widely used to accelerate the object detection algorithm by distributing computational loads. However, due to the advanced hardware, the complexity of system architecture is increased even though additional hardwares improve the real-time performance. The increased complexity also cause difficulty in migration of existing algorithms and development of new algorithms. In this paper, to improve real-time performance and design complexity, a task scheduling strategy is proposed for visual object tracking systems. The real-time performance of the vision algorithm is increased by applying pipelining to task scheduling in a multi-core processor. Finally, the proposed task scheduling algorithm is applied to crosswalk detection and tracking system to prove the effectiveness of the proposed strategy.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
• /
• v.24 no.2
• /
• pp.198-206
• /
• 2013

This paper presents the improvement of tracking performance using fuzzy inference system based task prioritizations for multi-function radars. The presented technique calculates elemental priorities using track information of a target and obtain the total priority from fuzzy inference system of each fuzzy set's membership function. In this paper, we proposed the task prioritization algorithms based on fuzzy inference system, and evaluated the tracking performance on multi-function radar scenario using it. As a result, we confirmed that excellent performance could be achieved when using the proposed algorithm.

• The Journal of Korean Physical Therapy
• /
• v.31 no.4
• /
• pp.212-215
• /
• 2019

Purpose: This study examined whether there is a difference in motor learning through short-term repetitive movement practice in stroke survivors with a unilateral brain injury compared to normal elderly participants. Methods: Twenty-six subjects who were divided into a stroke group (n=13) or sex-aged matched normal elder group (n=13) participated in this study. To evaluate the effects of motor learning, the participants conducted a tracking task for visuomotor coordination. The accuracy index was calculated for each trial. Both groups received repetitive tracking task training of metacarpophalangeal joint for 50 trials. The stroke group performed a tracking task in the upper extremity insi-lesional to the damaged hemisphere, and the normal elder group performed the upper extremity matched for the same side. Results: Two-way repetitive ANOVA revealed a significant difference in the interactions ($time{\times}group$) and time effects. These results indicated that the motor skill improved in both the stroke and normal elder group with a tracking task. On the other hand, the stroke group showed lesser motor learning skill than the normal elder group, in comparison with the amount of motor learning improvement. Conclusion: These results provide novel evidence that stroke survivors with unilateral brain damage might have difficulty in performing ipsilateral movement as well as in motor learning with the ipsilateral upper limb, compared to normal elderly participants.

• Proceedings of the KIEE Conference
• /
• 1995.11a
• /
• pp.579-582
• /
• 1995

Recently, the vision system has the wide and growing' application field on account of the vast information from that visual mechanism. Especially, in the control field, the vision system has been applied to the industrial robot. In this paper, the object tracking and grasping task is accomplished by the robot vision system with a camera in the robot hand. The camera setting method is proposed to implement that task in a simple way. In spite of the calibration error, the stable grasping task is achieved using the tracking control algorithm based on the vision feature.

• Journal of the Ergonomics Society of Korea
• /
• v.3 no.2
• /
• pp.3-8
• /
• 1984

An experimental study was made to compare digital display with analogue-digital display during a digital pursuit tracking task under the preview information. The effect of preview on performance during the tracking task was analyzed for the different preview spans and the different characteristics of the information input. The data from ten subjects revealed that the RMS error performance was improved substantially in the case of one preview point than in that of no preview. It was obtained from the result of the experiments that the improvement ratio of analogue digital to digital display increased to 48%.

• Journal of Korea Multimedia Society
• /
• v.20 no.7
• /
• pp.986-993
• /
• 2017

Object Tracking is a technique for tracking moving objects over time in a video image. Using object tracking technique, many research are conducted such a detecting dangerous situation and recognizing the movement of nearby objects in a smart car. However, it still remains a challenging task such as occlusion, deformation, background clutter, illumination variation, etc. In this paper, we propose a novel deep visual object tracking method that can be operated in robust to many challenging task. For the robust visual object tracking, we proposed a Convolutional Neural Network(CNN) which shares weight of the convolutional layers. Input of the CNN is a three; first frame object image, object image in a previous frame, and current search frame containing the object movement. Also we propose a method to consider the motion of the object when determining the current search area to search for the location of the object. Extensive experimental results on a authorized resource database showed that the proposed method outperformed than the conventional methods.

• The Journal of Korean Physical Therapy
• /
• v.26 no.6
• /
• pp.386-390
• /
• 2014

Purpose: We aimed to investigate whether visuomotor function would be modulated, when healthy subjects performed tracking task after tDCS application over the primary sensorimotor cortex (SM1) in the non-dominant hemisphere. Methods: Thirty four right-handed healthy participants were enrolled, who randomly and evenly divided into two groups, real tDCS group and sham control group. Direct current with intensity of 1 mA was delivered over SM1 for 15 minutes. After tDCS, tracking task was measured, and their performance was calculated by an accuracy index (AI). Results: No significant difference in AI at the baseline between the two groups was observed. The AI of the real tDCS group was significantly increased after electrical stimulation, compared to the sham control group. Two way ANOVA with repeated measurement showed a significant finding in a large main effects of time and group-by-repeated test interaction. Conclusion: This study indicated that application of the anodal tDCS over the SM1 could facilitate higher visuomotor coordination, compared to sham tDCS group. These findings suggest possibility that tDCS can be used as adjuvant brain modulator for improvement of motor accuracy in healthy individuals as well as patients with brain injury.