• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2016년도 춘계학술대회
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• pp.305-307
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• 2016

The purpose of this paper is to determine the optimal values of the gain parameters used in the tracking module for a highly dynamic warship. The algorithm of the tracking module uses the ${\alpha}-{\beta}-{\gamma}$ filter to compute accurate estimates and update the state variables, that is, positions, velocity and acceleration. The filtering coefficients ${\alpha}$, ${\beta}$ and ${\gamma}$ are determined from set values of the damping parameter, ${\xi}$. Optimization is achieved by plotting a range of the damping parameter ${\xi}$ against the corresponding residual error and then selecting the best value of ${\xi}$ with the minimum residual error. Optimal values of the smoothing coefficients are subsequently computed from the selected damping parameter, ${\xi}$.

• 동력기계공학회지
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• 제10권3호
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• pp.97-103
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• 2006

In this study, a position trajectory tracking control algorithm is proposed for a pneumatic artificial muscle driving apparatus composed of a actuator which imitates the muscle of human, a position sensor and a control valve. The controller applied to the driving apparatus is composed of a state feedback controller and disturbance observer. The feedback controller which feeds back position, velocity and acceleration is derived from the linear model of pneumatic artificial muscle driving apparatus. The disturbance observer is designed to improve trajectory tracking performance and to reduce the effect of model discrepancy. The effectiveness of the designed controller is proved by experiments and the experimental results show that the pneumatic artificial muscle driving apparatus with the proposed control algorithm tracks given position reference inputs accurately.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1500-1504
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• 2005

This paper proposes the design methodology of genetic algorithm (GA)-based fuzzy Kalman filter for tracking the maneuvering target. The performance of the standard Kalman Filter (SKF) has been degraded because mismatches between the modeled target dynamics and the actual target dynamics. To solve this problem, we use the method to estimate the increment of acceleration by a fuzzy system using the relation between maneuver filter residual and non-maneuvering one. To optimize the fuzzy system, a genetic algorithm (GA) is utilized and this is then tuned by the fuzzy logic correction. Finally, the tracking performance of the proposed method has been compared with those of the input estimation (IE) technique and the intelligent input estimation (IIE) through computer simulations.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2004년도 춘계학술대회 학술발표 논문집 제14권 제1호
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• pp.563-566
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• 2004

An intelligent Kalman filter (IKF) is proposed for tracking an incoming anti-ship missile. In the proposed IKF, the unknown target acceleration is regarded as an additive process noise. When the target maneuver is occurred, the residual of the Kalman filter increases in proportion to its magnitude. From this fact, the overall process noise variance can be approximated from the filter residual and its variation at every sampling time. A fuzzy system is utilized to approximate this valiance, and the genetic algorithm (GA) is applied to optimize the fuzzy system. In computer simulations, the tracking performance of the proposed IKF is compared with those of conventional maneuvering target tracking methods.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.547-552
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• 1989

Single mode optical fiber interferometeric sensors using phase tracking homodyne detection are typically susceptible to environmentally induced temperature fluctuations and other types of disturbances. In this paper compensator is described, which is a simple and effective phase tracking feedback electronic circuit must be output signal stabilized to achieve maximln sensitivity and linearity of Mach-Zehnder fiber-optic interferomter in the presence of differential phase drift. The phase tracking range of the piezoelectric cylinder in the reference arm is .+-.3.7.pi.rad, and the probe mass about 1 gram in the sensing ann was used for measurements of the gravity acceleration.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.541-547
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• 1992

The phased array antenna has the ability to perform adaptive sampling by directing the radar beam without inertia in any direction. The adaptive sampling capability of the phased array antenna allows each sampling time interval to be varied for each target, depending on the acceleration of each target at any time. In this paper we design a three-dimensional adaptive tracking algorithm for the phased array radar system with a given set of measurement parameters. The tracking algorithm avoids taking unnecessarily frequent samples, while keeping the angular prediction error within a fraction of antenna beamwidth so that the probability of detection will not be degraded during a track update illuminations. In our algorithm, the target model and the sampling rate are selected depending on the target range and the target maneuver status which is determined by a maneuver detector. A detailed simulation is conducted to test the validity of our tracking algorithm for encounter geometries under various conditions of maneuver.

• 대한전자공학회논문지
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• 제26권12호
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• pp.2032-2038
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• 1989

Single mode optical fiber interferometeric sensors using phase tracking homodyne detection are typically susceptible to environmentally indured temperature fluctuations and other types of disturbances. A simple and effective phase tracking feedback electronic circuit for compensator is described to achieve stabilizing signal output, maximum sensitivity and linearity in the fiber optic Mach-Zehnder infterferometer in the presence of differential phase drift. The phase tracking range of the piezoelectric cyclinder in the reference arm is \ulcorner.7 \ulcornerad and the prabe mass about 1 gram in the sensing arm was used for measurements of the gravity acceleration.

• 대한기계학회논문집A
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• 제29권1호
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• pp.139-144
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• 2005

A vehicle cruise control algorithm using an Interacting Multiple Model (IMM)-based Multi-Target Tracking (MTT) method has been presented in this paper. The vehicle cruise control algorithm consists of three parts; track estimator using IMM-Probabilistic Data Association Filter (PDAF), a primary target vehicle determination algorithm and a single-target adaptive cruise control algorithm. Three motion models; uniform motion, lane-change motion and acceleration motion. have been adopted to distinguish large lateral motions from longitudinal motions. The models have been validated using simulated and experimental data. The improvement in the state estimation performance when using three models is verified in target tracking simulations. The performance and safety benefits of a multi-model-based MTT-ACC system is investigated via simulations using real driving radar sensor data. These simulations show system response that is more realistic and reflective of actual human driving behavior.

• 한국지능시스템학회논문지
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• 제17권1호
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• pp.136-142
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• 2007

본 논문에서는 비선형 기동표적의 추적에 대한 새로운 접근 방식을 소개한다. 제안된 알고리즘은 예측 명중위치 개념을 이용한 칼만필터 기반의 적응 상호작용 다중모델 기법으로 측정된 위치 값과 예측된 명중위치 사이의 차이를 고려한 변형된 칼만필터 기법을 이용한다. 알 수 없는 가속도는 표적의 기동모델에 있어서 추가적인 프로세스 잡음으로 간주되고, 알고리즘 내의 하부 모델들은 각각의 가속도 수준에 따라 구해지는 전체적인 프로세스 잡음에 따라 특성화 된다. 칼만필터 기법이 비선형 기동에 있어 성능이 저하되는 점을 보완하기 위하여 상황에 따라 제안된 기법과 칼만필터를 적응적으로 이용할 수 있는 선택적 알고리즘을 구현하고자 한다. 표적의 기동중에 나타나는 가속도를 효과적으로 다루기 위하여 잡음의 크기가 급격히 증가할 경우 그 증가분을 가속도로 인식하여 기동표적 관계식에 이용한다. 그리고 제안된 알고리즘의 수행 가능성은 몇 가지수치 예를 통하여 증명한다.

• 한국인터넷방송통신학회논문지
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• 제18권3호
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• pp.119-125
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• 2018

스마트폰을 이용한 실내에서의 위치 기술이 다양하게 연구되고 있다. 그 중 스마트폰에 내장된 가속도 센서와 자이로 센서를 이용한 위치 추적 기술은 WiFi fingerprint 기술 등과 함께 연동되어 많이 사용되고 있다. 센서를 이용한 위치 추적 기술은 오래 전부터 사용되어 왔으나, 스마트폰의 경우 센서의 성능이 좋지 않고 사용자가 스마트폰을 일정한 자세로 들고 이동하는 등 사용 환경이 특이하다. 따라서 스마트폰 환경에서 위치 추적의 정확도를 높이기 위해서는 고유의 환경에서 적절한 알고리즘을 연구 개발해야 한다. 본 논문에서는 사용자의 이동 걸음 수 검출 알고리즘인 주파수 분석 방식, 최대 최소 가속도의 합 방식 및 적응형 임계값 방식에 대한 다양한 실험 환경에서의 성능을 분석하고, 가장 정확한 방식을 선정한다.