• Smart Structures and Systems
• /
• v.7 no.2
• /
• pp.103-116
• /
• 2011

This paper is concerned with the trajectory tracking and vibration suppression of a single-link flexible arm by using piezoelectric materials. The dynamics of a single flexible arm with PZT patches as sensor and actuator is derived using extended Hamilton's principle. Resulting equations show that the coupled beam dynamics including beam vibration and its rigid in-plane rotation takes place in two different time scales. By using singular perturbation theory, the system dynamics is divided into two subsystems. Then, a composite control scheme is elaborated that makes the orientation of the arm track a desired trajectory while suppressing its vibration. The proposed controller has two parts: one is a tracking controller designed for the slow (rigid) subsystem, and the other one is a stabilizing controller for the fast (flexible) subsystem. The outputs considered for the system are angular position of the hub and voltage of the sensor mounted on the structure. To avoid requiring further measurements of beam vibration and also angular velocity of the hub for the fast and slow control laws, respectively, two sliding mode observers for estimating the unknown states are also designed.

• Korean Journal of Fisheries and Aquatic Sciences
• /
• v.46 no.3
• /
• pp.273-281
• /
• 2013

The movement patterns of fish aggregations swimming freely near artificial reefs on August 24, 2006, at Suyeong Man, Busan, Korea, were acoustically investigated and analyzed. Acoustic surveys were conducted using a 70kHz split-beam echo sounder, 330 kHz side-scan sonar and a 310 kHz imaging sonar. Algorithms for tracking the movement of fish aggregations swimming in response to artificial reefs were developed. The travel direction and the swimming speed for two aggregations of fish were estimated from the trajectory orientations of echo responses recorded by the imaging sonar.The first group was floating just above the reef structure, while remaining in the midwater column, and the second group was swimming through and around artificial reefs near the seabed. The mean swimming speed was estimated to be 0.40 m/s for the midwater fish aggregation and 0.17 m/s for the bottom aggregation close to artificial reefs. These results suggest that the swimming behavior of fish aggregations passing close to artificial reefs near the seabed displayed a slower moving pattern than fish floating just above the reef structure in the midwater column.

• Advances in nano research
• /
• v.14 no.5
• /
• pp.409-419
• /
• 2023

Tracking the motion of tennis balls is a challenging task in using cameras around the tennis court. The most important instance of the tennis trajectory is the time of impact and touch the court which in some cases could not be detected precisely. In the present study, we aim to present a novel design of tennis balls equipped with nano-sensors to detect the touch of the ball to the court. In the impact instance, tennis ball receives significant acceleration and change in the linear momentum. This large acceleration could deform a small-beam structure with piezoelectric layer to produce voltage. The voltage could further be utilized to produce infrared waves which could be easily detected by infrared detection sensors installed on the same video cameras or separately near the tennis court. Therefore, the exact time of the impact could be achieved with higher accuracy than image analyzing method. A detailed dynamical property of such sensors is discussed using nonlinear beam equations. The results show that within the acceleration range of tennis ball during an impact, the piezoelectric patches of the nano-sensors in the tennis ball could produce enough voltages to propagate infrared waves to be detected by infrared detectors.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2003.11a
• /
• pp.643-648
• /
• 2003

The problem considered in this paper is that the tip position of a flexible cantilever beam is controlled to follow a command signal, using a pair of piezoelectric actuators at the clamped end. The beam is lightly damped and so the natural transient response is rather long, and also since the sensor and actuator are not collocated, the plant response is non-minimum phase. Two control strategies were investigated. The first involved conventional PID control in which the feedback gains were adjusted to give the fastest closed-loop response to a step input. The second control strategy was based on an internal model control (IMC) architecture. The control filter in the IMC controller was a digital FIR device designed to minimize the expectation of the mean square tracking error. The IMC controller designed fur the beam was found to have very much reduced settling times to a step input compared with those of the PID controller.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.39C no.12
• /
• pp.1327-1337
• /
• 2014

In cellular communication systems employing millimeter wave (mmWave) bands for a link, a large amount of training time and network resources will be required to find a serving BS with the best transmit and receive (Tx-Rx) beam pair if downlink control signals are used. In this paper, a tracking technique for OFDM-based cellular communication systems with a mmWave link, where an analog beamforer is used at the mobile station (MS) and a digital beamformer is used at the BS, is proposed using an uplink signal. A technique to select a serving BS with the best beam pair is described using the uplink preamble sequence based on Zadoff-Chu sequence and a metrics which can be used to identify parameters such as beam ID (BID), MS ID (MID), and direction-of-arrival (DoA). The effectiveness of the proposed technique is verified via simulation with the spatial channel model (SCM) for a moving MS in mmWave cellular systems.

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.339-339
• /
• 2000

In this parer, a method of measuring the size of defects on the wall and restructing the defect image of 3-dimension is developed based on the tracking algorithm of a camera position which uses the inclination angle of line slit beam for overcoming the difficulty of the corresponding problem identifying the image point in the both image. In the experiments, an algorithm for estimating the horizontal angle of CCD camera is presented and validated by applying it to the measurement of area and length under the variations of both the distance and the angle of CCD camera. And its performance is compared to that of the rotating and mapping method of image which has the Euclidian distance.

• The Journal of Korea Robotics Society
• /
• v.15 no.1
• /
• pp.8-15
• /
• 2020

This research is a case study of underwater object tracking based on real-time recurrent regression networks (Re³). Re³ has the concept of generic object tracking. Because of these characteristics, it is very effective to apply this model to unclear underwater sonar images. The model also an pursues object tracking method, thus it solves the problem of calculating load that may be limited when object detection models are used, unlike the tracking models. The model is also highly intuitive, so it has excellent continuity of tracking even if the object being tracked temporarily becomes partially occluded or faded. There are 4 types of the dataset using multi-beam sonar images: including (a) dummy object floated at the testbed; (b) dummy object settled at the bottom of the sea; (c) tire object settled at the bottom of the testbed; (d) multi-objects settled at the bottom of the testbed. For this study, the experiments were conducted to obtain underwater sonar images from the sea and underwater testbed, and the validity of using noisy underwater sonar images was tested to be able to track objects robustly.

• Journal of Advanced Navigation Technology
• /
• v.24 no.5
• /
• pp.393-407
• /
• 2020

In order to reduce the threat by illegal unmanned aerial vehicles, a tracking system based on sound was implemented. There are three main points to the drone acoustic tracking method. First, it scans the space through variable beam formation to find a sound source and records the sound using a microphone array. Second, it classifies it into a hidden Markov model (HMM) to find out whether the sound source exists or not, and finally, the sound source is In the case of a drone, a sound source recorded and stored as a tracking reference signal based on an adaptive beam pattern is used. The simulation was performed in both the ideal condition without background noise and interference sound and the non-ideal condition with background noise and interference sound, and evaluated the tracking performance of illegal drones. The drone tracking system designed the criteria for determining the presence or absence of a drone according to the improvement of the search distance performance according to the microphone array performance and the degree of sound pattern matching, and reflected in the design of the speech reading circuit.

• Journal of IKEEE
• /
• v.26 no.1
• /
• pp.137-140
• /
• 2022

In this paper, we proposed a new W-band monopulse tracking system based on reflectarray antenna structure. The proposed reflectarray antenna monopulse tracking system consists of four feed horn antennas and a planar reflector using a microstrip reflectarray. The four feed horn antennas have a gain of 10 dBi and a half-power beam-width of 56 degrees symmetrically in the E/H plane. It was confirmed that the reflectarray antenna using one feed horn antenna has a size of 41.8 × 41.8 mm², a gain of 26.8 dBi, and a half-power beam-width of about 5.6 degrees. The reflectarray monopulse tracking system using 4 feeding horn antennas is well matched from 75 GHz to 90 GHz, and the isolation is secured by more than 10 dB. Finally, the proposed system shows the tracking range of 5.98 degrees and the tracking error range was 0.02 degrees.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.53 no.11
• /
• pp.89-96
• /
• 2016

The performance of anti-submarine sonar detection is required to improve by the development of submarine noise reduction technology. because of the need of an anti-submarine detection ability, known for superior beamforming performance, adaptive beamforming algorithms have been considered as an alternative beamforming algorithm of a conventional beamforming algorithm. In order to achieve improved performance by applying an adaptive beamforming algorithm to the sonar system, the adaptive beamforming algorithm applicability of system must be verified, To do this, the performance index for the system applicability must be established. In this paper, a tracking initiation probability of the adaptive beamforming algorithm and the conventional beamforming algorithm was calculated and the performance of both techniques was quantified, a system applicability of the adaptive beamforming algorithm was reviewed.