• Smart Structures and Systems
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• v.17 no.6
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• pp.935-956
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• 2016

With the help of advanced image acquisition and processing technology, the vision-based measurement methods have been broadly applied to implement the structural monitoring and condition identification of civil engineering structures. Many noncontact approaches enabled by different digital image processing algorithms are developed to overcome the problems in conventional structural dynamic displacement measurement. This paper presents three kinds of image processing algorithms for structural dynamic displacement measurement, i.e., the grayscale pattern matching (GPM) algorithm, the color pattern matching (CPM) algorithm, and the mean shift tracking (MST) algorithm. A vision-based system programmed with the three image processing algorithms is developed for multi-point structural dynamic displacement measurement. The dynamic displacement time histories of multiple vision points are simultaneously measured by the vision-based system and the magnetostrictive displacement sensor (MDS) during the laboratory shaking table tests of a three-story steel frame model. The comparative analysis results indicate that the developed vision-based system exhibits excellent performance in structural dynamic displacement measurement by use of the three different image processing algorithms. The field application experiments are also carried out on an arch bridge for the measurement of displacement influence lines during the loading tests to validate the effectiveness of the vision-based system.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.632-635
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• 2003

This paper describes a system fur tracking multiple faces in an input video sequence using facial convex hull based facial segmentation and robust hausdorff distance. The algorithm adapts skin color reference map in YCbCr color space and hair color reference map in RGB color space for classifying face region. Then, we obtain an initial face model with preprocessing and convex hull. For tracking, this algorithm computes displacement of the point set between frames using a robust hausdorff distance and the best possible displacement is selected. Finally, the initial face model is updated using the displacement. We provide an example to illustrate the proposed tracking algorithm, which efficiently tracks rotating and zooming faces as well as existing multiple faces in video sequences obtained from CCD camera.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.3 no.1
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• pp.87-92
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• 2003

This paper describes a system for tracking multiple faces in an input video sequence using facial convex hull based facial segmentation and robust hausdorff distance. The algorithm adapts skin color reference map in YCbCr color space and hair color reference map in RGB color space for classifying face region. Then, we obtain an initial face model with preprocessing and convex hull. For tracking, this algorithm computes displacement of the point set between frames using a robust hausdorff distance and the best possible displacement is selected. Finally, the initial face model is updated using the displacement. We provide an example to illustrate the proposed tracking algorithm, which efficiently tracks rotating and zooming faces as well as existing multiple faces in video sequences obtained from CCD camera.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.680-684
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• 1996

Welding systems cannot adapt to changes in the joint geometry which may occur due to a variety of reason. Automatic seam tracking technigue is essential to adjust the welding torch position in real time as it moves along the seam. Automatic tracking system must keep the welding speed constant unrelation to the change of the welding path. Therefore, the information from the laser displacement sensor must be converted into the input to operate the X-Y table and to rotate the desired torch position by proposed algorithm. In this research, laser displacement sensor is used as a seam finder in the automatic tracking system. X-Y moving table manipulated by ac servo motor controls the position and velocity of the torch-and-sensor part. DC motor controls the position and velocity of the torch. X-Y table controls the position of sensor and relative position of torch is controlled by dc motor which is mounted at sensor-and-torch part. Sensor is always ahead of torch to preview the weld line. From the experimental results, we could see the possiblity that the laser displacement sensor can be used as a seam finder in welding process and that the seam tracking system controlled by proposed algorithm is well done.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.5
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• pp.507-512
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• 2007

This paper presents a tracking filter with ship's motion compensation for a ship-borne radar tracking system. The ship's maneuver is described by displacement and rotational motions in the ship-centered east-north frame. The first order Taylor series approximation of the measurement error covariance of the converted measurement is derived in the ship-centered east-north frame. The ship's maneuver is compensated by incorporating the measurement error covariance of the converted measurement and displacement of the position state in the tracking filter. The simulation results via 500 Monte-Carlo runs show that the proposed method follows the target successfully and provides consistent tracking performance during ship's maneuvers while the conventional tracking filter without ship motion compensation fails to track during such periods.

• International Journal of Korean Welding Society
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• v.2 no.2
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• pp.51-56
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• 2002

The weld seam tracking system for arc welding process uses various kinds of sensors such as arc sensor, vision sensor, laser displacement sensor and so on. Among the variety of sensors available, electro-magnetic sensor is one of the most useful methods especially in sheet metal butt-joint arc welding, primarily because it is hardly affected by the intense arc light and fume generated during the welding process, and also by the surface condition of weldments. In this study, a dual-electromagnetic sensor, which utilizes the induced current variation in the sensing coil due to the eddy current variation of the metal near the sensor, was developed for arc welding of sheet metal I-butt joints. The dual-electromagnetic sensor thus detects the offset displacement of weld line from the center of sensor head even though there's no clearance in the joint. A set of design variables of the sensor was determined far the maximum sensing capability through the repeated experiments. Seam tracking is performed by correcting the position of sensor to the amount of offset displacement every sampling period. From the experimental results, the developed sensor showed the excellent capability of weld seam detection when the sensor to workpiece distance is near less than 5 ㎜, and it was revealed that the system has excellent seam tracking ability for the I-butt joint of sheet metal.

• Smart Structures and Systems
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• v.18 no.1
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• pp.139-154
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• 2016

This paper is concerned with the dynamics of hyperelastic solids and structures. We seek for a smart control actuation that produces a desired (prescribed) displacement field in the presence of transient imposed forces. In the literature, this problem is denoted as displacement tracking, or also as shape morphing problem. One talks about shape control, when the displacements to be tracked do vanish. In the present paper, it is assumed that the control actuation is provided by imposed eigenstrains, e.g., by the electric field in piezoelectric actuators, or by thermal actuators, or via analogous physical effects, such as magneto-striction or pre-stress. Structures with a controlled eigenstrain-type actuation belong to the class of smart structures. The action of the eigenstrains can be conveniently characterized by actuation stresses. Our theoretical derivations are performed in the framework of the theory of small incremental dynamic deformations superimposed upon a statically pre-deformed configuration of a hyperelastic solid or structure. We particularly ask for a distribution of incremental actuation stresses, such that the incremental displacements follow exactly a prescribed trajectory field, despite the imposed incremental forces are present. An exact solution of this problem is presented under the assumption that the actuation stresses can be tailored freely and applied everywhere within the body. Extending a Neumann-type solution strategy, it is shown that the actuation stresses due to the distributed control eigenstrains must satisfy certain quasi-static equilibrium conditions, where auxiliary body-forces and auxiliary surface tractions are to be taken into account. The latter auxiliary loading can be directly computed from the imposed forces and from the desired displacement field to be tracked. Hence, despite the problem is a dynamic one, a straightforward computation of proper actuator distributions can be obtained in the framework of quasi-static equilibrium conditions. Necessary conditions for the functioning of this concept are presented. Particularly, it must be required that the intermediate configuration is infinitesimally superstable. Previous results of our group for the case of shape control and displacement tracking in linear elastic structures are included as special cases. The high potential of the solution is demonstrated via Finite Element computations for an irregularly shaped four-corner plate in a state of plain strain.

• Proceedings of the KIEE Conference
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• 2001.11c
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• pp.438-441
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• 2001

This paper describes a system for tracking a face in a input video sequence using facial convex hull based facial segmentation and a robust hausdorff distance. The algorithm adapts YCbCr color model for classifying face region by [l]. Then, we obtain an initial face model with preprocessing and convex hull. For tracking, a Robust Hausdorff distance is computed and the best possible displacement is selected. Finally, the previous face model is updated using the displacement t. It is robust to some noises and outliers. We provide an example to illustrate the proposed tracking algorithm in video sequences obtained from CCD camera.

• Transactions of The Korea Fluid Power Systems Society
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• v.5 no.4
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• pp.26-31
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• 2008

This paper deals with the issue of position tracking control of a clamp-cylinder for injection moulding machine with electric-hydrostatic drives. A fixed displacement pump is utilized in combination with AC motor in order to directly control a clamp-cylinder. A clamp-cylinder may be required to operate under a variety of operating conditions. Therefore, robust control performance is important in position tracking control applications. In order to accommodate mismatches between the real plant and the model used for controller design, discrete-time sliding mode control is developed by combining a velocity feedforward loop. From tracking control experiments, it is shown that significant reduction in position tracking error is achieved through the use of sliding mode control.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.8
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• pp.2062-2072
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• 1994

This paper presents the development of a fuzzy controller for driving camera pan/tilt device so that the camera's viewing direction can automatically track a moving object. To achieve computational efficiency a non-contact type displacement follower is used as a feedback sensor instead of a vision camera. The displacement follower, however, is extremely sensitive to object's lighting condition and results in unstable response at high speed. To this end, a fuzzy controller is developed in such a way to provide stable tracking performance at high speed where the sensory signal is subjected to intermittant disturbances of large magnitude. The test result shows stable tracking response even for high speed and non-uniform lighting condition. The resulting camera autotracking system can be adopted as an effective tool for visual transfer in the context of teleoperation and autonomous robotics.