• The KIPS Transactions:PartB
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• v.9B no.3
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• pp.359-368
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• 2002

In this paper, we propose effective boundary line extraction algorithm for moving objects by matching error image and moving vectors, and fast tracking algorithm for moving object by partial boundary lines. We extracted boundary line for moving object by generating seeds with probability distribution function based on Watershed algorithm, and by extracting boundary line for moving objects through extending seeds, and then by using moving vectors. We processed tracking algorithm for moving object by using a part of boundary lines as features. We set up a part of every-direction boundary line for moving object as the initial feature vectors for moving objects. Then, we tracked moving object within current frames by using feature vector for the previous frames. As the result of the simulation for tracking moving object on the real images, we found that tracking processing of the proposed algorithm was simple due to tracking boundary line only for moving object as a feature, in contrast to the traditional tracking algorithm for active contour line that have varying processing cost with the length of boundary line. The operations was reduced about 39% as contrasted with the full search BMA. Tracking error was less than 4 pixel when the feature vector was $(15\times{5)}$ through the information of every-direction boundary line. The proposed algorithm just needed 200 times of search operation.

• International Journal of Control, Automation, and Systems
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• v.6 no.5
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• pp.702-712
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• 2008

This paper presents a novel approach for controlling electrically driven robot manipulators based on voltage control. The voltage-based control is preferred comparing to torque-based control. This approach is robust in the presence of manipulator uncertainties since it is free of the manipulator model. The control law is very simple, fast response, efficient, robust, and can be used for high-speed tracking purposes. The feedback linearization is applied on the electrical equations of the dc motors to cancel the current terms which transfer all manipulator dynamics to the electrical circuit of motor. The control system is simulated for position control of the PUMA 560 robot driven by permanent magnet dc motors.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.346-349
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• 1995

In this paperwe develop a real-time simulator for direct drive cooperative robot by using OpenGL in a Windows NT based system. This simulator is composed of 2 parts, a display part and an interface part. In the display part the robot is modelled and rendered in 3D space. To do this OpenGL, a kind of graphic library, is used for rendering and animating robots and kinematics gives the information of the current robot configuration. The control and the feedback data are sent and received via the interface part. In real time simulation interfacing part needs fast data transfer rate and good nosic immunity. In experiment we have simulated 2-link direct drive cooperative robots using the trajectory tracking algorithm proposed in reference.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.660-665
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• 1993

Neural networks are used in the framework of sensorbased tracking control of robot manipulators. They learn by practice movements the relationship between PSD ( an analog Position Sensitive Detector) sensor readings for target positions and the joint commands to reach them. Using this configuration, the system can track or follow a moving or stationary object in real time. Furthermore, an efficient neural network architecture has been developed for real time learning. This network uses multiple sets of simple backpropagation networks one of which is selected according to which division (corresponding to a cluster of the self-organizing feature map) in data space the current input data belongs to. This lends itself to a very fast training and processing implementation required for real time control.

• Journal of Electrical Engineering and Technology
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• v.5 no.1
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• pp.28-35
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• 2010

This paper presents new Adaptive Linear Combination Structure (ADALINE) for tracking/estimating voltage-current phasor and frequency of power system. To estimate the phasors and frequency from sampled data, the algorithm assumes that orthogonal coefficients and speed of angular frequency of power system are unknown parameters. With adequate sampled data, the estimation problem can be considered as a linear weighted least squares (LMS) problem. In addition to determining the phasors (orthogonal coefficients), the procedure estimates the power system frequency. The main algorithm is verified through a computer simulation and data from field. The proposed algorithm is tested with transient and dynamic behaviors during power swing, a step change of frequency upon islanding of small generators and disconnection of load. The algorithm shows a very high accuracy, robustness, fast response time and adaptive performance over a wide range of frequency, from 10 to 2000 Hz.

• Journal of Integrative Natural Science
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• v.15 no.3
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• pp.99-110
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• 2022

Solar photovoltaic (PV) system shows a non-linear current (I) -voltage (V) characteristics, which depends on the surrounding environment factors, such as irradiance, temperature, and the wind. Solar PV system, with current (I) - voltage (V) and power (P) - Voltage (V) characteristics, specifies a unique operating point at where the possible maximum power point (MPP) is delivered. At the MPP, the PV array operates at maximum power efficiency. In order to continuously harvest maximum power at any point of time from solar PV modules, a good MPPT algorithms need to be employed. Currently, due to its simplicity and easy implementation, Perturb and Observe (P&O) algorithms are the most commonly used MPPT control method in the PV systems but it has a drawback at suddenly varying environment situations, due to constant step size. In this paper, to overcome the difficulties of the fast changing environment and suddenly changing the power of PV array due to constant step size in the P&O algorithm, least mean Square (LMS) methods is proposed together with P&O MPPT algorithm which is superior to traditional P&O MPPT. PV output power is predicted using LMS method to improve the tracking speed and deduce the possibility of misjudgment of increasing and decreasing the PV output. Simulation results shows that the proposed MPPT technique can track the MPP accurately as well as its dynamic response is very fast in response to the change of environmental parameters in comparison with the conventional P&O MPPT algorithm, and improves system performance.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.6
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• pp.35-41
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• 2007

We proposed an eye gaze tracking system under natural head movements. The system consists of one CCD(charge-coupled device) camera and two front-surface mirrors. The mirrors rotate to follow head movements in order to keep the eye within the view of the camera. However, the mirror controller cannot guarantee the fast head movements, because the frame rate is generally 30Hz. To overcome this problem, we applied Kalman filter to estimate next eye position from the current eye image. In the results, our system allowed the subjects head to move 60cm horizontally and 40cm vertically, with the head movement speed about 55cm/sec and 45cm/sec, respectively. And spatial gate resolutions were about 4.5 degree and 5.0 degree, respectively, and the gaze estimation accuracy was 92% under natural head movements.

• Journal of KIISE:Software and Applications
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• v.36 no.11
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• pp.901-911
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• 2009

In this paper, we propose a construction technique of two-level composite gradient map to automatically track a face with large movement in successive frames. Our method is composed of three main steps. First, the gradient maps with two-level resolution are generated for fast convergence of active contour. Second, to recognize the variations of face between successive frames and remove the neighbor background, weighted composite gradient map is generated by combining the composite gradient map and difference mask of previous and current frames. Third, to prevent active contour from converging local minima, the energy slope is generated by using closing operation. In addition, the fast closing operation is proposed to accelerate the processing time of closing operation. For performance evaluation, we compare our method with previous active contour model-based face tracking methods using a visual inspection, robustness test and processing time. Experimental results show that our method can effectively track the face with large movement and robustly converge to the optimal position even in frames with complicated background.

• Journal of Advanced Navigation Technology
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• v.25 no.3
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• pp.217-222
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• 2021

EOTS(Electro-Optical Tracking System) is utilized in acquiring visual information to assess a guided missile's performance. As the missile travels so fast, it is almost impossible for operator to re-capture the lost target. The RADAR or telemetry data are used to re-capture the lost target however facilities to receive real time data is required, which constrains selection of tracking site. Unlike aforementioned data, pre-calculated nominal trajectory can be used without communication facility. This paper proposes a method to predict lost target's state by employing nominal trajectory. Firstly, observed trajectory and nominal trajectory are compared using DTW and current target's state is predicted. The predicted state is used as observation in Kalman filter's correction phase to predict target's next state. The plausibility of the proposed method is verified by applying on actual missile trajectory.

• Journal of Electrical Engineering and Technology
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• v.10 no.2
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• pp.529-538
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• 2015

Due to the high efficiency and compact mechanical structure, direct drive variable speed generators are used for power conversion in wind turbines. The wind energy conversion system (WECS) considered in this paper consists of a permanent magnet synchronous generator (PMSG), uncontrolled rectifier, dc-dc boost converter controlled with maximum power point tracking (MPPT) and adaptive hysteresis controlled voltage source inverter (VSI). For high utilization of the converter's power capability and stabilizing voltage and power flow, constant DC-link voltage is essential. Step and search MPPT algorithm which senses the rectified voltage ($V_{DC}$) alone and controls the same is used to effectively maximize the output power. The adaptive hysteresis band current control is characterized by fast dynamic response and constant switching frequency. With MPPT and adaptive hysteresis band current control in VSI, the DC link voltage is maintained constant under variable wind speeds and transient grid currents respectively.