• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1179-1184
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• 2007

An unmaned surveillance robot consists of rifle, laser receiver, thermal imager, color CCD camera, and laser illuminator. A human guard can be replaced with such a robot to take care dangerous surveillance tasks. Currently most of surveillance robots are mounded at a fixed post to take care of surveillance tasks. In order to watch blind areas, it is necessary to modify such a surveillance robot to become a mobile robot. In this paper, simulation based design procedure of mobile surveillance robot has been introduced. 3D CAD geometry model has been produced using Pro-Engineer. Required pen and tilt motor capacities have been analyzed using ADAMS inverse dynamics analysis. A target tracking and stabilization control algorithm of the mobile surveillance robot has been developed in order to stabilize the system from the motion of the vehicle which experiences the rough terrain. ADAMS-Matlab co-simulation has been also carried out to validate the proposed target tracking and stabilization algorithm.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.38 no.6
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• pp.1-8
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• 2001

Recently, Ryu et al. proposed a multiple target angle tracking algorithm using the angular innovation extracted from the estimated signal subspace. This algorithm obtains the angles of targets and associates data simultaneously. Therefore, it has a simple structure without data association problem. However it requires the calculation of the inverse of a real matrix with dimension (2N+1)${\times}$(2N+1) to obtain the angular innovations of N targets. In this paper, a new linear equation for angular innovation is proposed using the fact that the projection error is zero when the target steering vector is projected onto the signal subspace. As a result, the proposed algorithm dose not require the matrix inversion and is computationally efficient.

• Structural Engineering and Mechanics
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• v.30 no.6
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• pp.679-698
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• 2008

On marine vessels, delicate instruments such as navigation radars are normally mounted on ship masts. However the vibrations at the top of mast where the radar is mounted often cause serious deterioration in radar-tracking resolution. The most serious problem is caused by the rotational vibrations at the top of mast that may be due to wind loading, inertial loading from ship rolling and base excitations induced by the running propeller. This paper presents a method of semi-active vibration control using magneto-rheological (MR) dampers to reduce the rotational vibration of the mast. In the study, the classical optimal control algorithm, the independent modal space control algorithm and the double input - single output fuzzy control algorithm are employed for the vibration control. As the phenomenological model of an MR damper is highly nonlinear, which is difficult to analyse, a back- propagation neural network is trained to emulate the inverse dynamic characteristics of the MR damper in the analysis. The trained neural network gives the required voltage for each MR damper based on the displacement, velocity and control force of the MR damper quickly. Numerical simulations show that the proposed control methods can effectively suppress the rotational vibrations at the top of mast.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.13 no.2
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• pp.55-62
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• 1999

In order to perform a elaborate task like as assembly, manufacturing and so forth of components, tracking control on the trajectory of power coming in contact with a target as well as tracking control on the movement course trajectory of end-effector is indispensable. In this paper, to bring under robust ard accurate control of auto-equipnent systems which disturbance, parameter alteration of system, uncertainty ard so forth exist, neural network controller called dynamic neural processor(DNP) is designed. Also, the learning architecture to compute inverse kinematic coordinates transfonnations in the manirclator of auto-equipnent systems is developed ard the example that DNP can be used is explained The architocture and learning algorithm of the proposed dynamic neural network, the DNP, are described and computer simllations are provided to demonstrate the effectiveness of the proposed learning method using the DNP.he DNP.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.9 no.6
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• pp.1574-1580
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• 2008

In this paper, to bring under robust and accurate control of auto-equipment systems which disturbance, parameter alteration of system, uncertainty and so forth exist, neural network controller called dynamic neural processor(DNP) is designed In order to perform a elaborate task like as assembly, manufacturing and so forth of components, tracking control on the trajectory of power coming in contact with a target as well as tracking control on the movement course trajectory of end-effector is indispensable. Also, the learning architecture to compute inverse kinematic coordinates transformations in the Plants of auto-equipment systems is developed and the example that DNP can be used is explained. The architecture and learning algorithm of the proposed dynamic neural network, the DNP, are described and computer simulations are provided to demonstrate the effectiveness of the proposed learning method using the DNP.

• Journal of Intelligence and Information Systems
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• v.8 no.2
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• pp.1-13
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• 2002

In this paper, we propose an object tracking system which can be convinced of moving area shaped on objects through color sequential images, decided moving directions of foot messengers or vehicles of image sequences. In static camera, we suggests a new evaluating method extracting co-occurrence matrix with feature vectors of RGB after analyzing and blocking difference images, which is accessed to field of camera view for motion. They are energy, entropy, contrast, maximum probability, inverse difference moment, and correlation of RGB color vectors. we describe how to analyze and compute corresponding relations of objects between adjacent frames. In the clustering, we apply an algorithm of FCM(fuzzy c means) to analyze matching and clustering problems of adjacent frames of the featured vectors, energy and entropy, gotten from previous phase. In the matching phase, we also propose a method to know correspondence relation that can track motion each objects by clustering with similar area, compute object centers and cluster around them in case of same objects based on membership function of motion area of adjacent frames.

• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.2001-2002
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• 2006

시각센서로부터 가까운 물체들을 다루게 되는 경우 원근효과를 통해 로봇주변의 물체들을 인지하게 된다. 영역추적기법은 컴퓨터비전에서 가장 널리 사용되는 기술 중 하나이며, 실시간 추적을 위해 많은 효율적 추적기법들이 개발되어 왔다. Hager와 Belhumeur는 Kanade 추적기를 수정한 효율적인 Hager-Belhumeur 알고리즘을 제안하였으며, 어파인(affine) 움직임까지 추적가능함을 보였다. 본 연구에서는 Hager-Belhumeur 알고리즘을 원근 움직임에 적용할 수 있도록 확장하였으며, 기존의 원근 움직임 영역추적기법들과 수렴테스트를 통해 성능비교를 하였으며, 실시간 추적을 수행하였다.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.392-395
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• 1995

This paper presents a time efficient method for determining a sequence of locations of a mobile manipulator that facilitates tracking of continuous path in cluttered environment. Given the task trajectory in the form of octree data structure, the algorithm performs characterization of task space and subsequent multistage optimization process to determine task feasible locations of the robot. Firstly, the collision free portion of the trajectory is determined and classified according to uniqueness domains of the inverse kinematics solutions. Then by implementing the extent of task feasible subspace into an optimization criteria, a multistage optimization problem is formulated to determines the task feasible locations of the mobile manipulator. The effectiveness of the proposed method is shown through a simulation study performed for a 3-d.o.f. manipulator with generic kinematic structure.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.10a
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• pp.266-272
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• 1994

An essential ingredient in precision machining is a positioning system that responds quickly and precisely to very small input signal. In this paper, two different positioning systems were presented fot the precision positioning control. The one is a friction drive system, the other is a ballscrew system. The friction drive system was composed of an air sliding guide and a friction drive. The ballscrew system was made of a ballscrew and a linear guide. Nonlinear behaviors of the given systems tend to make the system inaccurate. The paper looked at the phenomena that has caused the positioning error. These apparently nonlinear phenomena can be attributed mainly to the presence of the nonlinear friction and slip effect plus the dynamic change from the microdynamic to the macrodynamic and form the macrodynamic to the microdynamic. For the control of the positioning system, the control algorithm based on a neural network is suggested. The FEL(Feedback Error Learning) controller can learn the inverse dynamics of a nonlinear system by using the neural network controller, and stabilize the system by a linear controller. In the experiment, PTP control is implemented withen the maximum error of 0.05 .mu.m ~0.1 .mu. m when i .mu.m step reference input is applied and that of maximum 1 .mu. m when 100 .mu.m step reference input is given. Sinusoidal inputs with the amplitude of 1 .mu.m and 100 .mu. m are used for the tracking control of the positioning system. Experimental results of the proposed algorithm are shown to be superior to those of conventional PD controls.

• Journal of Service Research and Studies
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• v.5 no.2
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• pp.71-81
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• 2015

The RSA public key encryption algorithm, a few, key generation, factoring, the Euler function, key setup, a joint expression law, the application process are serial indexes. The foundation of such algorithms are mathematical principles. The first concept from mathematics principle is applied from how to obtain a minority. It is to obtain a product of two very large prime numbers, but readily tracking station the original two prime number, the product are used in a very hard principles. If a very large prime numbers p and q to obtain, then the product is the two $n=p{\times}q$ easy station, a method for tracking the number of p and q from n synthesis and it is substantially impossible. The RSA encryption algorithm, the number of digits in order to implement the inverse calculation is difficult mathematical one-way function and uses the integer factorization problem of a large amount. Factoring the concept of the calculation of the mod is difficult to use in addition to the problem in the reverse direction. But the interests of the encryption algorithm implementation usually are focused on introducing the film the first time you use encryption algorithm but we have to know how to go through some process applied to the field work This study presents a field force applied encryption process scheme based on public key algorithms attribute diagnosis.