• Journal of the Korean Institute of Intelligent Systems
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• 제22권2호
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• pp.198-204
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• 2012

Tracking and recognition of robots are required for the cooperation task of robots in various environments. In the paper, a tracking control system of moving robot using stereo image processing, code-book model and fuzzy controller is proposed. First, foreground and background images are separated by using code-book model method. A candidate region is selected based on the color information in the separated foreground image and real distance of the robot is estimated from matching process of depth image that is acquired through stereo image processing. The open and close processing of image are applied and labeling according to the size of mobile robot is used to recognize the moving robot effectively. A fuzzy tracking controller using distance information and mobile information by stereo image processing is designed for effective tracking according to the movement velocity of the target robot. The proposed fuzzy tracking control method is verified through tracking experiments of mobile robots with stereo camera.

• The Journal of the Korea institute of electronic communication sciences
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• 제6권5호
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• pp.765-773
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• 2011

This paper proposes a control method for a differential robot to track and follow a moving object based on ultrasonic sensor. To track a target object, the method uses a transmitter and two receivers to get distances from the object. The method derives translational and rotational error by the distances and then it uses the errors to calculate control values based on PID control method. The control values are used to control the robot to follow moving object. The authors do some experimentations to analyze some characteristics such as influence of PID gain, influence of translational and rotational gain. This method not only can be applied for following moving object problem but also can be done group unit control problems.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• 제13권5호
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• pp.377-388
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• 2020

In this paper, the autonomous mobile robot whit only LRF sensors proposes an algorithm for avoiding moving obstacles in an environment where a global map containing fixed obstacles. First of all, in oder to avoid moving obstacles, moving obstacles are extracted using LRF distance sensor data and a global map. An ellipse-shaped safety radius is created using the sum of relative vector components between the extracted moving obstacles and of the autonomuos mobile robot. Considering the created safety radius, the autonomous mobile robot can avoid moving obstacles and reach the destination. To verify the proposed algorithm, use quantitative analysis methods to compare and analyze with existing algorithms. The analysis method compares the length and run time of the proposed algorithm with the length of the path of the existing algorithm based on the absence of a moving obstacle. The proposed algorithm can be avoided by taking into account the relative speed and direction of the moving obstacle, so both the route and the driving time show higher performance than the existing algorithm.

• Geomechanics and Engineering
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• 제32권5호
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• pp.483-494
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• 2023

High-speed trains became common nowadays due to the need for fast and safe mean to transport goods and people. However, the use of high-speed trains necessitates the examination of the critical speed, which is the train speed at which the maximum settlement of the railway track occurs. The critical speed and railway track settlement have been investigated considering only one train in previous studies. However, it is normal to have two adjacent trains moving at the same time. This paper aims to understand how the interference of two moving trains affects the settlement and critical speed of ballasted railway track. Calibrated three-dimensional finite element models of railway track subjected to one moving train and two moving trains have been developed to address the aim of the study. It is found that the interference dramatically increases the railway track settlement with a percentage increase ranges between 5 and 100%. It is also found that the percentage increase of the railway track settlement depends on the train speed and the distance between the moving trains. In addition, it is found that the thickness of the ballast layer and the stiffness of the subgrade have minor influence on the percentage increase of the settlement. Importantly, the results of this paper illustrate the importance of the interference of the moving trains on the dynamic response of the railway track. Thus, there is a need to consider the dynamic interaction between the adjacent moving trains in the design of railway track foundation.

• Journal of the Korean Society for Precision Engineering
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• 제22권9호
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• pp.69-76
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• 2005

The laser interferometer system such as HP5529A is one of the most powerful equipment fur measurement of the straightness error in precision stages. The straightness measurement system, HP5529A is composed of a Wollaston prism and a reflector. In this system, the straightness error is defined as relative lateral motion change between the prism and the reflector and computed from optical path difference of two polarized laser beams between these optics. However, rotating motion of the prism or the reflector used as a moving optic causes unwanted straightness error. In this paper, a compensation method is proposed for removing the unwanted straightness error generated by rotating the moving optic and an experiment is carried out for theoretical verification. The result shows that the unwanted straightness error becomes very large when the reflector is used as the moving optic and the distance between the reflector and the prism is far. Therefore, the prism must be generally used as the moving optic instead of the reflector so as to reduce the measurement error. Nevertheless, the measurement error must be compensated because it's not a negligible error if a rotating angle of the prism is large. In case the reflector must be used as the moving optic, which is unavoidable when the squareness error is measured between two axes, this compensation method can be applied and produces a better result.

• Journal of Institute of Control, Robotics and Systems
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• 제7권9호
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• pp.741-748
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• 2001

In this paper, we propose a method of tracking and capturing a moving object by a mobile robot. The position of the moving object is acquired from the relation through color-based image information from a 2-DOF active camera mounted on the mobile robot. The direction and rotational angular velocity of the moving object are estimated using a state estimator. A Kalman fiber is used as the state estimator for taking characteristics of robustness against noises and uncertainties included in the input data. After estimating the trajectory of the moving object, we decide on the optimal trajectory and plan the motion of the mobile robot to capture the target object within the shortest distance and time. The effectiveness of the proposed method is demonstrated by the simulations and experiments.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• 제18권1호
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• pp.44-51
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• 2004

Fractal-space multiplexing using a moving window(MW) can multiplex holograms by moving a window left and right. and up and down. But, crosstalk occurs by two neighboring moving windows in the vertical direction of the holographic memory system and limits high-density information recording. Accordingly, we analyzed the crosstalk with the focal length of lens, the distance of MW, and the number of multiplexed hologram to record high-density infromation and presented the optical experimental results of fractal-space multiplexing using volumetric photorefractive crystal and disc type photopolymer.

• Journal of Advanced Navigation Technology
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• 제2권2호
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• pp.107-115
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• 1998

In this paper, we propose a robust moving object tracking(MOT) method based on motion energy and prediction. MOT consists of two steps: moving object extraction step(MOES) and moving object tracking step(MOTS). For MOES, we use improved motion energy method. For MOTS, we predict the next location of moving object based on distance and direction information among previous instances, so that we can reduce the search space for correspondence. We apply the method to both synthetic and real world sequences and find that the method works well even in the presence of occlusion and disocclusion.

• The Journal of Information Systems
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• 제19권1호
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• pp.1-17
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• 2010

This paper proposes an updating policy of indoor moving object databases (IMODB) for location-based services. our method applies the Ka1man filter on the recently collected measured positions to estimate the moving object's position and velocity at the moment of the most recent measurement, and extrapolate the current position with the estimated position and velocity. If the distance between the extrapolated current position and the measured current position is within the threshold, in other words if they are close then we skip updating the IMODB. When the IMODB needs to know the moving object's position at a certain moment T, it applies the Kalman filter on the series of the measurements received before T and extrapolates the position at T with the estimations obtained by the Kalman filter. In order to verify the efficiency of our updating method, we performed the experiments of applying our method on the series of measured positions obtained by applying the fingerprinting indoor positioning method while we are actually walking through the test bed. In the analysis of the test results, we estimated the communication saving rate of our method and the error increment rate caused by the communication saving.

• Journal of the Korean Society for Aviation and Aeronautics
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• 제14권4호
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• pp.1-10
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• 2006

A computational study was carried out in order to investigate the ground effect of a circular cylinder in the presence of a moving wall at a Reynolds number of 2.0${\times}$104. The viscous-incompressible Navier-Stokes equations and Spalart-Allmaras turbulent model of the commercial CFD code were adopted for this numerical analysis. The moving wall was set parallel with the freestream, and the speed of motion was equal to the freestream velocity. The gap ratio is defined as the distance ratio between the circular cylinder diameter and the height from the moving wall. The numerical results show that there are the differences among the each of the stages in evidence of the vorticity contours and the polar diagrams of $C_l$ vs. $C_d$. The 4 stages of the gap ratio are defined according to the flow features, whose stages are divided into small, intermediate, large and convergence gap ratios, respectively.