• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.7
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• pp.629-635
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• 2016

This paper presents a method for predicting and tracking the irregular motion of bio-systems, - such as petals of flowers, butterflies or seeds of dandelion - based on the particle filtering theory. In bio-inspired system design, the ability to predict the dynamic motion of particles through adequate, experimentally verified models is important. The modeling of petal particle systems falling in air was carried out using the Bayesian probability rule. The experimental results show that the suggested method has good predictive power in the case of random disturbances induced by the turbulence of air.

• Journal of Communications and Networks
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• v.5 no.1
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• pp.33-42
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• 2003

In this paper a two-stage maximum-likelihood (ML) detection structure for group detection in DS/CDMA systems is presented. The first stage of the receiver is a linear filter, aimed at suppressing the effect of the unwanted (i.e., out-of-grout) users' signals, while the second stage is a non-linear block, implementing a ML detection rule on the set of desired users signals. As to the linear stage, we consider both the decorrelating and the minimum mean square error approaches. Interestingly, the proposed detection structure turns out to be a generalization of Varanasi's group detector, to which it reduces when the system is synchronous, the signatures are linerly independent and the first stage of the receiver is a decorrelator. The issue of blind adaptive receiver implementation is also considered, and implementations of the proposed receiver based on the LMS algorithm, the RLS algorithm and subspace-tracking algorithms are presented. These adaptive receivers do not rely on any knowledge on the out-of group users' signals, and are thus particularly suited for rejection of out-of-cell interference in the base station. Simulation results confirm that the proposed structure achieves very satisfactory performance in comparison with previously derived receivers, as well as that the proposed blind adaptive algorithms achieve satisfactory performance.

• Journal of KIISE:Information Networking
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• v.36 no.6
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• pp.514-527
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• 2009

Wireless sensor networks (WSNs) can be used in various applications for military or environmental purpose. Recently, there are lots of on-going researches for detecting and tracking the spread of continuous objects or phenomena such as poisonous gas, wildfires, earthquakes, and so on. Some previous work has proposed techniques to detect edge nodes of such a continuous object based on the information of all the 1-hop neighbor nodes. In those techniques, however, a number of nodes are redundantly selected as edge nodes, and thus, the boundary of the continuous object cannot be presented accurately. In this paper, we propose a new edge detection method in which edge nodes of the continuous object are detected based on the information of the neighbor nodes obtained via the Localized Delaunay Triangulation so that a minimum number of nodes are selected as edge nodes. We also define the sensor behavior rule for tracking continuous objects energy-efficiently. Our simulation results show that the proposed edge detection method provides enhanced performance compared with previous 1-hop neighbor node based methods. On the average, the accuracy is improved by 29.95% while the number of edge nodes, the amount of communication messages and energy consumption are reduced by 54.43%, 79.36% and 72.34%, respectively. Moreover, the number of edge nodes decreases by 48.38% on the average in our field test with MICAz motes.

• The Journal of Korea Robotics Society
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• v.5 no.2
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• pp.152-159
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• 2010

Finding a head of a person in a scene is very important for taking a well composed picture by a robot photographer because it depends on the position of the head. So in this paper, we propose a robust head tracking algorithm using a hybrid of an omega shape tracker and local binary pattern (LBP) AdaBoost face detector for the robot photographer to take a fine picture automatically. Face detection algorithms have good performance in terms of finding frontal faces, but it is not the same for rotated faces. In addition, when the face is occluded by a hat or hands, it has a hard time finding the face. In order to solve this problem, the omega shape tracker based on active shape model (ASM) is presented. The omega shape tracker is robust to occlusion and illuminationchange. However, whenthe environment is dynamic,such as when people move fast and when there is a complex background, its performance is unsatisfactory. Therefore, a method combining the face detection algorithm and the omega shape tracker by probabilistic method using histograms of oriented gradient (HOG) descriptor is proposed in this paper, in order to robustly find human head. A robot photographer was also implemented to abide by the 'rule of thirds' and to take photos when people smile.

• Journal of Korea Multimedia Society
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• v.12 no.5
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• pp.757-766
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• 2009

This study presents an adaptive hypermedia learning system which can provide individual learning environment using a learner behavioral model. This system proposes a LBML which can manage learners' learning behavioral information by tracking down such information real-time. The system consists of a collecting system of learning behavioral information and an adaptive learning support system. The collecting system of learning behavioral information uses Web 2.0 technologies and collects learners' learning behavioral information real-time based on a SCORM CMI data model. The collected information is stored as LBML instances of individual learners based on a LBML schema. With the adaptive learning support system, a rule-based learning supporting module and an interactive learning supporting module are developed by analysing LBML instances.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.43 no.4 s.310
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• pp.74-86
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• 2006

This paper proposes a robust and computationally efficient algorithm for automatic video object segmentation. For implementing the spatio-temporal segmentation, which aims for efficient combination of the motion segmentation and the color segmentation, an SOM-based hierarchical clustering method in which the segmentation process is regarded as clustering of feature vectors is employed. As results, problems of high computational complexity which required for obtaining exact segmentation results in conventional video object segmentation methods, and the performance degradation due to noise are significantly reduced. A measure of motion vector reliability which employs MRF-based MAP estimation scheme has been introduced to minimize the influence from the motion estimation error. In addition, a noise elimination scheme based on the motion reliability histogram and a clustering validity index for automatically identifying the number of objects in the scene have been applied. A cross projection method for effective object tracking and a dynamic memory to maintain temporal coherency have been introduced as well. A set of experiments has been conducted over several video sequences to evaluate the proposed algorithm, and the efficiency in terms of computational complexity, robustness from noise, and higher segmentation accuracy of the proposed algorithm have been proved.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.999-1004
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• 2005

An algorithm for a hybrid controller consists of a sliding mode control part and a fuzzy logic part which ar purposely for nonlinear systems. The sliding mode part of the solution is based on "eigenvalue/vector"-type controller is used as the backstepping approach for tracking errors. The fuzzy logic part is a Mamdani fuzzy model. This is designed by applying sliding mode control (SMC) method to the dynamic model. The main objective is to keep the update dynamics in a stable region by used SMC. After that the plant behavior is presented to train procedure of adaptive neuro-fuzzy inference systems (ANFIS). ANFIS architecture is determined and the relevant formulation for the approach is given. Using the error (e) and rate of error (de), occur due to the difference between the desired output value (yd) and the actual output value (y) of the system. A dynamic adaptation law is proposed and proved the particularly chosen form of the adaptation strategy. Subsequently VSC creates a sliding mode in the plant behavior while the parameters of the controller are also in a sliding mode (stable trainer). This study considers the ANFIS structure with first order Sugeno model containing nine rules. Bell shaped membership functions with product inference rule are used at the fuzzification level. Finally the Mamdani fuzzy logic which is depends on adaptive neuro-fuzzy inference systems structure designed. At the transferable stage from ANFIS to Mamdani fuzzy model is adjusted for the membership function of the input value (e, de) and the actual output value (y) of the system could be changed to trapezoidal and triangular functions through tuning the parameters of the membership functions and rules base. These help adjust the contributions of both fuzzy control and variable structure control to the entire control value. The application example, control of a mass-damper system is considered. The simulation has been done using MATLAB. Three cases of the controller will be considered: for backstepping sliding-mode controller, for hybrid controller, and for adaptive backstepping sliding-mode controller. A numerical example is simulated to verify the performances of the proposed control strategy, and the simulation results show that the controller designed is more effective than the adaptive backstepping sliding mode controller.