• ALGAE
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• v.34 no.4
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• pp.315-326
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• 2019

Northeastward drifts of massive Sargassum patches were observed in the East China Sea (ECS) and Yellow Sea (YS) by the Geostationary Ocean Color Imager (GOCI) in May 2017. Coverage of the brown macroalgae patches was the largest ever recorded in the ECS and YS. Three-dimensional circulation modeling and Lagrangian particle tracking simulations were conducted to reproduce drifting trajectories of the macroalgae patches. The trajectories of the macroalgae patches were controlled by winds as well as surface currents. A windage (leeway) factor of 1% was chosen based on sensitivity simulations. Southerly winds in May 2017 contributed to farther northward intrusion of the brown macroalgae into the YS. Although satellite observation and numerical modeling have their own limitations and associated uncertainties, the two methods can be combined to find the best estimate of Sargassum patch trajectories. When satellites were unable to capture all patches because of clouds and sea fog in the ECS and YS, the Lagrangian particle tracking model helped to track and restore the missing patches in satellite images. This study suggests that satellite monitoring and numerical modeling are complementary to ensure accurate tracking of macroalgae patches in the ECS and YS.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.30B no.5
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• pp.62-72
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• 1993

The phased array antenna has the ability to perform adaptive sampling by directing the radar beam without inertia in any direction. The adaptive sampling capability of the phased array antenna allows each sampling time interval to be varied for each target, depending on the acceleration of each target at any time. In this paper we design a three dimensional adaptive target tracking algorithm for the phased array radar system with a given set of measurement parameters. The tracking algorithm avoids taking unnecessarily frequent samples, while keeping the angular prediction error within a fraction of antenna beamwidth so that the probability of detection will not be degraded during a track updata illuminations. In our algorithm, the target model and the sampling rate are selected depending on the target range and the target maneuver status which is determined by a maneuver level detector. A detailed simulation is conducted to test the validity of our tracking algorithm for target trajectories under various conditions of maneuver.

• Journal of Electrical Engineering and Technology
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• v.13 no.2
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• pp.969-980
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• 2018

This paper aims to design of the neutrosophic fuzzy-PID controller and it has been compared with the conventional fuzzy-PID controller for position tracking control in terms of robustness. In the neutrosophic fuzzy-PID controller, error (e) and change of error (ce) were assessed separately on two fuzzy inference systems (FISs). In this study, the designed method is different from the conventional fuzzy logic controller design, membership degrees of antecedent variables were determined by using the T(true), I(indeterminacy), and F(false) membership functions. These membership functions are grouped on the universe of discourse with the neutrosophic set approach. These methods were tested on three-dimensional (3-D) position-tracking control application of a spherical robot manipulator in the MATLAB Simulink. In all tests, reference trajectory was defined for movements of all axes of the robot manipulator. According to the results of the study, when the moment of inertia of the rotor is changed, less overshoot ratio and less oscillation are obtained in the neutrosophic fuzzy-PID controller. Thus, our suggested method is seen to be more robust than the fuzzy-PID controllers.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.8
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• pp.781-787
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• 2015

This paper proposes a hybrid visual servoing algorithm for the object tracking by a mobile robot with the stereo camera. The mobile robot with the stereo camera performs an object recognition and object tracking using the SIFT and CAMSHIFT algorithms for the hybrid visual servoing. The CAMSHIFT algorithm using stereo camera images has been used to obtain the three-dimensional position and orientation of the mobile robot. With the hybrid visual servoing, a stable balance control has been realized by a control system which calculates a desired angle of the center of gravity whose location depends on variations of link rotation angles of the manipulator. A PID controller algorithm has adopted in this research for the control of the manipulator since the algorithm is simple to design and it does not require unnecessary complex dynamics. To demonstrate the control performance of the hybrid visual servoing, real experiments are performed using the mobile manipulator system developed for this research.

• Journal of Navigation and Port Research
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• v.26 no.5
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• pp.563-569
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• 2002

To overcome the weaknesses of conventional finite difference model in pollutant dispersion modelling, the particle tracking method is used. In this study, a three dimensional particle tracking model which can be used in Princeton Ocean Model was developed and verified through the various numerical tests. Usability of the model was also confirmed through the ocean outfall modelling in Tampa Bay, Florida. As it is expected, random walk model showed the less dispersion in a range compared to the conventional finite difference model and its reason is estimated due to an error from numerical diffusion which the conventional model holds. This newly developed model is expected to be used in various ocean dispersion modelling.

• ETRI Journal
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• v.45 no.5
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• pp.836-846
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• 2023

Mobile robots are used in modern life; however, object recognition is still insufficient to realize robot navigation in crowded environments. Mobile robots must rapidly and accurately recognize the movements and shapes of pedestrians to navigate safely in pedestrian-rich spaces. This study proposes real-time, accurate, three-dimensional (3D) multi-pedestrian detection and tracking using a 3D light detection and ranging (LiDAR) point cloud in crowded environments. The pedestrian detection quickly segments a sparse 3D point cloud into individual pedestrians using a lightweight convolutional autoencoder and connected-component algorithm. The multi-pedestrian tracking identifies the same pedestrians considering motion and appearance cues in continuing frames. In addition, it estimates pedestrians' dynamic movements with various patterns by adaptively mixing heterogeneous motion models. We evaluate the computational speed and accuracy of each module using the KITTI dataset. We demonstrate that our integrated system, which rapidly and accurately recognizes pedestrian movement and appearance using a sparse 3D LiDAR, is applicable for robot navigation in crowded spaces.

• Journal of the Korean Institute of Intelligent Systems
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• v.11 no.4
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• pp.359-365
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• 2001

In this paper, we propose the design methodology of target tracking system using fuzzy basis function expansion(FBFE) based on virus evolutionary genetic algorithm (VEGA). In general, the objective of target tracking is to estimate the future trajectory of the target based on the past position of the target obtained from the sensor. In the conventional and mathematical nonlinear filtering method such as extended Kalman filter(EKF), the performance of the system may be deteriorated in highly nonlinear situation. To resolve these problems of nonlinear filtering technique, by appling artificial intelligent technique to the tracking control of moving targets, we combine the advantages of both traditional and intelligent control technique. In the proposed method, after composing training datum from the parameters of extended Kalman filter, by combining FDFE, which has the strong ability for the approximation, with VEGA, which prevent GA from converging prematurely in the case of lack of genetic diversity of population, and by idenLifying the parameters and rule numbers of fuzzy basis function simultaneously, we can reduce the tracking error of EKF. Finally, the proposed method is applied to three dimensional tracking problem, and the simulation results shows that the tracking performance is improved by the proposed method.

• Journal of Digital Convergence
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• v.17 no.12
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• pp.211-217
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• 2019

Location positioning systems are available in applications such as mobile, robotic tracking systems and Wireless location-based service (LBS) applications. The GPS system is the most well-known location tracking system, but it is not easy to use indoors. The method of radio frequency identification (RFID) location tracking was studied in terms of cost-effectiveness for indoor location tracking systems. Most RFID systems use active RFID tags using expendable batteries, but in this paper, an inexpensive indoor location tracking system using passive RFID tags has been developed. A pattern matching method and a system for tracing location by generating regression curves were studied to use precision tracking algorithms. The system was tested by verifying the level of error caused by noise. The three-dimensional curves are produced by the regression equation estimated the statistically meaningful coordinates by the differential equation. The proposed system could also be applied to mobile robot systems, AGVs and mobile phone LBSs.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.28 no.4
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• pp.433-440
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• 2004

Since the numerical analysis was adopted in the mold design, lots of computational methods have been proposed for the simulations of casting processes for the various shaped molds. Today, it is possible to simulate the filling and solidification processes of most casts using the VOF technique. Though the three-dimensional numerical model based on the Cartesian coordinate system can be applied to any shape of cast, it becomes very inefficient when the three-dimensional model is applied to the cast of axi-symmetrical shape since the control volume includes at least 11 of the physical model. In addition, the more meshes should be distributed along the circumferential boundaries of curved shape in the Cartesian coordinate system fur the better results, while such curved circumferential boundary does not need to be considered in the two-dimensional cylindrical coordinate system. This motivates the present study i.e. developing a two-dimensional numerical model for the axi-symmetrically shaped casts. The SIMPLER algorithm, the VOF method, and the equivalent specific heat method have been adopted in the combined algorithm for the flow calculation, the free surface tracking, and the phase change heat transfer, respectively. The numerical model has been applied to the casting process of a pulley, and it was proven that the mesh and time effective calculation was accomplished comparing to the calculation using three-dimensional model.

• 한국정보디스플레이학회:학술대회논문집
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• 2007.08b
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• pp.1227-1230
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• 2007

This paper describes recent advances in the R&D work achieved at Fraunhofer HHI (Germany) that are believed to provide key technologies for the development of future human-machine interfaces. The paper focus on the area of vision based interaction technologies that will be one essential component in future three-dimensional display systems.