• Journal of Electrical Engineering and Technology
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• v.12 no.6
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• pp.2365-2377
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• 2017

This paper addresses two interrelated problems concerning the tracking control of pod propulsion unmanned surface vessel (USV), namely, the modeling of pod propulsion USV, and tracking controller design. First, based on MMG modeling theory, the model of pod propulsion USV is derived. Furthermore, a practical adaptive neural tracking controller is proposed by backstepping technique, neural network approximation and adaptive method. Meanwhile, unlike some existing tracking methods for surface vessel whose control algorithms suffer from "explosion of complexity", a novel neural shunting model is introduced to solve the problem. Using a Lyapunov functional, it is proven that all error signals in the system are uniformly ultimately bounded. The advantages of the paper are that first, the underactuated characteristic of pod propulsion USV is proved; second, the neural shunting model is used to solve the problem of "explosion of complexity", and this is a combination of knowledge in the field of biology and engineering; third, the developed controller is able to capture the uncertainties without the exact information of hydrodynamic damping structure and the sea disturbances. Numerical examples have been given to illustrate the performance and effectiveness of the proposed scheme.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.40 no.2
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• pp.118-128
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• 2012

The goal of this paper is to design the target tracking controller for a quadrotor micro UAV using a vision sensor. First of all, the mathematical model of the quadrotor was estimated through the Prediction Error Method(PEM) using experimental input/output flight data, and then the estimated model was validated via the comparison with new experimental flight data. Next, the target tracking controller was designed using LQR(Linear Quadratic Regulator) method based on the estimated model. The relative distance between an object and the quadrotor was obtained by a vision sensor, and the altitude was obtained by a ultra sonic sensor. Finally, the performance of the designed target tracking controller was evaluated through flight tests.

• Proceedings of the IEEK Conference
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• 2003.07d
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• pp.1411-1414
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• 2003

In this paper, vehicle tracking is implemented using parametric active contour. Extract objects from the background area is the essential step in vehicle tracking. We focus our algorithm on the situations such that the camera is fixed. However, if a simple and ordinary algorithm is adapted to achieve real-time processing, it produces much noise and the vehicle tracking results is poor. For this reason, in this paper, we propose a parametric active contour model algorithm to achieve better vehicle tracking. Experimental results show that the performance of the proposed algorithm is satisfactory.

• Journal of Korea Multimedia Society
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• v.25 no.2
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• pp.145-156
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• 2022

Nowadays, the complexity of object tracking models among hardware applications has become a more in-demand duty to complete in various indeterminable environment tracking situations with multifunctional algorithm skills. In this paper, we propose a virtual city environment using AirSim (Aerial Informatics and Robotics Simulation - AirSim, CityEnvironment) and use the DQN (Deep Q-Learning) model of deep reinforcement learning model in the virtual environment. The proposed object tracking DQN network observes the environment using a deep reinforcement learning model that receives continuous images taken by a virtual environment simulation system as input to control the operation of a virtual drone. The deep reinforcement learning model is pre-trained using various existing continuous image sets. Since the existing various continuous image sets are image data of real environments and objects, it is implemented in 3D to track virtual environments and moving objects in them.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.2
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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.

• Proceedings of the IEEK Conference
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• 2003.07e
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• pp.2104-2107
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• 2003

In this paper, we propose the method Model based Non-Rigid Moving Object Tracking. Motion based method becomes difficult to predict precisely when motion gets larger, so that we can solve such difficultly with regarding the moving object as a model. In the model based method, it should be concerned about setting initial model and updating its model in each frame. We used SNAKE in a way to set the initial model, and also proposed a modified SNAKE to handle the previous SNAKE problems. Moreover, with the elliptical setting, we made the initializing process automatically which is highly subject to change in measuring the performance of SNAKE. We used the Hausdorff distance to identify models in each frame. Through our experiments, our Proposed algorithm does effective work in Non-Rigid Moving Object Tracking.

• Journal of Environmental Science International
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• v.6 no.3
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• pp.239-247
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• 1997

The numerical experiments using a particle tracking model have been performed for predicting the change of water Quality and shoreline. In present study, comparison of the numerical model results with the analytic solution shows that the point of the mainmum concentration and the distribution pattern is very similar. The reflection effect from the boundary was newly Introduced for making clear the effect of the closed boundary which set limits to application of a particle tracking model. The present model seems to reappear physical phenomenon well. This model shows well qualitative appearance of pollutant diffusion in Kwangan beach. Therefore, this model is regarded as a useful means for predicting diffusion movement of suspended sand, and change of water quality.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.34 no.8
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• pp.71-78
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• 2006

When a tracking filter may be designed in the Cartesian coordinate, the covariance of the measurement errors varies according to the range and the bearing of an interested target. In this paper, interacting multiple model based tracking filter is formulated in the Cartesian coordinate utilizing the analytic solution of the steady state Kalman filter, which can be able to consider the variation of the measurement error covariance. 100 Monte Carlo runs performed to verify the proposed method. The performance of the proposed method is compared with the conventional fixed gain and Kalman filter based IMM tracking filter in terms of the root mean square error. The simulation results show that the proposed approach meaningfully reduces the computation time and provides a similar tracking performance in comparison with the conventional Kalman filter based IMM tracking filter.

• The KIPS Transactions:PartA
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• v.10A no.1
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• pp.35-42
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• 2003

In this paper, we analyzed the known agent tracking models and proposed a new agent tracking model based on the distributed event service that always assures reliable tracking. Also we experimented the Performance of the event servers on the agent monitoring system that implements the distributed event service and showed their performance to decrement gracefully. The proposed tracking model doesn't make only several clients trace a mobile agent which moves among agent servers autonomously, but also supports two types of agent tracking agent location tracking that notifies agent location to the clients and path establishment that maintains reliable connection between agent servers for message delivery.

• Journal of Information Processing Systems
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• v.18 no.3
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• pp.359-373
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• 2022

The new crown pneumonia (COVID-19) has become a global epidemic. The disease has spread to most countries and poses a challenge to the healthcare system. Contact tracing technology is an effective way for public health to deal with diseases. Many experts have studied traditional contact tracing and developed digital contact tracking. In order to better understand the field of contact tracking, it is necessary to analyze the development of contact tracking in the field of computer science by bibliometrics. The purpose of this research is to use literature statistics and topic analysis to characterize the research literature of contact tracking in the field of computer science, to gain an in-depth understanding of the literature development status of contact tracking and the trend of hot topics over the past decade. In order to achieve the aforementioned goals, we conducted a bibliometric study in this paper. The study uses data collected from the Scopus database. Which contains more than 10,000 articles, including more than 2,000 in the field of computer science. For popular trends, we use VOSviewer for visual analysis. The number of contact tracking documents published annually in the computer field is increasing. At present, there are 200 to 300 papers published in the field of computer science each year, and the number of uncited papers is relatively small. Through the visual analysis of the paper, we found that the hot topic of contact tracking has changed from the past "mathematical model," "biological model," and "algorithm" to the current "digital contact tracking," "privacy," and "mobile application" and other topics. Contact tracking is currently a hot research topic. By selecting the most cited papers, we can display high-quality literature in contact tracking and characterize the development trend of the entire field through topic analysis. This is useful for students and researchers new to field of contact tracking ai well as for presenting our results to other subjects. Especially when comprehensive research cannot be conducted due to time constraints or lack of precise research questions, our research analysis can provide value for it.