• The Transactions of the Korean Institute of Electrical Engineers
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• v.35 no.11
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• pp.519-528
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• 1986

By using a least-square input estimator and likelihood ratio technique, a tracking problem is presented. A Kalman tracking filter based on constant-velocity, straight-line model is used to track a target and the filtered estimate is updated using an input estimate when a maneuver is detected. Track residuals at each scan are sensed by a detector to guard against unexpected corrections of the filter. The simulation results show there are significant improvements using the scheme presented.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.461-461
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• 2000

Nonlinear pulse width modulation(PWM) controlled system is considered to achieve control performance of thruster-controlled spacecraft. The actual PWM controlled motions occurs, very closely, around the average model rajectory. Furthermore nonlinear PWM controller design can be directly applied to thruster controlled spacecraft to determine thruster on-time. Sliding mode control for attitude tracking of three-axis thruster-controlled spacecraft is presented. Simulation results are shown which use modified Rodrigues parameters and sliding mode control law to achieve attitude tracking of a three-axis spacecraft with thrusters.

• Journal of Mechanical Science and Technology
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• v.19 no.5
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• pp.1107-1115
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• 2005

In this study, a position and force simultaneous trajectory tracking control algorithm is proposed for a driving apparatus that consists of two pneumatic cylinders connected in series. The controller applied to the driving apparatus is composed of a non-interaction controller to compensate for interaction between cylinders and a disturbance observer aimed to reduce the effect of model discrepancy that cannot be compensated by the non-interaction controller. The effectiveness of the proposed control algorithm is proved by experimental results.

• Proceedings of the IEEK Conference
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• 2002.06d
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• pp.137-140
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• 2002

This paper presents a new variational framework for detecting and tracking moving objects in image sequence. Motion detection is performed using Level Set Model. The original frame is used to provide th moving object boundaries Then, the detection and the tracking problem are addressed in a common framework that employs a inward-outward curve evolution function. This function is minimized using a gradient decent method.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.43 no.3
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• pp.485-492
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• 1994

Trajectory tracking control porblems are described for a two-link robot manipulator with artificial rubber muscle actuators. Under the assumption that the so-called independent joint control is applied to the control system, the dynamic model for each link is identified as a linear second-order system with time-lag by the step response. Two control laws such as the feedforward and the computed torque control methods, are experimentally applied for controlling the circular trajectory of an actual robot mainpulator.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1998.10a
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• pp.180-186
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• 1998

This paper deals with the application of fuzzy Petri net to control the line tracking mobile robot. Comparing with the Petri net and the fuzzy Petri net, the fuzzy Petri net model is more effective than the use of Petri net, so the line tracking mobile robot has a little shake and also has a little moving distance than one of using the Petri, And thus the mobile robot shows less energy consumption

• Bulletin of the Korean Chemical Society
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• v.18 no.12
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• pp.1281-1285
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• 1997

The time-dependent tracking inversion method is developed to extract the potential of the excited state from frequency-domain measurements, such as the absorption profile. Based on the relay of the regularized inversion procedure and time-dependent wave-packet propagation, the algorithm extract the underlying potential piece by piece by tracking the time-dependent data which can be synthesized from frequency-domain measurements. We have demonstrated the algorithm to extract the potential of excited state for a model diatomic molecule. Finally, we describe the merits of the time-dependent tracking inversion method compared to the time-dependent inversion and discuss several extensions of the algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.548-551
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• 1997

Performance of force tracking impedance control of robot manipulators is degraded by the uncertainties in the robot and environment dynamic model. The purpose of this paper is to improve the controller robustness by applying neural network. Neural networks are designed to learn the uncertainties in robot and environment model for compensating the uncertainties. The proposed scheme is verified through the simulation of 20DOF robot manipulator.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.6
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• pp.413-419
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• 2003

The objective of this paper is to survey and put in perspective the existing methods of dynamic filter development. This includes theories and practices for linear and nonlinear filters, multiple model filters, and data association methods for tracking in multitarget environment. The presentation of this paper is motivated by recent surge of interest in the area of designing feedback control systems with reduced number of sensors, detection and identification of abrupt changes, and multitarget tracking in clutter. It is hoped to be useful in view of the need to take a grasp of existing techniques before using them in practice and developing new techniques.

• Proceedings of the IEEK Conference
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• 2003.11a
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• pp.153-156
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• 2003

This paper proposes a video tracking method for a deformable moving object using an active contour model. In order to decide the convergent directions of the contour points automatically, a new energy function based on a frame difference map and an updating rules of the frame difference map are presented. Experimental results on a set of synthetic and real image sequences showed that the proposed method can fully track a speedy deformable object while extracting the boundary of the object exactly in every frame.