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This paper addresses mode changing tracker that has global and local tracking mode for efficient target tracking in aerial images from unmanned aerial vehicle. There are two modes in this tracker; Global tracking for object detection and local object tracking. In global tracking, an object in current image sequence is detected with covariance matrix matching. The covariance matrix is one of the efficient...
This paper investigates a task assignment and path planning problem in a situation where threats exist. Common task assignment algorithms obtain straight line paths during the task assignment phase and then plan the paths considering the threats, which can decrease performance of task assignment and task success rate. Therefore, task assignment with real-time path planning is presented in this paper...
An economic dispatch (ED) problem of committed turbines is solved minimizing each wind turbine's output power variation by model predictive control (MPC) method. The proposed method could solve the ED problem on-line using prediction time horizon that could be selected flexibly considering time horizon based on wind forecasting errors. Dispatched wind turbines are classified into three groups considering...
In this paper, a PID based sliding mode controller is implemented on a micro quadrotor. The micro quadrotor is a nonlinear, underactuated and interconnected system, thus it should be regulated by an appropriate control technique. The advantages of the proposed controller are to remain the robustness characteristics to disturbances and to solve the chattering phenomenon of the conventional sliding...
Flight tests of TR-60 in order to evaluate the control performance in helicopter, conversion and airplane mode were completed. In order to reduce the development risk and schedule, single channel out of the dual flight control computer of Smart UAV (TR-100) was used without the other modification. Therefore the operational flight program (OFP) had the minimum changes only on control laws. Even though...
Shipboard landing of Vertical Take-Off and Landing (VTOL) aircraft is an important consideration to operate aircraft in the ocean. The oceanic operation of aircraft has more difficult environment than the one on the ground due to salty, fogy, and windy condition. Especially the gust and the vortex around the structures on the ship make the approach of aircraft difficult. The movement of ship board...
This paper presents an unmanned quadrotor flight controller, which has its advantages in robust structure and versatile missions, by implementing the dynamic model inversion technique with adaptive neural network. The model inversion of nonlinear dynamic system is conducted via feedback linearization, and the resultant model inversion error is compensated by direct adaptive control. Overall controller...
In this paper we present a method for solving an indoor relocation problem using ambient magnetic fields and radio sources. Specifically, we exploit the magnetic field anomalies and noisy radio ranges in indoor environments. A robot with two magnetometers and one active radio range sensor first explores the unknown environment based on the SLAM technique, gathering its path and some useful multisensory...
Recently, MRI scanner is continually used for medical diagnosis and many biomedical researches. When it operates, however, intense noise is generated. The SPL (Sound Pressure Level) of the noise approaches 130dB especially in 3T MRI. It is expected to increase because the strength of magnetic field will increase for higher-resolution image. It's a safety risk because it interferes with communication...
Although ERP (Enterprise Resource Planning) systems are used widespread for efficient cooperation management, most of companies have difficulty in correctly understanding the dynamics of factory floor conditions in real time. It is severely difficult to construct a system for monitoring factory floor conditions due to complex factory situations and high development cost. We present a state model which...
In this study, we developed a system for measurement of postural bias in sitting using the unstable board with accelerometer. 20 healthy subjects were participated in this study. Subjects were instructed to sit the board with their arms crossed and without leaning back for 60 seconds. Angular variation in the anterior-posterior and left-right direction as well as body pressure distribution of left...
Impact Wrench is one of power tools which have sophisticated structure to generate impact motion by using electrical motor or hydraulic actuators. In the system, an impacting module, which consists of impactor, spindle, connect balls, locker and spring, has an important role to generate impacting motion. In this paper, two strategies are investigated for improving performance to generate high level...
This paper presents a surveillance system which alerts when controversy or an intruder is detected by using CCTV. The system takes advantage of sound signal processing to identify fighting and image processing to detect an intruder, then will notify and sent a signal to the system administer when an event occurs. The result shows that the energy of sound signal during fighting is higher than when...
This paper presents a design of a time-delayed controller for the robust balancing performance of a two-wheel mobile robot (TWMR). The PD control method can balance the TWMR, but it lacks for the robustness due to the disturbance. To reject the disturbance effectively, the time-delayed control method is utilized. For the comparison of the robust balancing performance, the performances of the PD control...
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