• Title/Summary/Keyword: Track coordinate system

Search Result 57, Processing Time 0.024 seconds

Multi-Attitude Heading Reference System-based Motion-Tracking and Localization of a Person/Walking Robot (다중 자세방위기준장치 기반 사람/보행로봇의 동작추적 및 위치추정)

  • Cho, Seong Yun
    • Journal of Institute of Control, Robotics and Systems
    • /
    • v.22 no.1
    • /
    • pp.66-73
    • /
    • 2016
  • An Inertial Measurement Unit (IMU)-based Attitude and Heading Reference System (AHRS) can calculate attitude and heading information with long-term accuracy and stability by combining gyro, accelerometer, and magnetic compass signals. Motivated by this characteristic of the AHRS, this paper presents a Motion-Tracking and Localization (MTL) method for a person or walking robot using multi-AHRSs. Five AHRSs are attached to the two calves, two thighs, and waist of a person/walking robot. Joints, links, and coordinate frames are defined on the body. The outputs of the AHRSs are integrated with link data. In addition, a supporting foot is distinguished from a moving foot. With this information, the locations of the joints on the local coordinate frame are calculated. The experimental results show that the presented MTL method can track the motion of and localize a person/walking robot with long-term accuracy in an infra-less environment.

A Control Scheme for Stabilizing a Two-Axes Antenna System (이축 안테나 시스템의 안정화를 위한 제어 기법)

  • Lim, Joong-Soon;Lyou, Joon
    • Proceedings of the KIEE Conference
    • /
    • 1987.07a
    • /
    • pp.209-212
    • /
    • 1987
  • This paper presents a control scheme to stabilize a two-axes microwave antenna system which is located on a ship and is subject to roll, pitch and yaw(RPY) motions. The scheme first computes the compensated angular positions of the antenna for RPY disturbances through coordinate transformations, and then use a servo con roller of PID type for each axis to track the compensated position command with a good transient behavior.

  • PDF

Kinematic characteristics of the ankle joint and RPM during the supra maximal training in cycling (사이클링 초최대운동(Supra maximal training)시 RPM과 족관절의 운동학적 분석)

  • Lee, Yong-Woo
    • Korean Journal of Applied Biomechanics
    • /
    • v.15 no.4
    • /
    • pp.75-83
    • /
    • 2005
  • The purpose of this study was to determine the kinematic characteristics of the ankle joint and RPM(repetition per minutes) during the supra maximal training in cycling. For this study, 8 national representative cyclists, distance cyclists in track and road, were selected. During the super-maximum pedalling, kinematic data were collected using a six-camera(240Hz) Qualisys system. the room coordinate system was right-handed and fixed in the back of a roller for cycle, with right-handed orthogonal segment coordinate systems defined for the leg and foot. Lateral kinematic data were recorded at least for 3 minutes while the participants pedal on a roller. Two-dimensional Cartesian coordinates for each marker were determined at the time of recording using a nonlinear transformation technique. Coordinate data were low-pass filtered using a fourth-order Butterworth recursive filter with cutoff frequency of 15Hz. Variables analyzed in this study were compared using a one factor(time) ANOVA with repeated measures. The results of investigation suggest that the number of rotating pedal was decreased with time phase during the super-maximum pedaling. Maximum angle of the ankle joint showed little in change with time phase compared with minimum angle of that.

A Study on Design and Interpretation of Pattern Laser Coordinate Tracking Method for Curved Screen Using Multiple Cameras (다중카메라를 이용한 곡면 스크린의 패턴 레이저 좌표 추적 방법 설계와 해석 연구)

  • Jo, Jinpyo;Kim, Jeongho;Jeong, Yongbae
    • Journal of Platform Technology
    • /
    • v.9 no.4
    • /
    • pp.60-70
    • /
    • 2021
  • This paper proposes a method capable of stably tracking the coordinates of a patterned laser image in a curved screen shooting system using two or more channels of multiple cameras. This method can track and acquire target points very effectively when applied to a multi-screen shooting method that can replace the HMD shooting method. Images of curved screens with severe deformation obtained from individual cameras are corrected through image normalization, image binarization, and noise removal. This corrected image is created and applied as an Euclidean space map that is easy to track the firing point based on the matching point. As a result of the experiment, the image coordinates of the pattern laser were stably extracted in the curved screen shooting system, and the error of the target point position of the real-world coordinate position and the broadband Euclidean map was minimized. The reliability of the proposed method was confirmed through the experiment.

Dynamic Modeling and Analysis of a High Mobility Tracked Vehicle (고속 궤도차량의 동역학적 모델링 및 해석)

  • Lee, Byung-Hoon;Souh, Byung-Yil
    • Transactions of the Korean Society of Mechanical Engineers A
    • /
    • v.30 no.11 s.254
    • /
    • pp.1486-1493
    • /
    • 2006
  • This paper presents a dynamic model of a high mobility tracked vehicle composed of rigid bodies. Track is modeled as an extensible cable and the track tension between the sprocket and roller is calculated by the catenary equation. The ground force acting on a road wheel is calculated by the Bekker's pressure-sinkage relationship using the segmented wheel model. System equations of motion and constraint acceleration equations are derived in the joint coordinate space using the velocity transformation method.

A Software Development for the Dynamic Analysis of a High Mobility Tracked Vehicle (고속 궤도차량의 동역학 해석을 위한 소프트웨어 개발)

  • Lee, Byung-Hoon;Souh, Byung-Yil
    • Transactions of the Korean Society of Mechanical Engineers A
    • /
    • v.33 no.1
    • /
    • pp.89-97
    • /
    • 2009
  • In this paper, a computer software for dynamic analysis of a high mobility tracked vehicle with pre/post processor is developed. Model of a tracked vehicle is composed of chassis, turret, mount, gun, and road-wheel assembly. Track is modeled as an extensible cable and the track tensions are applied on the wheels as external forces. The system equations of motion and constraint acceleration equations are derived in the joint coordinate space using the velocity transformation method. The pre and post processors are developed using the Visual C++.

Corrections to the conventional equations of motion of a wheel-axle set on a tangent track (직선 선로상 차륜-윤축에 대한 기존운동방정식의 수정)

  • Choi, Sung-Kyou
    • Proceedings of the KSR Conference
    • /
    • 2007.11a
    • /
    • pp.927-939
    • /
    • 2007
  • This paper concerns dynamics of a wheel-axle set on a tangent track which was already published in a book titled "Dynamics of Railway Vehicle Systems" authored by Garg and Dukkipati [1], pointing out several missing terms and erroneous parts in the derived expressions on the conventional governing equations of motion. It is indicated that the x-direction components of normal forces at left and right wheel-rail contact points in the equilibrium axis were missed. Another point is that in deriving the creepages the disturbed velocity components in both x and y directions in the equilibrium axis should not be disregarded in the first term of the numerators. When considering the creepage in the y direction in the body coordinate system, the second term of lateral velocity at the contact point also cannot be neglected. Besides, the hyper-assumptions in the final expressions of vertical components of normal forces at left and right wheel-rail contact points have been recovered in reaching the final stage of analytical model development. Finally it is noteworthy that the process of applying creep theory is deemed to contain a little bit inconsistencies and ambiguities to be clear.

  • PDF

Realization for Moving Object Sensing and Path Tracking System using Stereo Line CCDs (스테레오 라인 CCD를 이용한 이동객체감지 및 경로추적 시스템 구현)

  • Ryu, Kwang-Ryol;Kim, Young-Bin
    • Journal of the Korea Institute of Information and Communication Engineering
    • /
    • v.12 no.11
    • /
    • pp.2050-2056
    • /
    • 2008
  • A realization for moving object sensing and tracking system in two dimensional plane using stereo line CCDs and lighting source is presented in this paper. The system is realized that instead of processing camera images directly, two line CCD sensor and input line image is used to measure two dimensional distance by comparing the brightness on line CCDs. The algorithms are used the moving object sensing, path tracking and coordinate converting method. To ensure the effective detection of moving path, a detection algorithm to evaluate the reliability of each measured distance is developed. The realized system results are that the performance of moving object recognizing shows 5mm resolution, and enables to track a moving path of object per looms period.

Development of Low-Cost Vision-based Eye Tracking Algorithm for Information Augmented Interactive System

  • Park, Seo-Jeon;Kim, Byung-Gyu
    • Journal of Multimedia Information System
    • /
    • v.7 no.1
    • /
    • pp.11-16
    • /
    • 2020
  • Deep Learning has become the most important technology in the field of artificial intelligence machine learning, with its high performance overwhelming existing methods in various applications. In this paper, an interactive window service based on object recognition technology is proposed. The main goal is to implement an object recognition technology using this deep learning technology to remove the existing eye tracking technology, which requires users to wear eye tracking devices themselves, and to implement an eye tracking technology that uses only usual cameras to track users' eye. We design an interactive system based on efficient eye detection and pupil tracking method that can verify the user's eye movement. To estimate the view-direction of user's eye, we initialize to make the reference (origin) coordinate. Then the view direction is estimated from the extracted eye pupils from the origin coordinate. Also, we propose a blink detection technique based on the eye apply ratio (EAR). With the extracted view direction and eye action, we provide some augmented information of interest without the existing complex and expensive eye-tracking systems with various service topics and situations. For verification, the user guiding service is implemented as a proto-type model with the school map to inform the location information of the desired location or building.

A New Control Strategy for a Three-Phase PWM Current-Source Rectifier in the Stationary Frame

  • Guo, Qiang;Liu, Heping;Zhang, Yi
    • Journal of Power Electronics
    • /
    • v.15 no.4
    • /
    • pp.994-1005
    • /
    • 2015
  • This paper presents a novel power control strategy for PWM current-source rectifiers (CSRs) in the stationary frame based on the instantaneous power theory. In the proposed control strategy, a virtual resistance based on the capacitor voltage feedback is used to realize the active damping. In addition, the proportional resonant (PR) controller under the two-phase stationary coordinate is designed to track the ac reference current and to avoid the strong coupling brought about by the coordinate transformation. The limitations on improving steady-state performance of the PR controller is investigated and mitigated using a cascaded lead-lag compensator. In the z-domain, a straightforward procedure is developed to analyze and design the control-loop with the help of MATLAB/SISO software tools. In addition, robustness against parameter variations is analyzed. Finally, simulation and experimental results verify the proposed control scheme and design method.