• Journal of the Korean Institute of Intelligent Systems
• /
• v.24 no.4
• /
• pp.412-417
• /
• 2014

This paper presents the development and control of an omni-directional holonomic mobile robot platform, which is equipped with three lateral orthogonal-wheel assemblies. Omni-directionality can be achieved with decoupled rotational and translational motions. Simulation studies on collision avoidance are conducted. A real robot is built and its hardware is implemented to control the robot. Control algorithm is embedded on DSP and FPGA chips. Hardware for motor control such as PWM, encoder counter, serial communication modules is implemented on an FPGA chip. Experimental studies of following joystick commands are performed to demonstrate the functionality and controllability of the robot.

• Proceedings of the Korea Society for Industrial Systems Conference
• /
• 2009.05a
• /
• pp.88-92
• /
• 2009

본 논문에서는 시선인식을 이용한 지능형 휠체어 시스템에 대해 설명한다. 지능형 휠체어는 초음파센서를 이용하여 전동휠체어가 장애물을 감지하여 회피할 수 있게 하고, 조이스틱을 움직이기 힘든 중증 장애인을 위해 시선인식 및 추적을 이용하여 전동휠체어를 움직일 수 있게 하는 인터페이스를 제안한다. 지능형 휠체어는 시선인식 및 추적 모듈, 사용자 인터페이스, 장애물 회피 모듈, 모터 제어 모듈, 초음파 센서 모듈로 구성된다. 시선인식 및 추적 모듈은 적외선 카메라와 두개의 광원으로 사용자 눈의 각막 표면에 두 개의 반사점을 생성하고, 중심점을 구한 뒤, 동공의 중심점과 두 반사점의 중심을 이용하여 시선 추적을 한다. 시선이 응시하는 곳의 명령어를 사용자 인터페이스를 통해서 하달 받고, 모터 제어 모듈은 하달된 명령과 센서들에 의해 반환된 장애물과의 거리 정보로 모터제어보드에 연결되어 있는 두 개의 좌우 모터들을 조종한다. 센서 모듈은 전등휠체어가 움직이는 동안에 주기적으로 센서들로부터 거리 값을 반환 받아 벽 또는 장애물을 감지하여 장애물 회피 모듈에 의해 장애물을 우회 하도록 움직인다. 제안된 방법의 인터페이스는 실험을 통해 시선을 이용하여 지능형 휠체어에 명령을 하달하고 지능형 휠체어가 임의로 설치된 장애물을 효과적으로 감지하고 보다 정확하게 장애물을 회피 할 수 있음을 보였다.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.67 no.10
• /
• pp.1395-1400
• /
• 2018

EO TGP(Electro-Optical Targeting Pod) is an optical tracking system which has various functions such as target tracking and image stabilization and LOS(Line of Sight) change. Especially, it is very important to move the LOS into a interest point for joystick command. When pilot move joystick in order to observe different scene, EO TGP gimbals should be operated properly. Generally, most EOTS just operate corresponding gimbal for joystick command. For example, if pilot input horizontal command in order to observe right hand screen, it just drive azimuth gimbal at any position. But in the screen, the image dosen't move in a horizontal direction because gimbal structure is Euler angle. And image rotation is occurred by elevation gimbal angle. So we need to move Pitch gimbal. So in the paper, we designed LOS moving algorithm which convert LOS command to gimbal velocity command to move LOS properly. We modeled a differential kinematic equation and then change the joystick command into velocity command of gimbals. This algorithm generate velocity command of each gimbal for same horizontal direction command. Finally, we verified performance through MATLAB/Simulink.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.14 no.12
• /
• pp.6090-6097
• /
• 2013

A pneumatically-driven driving simulator that provides a realistic representation of the driving environment was developed. The motion platform for the driving simulator is a mechatronic device that gives a driver the realistic feeling of an actual vehicle. The cost of the motion platform comprises the largest part of the expenses in developing a driving simulator. In this project, to develop a low-cost motion platform, the self-built motion platform based on the Stewart platform configuration that is constructed by six pneumatic cylinders was used as its actuator. The Stewart platform that moves in response to the operating signals of the joystick showed satisfactory tracking performance. We confirmed the possibility of the driving simulator using rFactor that is a commercially available racing game software.

• Journal of Korea Multimedia Society
• /
• v.19 no.1
• /
• pp.60-67
• /
• 2016

PC users have long been controlling their computers using input devices such as mouse and keyboard. To improve inconveniences of these devices, the method of screen-touching has widely been used these days, and devices recognizing human gestures are being developed one after another. Fox example, Kinect, developed and distributed by Microsoft, is a non-contact input device that recognizes human gestures through motion-recognizing sensors, thus replacing the mouse as an input device. However, when controlling the mouse on a large screen, it suffers from the problem of requiring large motions in order to move the mouse pointer to the edges of the screen. In this paper, we propose a joystick-driven mouse-controlling method which enables the user to move the mouse pointer to the corners of the screen with small motions. The experimental results show that movements of the user's palm within the range of 30 cm ensure movements of the mouse pointer to the edges of the screen.

• Journal of rehabilitation welfare engineering & assistive technology
• /
• v.5 no.1
• /
• pp.103-110
• /
• 2011

In this paper, we propose a gaze recognition interface for smart wheelchair. The gaze recognition interface is a user interface which recognize the commands using the gaze recognition and avoid the detected obstacles by sensing the distance through range sensors on the way to driving. Smart wheelchair is composed of gaze recognition and tracking module, user interface module, obstacle detector, motor control module, and range sensor module. The interface in this paper uses a camera with built-in infra red filter and 2 LED light sources to see what direction the pupils turn to and can send command codes to control the system, thus it doesn't need any correction process per each person. The results of the experiment showed that the proposed interface can control the system exactly by recognizing user's gaze direction.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2011.05a
• /
• pp.478-480
• /
• 2011

As the recent games industry grows slowly, the consumers come to have interests in new types of games which has different types from the conventional games. While the conventional games play with a simple interfaces such as a joystick and buttons, the new games are designed to have acceleration sensors, infrared sensors and video motion detection sensing using several types of sensors and allow users to play more actively. In this paper, we propose a method which uses the electromyogram(EMG) signals in interface.

• Journal of IKEEE
• /
• v.7 no.1 s.12
• /
• pp.119-126
• /
• 2003

This paper presents a methodology for constructing a surgical simulation environment for the replacement of artificial knee join using CT image data. We provide a user interface of preoperative planning system for performing complex 3-D spatial manipulation and reasoning tasks. Simple manipulation of joystick and mouse has been proved to be both intuitive and accurate for the fitness and the wear expect of joint. The proposed methodology are useful for future virtual medical system where all the components of visualization, automated model generation, and surgical simulation are integrated.

• Journal of Korea Multimedia Society
• /
• v.8 no.9
• /
• pp.1177-1186
• /
• 2005

In vision-based interfaces for video games, gestures are used as commands of the games instead of pressing down a keyboard or a mouse. In these Interfaces, unintentional movements and continuous gestures have to be permitted to give a user more natural interface. For this problem, this paper proposes a novel gesture spotting method that combines spotting with recognition. It recognizes the meaningful movements concurrently while separating unintentional movements from a given image sequence. We applied our method to the recognition of the upper-body gestures for interfacing between a video game (Quake II) and its user. Experimental results show that the proposed method is on average $93.36\%$ in spotting gestures from continuous gestures, confirming its potential for a gesture-based interface for computer games.

• Journal of the Korean Institute of Gas
• /
• v.21 no.6
• /
• pp.46-51
• /
• 2017

The system was constructed so that safety training of the region city gas governor could be carried out using virtual reality. This system was used to survey the general public and it was found that the operation controller has a great influence on the user in the training system. The same survey question was conducted to construct the safety training system of city gas governor using joystick and oculus touch. The results of these two surveys confirm the importance of the operation controller in the safety training system using virtual reality.