• Journal of Korea Multimedia Society
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• v.10 no.6
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• pp.716-725
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• 2007

In this paper we describe a motion tracking algorithm for 3D human animation using stereo vision system. This allows us to extract the motion data of the end effectors of human body by following the movement through segmentation process in HIS or RGB color model, and then blob analysis is used to detect robust shape. When two hands or two foots are crossed at any position and become disjointed, an adaptive algorithm is presented to recognize whether it is left or right one. And the real motion is the 3-D coordinate motion. A mono image data is a data of 2D coordinate. This data doesn't acquire distance from a camera. By stereo vision like human vision, we can acquire a data of 3D motion such as left, right motion from bottom and distance of objects from camera. This requests a depth value including x axis and y axis coordinate in mono image for transforming 3D coordinate. This depth value(z axis) is calculated by disparity of stereo vision by using only end-effectors of images. The position of the inner joints is calculated and 3D character can be visualized using inverse kinematics.

• Journal of Energy Engineering
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• v.25 no.4
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• pp.103-109
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• 2016

Polyethylene pipes has useful benefits which are anti-corrosive and flexible material, so it is used to gas pipes but also class 3 water pipes of nuclear power plant, process pipes of petrochemical plant and chemical plant. So the usage of polyethylene pipes is widely increased. But it has been limited for the usage of polyethylene, because it can not be directly detected to fusion joints by using non destructive evaluation. Polyethylene pipes are connected by two methods, one is butt fusion and the other is electrofusion. Butt fusion is widely used to connecting the pipes. It is proposed to method for determining the reliability of joints in this study that is detection of the melt flow zone at fusion joints. In this study, middle density polyethylene is used, outside diameter of the test specimen is 225mm and thickness is 20.5mm. Speed of ultrasonic of this test specimen is 2,200m/s. Test specimens were fabricated by varying the heating time which means from 0% to 130% applying time through heating plate to polyethylene for detecting melt flow zone. Also 4 additional test specimens were made, one was made that not scrapping attached surface of pipes but applying 100% of the proper heating time and the others were made to include of soil, gravel and vinly tape paper at fusion joints, that were also applied 100% of proper heating time. Ultrasonic testing to measure the melt flow zone of 20 test specimens was conducted by using 3.5MHz and 5.0MHz ultrasonic probes and melt flow zone measuring was conducted to three times at different point to one specimen. To differentiate the melt flow zone signal, post image processing was equally conducted to all test results and image levels, contrast, sharpen, threshold were adopted to all teat results and the test results were displayed gray scale. From the results, for the shorter heating times the reflection area of multiple echo have been increased, so the data was obtained from the position where it can be eliminated as much as possible. At 80% of proper heating time(168 sec.), the signal of melt flow zone was obtained clearly, so measuring could be conducted. From 7% of proper heating time(15 sec.) to shorter heating times. we could not obtain the signal because test specimen was not fused. From the result, we can verify that measuring of melt flow zone by using phased array ultrasonic imaging method is possible. And we can verify to complete and incomplete butt fusion by measuring the melt flow zone.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.913-916
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• 1990

In this paper, attempts have been made to control AC synchronous servo motor used as actuators of joints of the FARA robot with high dynamic performance and precise positioning. The AC synchronous servo motors used in FARA robots have resolves as position sensors. Resolver to digital converters are used in order to obtain the information of rotor speed and position from resolver outputs. The proposed joint position control system consists of four speed controller and one position controller. Analog methods are used in the position controller, while digital methods are used in the position controller. For precise position control, PID control algorithm and interpolation functions are executed in two 16 bit microprocessors with sampling rate 2ms. Experimental results show that the proposed joint position control system can be effectively applied to industrial robots in order to obtain high dynamic performance and precise positioning. The proposed joint position control system is being used in the control of FARA robots of Samsung Electronics.

• Journal of the Microelectronics and Packaging Society
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• v.12 no.2 s.35
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• pp.111-119
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• 2005

Stack specimen with three dimensional interconnection structure through Cu via of $75{\mu}m$ diameter, $90{\mu}m$ height and $150{\mu}m$ pitch was successfully fabricated using subsequent processes of via hole formation with Deep RIE (reactive ion etching), Cu via filling with pulse-reverse electroplating, Si thinning with CMP, photolithography, metal film sputtering, Cu/Sn bump formation, and flip chip bonding. Contact resistance of Cu/Sn bump and Cu via resistance could be determined ken the slope of the daisy chain resistance vs the number of bump joints of the flip chip specimen containing Cu via. When flip- chip bonded at $270^{\circ}C$ for 2 minutes, the contact resistance of the Cu/Sn bump joints of $100{\times}100{\mu}m$ size was 6.7m$\Omega$ and the Cu via resistance of $75{\mu}m$ diameter, $90{\mu}m$ height was 2.3m$\Omega$.

• Advances in robotics research
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• v.2 no.2
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• pp.129-140
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• 2018

With the increasing demand for the development of human pose estimation, such as human-computer interaction and human activity recognition, there have been numerous approaches to detect the 2D poses of people in images more efficiently. Despite many years of human pose estimation research, the estimation of human poses with images remains difficult to produce satisfactory results. In this study, we propose a robust 2D human body pose estimation method using an RGB camera sensor. Our pose estimation method is efficient and cost-effective since the use of RGB camera sensor is economically beneficial compared to more commonly used high-priced sensors. For the estimation of upper-body joint positions, semantic segmentation with a fully convolutional network was exploited. From acquired RGB images, joint heatmaps accurately estimate the coordinates of the location of each joint. The network architecture was designed to learn and detect the locations of joints via the sequential prediction processing method. Our proposed method was tested and validated for efficient estimation of the human upper-body pose. The obtained results reveal the potential of a simple RGB camera sensor for human pose estimation applications.

• International conference on construction engineering and project management
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• 2022.06a
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• pp.328-335
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• 2022

With the advance of robot capabilities and functionalities, construction robots assisting construction workers have been increasingly deployed on construction sites to improve safety, efficiency and productivity. For close-proximity human-robot collaboration in construction sites, robots need to be aware of the context, especially construction worker's behavior, in real-time to avoid collision with workers. To recognize human behavior, most previous studies obtained 3D human poses using a single camera or an RGB-depth (RGB-D) camera. However, single-camera detection has limitations such as occlusions, detection failure, and sensor malfunction, and an RGB-D camera may suffer from interference from lighting conditions and surface material. To address these issues, this study proposes a novel method of 3D human pose estimation by extracting 2D location of each joint from multiple images captured at the same time from different viewpoints, fusing each joint's 2D locations, and estimating the 3D joint location. For higher accuracy, the probabilistic representation is used to extract the 2D location of the joints, considering each joint location extracted from images as a noisy partial observation. Then, this study estimates the 3D human pose by fusing the probabilistic 2D joint locations to maximize the likelihood. The proposed method was evaluated in both simulation and laboratory settings, and the results demonstrated the accuracy of estimation and the feasibility in practice. This study contributes to ensuring human safety in close-proximity human-robot collaboration by providing a novel method of 3D human pose estimation.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.53 no.5
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• pp.338-343
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• 2004

In general, the insulation and protective sheaths on electrical conductors are made of combustible substances like PVC, natural or synthetic rubbers, and other organic or synthetic materials. When an electrical fire starts due to overheating of conductors/joints or sparking/arcing, the first thing to ignite is usually the insulation on the cables. When the insulation bums, the produced fumes are very toxic. To solve the problem, we have surely need the fire resistance cable that doesn't bum in a high temperature and emit toxic fume for operating a disaster prevention installation. In this paper, we have simulated the thermal analysis for the fire resistance cable according to the values of current in a overload and a short, and the values of outside flame with the fire resistance cable of the L's company product(600 V, FR-8 : Four Core) using the finite element method(Flux2D).

• Journal of the Korean Wood Science and Technology
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• v.29 no.4
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• pp.1-8
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• 2001

This study was carried out to investigate the strength and stiffness of drift pinned and bolted joints with steel-plates by the tension-type lateral strength tests. Specimens were solid wood of Pinus densiflora. Bolt and drift pin were jointed with inserted steel plates. Tests were conducted with combinations of two loading directions (parallel to the grain : 0 degree, perpendicular to the grain : 90 degree) and three diameters of fasteners (d = 6 mm, 10 mm, 12 mm). The results obtained were as follow: 1. In the test of the parallel to the grain, maximum loads were increased with increasing of the diameter of bolt and drift pin in the same end distance. In the test of perpendicular to the grain with diameter 10 mm and 12 mm, specimens mostly were failed with horizontal splits in woods reaching the yield load of drift pinned and bolted joints. 2. The ratio of maximum load to the yield load determined by the so-called "5% offset method", was great in bolted joints in the parallel to the grain This trend become more remarkable as the slenderness ratio was increased. 3. The calculated yield strength was agreed well with the experimental results of drift pinned joint(0 degree).

• Reproductive and Developmental Biology
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• v.35 no.2
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• pp.143-149
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• 2011

Arthritis is a common disease in aged people, and is clinically divided into rheumatoid arthritis (RA) and osteoarthritis (OA). Although common symptoms such as pain are present, the underlying pathological mechanisms are slightly different. Therefore, the objectives of the present study were to compare joint damage induced by RA and OA by analyzing the major morphological and molecular differences, and to propose a suitable therapeutic intervention based on the pathophysiological conditions of bones and joints. For the RA animal model, 8-week-old DBA1/J mice were immunized with bovine type II collagen emulsified in complete Freund's adjuvant (CFA). Normal C57BL/6 mice (over 2 years of age) were used for OA. The clinical arthritis score was calculated using a subjective scoring system, and paw thicknesses were measured using calipers. The serum TNF ${\alpha}$ level was analyzed using an ELISA kit. Micro-CT was used to identify pathological characteristics and morphological changes. In collagen-induced RA mice, there were increased ankle joint volumes and clinical scores (p<0.01). The concentration of TNF ${\alpha}$ was significantly increased from 3 to 7 weeks after immunization. Micro-CT images showed trabecular bone destruction, pannus formation, and subchondral region destruction in RA mice. OA among aged mice showed narrowed joint spaces and breakdown of articular cartilage. This study suggests that a careful therapeutic intervention between RA and OA is required, and it should be based on morphological alteration of bone and joint.

• Korean Journal of Applied Biomechanics
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• v.31 no.3
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• pp.155-161
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• 2021

Objective: There is a lack of studies using the 3D-2D image registration techniques on the mechanism of a shoulder injury for ice hockey players. This study aimed to analyze in vivo 3D glenohumeral joint arthrokinematics in collegiate ice hockey athletes and compare shoulder scaption with or without a hockey stick using the 3D-2D image registration technique. Method: We recruited 12 male elite ice hockey players (age, 19.88 ± 0.65 years). For arthrokinematic analysis of the common shoulder abduction movements of the injury pathogenesis of ice hockey players, participants abducted their dominant arm along the scapular plane and then grabbed a stick using the same motion under C-arm fluoroscopy with 16 frames per second. Computed tomography (CT) scans of the shoulder complex were obtained with a 0.6-mm slice pitch. Data from the humerus translation distances, scapula upward rotation, anterior-posterior tilt, internal to external rotation angles, and scapulohumeral rhythm (SHR) ratio on glenohumeral (GH) joint kinematics were outputted using a MATLAB customized code. Results: The humeral translation in the stick hand compared to the bare hand moved more anterior and more superior until the abduction angle reached 40°. When the GH joint in the stick hand was at the maximal abduction of the scapula, the scapula was externally rotated 2~5° relative to 0°. The SHR ratio relative to the abduction along the scapular plane at 40° indicated a statistically significant difference between the two groups (p < 0.05). Conclusion: With arm loading with the stick, the humeral and scapular kinematics showed a significant correlation in the initial section of the SHR. Although these correlations might be difficult in clinical settings, ice hockey athletes can lead to the movement difference of the scapulohumeral joints with inherent instability.