• 한국산학기술학회논문지
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• 제20권9호
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• pp.525-531
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• 2019

인간과 컴퓨터 사이의 보다 자연스러운 상호적인 인터페이스를 효과적으로 구현하기 위해서 사람의 제스처를 활용하려는 노력이 최근 들어 지속적으로 시도되고 있다. 본 논문에서는 연속적으로 입력되는 3차원의 깊이 영상을 받아들여서 손 모델을 정의하고, 정의된 손 모델을 기반으로 사람의 손 영역을 강인하게 추출하는 알고리즘을 제시한다. 본 논문에서 제시된 알고리즘에서는 먼저 21개의 관절을 사용하여 손 모델을 정의한다. 본 논문에서 정의한 손 모델은 6개의 손바닥 관절을 포함하는 손바닥 모델과 15개의 손가락 관절을 포함하는 손가락 모델로 구성된다. 그런 다음, 입력되는 3차원의 깊이 영상을 적응적으로 이진화함으로써, 배경과 같은 비관심 영역들은 제외하고, 관심 영역인 사람의 손 영역만을 정확하게 추출한다. 실험 결과에서는 제시된 알고리즘이 연속적으로 입력되는 깊이 영상으로부터 배경과 같은 영역들은 제외하고 사람의 손 영역만을 기존의 알고리즘에 비해 약 2.4% 보다 강인하게 검출한다는 것을 보여준다. 본 논문에서 제안된 손 영역 추출 알고리즘은 제스처 인식, 가상현실 구현, 3차원 운동 게임, 수화 인식 등과 같은 컴퓨터 비전 및 영상 처리와 관련된 여러 가지의 실제적인 분야에서 유용하게 활용될 것으로 기대된다.

• 전자공학회논문지
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• 제50권9호
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• pp.136-143
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• 2013

본 논문에서는 마커를 부착하기 어려운 소형도마뱀의 관절을 측정하기 위한 마커리스 모션 캡쳐 알고리즘을 제안하였다. 제안한 알고리즘에서는 먼저 스테레오 비젼과 같은 다시점 영상에서 적응적 이진화를 통해 도마뱀의 실루엣 영상을 획득하고 세선화를 수행하여 도마뱀의 뼈대 영상을 획득한다. 이후, 직교-대각 성분 제거 알고리즘 및 A* Search를 통해 머리와 꼬리점, 및 머리와 꼬리를 잇는 척추라인을 구한다. 어깨관절과 고관절의 좌표는 $3{\times}3$ 마스크를 이용하여 척추라인과 다리가 만나는 지점을 구하여 획득하고 모폴로지 닫기 영상을 통해 발바닥 좌표들을 검출한다. 최종적으로 각각의 다리에서 어깨관절 및 고관절 좌표와 발바닥 좌표를 잇는 직선과 해당 다리의 뼈대 좌표간의 직교 거리 비교를 통해 무릎과 팔꿈치 좌표를 구한다. 최종적으로 제안한 알고리즘으로 검출된 각 관절의 다시점 영상의 2차원 좌표들로부터 각 관절의 3차원 좌표를 복원한다. 실제 도마뱀을 촬영한 스테레오 영상에 제안된 알고리즘을 적용하여 2차원 주요 관절 지점 검출 및 3차원 복원을 수행하여 제안된 알고리즘의 성능을 검증하였다.

• 한국정밀공학회지
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• 제26권4호
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• pp.64-71
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• 2009

A 3-D rehabilitation robot system is developed in this paper. The robot system is for the rehabilitation of upper extremities, especially the shoulder and elbow joints, and has 3-D workspace for enabling occupational therapy to recover physical functions in activities of daily living(ADL). The rehabilitation robot system, which is driven by actuators, has 1 DOF in horizontal rotational motion and 2 DOF in vertical rotational motion, where all actuators are set on the ground. Parallelogram linkage mechanisms lower the equivalent inertia of the control elements as well as control forces. Also the mechanisms have high mechanical rigidity for the end effector and the handle. Passive motion mode experiments have been performed to evaluate the proposed robot system. The results of the experiments show and excellent performance in simulating spasticity of patients.

• 토지주택연구
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• 제3권4호
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• pp.433-449
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• 2012

횡력을 받는 넓은 보와 기둥 내부접합부의 거동을 평가하기 위하여 넓은 보-기둥 접합부의 휨강성비와 유효폭 및 슬래브 유무를 변수로 6개의 1/2축소 모델 실험체를 제작하여 구조성능 평가를 수행하여 하중-변형, 연성, 강성 등을 평가하였다. 동 모델을 대상으로 비탄성해석을 수행하여 구조성능평가 결과와 비교하였다. 연구결과 도출된 결론은 다음과 같다. 넓은 보-기둥 내부 접합부는 중진지역인 국내에서 적용하고 있는 부분골조형 구조에 적용이 가능한 것으로 판단된다. 슬래브의 강성이 횡력을 받는 넓은 보-기둥 내부 접합부의 거동에 영향을 미치는 것으로 나타났다. 휨강성비가 2.0이상의 경우 T형보의 플랜지로서 슬래브 유효폭은 넓은 보 유효깊이의 2.0d로 평가되며, 휨강성비가 1.4~2.0일 경우, 슬래브 유효폭의 영향은 고려하지 않아도 되는 것으로 나타났다.

• 한국안전학회지
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• 제6권3호
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• pp.35-39
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• 1991

Concentrically braced frames are limited in their ability to absorb energy during an earthquake However by placing the bracing members eccentric to the beam column joints, an energy absorbing link unit is produced. The energy is absorbed by the link and / or columns deforming inelastically. Three models of a multistorey structure were analyzed using DRAIN-2D computer program .Three link lengths were used in the analyses, 7, 11 and 15 inches. The yield patterns are produced. However it is interesting to note the relative valuses of force and moment obtained.

• 대한기계학회논문집
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• 제18권2호
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• pp.260-270
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• 1994

With the prevalent use of robot, the interests in moving speed of robot have been increasing for the purpose of upgrading performance of production. But the faster robot manipulator moves, the worse working accuracies are. And mechanical vibration is more and more serious with the increment of the moving speed of robot. So, the study on the cause and control method of robot vibration is one of the points of issue in robotics. This paper focuses on the vibration of 3 DOF parallel link drive mechanism robot. We assume that links of robot manipulator are `rigid' and joints are `flexible elements'. Governing equations of robot system including controller, servo amplifier, D.C servo motor, transmission with elasticity, and manipulator dynamics are derived. On the basis of modelling, we define `controller stiffness' by the proportional gain of controller and `stiffness of transmission'. Numerical and experimental research is performed to study vibration phenomena of robot induced from the variation of these two defined stiffnesses, and its results are shown.

• Journal of Welding and Joining
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• 제28권2호
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• pp.79-83
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• 2010

In this study, newly developed welding consumables for EGW were welded in EH 36 TM steel plates and their welded joints were evaluated in point of mechanical properties and microstructures compared with imported consumables. Newly developed welding consumables were evaluated as good arc stability and slag fluidity, substantially the same with imported products. The tensile strength of all welded joints were sufficient to meet the requirements specified in a ship’s classification(490~640MPa) and all areas of fracture were heat affected zone(HAZ). Charpy absorbed energy values of all EG welded metals were sufficient to meet the requirements of classification(min. 34J) and those of newly developed wires were evaluated to be better than those of imported wires. As a result observing microstructures of single and tandem EG welded metals through optical and scanning electron microscope (OM&SEM), no grain boundary ferrite(PF(G)) were created in a prior austenite grain boundary and a volume fraction of a fine acicular ferrite were observed very high.

• Advances in robotics research
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• 제2권3호
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• pp.183-199
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• 2018

This paper presents the development of a 3D printed humanoid robotic hands of SignBot, which can perform Malaysian Sign Language (MSL). The study is considered as the first attempt to ease the means of communication between the general community and the hearing-impaired individuals in Malaysia. The signed motions performed by the developed robot in this work can be done by two hands. The designed system, unlike previously conducted work, includes a speech recognition system that can feasibly integrate with the controlling platform of the robot. Furthermore, the design of the system takes into account the grammar of the MSL which differs from that of Malay spoken language. This reduces the redundancy and makes the design more efficient and effective. The robot hands are built with detailed finger joints. Micro servo motors, controlled by Arduino Mega, are also loaded to actuate the relevant joints of selected alphabetical and numerical signs as well as phrases for emergency contexts from MSL. A database for the selected signs is developed wherein the sequential movements of the servo motor arrays are stored. The results showed that the system performed well as the selected signs can be understood by hearing-impaired individuals.

• Applied Microscopy
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• 제49권
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• pp.1.1-1.10
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• 2019

Joints of three-dimensional (3D) rutile-type (r) tin dioxide ($SnO_2$) nanowire networks, produced by the flame transport synthesis (FTS), are formed by coherent twin boundaries at $(101)^r$ serving for the interpenetration of the nanowires. Transmission electron microscopy (TEM) methods, i.e. high resolution and (precession) electron diffraction (PED), were utilized to collect information of the atomic interface structure along the edge-on zone axes $[010]^r$, $[111]^r$ and superposition directions $[001]^r$, $[101]^r$. A model of the twin boundary is generated by a supercell approach, serving as base for simulations of all given real and reciprocal space data as for the elaboration of three-dimensional, i.e. relrod and higher order Laue zones (HOLZ), contributions to the intensity distribution of PED patterns. Confirmed by the comparison of simulated and experimental findings, details of the structural distortion at the twin boundary can be demonstrated.

• Geomechanics and Engineering
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• 제33권2호
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• pp.155-165
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• 2023

Hurricane Katrina swept New Orleans, Louisiana, USA, in 2005, causing more than 1,000 fatalities and severe damage to the flood protection system. Recovery activities are complete, however, clarifying failure mechanisms and devising resilient and cost-effective retrofitting techniques for the flood protection system are still of utmost importance to enhance the general structural integrity of water retaining structures. This study presents extensive centrifuge test results to find various failure mechanisms and effective retrofitting techniques for a levee system. The result confirmed the rotational failure and translational failure mechanisms for the London Ave. Canal levee and 17^th St. Canal levee, respectively. In addition, it found that the floodwalls with fresh waterstop in their joints perform better than those with old/weathered waterstop by decreasing pore water pressure build-up in the levee. Structural caps placed on the top of the joints between I-walls could also prevent local failure by spreading the load to surrounding walls. At the same time, the self-sealing bentonite-sand mixture installed along the riverside of floodwalls could mitigate the failure of floodwalls by blocking the infiltration of seepage water into the gap formed between levee soils and floodwalls.