• Journal of Institute of Control, Robotics and Systems
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• v.13 no.1
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• pp.33-38
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• 2007

In this paper, hardware implementation of interface and control between two robots, the master and the slave robot, are designed. The master robot is the motion capturing device that captures motions of the human operator who wears it. The slave robot is the corresponding humanoid robot arms. Captured motions from the master robot are transferred to the slave robot to follow after the master. All hardware designs such as PID controllers, communications between the master robot, encoder counters, and PWM generators are embedded on a single FPGA chip. Experimental studies are conducted to demonstrate the performance of the FPGA controller design.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.22 no.3_1spc
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• pp.558-565
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• 2013

This paper describes a whole-body (human body's) motion generation scheme for an android robot that uses motion capture device and a nonlinear constrained optimization method. Because the captured motion data are based on global coordinates and the actors have different heights and different upper-lower body ratios, the captured motion data cannot be used directly for a humanoid robot. In this paper, we suggest a method for obtaining robot joint angles, which allow the resultant robot motion to be as close as possible to the captured human motion data, by applying a nonlinear constrained optimization method. In addition, the results are animated to demonstrate the similarity of the motions.

• Journal of the Korea Society of Computer and Information
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• v.24 no.4
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• pp.19-26
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• 2019

In this study, we study the development and control of motion of 3D character animation and discuss the development direction of technology. Character animation has been developed as a data-based method and a physics-based method. The animation generation technique based on the keyframe method has been made possible by the development of the hardware technology, and the motion capture device has been used. Various techniques for effectively editing the motion data have appeared. At the same time, animation techniques based on physics have emerged, which realistically generate the motion of the character by physically optimized numerical computation. Recently, animation techniques using machine learning have shown new possibilities for creating characters that can be controlled by the user in real time and are expected to be developed in the future.

• Journal of the Korean Society for Precision Engineering
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• v.33 no.7
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• pp.565-570
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• 2016

This paper presents the characteristics related to needle insertion of a robotic device for the automated biopsy procedure. The automated biopsy device, a main component of the robotic needle insertion type intervention system, allows performance of the full biopsy procedure, except for anesthesia, without direct handling of a radiologist or a tele-operated control. In this study, the needle length parameters corresponding to various insertion depths and precision for needle insertion of the automated biopsy device, are discussed. There were two combinations of needle length parameters for appropriate needle insertion and motion capture-based measurement was performed; 0.156 mm error for the 90 mm length commanded insertion displacement was measured. The pre-defined goal is a maximum 1 mm error and thus our measured error is within the acceptable range. In the repeatability check, it was also shown that the device can implement a highly accurate insertion.

• Korean Journal of Applied Biomechanics
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• v.25 no.3
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• pp.353-361
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• 2015

Objective : The aim of this study was to develop the non-powered horse riding device and was to evaluate the elaborate its applicability throughout static structural and transient structural analysis of the outdoor core strength exercise equipment. Method : Fifteen college students (mass: $69.55{\pm}13.38kg$, height: $1.69{\pm}5.61m$, age: $21.42{\pm}1.83yrs$) rode the powered horse riding device and 14 college students (mass: $71.12{\pm}9.74kg$, height: $1.73{\pm}3.31m$, age: $22.50{\pm}1.47yrs$) rode the non-powered horse riding device for the comparison. All motion capture data was collected at 100 Hz using six infrared cameras and the muscular activities were collected using a Delsys Trigno wireless system. The peak forward/backward lean angle, range of motion anter/posterior and vertical COM(Center of mass) movement of trunk and pelvis segment, and muscle activities of six muscles were compared between the two devices by using independent t-test (p<.05). Results : Several kinematic variables (peak forward-backward lean angle and vertical COM movement of trunk and pelvis segment, range of motion of trunk) significantly different between non-powered and powered horse riding device. The muscle activities of Rectus abdominis and External oblique of abdomen on the non-powered horse riding device were significantly greater than those of the powered device. Conclusion : It was concluded that non-power horse riding device could give the effect of core strength exercise as well as the body motion which can simulate the powered horse riding device.

• Special Issue of the Society of Naval Architects of Korea
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• 2015.09a
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• pp.50-55
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• 2015

Application of newly conceptualized Anti-Splash Devices designed for COT vent pipes were studied on a P/V valve located on the upper deck of an oil carrier vessel. Anti-Splash devices are used in the shipbuilding industry in order to avoid oil overflow and spray accidents caused by excess pressure and vacuum condition in the cargo oil tanks. These conditions are caused by the transverse and longitudinal sloshing forces that arise from ship motion during sea voyages. The main issue with existing Anti-Splash device model is flux at the outlet of the Anti-Splash Device, and so, new conceptual models for the Anti-Splash device were developed and compared to existing Anti-Splash device model using CFD analysis. Transient analysis was used to capture the flow and velocity of each model and a comparative analysis was performed between old and new-concept models. This data was used to determine the optimal design parameters in order to develop an optimized Anti-Splash Device. A Factory acceptance test was performed on the new-concept models in order to verify the performance and efficiency against their design requirements and other criterion. The final step performed was to apply the optimized Anti-Splash Device models for COT vent pipes to an actual vessel and verify performance through a seawater cargo operation during a sea voyage as per the ship owner's request. The patent for the aforementioned device was obtained by the Korean Intellectual property Office dated Dec. 18th,2014.

• Cartoon and Animation Studies
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• s.41
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• pp.133-152
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• 2015

Some artists and scientists in physics and animation originating from research on its form of expression thanks to the rapid development of the example in the late 20th century image production technology integrating existing media feature, perform a re-creation and pop culture content has been recognized as a key factor. animation of the modern emphasis is also commercial and artistic activities as show whether the artist can not be excluded that also target audience. The audience does not want only to receive offers simply 'seeing' and 'hearing' in the animation requires a more indirect mental met. the other side, the director should lead the audience to immerse myself in work as intended mystification induce the world. where a conflict occurs between the audience and the director and The director needs to have its troubleshooting point to 'Technology of the communication'. Which is reduced to 'How will tell,' is technology communication technologies that are abbreviated representations of animation director is accessible to the audience and it is a close relationship between the psychological aspect of audience. Because, the audience is reproduced in a limited space, but he called on the board of directors and the same time the screen, the audience located at reception and the director located at provide. It is given. led force is given to the director. for this reason, The director needs to pay attention to the psychological aspect of audience this can be explained based on psychoanalytic theory. In this paper, "How can you lie to the audience and the director is the same line?" put down logic that is the animation audience under the logic that takes place visually capture phenomenon "selective attention" and sub-concept of "goal-directed selection' and 'stimulus-driven capturel' for theory of psychology. also, Induction device to elicit selective attention of the audience accordingly, let's consider whether and how they apply in animation.

• Journal of the Korean Magnetics Society
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• v.25 no.5
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• pp.162-168
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• 2015

The ${\mu}$-turn coil having a width of ${\mu}m$ on the GMR-SV (giant magnetoresistance-spin valve) device based on the antiferromagnetic IrMn layer was fabricated by using the optical lithography process. In the case of GMR-SV film and GMR-SV device, the magnetoresistance ratios and the magnetic sensitivities are 4.4%, 2.0%/Oe and 1.6 %, 0.1%/Oe, respectively. In the y-z plane the distribution of magnetic field of GMR-SV device and $10{\mu}$-turns coil which put under the several magnetic bead(MB)s with a diameter of $1{\mu}m$ attached to RBC (red blood cell) was analyzed by the computer simulation using the finite element method. When the AC currents of 20 kHz from 0.1 mA to 10.0 mA flow to the 10 turns ${\mu}$-coil, the magnetic field at the position of $z=0{\mu}m$ at the center of coil was calculated from $30.1{\mu}T$ to $3060{\mu}T$ in proportion to the current. The magnetic field at the position of $z=10{\mu}m$ was decreased to one-sixth of that of $z=0{\mu}m$. It was confirmed that the $10{\mu}$-turn coil having enough magnitude of magnetic field for the capture of RBC is possible to use as a biosensor for the detection of magnetic beads attached to RBC.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2001.12a
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• pp.15-18
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• 2001

Recently, CMOS image sensor is rapidly used as an image capture device such as mobile phone or notebook PC. Because of poor quality of image by CMOS image sensor, ISP is essential step to improve image quality. In this paper, we implemented and simulated ISP algorithm for real time moving picture of CMOS image sensor. Especial Iy, we concentrated on color interpolation, which extracts three color component from uncompleted color information. Several algorithms for color interpolation are implemented and analyzed to acquire a good quality of picture. Finally, we proposed an improved algorithm and confirmed the effectiveness by experimental simulation results.

• Proceedings of the IEEK Conference
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• 2007.07a
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• pp.377-378
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• 2007

This paper proposes an system to generate rolled-equivalent fingerprints by mosaicking sequential images captured by an toothless device. To capture rolled-equivalent fingerprints, previous works use multiple cameras. However, the method in this paper captures sequential fingerprint images with a single camera and mosaic the images by estimating the transform between images through optical flow.