• Journal of Korea Multimedia Society
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• v.13 no.12
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• pp.1778-1785
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• 2010

This paper proposes a new video-based method of analyzing human gait which is a highly variable dynamic process. It captures a human gait of varying directions as a trajectory in the phase space. The proposed method includes two options of a stochastic process model and a self-organizing feature map as the tool of feature space representation and analysis. Test results show that the model is highly intuitive and we believe it can contribute to our understanding of human activity as well as gait behavior.

• Proceedings of the Korean Institute of Resources Recycling Conference
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• 2001.05b
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• pp.109-112
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• 2001

A case study of foodwaste treatment was conducted to compare the impacts of four scenarios: incineration, incineration after biogasification, biogasification followed by composting, and composting. Potential contributions to climate change, acidification, consumption of landfill and human toxicity were assessed. Characterization of human toxicity caused by metals and PCDD/DF was performed by three multimedia fate models. Scenarios with a biogasification process showed lower impact on climate change and human toxicity. The ranking of four scenarios on human toxicity varied depending on the characterization models applied. The steady state models placed high priority on emission of heavy metals to farmland, whereas the dynamic model estimated the emission of PCDD/DF from the incineration process as more significant.

• Journal of Electrical Engineering and Technology
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• v.13 no.2
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• pp.961-968
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• 2018

Recently, researches on automatic recognition of human activities have been actively carried out with the emergence of various intelligent systems. Since a large amount of visual data can be secured through Closed Circuit Television, it is required to recognize human behavior in a dynamic situation rather than a static situation. In this paper, we propose new intelligent human activity recognition model using the trajectory information extracted from the video sequence. The proposed model consists of three steps: segmentation and partitioning of trajectory step, feature extraction step, and behavioral learning step. First, the entire trajectory is fuzzy partitioned according to the motion characteristics, and then temporal features and spatial features are extracted. Using the extracted features, four pedestrian behaviors were modeled by decision tree learning algorithm and performance evaluation was performed. The experiments in this paper were conducted using Caviar data sets. Experimental results show that trajectory provides good activity recognition accuracy by extracting instantaneous property and distinctive regional property.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.5
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• pp.188-202
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• 2004

This research was designed to investigate biomechanical aspects of the evolution based on the hypothesis of dynamic cooperative interactions between the locomotion pattern and the body shape in the evolution of human bipedal walking The musculoskeletal model used in the computer simulation consisted of 12 rigid segments and 26 muscles. The nervous system was represented by 18 rhythmic pattern generators. The genetic algorithm was employed based on the natural selection theory to represent the evolutionary mechanism. Evolutionary strategy was assumed to minimize the cost function that is weighted sum of the energy consumption, the muscular fatigue and the load on the skeletal system. The simulation results showed that repeated manipulations of the genetic algorithm resulted in the change of body shape and locomotion pattern from those of chimpanzee to those of human. It was suggested that improving locomotive efficiency and the load on the musculoskeletal system are feasible factors driving the evolution of the human body shape and the bipedal locomotion pattern. The hypothetical evolution method employed in this study can be a new powerful tool for investigation of the evolution process.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.12
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• pp.1210-1216
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• 2004

This paper deals with a human-like gait generation of a biped robot with a balancing weight of an inverted pendulum type by using genetic algorithm. The ZMP (Zero Moment Point) is the most important index in a biped robot's dynamic walking stability. To perform a stable walking of a biped robot, a balancing motion is required according to legs' trajectories and a desired ZMP trajectory. A dynamic equation of the balancing motion is nonlinear due to an inverted pendulum type's balancing weight. To solve the nonlinear equation by the FDM (Finite Difference Method), a linearized model of equation is proposed. And GA (Genetic Algorithm) is applied to optimize a human-like balancing motion of a biped robot. By genetic algorithm, the index of the balancing motion is efficiently optimized, and a dynamic walking stability is verified by the ZMP verification equation. These balancing motion are simulated and experimented with a real biped robot IWR-IV. This human-like gait generation will be applied to a humanoid robot, at future work.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.7
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• pp.109-118
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• 1999

A graphic software is one of the most important components of the vehicle simulator. To increase a visual reality of the simulator, the graphic software should require several technologies such as three-dimensional graphics, graphic modeling of the vehicle and the environment, drivers biomechanical models, and real-time data processing. This study presents a real time graphic driving simulator of a construction vehicle. The graphic simulator contains the three models of the construction vehicle, the human, and the environment, and employes a neural network approach to decrease an on-line dynamic computation. An excavator model is represented using an object-oriented paradigm and contains the detailed information about a real-size vehicle. The human model is introduced for objective visual evaluations of the developed excavator model. Since the environment model plays an important role in a real-time simulator, a block-based approach is implemented and a text format is utilized for easier construction of environment. The simulation results are illustrated in order to demonstrate the applicability of developed models and the neural network approach.

• Journal of Navigation and Port Research
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• v.28 no.3
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• pp.161-167
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• 2004

Maritime safety and marine environmental protection are the most important topic in marine society. But, so many marine accidents have been occurred with the development of marine transportation industry. On the other side, ship is being operated under a highly dynamic environment and many factors are related with ship's collision Nowadays, the increasing tendency to the human errors of ship's collision is remarkable, and the investigation of the human errors has been heavily concentrated. This study analysed on the human errors of ship's collision related to the negligence of lookout and classified basic error type using GEMS(Generic Error Modeling System) dynamic model.

• Structural Engineering and Mechanics
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• v.54 no.5
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• pp.937-953
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• 2015

This paper investigates the load model for single footfall trace of human walking. A large amount of single person walking load tests were conducted using the three-dimensional gait analysis system. Based on the experimental data, Fourier series functions were adopted to model single footfall trace in three directions, i.e. along walking direction, direction perpendicular to the walking path and vertical direction. Function parameters such as trace duration time, number of Fourier series orders, dynamic load factors (DLFs) and phase angles were determined from the experimental records. Stochastic models were then suggested by treating walking rates, duration time and DLFs as independent random variables, whose probability density functions were obtained from experimental data. Simulation procedures using the stochastic models are presented with examples. The simulated single footfall traces are similar to the experimental records.

• Journal of the Korean Society of Industry Convergence
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• v.20 no.4
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• pp.285-297
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• 2017

This study proposed a new approach to develop an Intelligent control algorithm for cooperative working of human and robot based on voice recognition. In general case of speaker verification, Gaussian Mixture Model is used to model the feature vectors of reference speech signals. On the other hand, Dynamic Time Warping based template matching techniques were presented for the voice recognition about several years ago. We converge these two different concepts in a single method and then implement in a real time voice recognition enough to make reference model to satisfy 95% of recognition performance. In this paper it was illustrated the reliability of voice recognition by simulation and experiments for humanoid robot with 18 joints.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1681-1686
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• 1991

In robotics and other fields of engineering, techniques for artificial reality or virtual reality are focused on and studied extensively, e.g., virtual existence for tele-operator systems in robotics, and virtual reality of designed objects in architecture. In order to realize the system we should create physical stimulations according to internal models created by experiences in a human brain. The internal model does not have to have direct connections to the real world, however, the stimulation must be signals such that the internal model are retrieved in a human brain. In this paper we propose a technique for tele-virtual reality of dynamic mechanical models, which means that one dynamic mechanical model can be shared by peoples in distant places. Since a stability issue due to time delays arises in the system, we employed a scattering technique developed for a tele-operator system and a kind of passive adaptive controllers. Furthermore, restrictions due to a simple digital implementation of the scattering transformation are discussed and some conditions for stability are shown. The proposed method is applied to a remote tug of war system and the effectiveness is verified.