• Korean Journal of Computational Design and Engineering
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• v.19 no.4
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• pp.356-367
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• 2014

A robotic sapatial augmented reality (RSAR) system, which combines robotic components with projector-based AR technique, is unique in its ability to expand the user interaction area by dynamically changing the position and orientation of a projector-camera unit (PCU). For a moving PCU mounted on a conventional robotic device, we can compute its extrinsic parameters using a robot kinematics method assuming a link and joint geometry is available. In a RSAR system based on user-created robot (UCR), however, it is difficult to calibrate or measure the geometric configuration, which limits to apply a conventional kinematics method. In this paper, we propose a data-driven kinematics control method for a UCR-based RSAR system. The proposed method utilized a pre-sampled data set of camera calibration acquired at sufficient instances of kinematics configurations in fixed joint domains. Then, the sampled set is compactly represented as a set of B-spline surfaces. The proposed method have merits in two folds. First, it does not require any kinematics model such as a link length or joint orientation. Secondly, the computation is simple since it just evaluates a several polynomials rather than relying on Jacobian computation. We describe the proposed method and demonstrates the results for an experimental RSAR system with a PCU on a simple pan-tilt arm.

• Journal of Korean Foot and Ankle Society
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• v.6 no.2
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• pp.149-155
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• 2002

Purpose: To propose a new comprehensive classification system of intraarticular calcaneal fracture based on CT images. Materials and methods: Fourty intraarticular calcaneal fractures which were treated operatively were evaluated retrospectively. We classified fracture types according to severity of comminution on the posterior facet and calcaneocuboid joint by CT images. And we evaluated postoperative results of each fracture types in terms of the quality of fixation and reduction by the postoperative plain radiograghs. Results: By the classification of the posterior facet, 18 cases were P-I, 15 were P-II, and 7 were P-III. Among the P-I cases, 7 were P-IA, 9 were P-IL, 1 was P-IM and 2 were P-IT. According to the classification of calcaneocuboid joint, II cases were C-I, 18 were C-II and 11 were C-III. Qualities of fixation were excellent in 27 cases (67.5%), fair in 9(22.5%) and poor in 4(10%). Qualities of reduction were excellent 23 cases(57.5%), fair in 11(27.5%) and poor in 6(15%). Conclusion: Our new classification system based on the CT images could provide informations about the fracture configuration and severity of comminution around calcaneocuboid joint as well as the posterior facet. And the high grade fractures such as type P-III are need to be taken care of fixation of articular surfaces.

• Journal of Korean Society of Steel Construction
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• v.15 no.1
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• pp.69-76
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• 2003

This paper described the ultimate strength and deformation limit of new uniplanar T-joints in cold-formed square hollow sections. The new T-joint had the configuration that only a branch member was oriented at 45 degrees to a chord member in the plane of the truss. This study focused on the branch-rotated T-joints governed by chord web failure. Based on the test results of the T-joint in cold-formed square hollow sections, the deformation lirnit was found to be 3%B for $16.7{\leq}2(B/T){\leq}33.3$ and $0.63{\leq}(b_1/B)=0.7$. Existing strength formulas for traditional T-joint were investigated, and the new strength formula for the branch-rotated T-joint was proposed. This proposed formula was based on column buckling theory considering the rounded corners of cold-formed square hollow sections. Finally, the optimization condition of yield stress and $2{\gamma}$ was recommended to select the optimized chord section.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.77-82
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• 1996

This paper is concerned with how to utilize kinematic redundancy to reconstruct the inverse kinematic solution which is not attainable due to hardware limitations. By analyzing the error due to hardware limitations, we are to show that the recoverability of limitation reduces to the solvability of a reconstruction equation under the feasibility condition. It will be next shown that the reconstruction equation is solvable if the configuration is not a joint-limit singularity. The reconstruction method will be proposed based on the geometrical analysis of recoverability of hardware limitations. The method has the feature that no task motion error is induced by the hardware limitations while minimizing a possible null motion error, under the recoverability assumed.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1424-1429
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• 2004

In this paper a mathematical framework for deriving acceleration bounds from given joint torque limits of multiple cooperating robots are described. Especially when the different frictional contacts for every contact are assumed and the torque limits are given in 2-norm sense, we show that the resultant geometrical configuration for the acceleration is composed of corresponding parts of ellipsoids. Since the frictional forces at the contacts are proportional to the normal squeezing forces, the key points of the work includes how to determine internal forces exerted by each robot in order not to cause slip at the contacts while the object is carried by external forces. A set of examples composed of two robot systems are shown with point-contact-with-friction model and insufficient or proper degree of freedom robots.

• IEIE Transactions on Smart Processing and Computing
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• v.6 no.2
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• pp.93-101
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• 2017

This paper proposes an algorithm for adaptive loop filter (ALF) complexity reduction in the decoding process. In the original ALF algorithm, filtering for I frames is performed in the frame unit, and thus, all of the pixels in a frame are filtered if the current frame is an I frame. The proposed algorithm is designed on top of the local gradient calculation. On both the encoder side and the decoder side, homogeneous areas are checked and skipped in the filtering process, and the filter coefficient calculation is only performed in the inhomogeneous areas. The proposed algorithm is implemented in Joint Exploration Model (JEM) version 3.0 future video coding reference software. The proposed algorithm is applied for frame-level filtering and intra configuration. Compared with the JEM 3.0 anchor, the proposed algorithm has 0.31%, 0.76% and 0.73% bit rate loss for luma (Y) and chroma (U and V), respectively, with about an 8% decrease in decoding time.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2019.11a
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• pp.20-21
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• 2019

The Joint Video Experts Team (JVET) has been working on the development of next generation of video coding standard called Versatile Video Coding (VVC). Position Dependent Intra Prediction Combination (PDPC) which is one of the major tools for intra prediction refines the prediction through a linear combination between the reconstructed samples and the predicted samples according to the sample position. In VVC WD6, nScale which is shift value that adjusts the weight is determined by the width and height of the current block. It may cause that PDPC is applied to regions that do not fit the characteristics of the current intra prediction mode. In this paper, we define nScale for each width and height so that the weight can be applied independently to the left and top reference samples, respectively. Experimental results show that, compared to VTM 6.0, the proposed method gives -0.01%, -0.04% and 0.01% Bjotegaard-Delta (BD)-rate performance, for Y, Cb, and Cr components, respectively, in All-Intra (AI) configuration.

• Computational Structural Engineering
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• v.6 no.4
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• pp.99-105
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• 1993

In this paper a useful method on evaluating the joint stiffness of a bolted member was introduced using optimization technique on the basis of Finite Element Method. A finite element model having one directional gap element at boundary area was introduced to compensate the prying force in jointed members which might be caused by geometrical configuration of members. Results showed a good agreement with classical method in certain range and will be available to define the appropriate design margin of pre-load design.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.04a
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• pp.393-398
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• 2002

Neural networks are used in the framework of sensorbased tracking control of robot manipulators. They learn by practice movements the relationship between PSD (an analog Position Sensitive Detector) sensor readings for target positions and the joint commands to reach them. Using this configuration, the system can track or follow a moving or stationary object in real time. forthermore, an efficient neural network architecture has been developed for real time learning. This network uses multiple sets of simple backpropagation networks one of which is selected according to which division (corresponding to a cluster of the self-organizing feature map) in data space the current input data belongs to. This lends itself to a very training and processing implementation required for real time control.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2004.04a
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• pp.253-257
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• 2004

Neural networks are works are used in the framework of sensor based tracking control of robot manipulators. They learn by practice movements the relationship between PSD(an analog Position Sensitive Detector) sensor readings for target positions and the joint commands to reach them. Using this configuration, the system can track or follow a moving or stationary object in real time. Furthermore, an efficient neural network architecture has been developed for real time learning. This network uses multiple sets of simple back propagation networks one of which is selected according to which division(corresponding to a cluster of the self-organizing feature map) in data space the current input data belongs to. This lends itself to a very training and processing implementation required for real time control.