• 로봇학회논문지
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• 제12권2호
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• pp.184-193
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• 2017

This work shows how to create an algorithm and implementation for motion and image matching between a vehicle simulator and Unity 3D based virtual object. The motion information of the virtual vehicle is transmitted to the real simulator via a RS232 communication protocol, and the motion is controlled based on the inverse kinematics solution of the platform adopting rotary-type six actuators driving system. Wash-out filters to implement the effective motion of the motion platform are adopted, and thereby reduce the dizziness and increase the realistic sense of motion. Furthermore, the simulator system is successfully designed aiming to reducing size and cost with adaptation of rotary-type six actuators, real driving environment via VR (Virtual Reality), and control schemes which employ a synchronization between 6 motors and 3rd order motion profiles. By providing relatively big sense of motion particularly in impact and straight motions mainly causing simulator sickness, dizziness is remarkably reduced, thereby enhancing the sense of realistic motion.

• 디지털산업정보학회논문지
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• 제19권3호
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• pp.61-75
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• 2023

In this paper, we design and experiment a 5G-based metaverse motion synchronization system with configuration of a mobile motion capture studio that has not been commercialized at home and abroad. As a result of the experiment, the average value of the latency test measurement using Wi-Fi is 0.134 seconds faster than the average latency test measurement value using the 5G network. Existing motion capture studios have spatial limitations as the motion capture range is limited to the Wi-Fi communication range. However, the 5G-based metaverse motion synchronization system configures a mobile motion capture studio so that motion performers can solve the spatial limitations by expanding the motion capture communication range indefinitely regardless of time and place. Therefore, it is possible to implement realistic metaverse contents by displaying a realistic and natural digital human because it is free from spatial constraints. The system which was tested in this paper can create a new business model by converging next-generation technologies that are receiving attention related to the digital virtual world, such as motion capture + 5G + digital human twin + metaverse. And it allows for research and develop a next-generation metaverse-based broadcasting solution at a recent time when the business value of digital human and metaverse technologies and functions has been proven and related sales are growing in earnest.

• 한국컴퓨터그래픽스학회논문지
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• 제18권1호
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• pp.23-28
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• 2012

본 논문은 동작 포착 장비를 통해 각각 따로 포착된 얼굴과 동작 데이터의 자동 동기화 기술에 대해 다룬다. 광학식 동작 포착 기기를 사용할 때 얼굴 표정과 동작의 포착은 별도로 이루어지는 경우가 많으며, 이 경우 두 데이터 간의 동기화 수행하여야 자연스러운 애니메이션을 만들 수 있다. 본 연구에서는 두 데이터 간의 공통 부분인 목 및 얼굴의 전체적인 움직임 데이터를 기준으로 비선형 시간 변형을 통해 동기화를 수행하는 기법을 제안한다. 연구 결과를 간단한 실험 시나리오에 적용하여 기술의 효과성 여부를 검증하였다.

• 제어로봇시스템학회논문지
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• 제17권9호
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• pp.863-868
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• 2011

This paper presents a method to achieve a synchronous positioning objective for a dual-cylinder electro-hydraulic system with friction characteristics. The control system consists of a VSC (Variable Structure Controller) for each of the hydraulic cylinders and a PID (Proportional-Integral-Derivative) feedback controller. The PID controller is used for controlling the non-synchronous error generated by both cylinders when motion synchronization is carried out. To enhance the position-tracking performance of the individual cylinders friction characteristics is modeled in model, based on the estimated friction force. The simulation and experimental results show that the proposed method can effectively achieve the objective of position synchronization in the dualcylinder electro-hydraulic system, with maximum synchronization error with ${\pm}2\;mm$.

• 제어로봇시스템학회논문지
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• 제21권8호
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• pp.729-734
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• 2015

Improvement in the control strategy for continuous casting is a crucial requirement to enhance the slab's quality and to increase productivity. The mold oscillator adopts the dual cylinders due to its heavy weight, so the synchronized motion of two cylinders is an important aspect when precise control is needed. The conventional method uses the master-slave control applied to the valve input reference, but the synchronization performance should still be improved. This paper proposes a novel synchronization algorithm for dual cylinders used in a mold oscillator. The master-slave concept is applied to the target reference position, that is, the slave target reference position is controlled to match the slave cylinder's position with the master cylinder's position. In the simulation based on a Simulink model, the proposed algorithm shows a better synchronization performance in aspect of the mean of the absolute error and the peak synchronization error.

• 한국생산제조학회지
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• 제26권1호
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• pp.20-29
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• 2017

Motion synchronization between developed real and virtual robots for object recognition and target tracking is introduced. ASUS's XTION PRO Live is implemented as a sensor and configured to recognize walls and obstacles, and perceive objects. In order to create virtual reality, Unity 3D is adopted to be associated with the real robot, and the virtual object is controlled by using an input device. A Bluetooth serial communication module is used for wireless communication between the PC and the real robot. The motion information of a virtual object controlled by the user is sent to the robot. Then, the robot moves in the same way as the virtual object according to the motion information. Through motion synchronization, two scenarios, which map the real space and current object information with virtual objects and space, were demonstrated, yielding good agreement between the two spaces.

• 재활복지공학회논문지
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• 제5권1호
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• pp.111-115
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• 2011

본 논문에서는 신체의 움직임을 측정하는 시스템에 있어서 여러 개의 분산형 시스템 간의 시간 동기화 방법을 제안한다. 분산형 시스템을 고려하는 이유는 피험자의 신체로부터 여러 가지 정보를 수집함에 있어서 하나의 집중된 시스템을 설계하게 되면 각 센서 시스템으로 배선이 연결되어야 하고 이는 피험자에게 크나큰 불편함을 주게 되기 때문이다. 제안된 동기화 방법은 단순한 키 스위치를 사용하고 스위치에 연결된 디지털 포트를 추가로 읽어 들이는 방식으로서 하드웨어가 매우 간단하여 잘 알려진 유비쿼터스 센서 네트워크 방식에 비해 추가적인 전력을 소모하지 않는다. 소프트웨어적으로는 데이터를 측정 후 오프라인 처리 방법을 사용하여 두 시스템간의 샘플링 시간 차이를 구하고 시간을 스케일링하여 보정하는 방식이다. 제안된 방법의 타당성을 실험을 통해 보인다.

• Structural Monitoring and Maintenance
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• 제9권2호
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• pp.201-220
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• 2022

Lateral vibrations of footbridges may induce synchronization between pedestrians and structure itself, resulting in amplification of such vibrations, a phenomenon identified by lock-in. However, investigations about accelerations and frequencies of the structural movement that are related to the occurrence of synchronization are still incipient. The aim of this paper is to investigate conditions that could lead to avoidance of synchronization among pedestrians themselves and footbridge, expressed in terms of peak acceleration. The focus is on the low acceleration range, employed in some guidelines as a criterion to avoid synchronization. An experimental campaign was carried out, employing a prototype footbridge that was set into oscillatory motion through a pneumatic exciter controlled by a fuzzy system, with controlled frequency and amplitude. Test subjects were then asked to cross the oscillating structure, and accelerations were simultaneously recorded at the structure and at the subject's waist. Pattern and phase differences between these signals were analysed. The results showed that test subjects tended to keep their walking patterns without synchronization induced by the vibration of the structure, for structural peak acceleration values up to 0.18 m/s², when frequencies of oscillation were around 0.8 to 0.9 Hz. On the other hand, for frequencies of oscillation below 0.7 Hz, structural peak accelerations up to 0.30 m/s² did not induce synchronization.

• 한국항공우주학회지
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• 제48권4호
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• pp.285-293
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• 2020

본 논문에서는 Synthetic Aperture Radar (SAR, 합성개구레이다) 영상 품질을 향상시키기 위해 EGI/IMU (Embedded GPS/INS, Inertial Measurement Unit) 통합 항법 시스템에서 발생하는 시각 동기화 오차의 영향을 분석하고 이를 보상하기 위해 상태변수증강 기법을 적용한다. SAR 요동 측정 알고리즘으로 항체의 위치를 추적하기 위한 EGI와 추가적으로 안테나에 장착된 IMU를 결합하는 EGI/IMU 통합 항법 시스템이 많이 이용된다. 이와 같은 EGI/IMU 통합 항법 시스템에서 센서간의 시계가 동기화되지 않을 경우 시각 동기화 오차가 발생한다. 시각 동기화 오차가 항법 및 SAR 영상에 미치는 영향 분석을 통해 시각 동기화 오차가 SAR 영상 품질을 악화시키는 것을 확인하였다. 이를 보상하기 위해 상태변수증강 기법을 적용하고, 적용한 결과 SAR 영상 품질이 저하되지 않음을 확인하였다. 또한 기동에 따른 시각 동기화 오차 추정 성능과 가관측성을 분석하여 시각 동기화 오차를 효과적으로 추정하기 위해서는 회전 기동과 같은 시간에 따라 변화하는 기동이 필요함을 보였다. 따라서, SAR 영상에 미치는 시각 동기화 오차의 영향을 줄이기 위해서는 SAR 구간 전에 회전 기동 등 시간에 따라 변화하는 기동을 수행하여 시각 동기화 오차를 보상해 주어야 한다.

• 전기의세계
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• 제59권3호
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• pp.32-38
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• 2010