• 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.

• 한국산업융합학회 논문집
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• 제18권2호
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• pp.119-128
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• 2015

In this paper, we propose a new motion control technology to design robust control system of industrial robot. The system modeling of robotic manipulation tasks with constraints is presented, and the control architecture for unconstrained and constrained motion system with parametric uncertainties is synthesized. The optimal reference of robot manipulator is generated by the reference controller as a discrete state system and the control behavior of constrained system which has poor modeling information and time-invariant constraint function is improved motion control system is successfully evaluated by experiment to the desired tasks.

• 제어로봇시스템학회논문지
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• 제5권6호
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• pp.705-713
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• 1999

In this paper, we propose a new motion and force control methodology for constrained robots as an approach of hybrid discrete-continuous dynamical system. The hybrid dynamic system modeling of robotic manipulation tasks with constraints is presented, and the hybrid system control architecture for unconstrained and constrained motion system with parametric uncertainties is synthesized. The optimal reference stiffness of robot manipulator is generated by the hybrid automata as a discrete state system and the control behavior of constrained system which has poor modeling information and time-varying constraint function is improved by the constrained robots as a continuous state system. The performance of the proposed constrained motion control system is successfully evaluated via experimental studies to the constraint tasks.

• 인지과학
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• 제16권1호
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• pp.17-27
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• 2005

움직이는 패턴을 오랫동안 본 후에 정지된 패턴을 보면. 정지된 패턴이 운동 패턴의 반대 방향으로 움직이는 것으로 지각되는 운동 잔여 효과(motion aftereffect: MAE)가 발생된다. 이 현상에 대한 고전적인 설명과는 달리 복잡운동의 MAE는 운동 순응이 발생되지 않은 영역에까지 확산된다. 본 연구에서는 시각 정보 처리 과정에서 MAE의 확산 현상이 발생되는 신경기제의 상대적인 위치를 알아보기 위해서 하모닉 나선형 패턴을 운동 순응 자극으로 사용하여 고리모양의 창에 제시한 후, 순응이 발생된 고리영역과 순응이 발생되지 않은 안쪽 영역 모두에서 MAE를 측정하였다. 순응자극과 동일한 영상과 거울상을 각각 검사자극으로 사용하여 MAE를 측정하고 두 조건에서 발견된 MAE를 비교하였다. 하모닉 나선형 자극의 특징은 동일 영역에 제시된 원영상과 거울상의 윤곽 방위의 차이가 90도라는 점이다. 이러한 특징에 의해 거울상의 경우 국소 운동 정보를 추출하는 탐지기 수준에서는 순응효과를 기대하기 어렵다. 실험 결과 순응된 영역에서의 MAE 지속시간은 동일상 조건이 거울상 조건보다 더 길게 나타났지만, 운동 순응이 없었던 영역(운동 잔여효과의 확산 영역)에서는 두 조건간 유의한 차이가 발생되지 않았다. 이러한 결과는 복잡운동(complex motion)의 MAE 화산은 국소 운동 정보가 추출되는 V1과 같은 초기 단계에 있는 신경세포의 순응이 아니라 복잡 운동이 처리되는 MSTd 에 있는 신경세포들의 순응에 의해서 발생됨을 시사한다.

• 한국운동역학회지
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• 제24권4호
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• pp.375-383
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• 2014

The purpose of this study was to assess the inter-segmental trunk motion during which multi-segmental movements of the spinal column was designed to interpret the effect of segmentation on the total measured spine motion. Also it analyzed the relative motion at three types of the spine models in drop landing. A secondary goal was to determine the intrinsic algorithmic errors of spine motion and the usefulness of such an approach as a tool to assess spinal motions. College students in the soccer team were selected the ten males with no history of spine symptoms or injuries. Each subject was given a fifteen minute adaptation period of drop landing on the 30cm height box. Inter-segmental spine motion were collected Vicon Motion Capture System (250 Hz) and synchronized with GRF data (1000 Hz). The result shows that Model III has a more increased range of motion (ROM) than Model I and Model II. And the Lagrange energy has significant difference of at E3 and E4 (p<.05). This study can be concluded that there are differences in the three models of algorithm during the phase of load absorption. Especially, Model III shows proper spine motion for the inter-segmental joint motion with the interaction effects using the seven segments. Model III shows more proper observed values about dynamic equilibrium than Model I & Model II. The findings have shown that the dynamic stability strategy of Model III toward multi-directional spinal motion supports for better function of the inter-segmental motor-control than the Model I and Model II.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.499-502
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• 1989

This paper is concerned with the stability analysis and the design of an auto pilot using direct model reference adaptive control for BTT missile with unknown dynamics when subjected to the longitudinal and lateral gusts. A motion of BTT missile can be separated into the longtudinal and lateral motione. The proposed algorithm is introduced different leakage terms about each motion into adaptation so as to prevent drift of the adaptive gain and alleviate gust effects and cross-coupling. The algorithm is applied to the 6DOF motion of an EMRAAT missile.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2126-2131
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• 2005

Interactions of a humanoid with a human are important, when the humanoid is requested to provide people with human-friendly services in unknown or uncertain environment. Such interactions may require more complicated and human-like behaviors from the humanoid. In this work the arm motions of a human are discussed as the early stage of human motion imitation by a humanoid. A motion capture system is used to obtain human-friendly arm motions as references. However the captured motions may not be applied directly to the humanoid, since the differences in geometric or dynamics aspects as length, mass, degrees of freedom, and kinematics and dynamics capabilities exist between the humanoid and the human. To overcome this difficulty a method to adapt captured motions to a humanoid is developed. The geometric difference in the arm length is resolved by scaling the arm length of the humanoid with a constant. Using the scaled geometry of the humanoid the imitation of actor's arm motions is achieved by solving an inverse kinematics problem formulated using optimization. The errors between the captured trajectories of actor arms and the approximated trajectories of humanoid arms are minimized. Such dynamics capabilities of the joint motors as limits of joint position, velocity and acceleration are also imposed on the optimization problem. Two motions of one hand waiving and performing a statement in sign language are imitated by a humanoid through dynamics simulation.

• International Journal of Internet, Broadcasting and Communication
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• 제16권1호
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• pp.47-54
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• 2024

With the rapid development of 3D animation, MetaHuman is widely used in film production, game development and VR production as a virtual human creation platform.In the animation production of virtual humans, motion capture is usually used.Since different motion capture solutions use different skeletons for motion recording, when the skeleton level of recorded animation data is different from that of MetaHuman, the animation data recorded by motion capture cannot be directly used on MetaHuman. This requires Reorient the skeletons of both.This study explores an efficient skeleton reorientation method that can maintain the accuracy of animation data by reducing the number of bone chains.In the experiment, three skeleton structures, Rokoko, Mixamo and Xsens were used for efficient redirection experiments, to compare and analyze the adaptability of different skeleton structures to the MetaHuman skeleton, and to explore which skeleton structure has the highest compatibility with the MetaHuman skeleton.This research provides an efficient skeleton reorientation idea for the production team of 3D animated video content, which can significantly reduce time costs and improve work efficiency.

• International Journal of Aeronautical and Space Sciences
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• 제10권1호
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• pp.104-111
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• 2009

An unstructured overset mesh method has been developed for the simulation of unsteady flow fields around isolated rotors and rotor-fuselage configurations. The flow solver was parallelized for the efficient calculation of complicated flows requiring a large number of cells. A quasi-unsteady mesh adaptation technique was adopted to enhance the spatial accuracy of the solution and to better resolve the rotor wake. The method has been applied to calculate the flow fields around rotor-alone and rotor-fuselage configurations in forward flight. Validations were made by comparing the predicted results with those of measurements. It was demonstrated that the present method is efficient and robust for the prediction of unsteady time-accurate flow fields involving multiple bodies in relative motion.

• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2007년도 학술대회 1부
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• pp.386-392
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• 2007

최근 들어 손 제스처를 인간-기계 인터페이스에 활용하는 연구가 많아지고 있다. 그 중에서 수화 인식은 청각장애인과 일반인 사이의 원활한 의사 소통을 하게 해 주는 인터페이스로서 중요성이 날로 더해가고 있다. 하지만 기존의 수화 인식 연구는 사용자 개개인의 수화 동작의 차이를 고려하지 않고 다수 사용자를 위한 모델을 사용하기 때문에 사용자에 따라 인식률이 낮아지게 된다. 이러한 점을 보완하기 위해 본 논문에서는 개개인의 수화 동작 특성을 반영하여 시스템이 사용자에게 적응해 가는 과정을 다루고자 한다. 특히 점진적인 사용자 적응에 있어서 가장 문제가 되는 것은 어떻게 비관측된 상태(unobserved state)의 파라미터를 수정할 것인가 하는 것이다. 이를 위해서 본 논문에서는 동작 유사도와 적응 추이에 의한 추정을 통해 비관측된 상태의 모델 파라미터를 수정한다. 실제 청각 장애인들로부터 획득한 데이터베이스를 사용하여 제안한 방법이 기존 방법에 비해 더욱 빠르게 사용자의 특성을 시스템에 반영하고 인식률을 향상시킨다는 것을 실험을 통해 보인다.