• Animal cells and systems
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• 제2권4호
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• pp.477-481
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• 1998

Previous studies have postulated that isometric animals exert similar locomotory capacity (speed, distance) because the amount of energy available for the motion would be the same regardless of body mass (m). To test propriety of this theory, we examined body shape and take-off potential of two frog species, Rana nigromaculata (powerful jumpers) and Bombina orientalis (slow hoppers). Morphological measurements included thigh muscle mass (indicative of total muscle force), hindlimb length (L, determining acceleration distance), and interilial width (shaping take-off motion). To gauge locomotory capacity, take-off speed (v) and take-off angle ($\theta$) were measured from video analyses, and jump distance (R) and take-off Power ($P_{t}$ ) were calculated from equations $R=V^{2}sin2\theta/g$ and ($P_{t}$＝$㎷^{3}/2L$(where g is the gravitational constant). Scaling exponents of morphometric variables for both species were 0.96-1.11 for thigh muscle mass, 0.28-0.29 for hindlimb length, and 0.30-0.36 for interilial width. Scaling exponents of locomotory performance for the two species were -0.01-0.14 for take-off speed, 0.24-0.31 for jump distance, and 0.66-0.84 for take-off power. The results demonstrate that the frogs of this study showed isometric body shape within species, but that take-off response changed allometrically with body mass, indicating that these data did not fully support the previous proposition. An exception was found in take-off speed of B. orientalis, in which the speed changed little with body mass (slope＝-0.01). These findings suggest that the energy availability approach did not properly explain the apparent allometric relations of the take-off response in these animals and that an alternative model such as a power production approach may be worth addressing.

• 한국전자통신학회논문지
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• 제5권1호
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• pp.23-30
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• 2010

H.264/AVC는 기존 비디오 코덱보다 성능이 우수하여 최근 IPTV, DMB등의 압축표준으로 사용되고 있다. 따라서 H.264/AVC로 압축된 데이터를 이전 코덱을 사용하는 장비에서 이용하기 위하여 트랜스코딩 연구가 이루어지고 있다. 본 연구에서는 움직임벡터의 군집화(Clustering)를 이용한 H.264/AVC에서 MPEG-2로의 트랜스코딩 방법을 제시한다. H.264/AVC 비트스트림을 MPEG-2의 인코더로 보낼 때 H.264/AVC 가변블록의 움직임벡터들의 거리와 방향성을 고려한 클러스터링을 수행하여 후보벡터를 선택한 후 최소의 왜곡치를 갖는 1개의 움직임벡터로 최종 결정한다. 이렇게 선정된 최종 움직임벡터는 MPEG-2 인코더에서 ${\pm}2$ pixel 만큼 전역탐색으로 보정 한 후 재사용하는 방법으로 트랜스코딩 시간을 최소화하고자 한다. 실험을 통하여 계산시간과 비디오 화질을 비교한 결과 기존연구보다 PSNR값이 최대 6.7% 향상되었으며 부호화 시간은 최대 64% 개선되었다.

• 한국산업정보학회논문지
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• 제19권5호
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• pp.9-14
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• 2014

최근 컴퓨터 비젼이나 게임과 같은 분야에서 사람의 모션을 이용한 다양한 콘텐츠들이 개발되고 있다. 모션을 이용하여 콘텐츠를 제작하거나 응용프로그램을 개발하게 되면, 사용자는 게임이나 콘텐츠에 더욱 몰입감을 느낄 수 있고, 그에 따른 콘텐츠 사용의 만족도가 향상된다. 본 논문에서는 웹 카메라를 이용해서 캡처한 영상으로부터 모션을 인식하고, 이를 별도의 장비 없이 게임의 인터페이스로 활용할 수 있는 방법을 개발한다. 제안된 방법은 MHI(Motion History Image)와 피부색 검출 결과를 결합하여 입력영상으로부터 사람의 머리 부분을 분할하고, MHI 시퀀스(Sequence)를 이용하여 방향과 이동거리를 계산한다. 실험결과에서 제안된 사람의 머리 모션 인식 결과를 실제 게임에 적용하여 게임 캐릭터를 제어하기 위해 사용하였다. 제안된 방법은 사용자의 몰입감 정도를 향상시킬 수 있음을 증명하였고, 그로인해 기능성 게임의 사용자 인터페이스로의 가능성을 확인하였다.

• 인터넷정보학회논문지
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• 제6권1호
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• pp.85-93
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• 2005

본 논문은 다량의 고차원 얼굴 표정 모션 데이터를 2차원 공간에 분포시키고, 애니메이터가 이 공간을 항해하면서 원하는 표정들을 실시간 적으로 선택함으로써 얼굴 표정 애니메이션을 생성하는 방법을 기술한다. 본 논문에서는 약 2400여개의 얼굴 표정 프레임을 이용하여 표정공간을 구성하였다. 표정공간의 생성은 임의의 두 표정간의 최단거리의 결정으로 귀결된다. 표정공간은 다양체 공간으로서 이 공간내의 두 점간의 거리는 다음과 같이 근사적으로 표현한다. 임의의 마커간의 거리를 표시하는 거리행렬을 사용하여 각 표정의 상태를 표현하는 표정상태벡터를 정의한 후, 두 표정이 인접해 있으면, 이를 두 표정 간 최단거리(다양체 거리)에 대한 근사치로 간주한다. 그리하여 인접 표정들 간의 인접거리가 결정되면, 이들 인접거리들을 연결하여 임의의 두 표정 상태간의 최단거리를 구하는데, 이를 위해 Floyd 알고리즘을 이용한다. 다차원 공간인 표정공간을 가시화하기 위해서는 CCA 투영기법을 이용하여 2차원 평면에 투영시켰다 얼굴 애니메이션은 사용자 인터베이스를 사용하여 애니메이터들이 2차원 공간을 항해하면서 실시간으로 생성한다.

• 한국정밀공학회지
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• 제16권12호
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• pp.204-213
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• 1999

This paper suggests a numerical method of finding optimal geometric path and minimum-time motion for a manipulator arm. To find the minimum-time motion, the optimal geometric path is searched first, and the minimum-time motion is searched on this optimal path. In the algorithm finding optimal geometric path, the objective function is minimizing the combination of joint velocities, joint-jerks, and actuator forces as well as avoiding several static obstacles, where global search is performed by adjusting the seed points of the obstacle models. In the minimum-time algorithm, the traveling time is expressed by the linear combinations of finite-term quintic B-splines and the coefficients of the splines are obtained by nonlinear programming to minimize the total traveling time subject to the constraints of the velocity-dependent actuator forces. These two search algorithms are basically similar and their convergences are quite stable.

• 한국운동역학회지
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• 제16권4호
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• pp.13-20
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• 2006

A platform diving with categorizing 624C motion was video taped and 3D kinematic variables were analyzed. This motion is consist of 3 parts from the headstand position to the act of turning after take-off. The results indicated that it took a very short time from the moment of take-off to the act of 1/2 turning because the turning motion has already started from preparing motion even before the fingertips have parted from the ground. Also, there was barely any jumping height due to the use of upper limbs segment and there was little difference in the moving distance compared to the standing events judging from horizontal movement of 1.1m. The horizontal velocity of the center of human body was increased before take-off while the vertical velocity was decreased right after take-off and the velocity of lower limbs segment was faster than the upper limbs segment showing contrary results to the standing events. In the aspects of angular velocity, the upper limbs segment starts the turning motion when take-off by rapidly extending its angular velocity while lower limbs segment make large angular velocity even before take-off.

• 대한기계학회논문집A
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• 제21권10호
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• pp.1551-1560
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• 1997

This study is devoted to the detection of the 3-dimensional point obstacles on the plane by using accumulated scan line images. The proposed accumulating only one scan line allow to process image at real time. And the change of motion of the feature in image is small because of the short time between image frames, so it does not take much time to track features. To obtain recursive optimal obstacles position and robot motion along to the motion of camera, Kalman filter algorithm is used. After using Kalman filter in case of the fixed environment, 3-dimensional obstacles point map is obtained. The position and motion of moving obstacles can also be obtained by pre-segmentation. Finally, to solve the stereo ambiguity problem from multiple matches, the camera motion is actively used to discard mis-matched features. To get relative distance of obstacles from camera, parallel stereo camera setup is used. In order to evaluate the proposed algorithm, experiments are carried out by a small test vehicle.

• 제어로봇시스템학회논문지
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• 제19권12호
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• pp.1160-1166
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• 2013

This paper presents feedforward controllers to improve the control performance of the motion and grasping force of a surgical instrument used in an MIS (Minimally Invasive Surgery) robot. The surgical instrument has a long distance between the drive motors and its active joints. Therefore, the gripper on the instrument is controlled by a cable drive mechanism, which generates a coupled motion between the wrist joint and the grip direction. In order to solve the problem, this paper analyzes the pulley composition of the surgical instrument and proposes feedforward controllers to eliminate the coupled motion. Furthermore, feedforward controllers to regulate the grasping force are proposed to deal with another coupling problem between the grasping force of the instrument and the motion of the instrument joints. The experimental results demonstrate the improved control performance of the motion and grasping force of the instrument.

• 한국지진공학회논문집
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• 제20권1호
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• pp.9-19
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• 2016

Permanent deformation plays a key role in performance based earthquake resistant design. In order to estimate permanent deformation after earthquake, it is essential to secure reliable response history analysis(RHA) as well as earthquake scenario. This study focuses on permanent deformation of an inverted T-type wall under earthquake. The study is composed of two separate parts. The first one is on the verification of RHA and the second one is on an effect of input earthquake motion. The former is discussed in companion paper and the latter in this paper. In order to investigate the effect of an input earthquake motion on the permanent deformation, three bins of spectral matched real earthquake records with different magnitude, regions, epicentral distance are constructed. Parametric study was performed using the verified RHA through the companion paper for each earthquake records in the bins. The most influential parameter affecting permanent displacement is magnitude. The other parameters describing earthquake motion are not significant enough to increase permanent displacement of the inverted T-type wall except for energy related parameters(AI, CI, SEI).

• 한국운동역학회지
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• 제15권3호
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• pp.175-183
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• 2005

This study investigates the kinetic characteristics of the Driggs motion in horse vaulting by stages through the three-dimensional video analysis of YTY and TABARA who won a high score and a low score respectively from the Driggs motion in horse vaulting during the Daegu Universiade 2003, which involves putting one's hands on the horse vaulting rotating sideways, stretching and rotating backward in the air, and twisting 900 degrees, so as to help develop the techniques of Korean gymnastic athletes. From the analyses of the duration of body center, horizontality, vertical position and horizontality, vertical speed and angle factors for each of four phases from the contact of the board to the takeoff from the horse vaulting. I arrived at the following conclusions: 1. It was found that the motion of bending oneself forward while rapidly stretching the knee joint when taking off from the board increases the horizontal speed of body center and shortens the time of the first jump. 2. It was found that S1 who won a high score shortened the time of the contact and takeoff from the horse vaulting and enlarged the shoulder joint angle for full blocking motion. It was also found that horizontal speed decreased while vertical speed increased when you rapidly stretch the right elbow joint while taking off from the horse vaulting. 3. It was found that horizontal distance was shortened to increase the height and time of staying in the air during the second jump.