• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2003.06a
• /
• pp.915-919
• /
• 2003

This paper presents a fuzzy-motion-control based tracking algorithm of mobile robots, which uses the geometrical information derived from the active stereo-vision system mounted on the mobile robot. The active stereo-vision system consists of two color cameras that rotates in two angular dimensions. With the stereo-vision system, the center position and depth information of the target object can be calculated. The proposed fuzzy motion controller is used to calculate the tracking velocity and angular position of the mobile robot, which makes the mobile robot keep following the object with a constant distance and orientation.

• Journal of Institute of Control, Robotics and Systems
• /
• v.9 no.12
• /
• pp.1033-1041
• /
• 2003

A new visual tracking scheme is proposed for a mobile robot that tracks a moving object in 3D space in real time. Visual tracking is to control a mobile robot to keep a moving target at the center of input image at all time. We made it possible by simplifying the relationship between the 2D image frame captured by a single camera and the 3D workspace frame. To precisely calculate the input vector (orientation and distance) of the mobile robot, the speed vector of the target is determined by eliminating the speed component caused by the camera motion from the speed vector appeared in the input image. The problem of temporary disappearance of the target form the input image is solved by selecting the searching area based on the linear prediction of target motion. The experimental results have shown that the proposed scheme can make a mobile robot successfully follow a moving target in real time.

• 제어로봇시스템학회:학술대회논문집
• /
• 1986.10a
• /
• pp.49-54
• /
• 1986

In this paper we deal with a method of controlling PUMA 560 robot manipulator using a newly developed optical proximity sensor and the PDP-11/44 computer. The sensor output is different somewhat depending on an color of the object. The range of sensing vary from 38.4mm to 109.5mm for a real object, 39mm to 111.65mm for yellow, and 40.55mm to 107.25mm for blue. When an obstacle is encountered on the path of end-effector the system acknowledger immediatly the existence of the obstacle : and holds the motion of arm at a given distance. And also the system is capable of making the end effector avoid the obstacle automatically and keep on its motion.

• Proceedings of the Korean Society of Computer Information Conference
• /
• 2011.01a
• /
• pp.63-64
• /
• 2011

포물체란 중력이 작용하는 환경에서 어떤 속도로 던져진 물체를 뜻합니다. 예를 들자면, 박찬호 선수가 포수를 향하여 던진 야구공이라든지, 박세리 선수의 스윙으로 그린을 향하여 날아가고 있는 골프공, 그리고 목표물을 향하여 날아가고 있는 포탄은 모두 포물체입니다. 이 물체는 수직방향으로는 중력의 영향을 받고 공기의 저항을 무시한다면 수평방향으로는 힘을 받지 않기 때문에 포물선운동을 한다. 본 논문에서는 포물체의 운동을 이용하여 도로의 일부가 유실되어 없어진 곳을 실험 대상을 한다. 여기에서 속도가 일정하게 달리던 자동차가 유실된 도로의 가장자리를 넘어갔을 때 도로의 가장자리로에서 얼마나 멀리 가서 떨어지는지를 나타내었다.

• Proceedings of the Earthquake Engineering Society of Korea Conference
• /
• 2002.09a
• /
• pp.3-10
• /
• 2002

The strong ground motion data recorded in the Sino-Korea Craton are analysed toobtain attenuation relations valid for 5 < M < 8, r < 400 km applicable to the Korean Peninsula. The result is logA : -1.83+0.386M- log${\gamma}$-0.0015${\gamma}$ where A is peak horizontal acceleration in g, M is surface-wave magnitude, and r is hypocentral distance in km. Our result is compared with the existing attenuation relations of Western North America and Eastern North America and the prior predictive equations for the Southern part of Korean Peninsula. Our result compares better with those of North America than those of the Southern part of the Korean Peninsula. More theoretical and empirical studies are required for better attenuation relations appropriate for the Korean Peninsula.

• Proceedings of the IEEK Conference
• /
• 2003.07e
• /
• pp.2104-2107
• /
• 2003

In this paper, we propose the method Model based Non-Rigid Moving Object Tracking. Motion based method becomes difficult to predict precisely when motion gets larger, so that we can solve such difficultly with regarding the moving object as a model. In the model based method, it should be concerned about setting initial model and updating its model in each frame. We used SNAKE in a way to set the initial model, and also proposed a modified SNAKE to handle the previous SNAKE problems. Moreover, with the elliptical setting, we made the initializing process automatically which is highly subject to change in measuring the performance of SNAKE. We used the Hausdorff distance to identify models in each frame. Through our experiments, our Proposed algorithm does effective work in Non-Rigid Moving Object Tracking.

• Journal of the Korean housing association
• /
• v.14 no.5
• /
• pp.105-116
• /
• 2003

The purpose of this study is to suggest the method of prevention of staircase accidents, and to make housing environment better through researching the dimension of a housing staircase for Korean. The scope and method of this thesis is to investigate the dimension limits of a staircase (slope, minimum width of tread, maximum height of riser), and to analyze the characteristics of foot condition (jutting rate, foot angle, ball joint, nosing clearance, clearance distance) using the experiment which takes a photograph of foot motion during walking stairs. The results of this thesis are as follows. The slope of a staircase in house is $32.3^{\circ}$$^{\circ}$-$42.1^{\circ}$$^{\circ}$. The riser should be less than 190 mm. The minimum size of tread is 210 mm and proper size is 270 mm.

• Proceedings of the KIEE Conference
• /
• 2007.04a
• /
• pp.292-294
• /
• 2007

Recently, for satisfying many application demands such as coding delay, computing power, transporting channel characteristic, etc, many profiles are supported in video coding standards. Therefore, in transcoding between same standards or between other standards, the functional difference of profiles supported by application occur many problems. In this paper, transcoding MPEG-2 main profile to H.264/AVC baseline profile which has restriction in the number of reference frame is focused. In this case, the bidirectional prediction supported in MPEG-2 main profile is not supported in H.264/AVC baseline profile. Also, in the restriction of reference frame, motion vectors in the MPEG-2 decoder as predictor should be adjusted. In this paper, the proposed algorithm is based on the characteristic of which motion. vector is uniform according to the distance from reference frame. The adaptive search techniques through the determination of the uniformity extremely reduce the computational complexity.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1995.04b
• /
• pp.490-496
• /
• 1995

A four-legged mobile robot can move on the plain terrain with mobility and stability, but if there exist any obstacles on the terrain of the motion direction, it takes extra times for a mobile robot to cross those obstacles and the stability should be considered during motion. The main objevtive is the study of a quadruped which can cross obstacles with better mobility, stability and fuel economy than any other wheeled or tracked vehicles. Vertical step, isolated wall and ditch are the basic obstacles and by understanding those three cases perfectly, a quadruped can move on any mixed rough terrain as 4-legged animal moves. Each leg of a determine the crossing capability in a static analysis. A quadruped can be simplified with links and joints. By applying the research method, a quadruped can determine the control procedures as soon as it receives the terrain informations from scanner and finally can be moved as animals move with mobility and stability.

• Proceedings of the Korean Society of Broadcast Engineers Conference
• /
• 1997.06a
• /
• pp.119-124
• /
• 1997

We improved a visualization system for a player's sequential forms called‘Multi-Motion’which has ever been used in NHK live broadcasting. It is to extract only the player's forms from background, and overlap them into one frame sequentially after fast performance for a vault game of gymnastics. It helps TV viewers understand the player's performing forms easily. We increased the performance of Multi-Motion by shortening the distance between the current frame and the reference frame, and the synthesis of the reference frame.