• Journal of Institute of Control, Robotics and Systems
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• v.8 no.7
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• pp.564-572
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• 2002

This article describes the ultrasonic range sensor for the recognition of the Indoor environment, especially utilizing the multiple reflection properties of the sonar usually ignored as disturbances or noises. In this paper, we endow the ultrasonic range sensor with the active motion using the stepping servomechanism in order to get the multiple reflections with environment objects. Environment features such as target type, distance and azimuth based on the scanned one frame data of that multiple reflection patterns are recognized simultaneously.

• International Journal of CAD/CAM
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• v.9 no.1
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• pp.85-91
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• 2010

In this paper, we demonstrate an autonomous design of motion control of virtual creatures (called animated robots in this paper) and develop modeling software for animated robots. An animated robot can behave autonomously by using its own sensors and controllers on three-dimensional physically modeled environment. The developed software can enable us to execute the simulation of animated robots on physical environment at any time during the modeling process. In order to simulate more realistic world, an approximate fluid environment model with low computational costs is presented. It is shown that a combinatorial use of neural network implementation for controllers and the genetic algorithm (GA) or the particle swarm optimization (PSO) is effective for emerging more realistic autonomous behaviours of animated robots.

• Journal of The Korea Institute of Healthcare Architecture
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• v.13 no.3
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• pp.47-55
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• 2007

The theme of this study is holistic healing environment of children's library and it was researched on the basis of anthroposophy theory of Rudolf Steiner. According to Steiner's theory, human being consists of body, spirit, and soul. Especially, children are sensitive ones, and through synthetic function of 12 kinds of senses, they can be holistically healed (healing of body, spirit, and soul). As the sense independently functions or it is a element that cannot be described, it needs spatial plan to support synthetic function of it. We classified the healing space's meaning of children library by motion (including art and music), reading, & landscape healing activities and analyzed spatial characteristic to support each activity.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.5
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• pp.451-459
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• 2011

Fundamentally, there are 5 systems are needed for autonomous navigation of unmanned ground vehicle: Localization, environment perception, path planning, motion planning and vehicle control. Path planning and motion planning are accomplished based on result of the environment perception process. Thus, high reliability of localization and the environment perception will be a criterion that makes a judgment overall autonomous navigation. In this paper, via map matching using vehicle dynamic model and LIDAR sensors, replace high price localization system to new one, and have researched an algorithm that lead to robust autonomous navigation. Finally, all results are verified via actual unmanned ground vehicle tests.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.3
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• pp.427-432
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• 2018

This paper uses a recursive least squares method to estimate the projectile motion trajectory of an object in real time. The equations of motion of the object are obtained considering the air resistance which occurs in the actual experiment environment. Because these equations consider air resistance, parameter estimation of nonlinear terms is required. However, nonlinear recursive least squares estimation is not suitable for estimating trajectory of projectile in that it requires a lot of computation time. Therefore, parameter estimation for real-time trajectory prediction is performed by recursive least square estimation after using Taylor series expansion to approximate nonlinear terms to polynomials. The proposed method is verified through experiments by using VICON Bonita motion capture system which can get three dimensional coordinates of projectile. The results indicate that proposed method is more accurate than linear Kalman filter method based on the equations of motion of projectile that does not consider air resistance.

• Journal of Korea Multimedia Society
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• v.15 no.6
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• pp.731-736
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• 2012

Latest digital cinema is getting more interest on recent days. The combination of visually immersive 3D movie with chair movements and other physical effects has added more enjoyment. The movement of the chair is controlled manually in these digital cinemas. By the analysis of the digital cinema's video sequences, movement of the chair can be controlled automatically. In the proposed method first of all the motion of focused object and the background is identified and then the motion vector information is extracted by using the 9-search range. The motion vector is determined only for the movement of background while the object is stationary. The extracted Motion information from the digital cinemas is used for the movement control of the chair. The experimental results show that the proposed method outperforms the existing methods in terms of accuracy.

• Journal of Fisheries and Marine Sciences Education
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• v.28 no.1
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• pp.14-21
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• 2016

Research on ship motion and seasickness is recognized as the important research area to ensure the pleasant operative environment in addition to the research of operation safety of ship. In this paper, the motion performance in waves for the training ship Kaya of Pukyong National University is obtained by using the computer program based on Strip Method. To guarantee the pleasant seafaring in ocean, the vertical acceleration of ship motion is calculated according to the habitation division location in the ship. The results of calculation by changes of location of habitation division are compared with the guideline of MSI(Motion Sickness Incidence). The degree of motion sickness is shown and discussed through the comparison between calculated vertical acceleration spectrum and MSI guideline. To improve the safety of ship in motion and the pleasant seafaring in waves, the downtrend of seasickness ratio is needed by the decrease on vertical acceleration of the ship. Through the results in this paper, the relocation of both bridge and accommodation toward the aftship reduced the vertical acceleration and MSI.

• The Journal of Korea Robotics Society
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• v.2 no.3
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• pp.275-281
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• 2007

This paper presents a motion planning strategy for legged robots using locomotion primitives in the complex 3D environments. First, we define configuration, motion primitives and locomotion primitives for legged robots. A hierarchical motion planning method based on a combination of 2.5 dimensional maps of the 3D workspace is proposed. A global navigation map is obtained using 2.5 dimensional maps such as an obstacle height map, a passage map, and a gradient map of obstacles to distinguish obstacles. A high-level path planner finds a global path from a 2D navigation map. A mid-level planner creates sub-goals that help the legged robot efficiently cope with various obstacles using only a small set of locomotion primitives that are useful for stable navigation of the robot. A local obstacle map that describes the edge or border of the obstacles is used to find the sub-goals along the global path. A low-level planner searches for a feasible sequence of locomotion primitives between sub-goals. We use heuristic algorithm in local motion planner. The proposed planning method is verified by both locomotion and soccer experiments on a small biped robot in a cluttered environment. Experiment results show an improvement in motion stability.

• Journal of Ocean Engineering and Technology
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• v.36 no.1
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• pp.50-60
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• 2022

The deep ocean engineering basin (DOEB) of the Korea Research Institute of Ship and Ocean Engineering (KRISO) is equipped with an extreme-environment reproduction facility that can analyze the motion characteristics of offshore structures and ships. In recent years, there have been requirements for a wide range of six-degree-of-freedom (6-DOF) motion measurements for performing maneuvering tests and free-running tests of target objects (offshore structures or ships). This study introduces the process of developing a wide-area motion measurement technology by incorporating the auto-tracking technology of the towing carriage system to overcome the existing 6-DOF motion measurement limitation. To realize a wide range of motion measurements, the automatic tracking control system of the towing carriage in the DOEB was designed as a speed control method. To verify the control performance, the characteristics of the towing carriage according to the variation in control gain were analyzed. Finally, a wide range of motions was tested using a model test object (a remotely operated vehicle (ROV)), and the wide-area motion measurement technology was implemented using an automatic tracking control system for a towing carriage.

• Archives of design research
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• v.18 no.2 s.60
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• pp.5-14
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• 2005

Graphic Design is being developed as a unique genre and widely applied to movie, TV broadcasting, music video, computer an, web design, animation, and game. Some university added motion graphics in their curriculum recently. However Motion Graphic has not been defined clearly and pedagogy of motion graphics was not studied enough. Motion Graphic is not merely moving picture. Its typical purpose and concept are evolving because of the diversified application. Meta-synthesis between media and hybrid development based on diverse approach and composite presentational methods are also changing Motion Graphic. Various technology such as photograph, analytical engine, hypermedia, multimedia, digital composite picture, network and interface should be studied to understand Motion Graphic. This study reviews the historic background of Motion Graphic mainly related to its advent. A fundamental definition of Motion Graphic including the space and time is suggested and the international trend is introduced. Future Motion Graphic and possible development was also predicted.