• Journal of the Korean Society of Marine Environment & Safety
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• v.20 no.4
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• pp.412-418
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• 2014

In this paper, for better boarding performance and pleasant boarding sensitivity of the ship, comparison and analysis was performed of motion sickness questionnaire with MSI(Motion Sickness Incidence) calculation based on ship motion theory(Strip Method) due to sea condition, incident angle in main sail way, economic speed, and calculation position of the training ship Kaya of Pukyong National University. On theses works, the rougher sea conditions became, the higher total motion sickness rate was occurred. The weights of vertical acceleration and the rates of MSI were higher at the bridge and the accommodation, which were located farther from the center of gravity of the ship. And effects of the vertical acceleration of the ship were increased in rolling then in head sea. In comparison between motion sickness questionnaire with MSI calculation, when the vertical acceleration increased, the motion sickness rate increased. The location to increase vertical acceleration and the location to cause motion sickness were agreed.

• Journal of Navigation and Port Research
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• v.32 no.1
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• pp.15-22
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• 2008

A ship in a sea cruises with rolling, pitching, heaving etc because of environmental causes such as wind and wave. Those motions make crews or passengers feel inconvenience and they feel acceleration changes. Therefore, if lateral and vertical accelerations can be measured at a specific position in a ship, it can be known how discomfortable crews or passengers are. The motion monitoring system developed in this paper consists of measuring and communicating part including five accelerometers and gyro and a main computer which acquires measuring data and calculates motion indices. MSI(Motion Sickness Incidence) and MII(Motion Induced Interrupt) are calculated in real time using measured acceleration and angular rate. The validity of the developed system was confirmed through the real ship test of Hannara which is the school ship of Korea Maritime University.

• Proceedings of the IEEK Conference
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• 2002.07a
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• pp.188-191
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• 2002

To reduce the bit-rate of video sequences by removing temporal redundancy, motion estimation techniques have been developed. However, the high computational complexity of the problem makes such techniques very difficult to be applied to high-resolution applications in a real time environment. For this reason, low computational complexity motion estimation algorithms are viable solutions. If a priori knowledge about the motion of the current block is available before the motion estimation, a better starting point for the search of n optimal motion vector on be selected and also the computational complexity will be reduced. In this paper, we present an adaptive block matching algorithm based on temporal correlations of consecutive image frames that defines the search pattern and the location of initial starting point adaptively to reduce computational complexity. Experiments show that, comparing with DS(Diamond Search) algorithm, the proposed algorithm is about 0.1∼0.5(㏈) better than DS in terms of PSNR and improves as much as 50% in terms of the average number of search points per motion estimation.

• Journal of Korean Society of Water and Wastewater
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• v.31 no.1
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• pp.13-19
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• 2017

Relatively low efficiency in anaerobic digestion process is mainly caused by unproper mixing method. In this study, tray motion type agitator was applied in actual anaerobic digestion tank in order to improve the digestion efficiency, equalize the flow velocity distribution and energy saving. The impeller of tray motion type agitator was reciprocated vertically. Gas lift type agitator and tray motion type agitator appears almost same mixing efficiency include digestion rates. However, tray motion type agitator have shown that lower energy consumption compared to the conventional gas lift type agitator. Implementation of tray motion type agitator in the anaerobic digestion tanks contributed to the stabilization of mixing environment, efficiency and energy efficiency of the tank.

• The Journal of Korea Robotics Society
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• v.12 no.2
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• pp.228-238
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• 2017

The CALEB10 is a multi-legged biomimetic underwater robot. In the last research, we developed a swimming pattern named ESPG (Extended Swimming Pattern Generator) by observing diving beetle's swimming actions and experimented with a positive buoyancy state in which CALEB10 floats on the water. In this paper, however, we have experimented with CALEB10 in a neutral buoyancy state where it is completely immersed in water for pitch motion control experiment. And we found that CALEB10 was unstably swimming in the pitch direction in the neutral buoyancy state and analyzed that the reason was due to the weight proportion of the legs. In this paper, we propose a pitch motion control method to mimic the pitch motion of diving beetles and to solve the problem of CALEB10 unstably swimming in the pitch direction. To control the pitch motion, we use the method of controlling additional joints while swimming with the ESPG. The method of obtaining propulsive force by the motion of the leg has a problem of giving propulsive force in the reverse direction when swimming in the surge direction, but this new control method has an advantage that a propulsive moment generated by a swimming action only on a target pitch value. To demonstrate validity this new control method, we designed a dynamics-based simulator environment. And the control performance to the target pitch value was verified through simulation and underwater experiments.

• Journal of Fisheries and Marine Sciences Education
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• v.26 no.4
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• pp.686-694
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• 2014

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 hull form modification. The results of calculation by changes of hull form 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.

• Journal of the Korean Society of Industry Convergence
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• v.17 no.4
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• pp.217-226
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• 2014

Since the world has changed to a society of 21st century high-tech industries, the modern people have become reluctant to work in a difficult and dirty environment. Therefore, unmanned technologies through robots are being demanded. Now days, effects such as voice, control, obstacle avoidance are being suggested, and especially, voice recognition technique that enables convenient interaction between human and machines is very important. In this study, in order to conduct study on the stable motion control of the robot system that has mobile-manipulator structure and is voice command-based, kinetic interpretation and dynamic modeling of two-armed manipulator and three-wheel mobile robot were conducted. In addition, autonomous driving of three-wheel mobile robot and motion control system of two-armed manipulator were designed, and combined robot control through voice command was conducted. For the performance experiment method, driving control and simulation mock experiment of manipulator that has two-armed structure was conducted, and for experiment of combined robot motion control which is voice command-based, through driving control, motion control of two-armed manipulator, and combined control based on voice command, experiment on stable motion control of voice command-based robot system that has mobile-manipulator structure was verified.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.8 no.11
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• pp.4170-4188
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• 2014

In this study, we present a denoising algorithm for high-frame-rate videos in an ultra-low illumination environment on the basis of Kalman filtering model and a new motion segmentation scheme. The Kalman filter removes temporal noise from signals by propagating error covariance statistics. Regarded as the process noise for imaging, motion is important in Kalman filtering. We propose a new motion estimation scheme that is suitable for serious noise. This scheme employs the small motion vector characteristic of high-frame-rate videos. Small changing patches are intentionally neglected because distinguishing details from large-scale noise is difficult and unimportant. Finally, a spatial bilateral filter is used to improve denoising capability in the motion area. Experiments are performed on videos with both synthetic and real noises. Results show that the proposed algorithm outperforms other state-of-the-art methods in both peak signal-to-noise ratio objective evaluation and visual quality.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.30 no.3
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• pp.236-242
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• 2019

Ultra-wideband(UWB) is a technology that can transmit and receive signals at high speeds using a very short signal of wideband of several GHz, and has been recently used in the field of radar technology. Impulse radio(IR)-UWB radar is used in the field of motion recognition with high resolution. In this work, we studied motion recognition using IR-UWB radar. We constructed a development environment to acquire data about motion and implemented a signal processing algorithm for performance enhancement. Based on the signal processing result, the performance was verified through feature extraction and learning of motion.

• IEIE Transactions on Smart Processing and Computing
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• v.4 no.1
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• pp.16-21
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• 2015

Most video services are transmitted in wireless networks. In a network environment, a packet of video is likely to be lost during transmission. For this reason, numerous error concealment (EC) algorithms have been proposed to combat channel errors. On the other hand, most existing algorithms cannot conceal the whole missing frame effectively. To resolve this problem, this paper proposes a new Adaptive Prediction Unit-based Motion Vector Extrapolation (APMVE) algorithm to restore the entire missing frame encoded by High Efficiency Video Coding (HEVC). In each missing HEVC frame, it uses the prediction unit (PU) information of the previous frame to adaptively decide the size of a basic unit for error concealment and to provide a more accurate estimation for the motion vector in that basic unit than can be achieved by any other conventional method. The simulation results showed that it is highly effective and significantly outperforms other existing frame recovery methods in terms of both objective and subjective quality.