• ETRI Journal
• /
• v.39 no.4
• /
• pp.493-501
• /
• 2017

This paper introduces a new motion-synthesis technique for animating multiple characters. At a high level, we introduce a hub-sub-control-point scheme that automatically generates many different spline curves from a user scribble. Then, each spline curve becomes a trajectory along which a 3D character moves. Based on the given curves, our algorithm synthesizes motions using a cyclic motion. In this process, space-time warp curves, which are time-warp curves, are embedded in the 3D environment to control the speed of the motions. Since the space-time warp curve represents a trajectory over the time domain, it enables us to verify whether the trajectory causes any collisions between characters by simply checking whether two space-time warp curves intersect. In addition, it is possible to edit space-time warp curves at run time to change the speed of the characters. We use several experiments to demonstrate that the proposed algorithm can efficiently synthesize a group of character motions. Our method creates collision-avoiding trajectories ten times faster than those created manually.

• Journal of Institute of Control, Robotics and Systems
• /
• v.11 no.12
• /
• pp.977-983
• /
• 2005

In this paper, novel ubiquitous concept of real reality robot game controlled by a mobile server robot is proposed. Real reality robot game means that two real robots controlled by humans/computers through the internet are playing a boxing game. The mobile server robot captures playing images of the boxing game and sends them to GUI on the screen of human operators' PC. The human operator can login to the boxing game from any computer in any place if he/she is permitted. Remote control of a boxing robot by a motion capture system through network is implemented. Successful motion control of a boxing robot remotely controlled by a motion capture system through network can be achieved. In addition, real boxing games between a human and a computer are demonstrated.

• Proceedings of the KIEE Conference
• /
• 2006.10c
• /
• pp.539-541
• /
• 2006

Biped locomotion is a popular research area in robotics due to the high adaptability of a walking robot in an unstructured environment. When attempting to automate the motion planning process for a biped walking robot, one of the main issues is assurance of dynamic stability of motion. This can be categorized into three general groups: body stability, body path stability, and gait stability. A zero moment point (ZMP), a point where the total forces and moments acting on the robot are zero, is usually employed as a basic component for dynamically stable motion. In this rarer, learning based neuro-fuzzy systems have been developed and applied to model ZMP trajectory of a biped walking robot. As a result, we can provide more improved insight into physical walking mechanisms.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2003.11a
• /
• pp.527-530
• /
• 2003

본 논문에서는 제한요소가 많은 임베디드 환경에서의 실시간 Motion-JPEG 전송을 초점으로 하고 있으며, 현재에 얻어진 이미지와 이전의 이미지를 비교하여 움직임이 있는 부분의 블록만을 전송하는 시스템을 제안한다. 제안한 시스템에서는 처리시간과 처리 데이터 용량에서 이득을 얻기 위해 DCT 영역에서 두 영상을 블록 단위로 비교한다. 영상비교에 필요한 임계값 추출은 물체가 이미 지상에서 여러 픽셀과 블록에 연속적으로 존재하는 현상을 이용하여 계산된다. 비교 시 DCT 연산자체외 특징인 저주파로의 에너지 패킹현상을 이용하며 전체 DCT 계수들을 비교하지 않고 DC 성분을 포함한 일정 개수의 AC 성분만 사용한다.

• Journal of the Korea Safety Management & Science
• /
• v.12 no.1
• /
• pp.71-81
• /
• 2010

Today's fierce competition and global economic recession make most of manufacturing companies in the world difficult to gain a profit. In order to survive such a environment and increase competitiveness, manufacturing companies have to continuously eliminate their wasteful factors through an efficient process analysis, improve quality of products, increase the flexibility of manufacturing processes. In this paper, we consider a case study for the Shanghai New Auto which is a subcontractor of MOBIS in China, to improve productivity by using therblig method, one of the motion analysis, to minimize the work-in-process inventories and to shorten the manufacturing cycle times. We also try to relocate the facility layout to increase the efficiency and flexibility of manufacturing processes.

• Steel and Composite Structures
• /
• v.6 no.2
• /
• pp.87-101
• /
• 2006

The deformation and dynamic behavior mechanism of submerged shell-like lattice structures with membranes are in principle of a non-conservative nature as circulatory system under hydrostatic pressure and disturbance forces of various types, existing in a marine environment. This paper deals with a characteristic analysis on quasi-periodic and chaotic behavior of a circular arch under follower forces with small disturbances. The stability region chart of the disturbed equilibrium in an excitation field was calculated numerically. Then, the periodic and chaotic behaviors of a circular arch were investigated by executing the time histories of motion, power spectrum, phase plane portraits and the Poincare section. According to the results of these studies, the state of a dynamic aspect scenario of a circular arch could be shifted from one of quasi-oscillatory motion to one of chaotic motion. Moreover, the correlation dimension of fractal dynamics was calculated corresponding to stochastic behaviors of a circular arch. This research indicates the possibility of making use of the correlation dimension as a stability index.

• 한국정보디스플레이학회:학술대회논문집
• /
• 2006.08a
• /
• pp.1306-1310
• /
• 2006

We conducted visual perception experiments to determine the perception limits of motion blur based on human visual system at LCD TV's moving pictures. The motion blur can be expressed Blurred Edge Width (BEW). The results showed that the BEW of moving pictures should be below 3.4pixels (visual angle 4.2') at 3H distance in a living room environment.

• 제어로봇시스템학회:학술대회논문집
• /
• 1992.10b
• /
• pp.468-472
• /
• 1992

In recent years, lots of researches on autonomous mobile robot have been accomplished. However they focused on environment recognition and its processing to make a decision on the motion, And cooperative multi-robot, which must be able to avoid crash and to make mutual communication, has not been studied much. This paper deals with cooperative motion of two robots, 'Meari 1" and "Meari 2 " made in our laboratory, based on communication between the two. Because there is an interference on communication occurring in cooperative motion of multi-robot, many restrictive conditions are required. Therefore, we have designed these robot system so that communication between them is available and mutual interference is precluded, and we used fuzzy interference to overcome unstability of sensor data.of sensor data.

• Journal of Industrial Technology
• /
• v.26 no.A
• /
• pp.89-93
• /
• 2006

Pulse oximetry, which monitors non-invasively the oxygen saturation in blood, is influenced by patient's respiration, movement or a factor of an environment. Specially, it's difficult to measure a PPG (Photoplethsmography) signal from the moving patient because of the motion artifact. Accordingly, it is required to extract the pure PPG signal from the PPG signal to measure oxygen saturation. In this paper, we propose an adaptive noise canceller to improve the performance of motion artifact removal. Then we design a hardware system for real time monitoring of the oxygen saturation. The proposed algorithm estimates the slope of transition rate between two different wavelength signals.

• Journal of the Korean Society for Precision Engineering
• /
• v.26 no.12
• /
• pp.69-77
• /
• 2009

In this study an ANFIS-based trajectory tracking motion control algorithm is proposed for autonomous garage and parallel parking of a model car. The ANFIS controller is trained off-line using data set which obtained by Mandani fuzzy inference system and thereby the processing time decreases almost in half. The controller with a steering delay compensator is tuned through simulations performed under MATLAB/Simulink environment. Experiments are carried out with the model car for garage and parallel parking. The experimental results show that the trajectory tracking performance is satisfactory under various initial and road conditions