• 제어로봇시스템학회논문지
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• 제3권2호
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• pp.132-138
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• 1997

Six different types of velocity profiles of trolley movement of a container crane are investigated for the minimal sway angle at the target trolley position. Three velocity patterns which include trapezoidal, stepped and notched-type velocity patterns are obtained assuming constant rope length. The notched type velocity pattern is shown to be derived from the time-optimal bang-bang control. The stepped type velocity pattern can be shown to be derived as bang-off bang control as well. Considering the damping effect due to hoist motion a double stage acceleration pattern is also analyzed. The main objective of the paper is to show how much time-reduction can be obtained among several velocity patterns appearing in the literature.

• 조명전기설비학회논문지
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• 제25권10호
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• pp.23-27
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• 2011

In this paper, material handing cleanroom stocker system for thin film solar cell line of photovoltaic industry and liquid crystal display line of flat panel display industry was selected for the study. Optimum solution for stocker system's CPS(Contactless Power Supply) is approached by changing the motion pattern, optimizing design & production, and analyzing characteristics of the power system. As a result, acceleration time of X-Axis changed from 3 sec to 4 sec, changed the input characteristic of CPS within approximately 11[kW]. This result shows that extending acceleration time of the X-Axis in Stocker Crane's motion pattern can reduce the capacity of the CPS, thus saving the manufacturing cost.

• 한국컴퓨터정보학회논문지
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• 제22권7호
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• pp.47-54
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• 2017

Recently, correlation filter based trackers have shown excellent tracking performance and computational efficiency. In order to enhance tracking performance in the correlation filter based tracker, search area which is image patch for finding target must include target. In this paper, two methods to discriminatively represent target in the search area are proposed. Firstly, search area location is estimated using pyramidal Lucas-Kanade algorithm. By estimating search area location before filtering, fast motion target can be included in the search area. Secondly, we investigate multi-channel Local Edge Pattern(LEP) which is insensitive to illumination and noise variation. Qualitative and quantitative experiments are performed with eight dataset, which includes ground truth. In comparison with method without search area estimation, our approach retain tracking for the fast motion target. Additionally, the proposed multi-channel LEP improves discriminative performance compare to existing features.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 심포지엄 논문집 정보 및 제어부문
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• pp.138-140
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• 2004

This paper mainly deals with the dynamic walking of a biped robot. At first, in order to walk in various environments, it is desirable to adapt to such ground conditions with a suitable foot motion, and maintain the stability of the robot by a smooth hip motion. A method to plan a walking pattern consisting of a foot trajectory and a hip trajectory is presented. The effectiveness of the proposed method is illustrated by simulation results. Secondly, the paper brings forward a balance control technique based on off-line walking pattern with real-time modification. At last, the concept of Zero Moment Point (ZMP) is used to evaluate dynamic stability.

• 한국의학물리학회지:의학물리
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• 제25권1호
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• pp.53-63
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• 2014

본 연구에서는 호흡 동조 구동 팬톰을 이용하여 5가지의 호흡패턴에 따른 4DCT와 Slow-CT의 내부표적체적(ITV) 변화를 비교 분석하였다. 각 호흡패턴마다 호흡주기 1~4초와 표적 진폭 1~3 cm를 적용하여 4DCT와 Slow-CT를 각 3회 촬영하였다. 촬영한 영상들은 Eclipse 치료계획 시스템으로 표적을 윤곽 묘사하고 내부표적체적(ITV) 길이와 체적을 측정하였으며, 4DCT, Slow-CT의 ITV 길이와 체적의 평균값을 이론값과 비교하여 분석하였다. 4DCT에서의 ITV 길이와 체적은 호흡주기가 길수록, 표적 진폭이 짧을수록 이론값과의 차이가 감소하는 경향을 보였다. Slow-CT에서는 표적 진폭이 커질수록 4DCT와 마찬가지로 이론값과의 차이가 커졌으나 호흡주기에 따른 ITV 길이와 체적의 변화는 호흡주기 1초에서 가장 이론값 비슷하였고 2~4초 내에서는 재현성의 변화가 근소했다. 호흡패턴에 따라서는 4DCT, Slow-CT 모두 ITV 길이와 체적에 대해 A패턴에서 가장 높은 재현성을 보였고, B, C, D패턴은 서로 비슷한 차이를 보였으며 E패턴은 다른 네 패턴에 비해 이론값과의 차이가 가장 컸다. 4DCT에 대한 Slow-CT의 ITV 길이와 체적의 차이는 모든 호흡패턴에 대하여 호흡주기가 길수록, 표적 진폭이 클수록 증가하였다. 4DCT와 Slow-CT 영상간의 ITV 길이 및 체적에 대한 재현성을 비교했을 때 Slow-CT가 4DCT에 비해 평균적으로 약 22% 낮았으며, 호흡패턴에 따라 상, 하 방향에 대해 표적의 재현성이 달라졌다. A, B, C패턴의 경우 상, 하 방향으로 3 mm, E패턴은 상 방향에 비해 하 방향에서 5 mm의 차이를 보인 반면에 D패턴에서는 상 방향으로는 차이가 없었으나 하 방향으로 1.45 cm의 차이가 났다. 따라서 4DCT에 대하여 Slow-CT에 표적 움직임을 고려한 여유를 설정할 경우에는 호흡패턴에 따라 상, 하 방향에 다른 여유를 정의해야 한다고 판단된다. 향후 환자의 호흡신호를 바탕으로 CT 영상을 분석할 때 본 연구에서 수행한 데이터가 유용하게 사용될 것으로 사료된다.

• 한국멀티미디어학회논문지
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• 제13권7호
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• pp.991-999
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• 2010

본 논문에서는 비디오 부호화에서 움직임 추정을 위한 고속 알고리즘을 제안한다. 기존의 고속 움직임 예측 방법들은 프레임에 따라 예측화질이 현저히 떨어지는 문제점을 가지고 있으며, 전영역 탐색기반의 향상 방법들은 계산량 감축이 높지 않은 문제점을 지니고 있다. 본 논문에서는 전영역 탐색기반의 방법에 비하여 예측화질은 거의 같게 유지하면서 불필요한 계산량을 현저히 줄이는 알고리즘을 제안한다. 제안하는 방법은 움직임 벡터의 확률분포와 적응적인 탐색 패턴 및 적응적인 블록매칭기준을 이용한다. 움직임 벡터의 확률분포에 따라 탐색패턴을 달리하며, 블록매칭 기준의 비교값을 다르게 함으로써 예측화질을 유지하면서 계산량만 효율적으로 감축할 수 있다. 제안한 알고리즘은 기존의 전영역 탐색 기반인 H.264 PDE 고속 알고리즘과 비교하여 예측 화질의 저하가 0~0.02dB이며, 소요된 계산량은 20%~30%정도이다. 제안한 알고리즘은 MPEG-2 및 MPEG-4 AVC를 이용하는 실시간 비디오 압축 응용분야에 유용하게 사용될 수 있을 것이다.

• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2007년도 학술대회 1부
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• pp.667-674
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• 2007

Facial expressions provide significant clues about one's emotional state; however, it always has been a great challenge for machine to recognize facial expressions effectively and reliably. In this paper, we report a method of feature-based adaptive motion energy analysis for recognizing facial expression. Our method optimizes the information gain heuristics of ID3 tree and introduces new approaches on (1) facial feature representation, (2) facial feature extraction, and (3) facial feature classification. We use minimal reasonable facial features, suggested by the information gain heuristics of ID3 tree, to represent the geometric face model. For the feature extraction, our method proceeds as follows. Features are first detected and then carefully "selected." Feature "selection" is finding the features with high variability for differentiating features with high variability from the ones with low variability, to effectively estimate the feature's motion pattern. For each facial feature, motion analysis is performed adaptively. That is, each facial feature's motion pattern (from the neutral face to the expressed face) is estimated based on its variability. After the feature extraction is done, the facial expression is classified using the ID3 tree (which is built from the 1728 possible facial expressions) and the test images from the JAFFE database. The proposed method excels and overcomes the problems aroused by previous methods. First of all, it is simple but effective. Our method effectively and reliably estimates the expressive facial features by differentiating features with high variability from the ones with low variability. Second, it is fast by avoiding complicated or time-consuming computations. Rather, it exploits few selected expressive features' motion energy values (acquired from intensity-based threshold). Lastly, our method gives reliable recognition rates with overall recognition rate of 77%. The effectiveness of the proposed method will be demonstrated from the experimental results.

• 한국멀티미디어학회논문지
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• 제9권8호
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• pp.963-970
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• 2006

본 논문에서는 저가형 CSTN-LCD(Color Super-Twisted Nematic Liquid Crystal Display)에 사용하는 동영상 프로세서를 제안한다. 제안된 프로세서는 SFP(SubFrame Pattern) 기법을 적용하여 계조 확장을 할 뿐 아니라 플리커(flicker)현상을 제거하였고 BFI(Black Field Insertion) 기법을 적용하여 액정의 응답시간을 보상하였다. 그리고 화질 향상을 위한 에지 강조 기법과 보간기법을 적용하였다. 하드웨어 구조는 FPGA 프로토타입 보드를 사용하여 검증하였다. 제안된 동영상 프로세서는 PDA(Personal Digital Assistants), 모바일 폰과 PMP(Portable Multimedia Player) 등에 사용되어 질 수 있다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.877-880
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• 2005

This paper suggests gait analysis and gait simulation method using Gait Motion Capture equipment and plantar pressure measurement system. The gait of normal person and how it will be effected by added weight with wearing military equipments are studied by suggested method. It is measured that a change of gait pattern when wears military equipments with Korean male adult(height 180 cm, weight 70 kg) and simulated its results.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 추계학술대회 논문집
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• pp.522-525
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• 2005

The purpose of this study was to analyze the pattern of muscle usage during swing motion with a soft golf club in comparison with that with a normal golf club. The subjects were normal healthy young adults. The subjects performed swing motion using normal and soft golf clubs in turn. Then, we compared and analyzed the muscular activities for the two cases. The muscular activities of the subject was measured using MP100(BIOPAC Systems, Inc.). For the analysis of muscular activities, we measured EMG(Electromyography) of the subjects during swing motion. The muscles analyzed were deltoid, latissimus dorsi, external oblique, and rectus abdominis of the upper limbs and rectus femoris, biceps femoris, gastrocnemius, and soleus of the lower limbs. The result of the experiment showed that the pattern of muscle usage with soft golf club was similar to that with a normal golf club but the muscular activities with the soft golf was smaller than that with the normal golf club.