• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.47 no.5
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• pp.326-334
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• 2019

Development of Small UAV using HILS (Hardware In the Loop Simulation) can be effectively used to improve the reliability of UAV (Unmanned Aerial Vehicle) while reducing cost and time. It is also possible to reduce the damage to people or property by simulating the malfunction of the Flight Control Computer (FCC) that may occur during the actual flight. For applying such HILS, a real-time simulation environment capable of providing an environment similar to an actual flight condition is required. In this paper, we constructed a real - time HILS environment for Small UAV using 6 D.O.F motion table. In order to link the 6 D.O.F motion table developed in the previous research with the HILS environment in real time, the motion algorithm was changed from the position control method to the velocity control method. Also, we implemented modeling of inverse kinematics model for command transmission in Matlab $Simulink^{(R)}$ and verified the action of motion table according to the simulation model.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.6
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• pp.64-72
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• 1996

In this paper, we propose predictive motion estimatin algorithm which can predict motion without additional side information considering spatio-tempral correlatio of motion vector. This method performs motion prediction of current block using correlation of the motion vector for two spatially adjacent blocks and a temporally adjacent block. Form predicted motion, the position of searhc area is determined. Then in this searhc area, we estimate motion vector of current block using block matching algoirthm. Considering spatial an temporal correlation of motion vector, the proposed method can predict motion precisely much more. Especially when the motion of objects is rapid, this method can estimate motion more precisely without reducing block size or increasing search area. Futhrmore, the proposed method has computation time the same as conventional block matching algorithm. And as it predicts motion from adjacent blocks, it does not require additional side information for adjacent block. Computer simulation results show that motion estimation of proposed method is more precise than that of conventioanl method.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.10
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• pp.116-126
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• 2001

This paper suggests a numerical method to find optimal geometric path and minimum-time motion for a spatial 6-link manipulator arm (PUMA 560 type). To find a minimum-time motion, the optimal geometric paths minimizing 2 different dynamic performance indices are searched first, and the minimum-time motions are searched on these optimal paths. In the algorithm to find optimal geometric paths, the objective functions (performance indices) are selected to minimize joint velocities, actuator forces or the combinations of them as well as to avoid one static obstacle. In the minimum-time algorithm the traveling time is expressed by the power series including 21 terms. The coefficients of the series are obtained using nonlinear programming to minimize the total traveling time subject to the constraints of velocity-dependent actuator forces.

• 한국정보디스플레이학회:학술대회논문집
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• 2009.10a
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• pp.1322-1325
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• 2009

Adaptive black band insertion improve blur phenomenon that caused by hold type issue of LCD, the approach regulate charge time by OE signal to control black inserted ratio, and the charge time be modified according the motion quantity of displaying content.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.21 no.1
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• pp.14-19
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• 2010

In this paper, an efficient algorithm is developed to perform target rotational motion compensation to achieve the clear inverse synthetic aperture radar(ISAR) image. The algorithm is based on a time-frequency technique. This algorithm provides an efficient method to resolve the blurring image caused by the time-varying behavior of the target scattering centers and leads to a well-focused ISAR image. Results demonstrate that the time-frequency techniques can improve the blurring ISAR image when an aircraft is in complex motion, such as maneuvering, rotation and acceleration.

• The KIPS Transactions:PartB
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• v.10B no.4
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• pp.359-366
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• 2003

We propose a real-time stereoscopic image conversion method that can generate stereoscopic image with different perspective depth using motion parallax from 2-D image and offer realistic 3-D effect regardless of the direction and velocity of the moving object in the 2-D image. The stereoscopic image is generated by computing the motion parallax between adjacent two 2-D images using the proposed method for motion detection, region segmentation and depth map generation. The proposed method is suitable for real-time stereoscopic conversion processing on various image formats. It has been verified the proposed method by comparing between the stereoscopic image of the proposed method and that of MTD.

• Journal of Ship and Ocean Technology
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• v.9 no.2
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• pp.21-28
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• 2005

Recently moored offshore vessels like as FPSO(Floating Production Storage Offloading) are frequently deployed in seas for a long time. For successful operation, the motion behavior of such a vessel in waves must be clarified in advance either theoretically or experimentally. It is of particular interest to examine the behavior, when swells are superposed to seas with different incident angle. Such a situation is actually reported in some offshore oilfield. In this paper, the motion of a FPSO in irregular waves including swells is studied in time domain. Hydrodynamic coefficients and wave forces are calculated in frequency domain using three-dimensional singularity distribution method. Time memory function and added mass at infinite frequency are derived by Fourier transform utilizing hydrodynamic damping coefficients. In the process, the numerical accuracy of added mass at infinite frequency is carefully examined in association with free decay simulations. It is found from numerical simulations that swells significantly affect the vertical motion of FPSO mainly because of their longer period compared to the ordinary sea waves. In particular, the roll motion is largely amplified because the dominant period of swell is closer to the roll natural period than that of seas.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.387-392
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• 2006

In the environment where AGVs(Automated Guided Vehicles) operate concurrently in limited space, collisions. deadlocks, and livelocks which have negative effect on the productivity of AGVs occure more frequently. The accelerated motion of an AGV is also the factor that make the AGV routing more difficult because the accelerated motion makes it difficult to estimate the vehicle's exact travel time. In this study, we propose methods of avoiding collisions, deadlocks, and livelocks using OAR(Occupancy Area Reservation) table, and selecting best route by estimating the travel time of an AGV in accelerated motion. A time-driven simulation validated the effectiveness of the proposed methods.

• Journal of Korea Multimedia Society
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• v.10 no.9
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• pp.1143-1152
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• 2007

The objective of this paper is to develop the real time motion recognition method for the rehabilitation program of the people with physical disabilities. Using the infrared ray LED, this method gets the Teal time information of the user's motion and tells the difference between the information we get and the pre-defined information. In order to get the fast recognition and comparison, this method positions the specific coordinates of infrared ray LED in the pre-classified sector which keeps certain distance and angle from the point of origin. The result In our experiment shows the speed over 20 frames per second in every motion, and we are satisfied the rate for the recognition of the motions which is near 98%.

• The Journal of Korea Robotics Society
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• v.18 no.4
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• pp.496-504
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• 2023

This paper recognizes the motion intention of the wearer using a muscle stiffness sensor and proposes a control system for a wearable robot based on this. The proposed system recognizes the onset time of the motion using sensor data, determines the assistance mode, and provides assistive torque to the hip flexion/extension motion of the wearer through the generated reference trajectory according to the determined mode. The onset time of motion was detected using the CUSUM algorithm from the muscle stiffness sensor, and by comparing the detection results of the onset time with the EMG sensor and IMU, it verified its applicability as an input device for recognizing the intention of the wearer before motion. In addition, the stability of the proposed method was confirmed by comparing the results detected according to the walking speed of two subjects (1 male and 1 female). Based on these results, the assistance mode (gait assistance mode and muscle strengthening mode) was determined based on the detection results of onset time, and a reference trajectory was generated through cubic spline interpolation according to the determined assistance mode. And, the practicality of the proposed system was also confirmed by applying it to an actual wearable robot.