• Journal of Ocean Engineering and Technology
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• v.19 no.1 s.62
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• pp.87-94
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• 2005

This paper investigates the constant-level luffing and time optimal control of jib cranes. The constant-level luffing, which is the sustainment of the load at a constant height during luffing, is achieved by analyzing the kinematic relationship between the angular displacement of a boom and that of the main hoist motor of a jib crane. Under the assumption that the main body of the crane does not rotate, the equations of motion of the boom are derived using Newton's Second Law. The dynamic equations for the crane system are highly nonlinear; therefore, they are linearized under the small angular motion of the load to apply linear control theory. This paper investigates the time optimal control from the perspective of no-sway at a target point. A stepped velocity pattern is used to design the moving path of the jib crane. Simulation results demonstrate the effectiveness of the time optimal control, in terms of anti-sway motion of the load, while luffing the crane.

• KIPS Transactions on Software and Data Engineering
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• v.6 no.1
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• pp.29-36
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• 2017

In this paper, we propose a method for recognizing eating behavior with almost no motion acceleration. First, by using the acceleration of gravity acting on the wrist direction, we calculate the angle between the gravity and the wrist direction. After that, detect wrist reciprocating motion when peak and vally exist in specific angle band. And then, when accumulate the number of wrist reciprocating motion occurrences are up to 10, then regard as the meal time 5 minutes before the detection time. Also, estimate the meal time only if its duration is more than 7 minutes. Using the data of 2128 minutes, which was collected from four graduate student, the result of the meal time estimation shows 95.63% accuracy.

• International Journal of Advanced Culture Technology
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• v.4 no.1
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• pp.19-27
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• 2016

Technology in the animation industry has evolved significantly over the past decade. The tools to create animation are becoming more intuitive to use. Animators now spend more time on the artistic quality of their work than wasting time figuring out how to use the software that they rely on. However, one particular tool that is still unintuitive for animators is the motion graph editor. A motion graph editor is a tool to manipulate the interpolation of the movements generated by the software. Although the motion graph editor contains a lot of options to control the outcome of the animation, the emotional rhythm of the movements desired by the animator still depends on the animator's skill, which requires a very steep learning curve. More often than not, animators had to resort to trial and error methods to achieve good results. This inevitably leads to slow productivity, susceptible to mistakes, and waste of resources. This research will study the connection between the motion graph profile and the emotions they portray in movements. The findings will hopefully be able to provide animators reference materials to achieve the emotional animation they need with less effort.

• ETRI Journal
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• v.40 no.4
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• pp.511-521
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• 2018

The ability to realize human-motion imitation using robots is closely related to developments in the field of artificial intelligence. However, it is not easy to imitate human motions entirely owing to the physical differences between the human body and robots. In this paper, we propose a work chain-based inverse kinematics to enable a robot to imitate the human motion of upper limbs in real time. Two work chains are built on each arm to ensure that there is motion similarity, such as the end effector trajectory and the joint-angle configuration. In addition, a two-phase filter is used to remove the interference and noise, together with a self-collision avoidance scheme to maintain the stability of the robot during the imitation. Experimental results verify the effectiveness of our solution on the humanoid robot Nao-H25 in terms of accuracy and real-time performance.

• Korean Journal of Applied Biomechanics
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• v.15 no.1
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• pp.111-125
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• 2005

This study was intended to assist athletes in having a technical understanding of the Yega motion and provide basic material for improving their competitive ability by analyzing the kinematic variable of the Yega motion during the competition of the uneven parallel bar of female gymnastics. For this purpose, the game of female gymnastics participating in the uneven parallel bar game was personally videotaped using the DLT(direct linear transformation) method. An attempt was made to make a comparative analysis of the Yega motion by dividing the final first to third places into the upper group('A' group) and the sixth to eighth places into the lower group('B' group). Based on the results of actual analysis on the scenes of actual game, the following conclusion was concluded: 1. Athletes in the 'A' group showed the shorter required time on the flight phase(P3) than counterparts in the 'B' group. 2. Athletes in the 'A' group showed the little width in the horizontal displacement of the center of gravity than counterparts in the 'B' group. But athletes in the 'A' group exhibited the somewhat greater relative vertical height of the center of the body. 3. Athletes in the 'A' group showed the greater resultant velocity at the lowest point of the center of the body(E2) and at the point in time of release(E3) compared to counterparts in the 'B' group.

• Geomechanics and Engineering
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• v.7 no.6
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• pp.613-631
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• 2014

To complement the method of field-scale seismic ground motion simulations by buried blast techniques, the application and evaluation of the capability of a numerical modeling platform to simulate buried explosion-induced ground motion at a real soil site is presented in this paper. Upon a layout of the experimental setup at a level site wherein multiple charges that were buried over a large-diameter circle and detonated in a planned sequence, the formulation of a numerical model of the soil and the explosives using the finite element code LS-DYNA is developed for the evaluation of the resulting ground motion and surface subsidence. With a compact elastoplastic cap model calibrated for the loess soils on the basis of the site and laboratory test program, numerical solutions are obtained by explicit time integration for various dynamic aspects and their relation with the field blast experiment. Quantitative comparison of the computed ground acceleration time histories at different locations and induced spatial subsidence on the surface afterwards is given for further engineering insights in regard to the capabilities and limitations of both the numerical and experimental approaches.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.35S no.3
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• pp.176-184
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• 1998

We present a sequential factorization method using singular value decomposition (SVD) for recovering both the three-dimensional shape of an object and the motion of camera from a sequence of images. We employ paraperpective projection [6] for camera model to handle significant translational motion toward the camera or across the image. The proposed mthod not only quickly gives robust and accurate results, but also provides results at each frame becauseit is a sequential method. These properties make our method practically applicable to real time applications. Considerable research has been devoted to the problem of recovering motion and shape of object from image [2] [3] [4] [5] [6] [7] [8] [9]. Among many different approaches, we adopt a factorization method using SVD because of its robustness and computational efficiency. The factorization method based on batch-type computation, originally proposed by Tomasi and Kanade [1] proposed the feature trajectory information using singular value decomposition (SVD). Morita and Kanade [10] have extenened [1] to asequential type solution. However, Both methods used an orthographic projection and they cannot be applied to image sequences containing significant translational motion toward the camera or across the image. Poleman and Kanade [11] have developed a batch-type factorization method using paraperspective camera model is a sueful technique, the method cannot be employed for real-time applications because it is based on batch-type computation. This work presents a sequential factorization methodusing SVD for paraperspective projection. Initial experimental results show that the performance of our method is almost equivalent to that of [11] although it is sequential.

• Physical Therapy Korea
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• v.11 no.1
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• pp.75-83
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• 2004

The purpose of this study was to research the effects of vocalization on upper extremity motion during occupational performance and to compare non-meaning and meaning vocalization. Experiments were performed on 30 subjects. They had no medical history of neurological problems with their upper extremities. Using a tea cup, a tea tray, and a tea spoon, they set a table during vocalization. We used meaning and non-meaning vocalization with the subjects. An example of meaning vocalization would be naming something, and an example of non-vocalization would be saying, "Ah." We used a 3-D analysis system called CMS-HS. We analyzed the motion in the angular velocity and acceleration of the elbow while recording performance time. The results of this study showed that vocalization enhanced the angular velocity and acceleration of the elbow, and also enhanced performance time. In short, vocalization improved upper extremity motion by making it faster and smoother. There were no significant differences between meaning and non-meaning vocalization.

• Journal of the Korea Institute of Military Science and Technology
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• v.21 no.3
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• pp.315-322
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• 2018

Due to the increasing demand for more rapid, precise and accurate geolocation of the targets on video frames from UAVs, an efficient and timely method for correcting sensor models of motion imagery is required. In this paper, we propose a method to adjust or correct sensor models of motion imagery frames using space resection via image matching with reference data. The proposed method adopts image matching between the motion imagery frames and the reference frames which are synthesized from reference data. Ground or reference control points are generated or selected through the matching process in near real time, and are used for space resection to get adjusted sensor models. Finally, more precise and accurate geolocation of the targets can possibly be done on the fly, and we have got the promising result on performance analysis in terms of the geolocation quality.

• Nuclear Engineering and Technology
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• v.54 no.4
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• pp.1374-1381
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• 2022

Under the influence of nuclear radiation, the reliability of steam generators (SGs) is an important factor in the efficiency and safety of nuclear power plant (NPP) reactors. Motion planning that remotely manipulates an SG mobile tube-inspection robot to inspect SG heat transfer tubes is the mainstream trend of NPP robot development. To achieve motion planning, conditional traversal is usually used for base position optimization, and then the A^* algorithm is used for path planning. However, the proposed approach requires considerable processing time and has a single expansion during path planning and plan paths with many turns, which decreases the working speed of the robot. Therefore, to reduce the calculation time and improve the efficiency of motion planning, modifications such as the matrix method, improved parent node, turning cost, and improved expanded node were proposed in this study. We also present a comprehensive evaluation index to evaluate the performance of the improved algorithm. We validated the efficiency of the proposed method by planning on a tube sheet with square-type tube arrays and experimenting with Model SG.