• Journal of the Ergonomics Society of Korea
• /
• v.9 no.1
• /
• pp.21-27
• /
• 1990

Teaching Expert System/World Coordinate System(TES/WDS) was proposed to improve robot motion control. First, precise coordinate reading for getting the inherent data about position and posture of task objects was performed throgh the integrated image and fuzzy processing. Second, singularity and parameter limitation problems in getting the motion data about position and posture of robot in macro motion were solved by proposed geometric algorithm. Third, the unnecessary robot motion was also removed by the Robot Time and Motion (RTM) method and the Multi-Geometric Straight-Line Motion (MGSLM) method in micro motion. This results demonstrated reduction of the average teaching task time according to task order.

• Journal of Information Processing Systems
• /
• v.19 no.3
• /
• pp.370-376
• /
• 2023

Aiming at the problems of low image enhancement accuracy, long enhancement time and poor image quality in the traditional robot sequence motion image enhancement methods, an adaptive enhancement method for robot sequence motion image is proposed. The feature representation of the image was obtained by Karhunen-Loeve (K-L) transformation, and the nonlinear relationship between the robot joint angle and the image feature was established. The trajectory planning was carried out in the robot joint space to generate the robot sequence motion image, and an adaptive homomorphic filter was constructed to process the noise of the robot sequence motion image. According to the noise processing results, the brightness of robot sequence motion image was enhanced by using the multi-scale Retinex algorithm. The simulation results showed that the proposed method had higher accuracy and consumed shorter time for enhancement of robot sequence motion images. The simulation results showed that the image enhancement accuracy of the proposed method could reach 100%. The proposed method has important research significance and economic value in intelligent monitoring, automatic driving, and military fields.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 2019.11a
• /
• pp.271-271
• /
• 2019

Estimating ship motion is difficult because it take place in complex environments.. Estimating ship motion is an important factor in ensuring the safety of ship, so accurate estimates are needed. Existing motion-related studies compare the apparent motion of the model acquired and the reference model by experimenting with the ship motion on a particular alignment, making it difficult to intuitively estimate the hull motion. This study introduces the concept of estimating the characteristics of ship motion as a transfer function through pole-zero interpretation and frequency response analysis by applying the method of transfer function of Linear-Time Invariant system. Ship motion analysis model using Linear-Time Invariant system is consist with 1) wave as input signal 2) ship motion as output signal 3) hull defined as black box. This model can be defined by numericalizing the ship motion as a transfer function and is expected to facilitate the characterization of the ship motion through pole-zero analysis and frequency response analysis.

• Bulletin of the Korean Space Science Society
• /
• 2011.04a
• /
• pp.22.1-22.1
• /
• 2011

Two dominant components of polar motion are the Chandler and the annual components. Recently, the existence of 500-day period component in the Earth's polar motion has been manifested. But its existence is not clear on Fourier spectrum. One cause of difficulty involved here is that the amplitudes of the two main components are slightly variable in time by certain amounts (Chandler: 0.15~0.28 arcsec, annual: 0.09~0.15 arcsec). A residual polar motion time series excluding the two main components for a time span between 1962 Jan and 2010 Nov from IERS C04 time series dataset was constructed by least square fitting. For faithful fitting, 43 time segments of 6.8 year length (each starts on January 1st of successive years) were separately acquired and later combined together. The period of dominant peak in the spectrum of this residual polar motion time series is 490 days. Next peaks have their periods as semi-annual, 300~330 days, ~560 days, 670 days, and 1360 days.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
• /
• v.14 no.11
• /
• pp.1156-1160
• /
• 2003

Many time-frequency analysis techniques have been used for motion compensated ISAR(Inverse Synthetic Aperture Radar) imaging. In this work, a novel time-frequency(T-F) analysis called evolutionary adaptive wavelet transform (EAWT) and evolutionary adaptive joint time-frequency(EAJTF) procedure are used for the motion compensated ISAR image. To show the validity of our algorism, we use simulated MIG-25 and Boeing 727(B-727) ISAR data. From the constructed ISAR image using EAWT and EAJTF, we show that our algorithm can obtain a clear motion compensated ISAR image such as other time-frequency analysis techniques.

• Journal of Korea Multimedia Society
• /
• v.17 no.7
• /
• pp.797-805
• /
• 2014

In this paper we propose a new frame rate up conversion scheme which is used to overcome the motion blur problem of liquid crystal display caused by its slow response. The conventional bilateral motion estimation method which is mainly used in the frame rate up conversion scheme has a drawback that it cannot find true motion vector if there are blocks with simple texture in the search range. To solve this problem, a texture adaptive bilateral motion estimation method that increases cost value of block with simple texture is proposed. Also a motion estimation scheme that utilizes neighboring motion vector effectively is proposed to reduce computation time required to estimate motion. Since the proposed scheme does not apply all available motion vectors within the search range, the execution time of frame rate up conversion can be reduced dramatically. Experimental results show that the interpolated frame image quality of the proposed method is improved in subjective as well as objective view point compared with that of the conventional method.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.66 no.1
• /
• pp.186-193
• /
• 2017

KOSMOS is Korea Open Source MOtion System which is developed based on general purpose hardware and open source software. It is aiming at IEC 61131-3 standard. Real-time ethernet has several advantages for motion control system and distributed control system. So, considering this advantages, KOSMOS has the network interface made up of Real-time ethernet, EtherCAT. In this paper, we explain the KOSMOS platform, the performance for real-time task and show the real case applying KOSMOS platform in manipulator control system.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.26 no.5
• /
• pp.969-975
• /
• 2002

Visual effects are important cues for providing occupants with virtual reality in a vehicle simulator which imitates real driving. The viewpoint of an occupant is sensitively dependent upon the occupant's posture, therefore, the total human body motion must be considered in a graphic simulator. A real-time simulation is required for the dynamic analysis of complex human body motion. This study attempts to apply a neural network to the motion analysis in various driving situations. A full car of medium-sized vehicles was selected and modeled, and then analyzed using ADAMS in such driving conditions as bump-pass and lane-change for acquiring the accelerations of chassis of the vehicle model. A hybrid III 50%ile adult male dummy model was selected and modeled in an ellipsoid model. Multibody system analysis software, MADYMO, was used in the motion analysis of an occupant model in the seated position under the acceleration field of the vehicle model. Acceleration data of the head were collected as inputs to the viewpoint movement. Based on these data, a back-propagation neural network was composed to perform the real-time analysis of occupant motions under specified driving conditions and validated output of the composed neural network with MADYMO result in arbitrary driving scenario.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.74-79
• /
• 2005

In this paper, we propose a novel approach to decentralized motion planning and conflict-resolution for multiple mobile agents working in an environment with unexpected moving obstacles. Our proposed motion planner has two characteristics. One is a real-time collision prognosis based on modified collision map. Collision map is a famous centralized motion planner with low computation load, and the collision prognosis hands over these characteristics. And the collision prognosis is based on current robots status, maximum robot speeds, maximum robot accelerations, and path information produced from off-line path planning procedure, so it is applicable to motion planner for multiple agents in a dynamic environment. The other characteristic is that motion controller architecture is based on potential field method, which is capable of integrating robot guidance to the goals with collision avoidance. For the architecture, we define virtual obstacles making delay time for collision avoidance from the real-time collision prognosis. Finally the results obtained from realistic simulation of a multi-robot environment with unknown moving obstacles demonstrate safety and efficiency of the proposed method.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.12 no.3
• /
• pp.527-533
• /
• 2008

Motion compensation always produces the principal bottleneck in the real-time high quality video applications. Therefore, a fast dedicated hardware is needed to perform motion compensation in the real-time video applications. In many video encoding methods, the frames are partitioned into blocks of Pixels. In general, motion compensation predicts present block by estimating the motion from previous frame. In motion compensation, the higher pixel accuracy shows the better performance but the computing complexity is increased. In this paper, we studied an architecture of motion compensator suitable for H.264/AVC encoder that supports quarter-pixel accuracy. The designed motion compensator increases the throughput using transpose array and 3 6-tap Luma filters and efficiently reduces the memory access. The motion compensator is described in VHDL and synthesized in Xilinx ISE and verified using Modelsim_6.1i. Our motion compensator uses 36-tap filters only and performs in 640 clock-cycle per macro block. The motion compensator proposed in this paper is suitable to the areas that require the real-time video processing.