• Proceedings of the Korean Information Science Society Conference
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• 2000.04b
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• pp.110-112
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• 2000

이미지와는 달리, 비디오 데이터는 객체에 대한 움직임 정보(motion trajectory)를 가지고 있으며, 이러한 움직임 정보는 비디오 데이터만이 가지는 매우 중요한 특징으로 비디오 데이터에 대한 색인과 내용 기반 검색을 수행하는 데 있어 중요한 역할을 한다. 따라서, 본 논문에서는 비디오 데이터베이스에서 효율적인 내용기반 검색을 위해 하나의 객체에 대한 움직임 정보를 나타내는 single motion trajectory와 두 객체에 대한 움직임 정보를 나타내는 multiple motion trajectory를 위한 새로운 시공간 표현 기법을 제안한다. 아울러, 움직임 정보에 대한 사용자 질의에 대해 유사성을 측정하여 순위부여와 Time Interval을 지원하는 새로운 유사성 측정 알고리즘인 SIST와 SIMT를 제안한다.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.3
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• pp.427-432
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• 2018

This paper uses a recursive least squares method to estimate the projectile motion trajectory of an object in real time. The equations of motion of the object are obtained considering the air resistance which occurs in the actual experiment environment. Because these equations consider air resistance, parameter estimation of nonlinear terms is required. However, nonlinear recursive least squares estimation is not suitable for estimating trajectory of projectile in that it requires a lot of computation time. Therefore, parameter estimation for real-time trajectory prediction is performed by recursive least square estimation after using Taylor series expansion to approximate nonlinear terms to polynomials. The proposed method is verified through experiments by using VICON Bonita motion capture system which can get three dimensional coordinates of projectile. The results indicate that proposed method is more accurate than linear Kalman filter method based on the equations of motion of projectile that does not consider air resistance.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2022.11a
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• pp.170-171
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• 2022

A ship's maneuvering motion model is important in a computer simulation, especially under the trend of intelligent navigation. This model is usually constructed by the hydrodynamic parameters of the ship which are generated by the principles of hydrodynamics. Ship's motion model is a nonlinear function. By using this function, ships' motion elements can be calculated, then the ship's trajectory can be predicted. Deeping neural networks can construct any linear or non-linear equation theoretically if there have enough and sufficient training data. This study constructs some kinds of deep Networks and trains this network by real ship motion data, and chooses the best one of the networks, uses real data to train it, then uses it to predict the ship's trajectory, getting some conclusions and experiences.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.7
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• pp.767-772
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• 2011

Trajectory generation is important because it determines the walking stability, continuity, and performance of a body in motion. Generally, the Linear Inverted Pendulum Mode is used for trajectory generation; however, for the sake of simplicity, the trajectory in this mode does not allow vertical motions and pitching motions of the body. This paper proposes a new trajectory generation method called Extended Linear Inverted Pendulum Mode (ELIPM) that allows vertical motion as well as pitching motion. This method can also improve the performance of locomotion by controlling the stride and locomotion frequency of a body.

• Journal of Korea Game Society
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• v.14 no.2
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• pp.67-76
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• 2014

Recently there have been many interests on tangible sport games that can recognize the motions of players. In this paper, we propose essential technologies required for tangible games, which are methods for swing motion recognition and the calculation of shuttle cock's trajectory. When a user carries out a badminton swing while holding a smartphone with his hand, the motion signal generated by smartphone-embedded acceleration sensors is transformed into a feature vector through a Daubechies filter, and then its swing type is recognized using a k-NN based method. The method for swing motion presented herein provides an advantage in a way that a player can enjoy tangible games without purchasing a commercial motion controller. Since a badminton shuttle cock has a particular flight trajectory due to the nature of its shape, it is not easy to calculate the trajectory of the shuttle cock using simple physics rules about force and velocity. In this paper, we propose a method for calculating the flight trajectory of a badminton shuttle cock in which the wind effect is considered.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1190-1195
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• 2003

In this paper, it is shown how a robot with n passive trailers can be controlled in backward direction. When driving backward direction, a kinematic model of the system is represented highly nonlinear equations. The problem is formulated as a trajectory following problem, rather than control of independent generalized coordinates. Also, the state and input saturation problems are formulated as a trajectory generation problem. The trajectory is traced by a rear hinge point of the last trailer, and reference trajectories include line segments, circular shapes and rectangular turns. Experimental verifications were carried out with the PSR-2(public service robot $2^{nd}$ version) with three passive trailers. Experimental result showed that the backward motion control can be successfully carried out using the proposed control scheme.

• Advances in aircraft and spacecraft science
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• v.5 no.5
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• pp.551-579
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• 2018

This work is concerned with the motion of propeller driven airplanes, flying at constant velocity on ascending or descending rectilinear trajectories. Its purpose is to provide important features of rectilinear flights that are required for airplane trajectory planning but that cannot be found already published. It presents a method for calculating the amount of fuel used, the restrictions on the trajectory parameters, as inclination and speed, which result from the load factor, the lift coefficient, the positivity and upper boundedness of the power available. It presents a complete discussion of both ascending and descending flights, including gliding. Some original remarks are made about the parameters of gliding. It shows how to construct tables of parameters allowing to identify rapidly flyable trajectories. Sample calculations are shown for the Cessna 182 and a Silver Fox like unmanned aerial vehicle.

• Journal of Mechanical Science and Technology
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• v.20 no.8
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• pp.1159-1168
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• 2006

In this paper, a new revolute mobile robot arm with five degree of freedom (d.o.f) was developed for autonomous moving robots. As a control system for the robot arm, a distributed control system composed of the main controller and five motor controllers for arm joints was developed. The main controller and the motor controllers w ε re developed using the ARM microprocessor and the TMS320c2407 microprocessor, respectively. A new trajectory tracking algorithm for the motor controllers was devised employing pre-generated off-line trajectory data. Also, a 3-D simulator based on the openGL software to simulate the motion of the robot arm was developed. To validate the performance of the robot system, experiments to track a specified trajectory were performed.

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

• Advances in aircraft and spacecraft science
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• v.10 no.5
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• pp.473-494
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• 2023

This article introduces a formalism for the analysis of airplane trajectories on which the motion is determined by specifying the power of the engines. It explains a procedure to solve the equations of motion to obtain the value of the relevant flight parameters. It then enumerates the constraints that the dynamical abilities of the airplane impose on the amount of fuel used, the speed, the load factor, the lift coefficient, the positivity and upper boundedness of the power available. Examples of analysis are provided to illustrate the method proposed, with rectilinear and circular trajectories. Two very different types of airplanes are used in the examples: a Silver Fox-like small UAV and a common Cessna 182 Skylane.