• 정보처리학회논문지B
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• 제14B권6호
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• pp.437-444
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• 2007

본 논문의 목적은 기존의 모션 캡쳐 기반 애니메이션을 모바일 임베디드 시스템의 적은 메모리와 낮은 계산력에 적합하게 개조하는데 있다. 모바일 임베디드 시스템의 메모리를 효율적으로 사용하기 위한 방안으로서, PC 상에서 모션 캡쳐 데이터베이스를 압축하고, 압축된 모션캡쳐 데이터베이스를 모바일 임베디드 시스템에서 조금씩 압축 해제하고 사용 직후 삭제하는 패러다임을 제안한다. 이러한 목적으로 사용될 모션 캡쳐 데이터베이스 압축 기법으로서, 다항식 정합법을 활용하여 캡쳐된 운동 랜더링 파라미터의 데이터베이스를 축소하는 방법을 제안한다. 그리고 성능향상을 위해서 다항식 정합 함수를 최적화하는 방안도 함께 제안한다. 이렇게 설계된 다항식 정합법에 기반한 데이터 압축 방식을 사용하여, 상용화된 모바일 임베디드 시스템에서 효율적인 모션 캡쳐 기반 애니메이션 제작을 시현한다.

• 로봇학회논문지
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• 제12권2호
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• pp.239-247
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• 2017

The purpose of this study is to develop a motion generation technique based on a double inverted pendulum model (DIPM) that learns and reproduces humanoid robot (or virtual human) motions while keeping its balance in a pattern similar to a human. DIPM consists of a cart and two inverted pendulums, connected in a serial. Although the structure resembles human upper- and lower-body, the balancing motion in DIPM is different from the motion that human does. To do this, we use the motion capture data to obtain the reference motion to keep the balance in the existence of external force. By an optimization technique minimizing the difference between the motion of DIPM and the reference motion, control parameters of the proposed method were learned in advance. The learned control parameters are re-used for the control signal of DIPM as input of linear quadratic regulator that generates a similar motion pattern as the reference. In order to verify this, we use virtual human experiments were conducted to generate the motion that naturally balanced.

• 대한안전경영과학회지
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• 제25권2호
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• pp.107-111
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• 2023

This study aims to empirically investigate effects of motion repetition and external load according to joint motion on discomfort through an experiment. Eighteen college students (female: 9; male: 9) participated in an experiment measuring perceived discomfort using the Borg CR10. Joint(wrist, elbow, shoulder and trunk) motion, its repetition and external load were adopted as independent variables. The results showed that all three independent variables were statistically significant on discomfort. Participants' sex also significantly affected discomfort obtained in the experiment. While the interactions of joint motion and repetition, and joint motion and external load were not significant at α = 0.05, that of motion repetition and external load was significant. Based on the experimental results, four regression equations by the joints involved were presented, which could be used as a tool for evaluating postural loads by the joints. It may be postulated that based on the results of this study, scoring systems of RULA and REBA, and those of OWAS and REBA underestimates effects of motion repetition and external load, respectively. It is expected that the results of this study will be used as a basic data for developing an observational method properly reflecting the effects of motion repetition and external load.

• 한국의학물리학회지:의학물리
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• 제28권4호
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• pp.164-170
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• 2017

One of the methods to consider the effect of respiratory motion of a tumor target in radiotherapy is to establish a treatment plan with the internal target volume (ITV) created based on an accurate analysis of the target motion displacement. When this method is applied to intensity modulated radiotherapy (IMRT), it is expected to yield a different treatment dose distribution under the motion condition according to the IMRT method. In this study, we prepared ITV-based IMRT plans with conventional IMRT using fixed gantry angle beams, RapidArc using volumetric modulated arc therapy, and tomotherapy using helical therapy. Then, the variation in dose distribution caused by the target motion was analyzed by the dose measurement in the actual motion condition. A delivery quality assurance plan was prepared for the established IMRT plan and the dose distribution in the actual motion condition was measured and analyzed using a two-dimensional diode detector placed on a moving phantom capable of simulating breathing movements. The dose measurement was performed considering only a uniform target shape and motion in the superior-inferior (SI) direction. In this condition, it was confirmed that the error of the dose distribution due to the target motion is minimum in tomotherapy. This is thought to be due to the characteristic of tomotherapy that treats the target sequentially by dividing it into several slices. When the target shape is uniform and the main target motion direction is SI, it is considered that tomotherapy for the ITV-based IMRT method has a characteristic which can reduce the dose difference compared with the plan dose under the target motion condition.

• 한국생산제조학회지
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• 제22권2호
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• pp.318-323
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• 2013

For fast and accurate motion of 6-axis articulated robot, more noble motion control strategy is needed. In general, the movement strategy of industrial robots can be divided into two kinds, PTP (Point to Point) and CP (Continuous Path). Recently, industrial robots which should be co-worked with machine tools are increasingly needed for performing various jobs, as well as simple handling or welding. Therefore, in order to cope with high-speed handling of the cooperation of industrial robots with machine tools or other devices, CP should be implemented so as to reduce vibration and noise, as well as decreasing operation time. This paper will realize CP motion (especially joint-linear) blending in 3-dimensional space for a 6-axis articulated (lab-manufactured) robot (called as "RS2") by using LabVIEW$^{(R)}$ (6) programming, based on a parametric interpolation. Another small contribution of this paper is the proposal of motion blending simulation technique based on Recurdyn$^{(R)}$ V7 and Solidworks$^{(R)}$, in order to figure out whether the joint-linear blending motion can generate the stable motion of robot in the sense of velocity magnitude at the end-effector of robot or not. In order to evaluate the performance of joint-linear motion blending, simple PTP (i.e., linear-linear) is also physically implemented on RS2. The implementation results of joint-linear motion blending and PTP are compared in terms of vibration magnitude and travel time by using the vibration testing equipment of Medallion of Zonic$^{(R)}$. It can be confirmed verified that the vibration peak of joint-linear motion blending has been reduced to 1/10, compared to that of PTP.

• 대한기계학회논문집A
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• 제40권11호
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• pp.955-962
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• 2016

최근 산업 자동화 분야에서는 확장성을 고려한 표준화된 소프트웨어 기반 모션 제어 시스템 개발 방법과 다품종 소량 생산을 위한 다양한 동작 모드 지원에 대한 요구가 증대되고 있는 추세이다. 소프트웨어 기반 모션 시스템은 단일 장비 상에서 다양한 동작 모드 전환이 용이하게 하지만 다중 동작 모드를 쉽게 정의하는 도구와 동작 모드 변경에 대한 표준화된 동작 절차가 정의되어 있지 않은 상태에서 다중 동작 모드를 지원하는 모션 제어시스템을 구성하는 것은 쉽지 않다. 본 논문에서는 PLCopen 표준 호환 모션 블록들을 이용해 다중 동작 모드를 구성하고 모드 변경을 외부에서 구동하기 위한 프로토콜을 포함하는 모션 레시피 개념을 제안한다. 제안된 모션 레시피 개념은 IEC 61131-3 표준 호환 통합개발 환경인 Beremiz의 기능을 확장하여 구현하였으며, 실제 테스트베드 상에서 그 동작을 검증하였다.

• 한국멀티미디어학회논문지
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• 제8권5호
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• pp.618-632
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• 2005

본 논문에서는 모션 캡처 데이터의 효과적인 저장 및 의미 기반 검색을 위한 프레임워크를 제안한다. 모션 캡처 기술은 현실감있는 캐릭터 동작을 얻기 위해 많이 사용되고 있지만, 모션 캡처 데이터의 검색과 저장을 위한 표준화의 부족으로 인한 여러 가지 문제점을 가지고 있다. 또한 미리 캡처된 모션 데이터에 의미론적 부가설명이 없으므로 애니메이터들이 캡처된 모션 데이터로부터 필요한 부분 동작들만을 검색하고 조합하여 새로운 동작을 생성하기가 어렵다. 본 논문의 목적은 모션 캡처 데이터의 재사용성을 향상시키기 위한 것이다 먼저 상이한 모션 캡처 데이터 포맷들을 통합하기 위한 표준 포맷을 제안한다. 제안하는 표준 포맷은 XML 기반의 마크업 언어로서 MCML(Motion Capture Markup Language)라고 한다. 제안하는 MCML은 서로 상이한 포맷들의 변환 또는 통합을 하기 위해 유용할 뿐만 아니라, MCML파일로 모션 데이터 베이스를 구축하므로 모션 캡처 데이터의 재사용성을 향상시킬 수 있다. 또한 모션 캡처 데이터의 부분 동작들에 의미를 부여하고 동작들 사이에 의미론적 연결을 위해 모션 온톨로지를 정의한다. 온톨로지 기반 데이터 접근으로 인해 부분 동작 및 그와 연관된 동작들을 검색하고 항해할 수 있다.

• 한국전자통신학회논문지
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• 제5권5호
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• pp.493-497
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• 2010

선박의 실시간 좌표변환 구현하였고, DC Servo Motor의 Motion Control 알고리즘을 개발하였다. Servo Control 회로설계 및 PCB를 제작하였고, 이를 3-axis Gyro Sensor based Servo Motion Control 제어장치에 적용하여 시스템을 개발하였다. 또한 선박운동을 시뮬레이터하기 위해서 6자유도를 가진 선박용 시뮬레이터를 개발하였다. 개발된 시뮬레이터에 장착된 카메라를 이용하여 선박운동을 추척하는 시험을 한 결과 원하는 오차내에서 추적결과를 보여주었다.

• 전기학회논문지
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• 제65권12호
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• pp.2057-2060
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• 2016

Range-based motion estimation of a moving object by using a camera is proposed. Whereas the existing results constrain the motion of an object for the motion estimation of an object, the constraints on the motion is relieved in the proposed method in that a more generally moving object motion can be handled. To this end, a nonlinear observer is designed based on the relative dynamics between the object and camera so that the object velocity and the unknown camera velocity can be estimated. Stability analysis and simulation results for the moving object are provided to show the effectiveness of the proposed method.

• ETRI Journal
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• 제33권2호
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• pp.259-266
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• 2011

We present a new method for an automated markerless system to describe, analyze, and classify human gait motion. The automated system consists of three stages: I) detection and extraction of the moving human body and its contour from image sequences, ii) extraction of gait figures by the joint angles and body points, and iii) analysis of motion parameters and feature extraction for classifying human gait. A sequential set of 2D stick figures is used to represent the human gait motion, and the features based on motion parameters are determined from the sequence of extracted gait figures. Then, a k-nearest neighbor classifier is used to classify the gait patterns. In experiments, this provides an alternative estimate of biomechanical parameters on a large population of subjects, suggesting that the estimate of variance by marker-based techniques appeared generous. This is a very effective and well-defined representation method for analyzing the gait motion. As such, the markerless approach confirms uniqueness of the gait as earlier studies and encourages further development along these lines.