• 디지털융복합연구
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• 제12권8호
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• pp.337-343
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• 2014

본 논문은 감지와 통신 데이터 전송량의 관점에서 서베일런스 네트워크에서 움직이는 객체를 추적하기 위하여 전송 데이터를 감소시키는 최소 윤곽선 추적 알고리즘을 제안한다. 이 알고리즘은 객체 추적에 대한 감지를 수행하고 서버와의 영상 데이터 전송 시 영상 데이터 전송량을 줄임으로써 서버와의 통신 부하를 최소화한다. 이 알고리즘은 객체의 운동학을 기초로 최소 추적 영역을 사용한다. 객체의 운동학의 모델링은 예정된 시간 안에서 이동할 수 있는 객체에 의해 운동 역학적으로 방문될 수 없는 추적 영역의 부분을 제거하는 것으로써 시작한다. 실시간으로 객체를 검출하는 응용 분야에서 대량의 영상 데이터를 전송시에 전송 부하를 줄일 수 있는 효과가 있다.

• 대한전자공학회논문지
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• 제25권8호
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• pp.916-926
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• 1988

In this paper, we explore real-time implementation of various dynamic control algorithms, which use the different levels of the information of the dynamics, using a SCARA type robot to show the feasibility and effectiveness of such algorithms. For these purposes, the kinematics of the SCARA type robot is anayzed and the manipulator-actuator dynamic equations based on Lagrange mechanisms are derived. Experimental results indicate that computed torque technique and iterative learning control methods perform better than classical PID control and that these algorithms can be effectively applied to controlling industrial manipulators.

• 제어로봇시스템학회논문지
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• 제15권7호
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• pp.694-699
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• 2009

This paper presents the implementation of the real-time object tracking control of the ROBOKER head. The visual servoing technique is used to track the moving object, but suffers from ill-estimated Jacobian of the virtual link design. To improve the tracking performance, the RBF(Radial Basis Function) network is used to compensate for uncertainties in the kinematics of the robot head in on-line fashion. The reference compensation technique is employed as a neural network control scheme. Performances of three schemes, the kinematic based scheme, the Jacobian based scheme, and the neural network compensation scheme are verified by experimental studies. The neural compensation scheme performs best.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2000년도 ITC-CSCC -2
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• pp.831-834
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• 2000

The sign-language tan be used a9 an auxiliary communication means between avatars of different languages. At that time an intelligent communication method can be also utilized to achieve real-time communication, where intelligently coded data (joint angles for arm gestures and action units for facial emotions) are transmitted instead of real pictures. In this paper we design a gesture-emotion keyframe editor to provide the means to get easily the parameter values. To calculate both joint angles of the arms and the hands and to goner-ate the in keyframes realistically, a transformation matrix of inverse kinematics and some kinds of constraints are applied. Also, to edit emotional expressions efficiently, a comic-style facial model having only eyebrows, eyes nose, and mouth is employed. Experimental results show a possibility that the editor could be used for intelligent sign-language image communications between different lan-guages.

• 한국정밀공학회지
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• 제26권9호
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• pp.14-22
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• 2009

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1481-1484
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• 1997

The vehicle driving simulator expects vehicle motion with real-time simulation arise from driver's steering, accelerating, stopping and simulates motion of vehicl with visula, audio and washout algorithm. And it gives a vivid feeling to driver in reality. Vehicle driving simulator with vehicle integration control system is used for analysis of analysis of vehicle controllaility, steering capacity and safety in various pseudo environment alike. basides, it analyzeds vehicle safety factor dirver's reaction and promotes traffic safety without driver's own risks. The main proceduress of development of the vehicle driving simulator are classified by 3 parts. first the motion base system which can be generated by the motion queues, should be developed. Secondly, real-time vehicle software which can afford the vehicle dynamics, might be constructed. The third procedure is the integration of vehicle driing simulator which can be interconnected between visual systems with motion base. In this study, we are to study of the motion base for a vehicle driving simulator design and that of its real time control and using an extra gyro sensor and accelerometers to find a position and an orientatiion of the moving platform except for calculating forward kinematics. To drive the motion base, we use National Instruments corp's Labview software. Furthemore, we use analysis module for the vehicle motionand the washout algorithm module to consummate driving simulator, which can be driven by human in reality, so we are doing experimentally process about various vehicle motion conditon.

• 한국항행학회논문지
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• 제24권6호
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• pp.540-548
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• 2020

본 논문에서는 기선 거리에 따른 VRS (virtual reference station)와 FKP (flächen korrektur parameter) 방식의 Network RTK (real time kinematics) 사용자 성능을 비교 분석하였다. 이를 위해 현재 국토지리정보원에서 운영 중인 VRS 및 FKP 서비스를 통해 기선 거리 별 보정정보를 취득하여 상용 수신기에 적용한 후, RTK 수행 결과를 측정치 영역과 위치 영역에서 각각 분석하였다. VRS의 경우, 사용자가 기선 거리가 증가함에 따라 발생하는 공간이격 오차를 보상하지 못하므로 전반적인 RTK 성능이 저하되는 것을 확인하였다. 반면, FKP는 VRS와 달리 전리층 및 비전리층 오차의 구배를 이용하여 사용자와 기준국 간 측정치의 공간이격 오차를 보상하므로 기선 거리 약 130 km 수준까지는 기선 거리 증가하더라도 VRS에 비해 안정적인 RTK 성능을 보여주었지만, 150 km이상의 장기저선의 경우에는 FKP 보정정보의 성능 감소로 인해 미지정수 오결정 등의 문제가 발생하였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.499-501
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• 2004

This paper deals with the implementation of a quadruped working robot using wireless sensor network with TinyOS. It is often required to install real time OS and wireless network in the mobile robot field since robots work alone without human intervention and also exchanging their information between robot systems. The suggested controller utilizes a built-in wireless network OS and makes the variance action related with human-kindly motions for a quadruped walking robot. In addition, a kinematics analysis of its structure and control architecture of robot system is suggested and verified the usefulness through the real experiment.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 추계학술대회 논문집
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• pp.772-775
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• 2002

The remote handling and maintenance devices in the nuclear hot ceil should be checked prior to the hot operation in view of reliability and operability. In this study, the digital mock-up is implemented to analyze and define the process equipment maintenance processes instead of real mock-up, which is very expensive and time consuming. To do this, the parts of equipment and maintenance devices are modeled in 3-D graphics, assembled, and kinematics is assigned. Also, the virtual workcell of the spent fuel management process is implemented in the graphical environment which is the same as the real environment. This simulator has the several functions for verification such as analyses for the manipulator's working area, the collision detection, the path planning and graphic simulation of the processes etc. This graphic simulator of the maintenance devices can be effectively used in designing of the maintenance processes for the hot cell equipment and enhance the reliability of the spent fuel management.

• International Journal of Control, Automation, and Systems
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• 제4권3호
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• pp.333-343
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• 2006

In this paper, the baseline-length information is directly modeled as a measurement for the Wald test, which speeds up the resolution convergence of the integer ambiguity of GPS carrier phase measurements. The convergent speed improvement is demonstrated using numerical simulation and real experiments. It is also shown that the integer ambiguities can be resolved using only four actual satellite measurements with very reasonable convergence speed, if the baseline-length information is used just like one additional observable satellite measurement. Finally, it is shown that the improvement of convergence speed of the Wald test is due to the increase of the probability ratio with the use of the baseline-length constraint.