• 전자공학회논문지T
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• 제36T권1호
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• pp.93-102
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• 1999

본 논문은 내용 기반 비디오 질의를 위한 데이터 모델과 검색 방법을 제안한다. 하나의 비디오를 같은 길이의 프레임(frame)들의 집합 즉 비디오-윈도우로 나눈 후에 각각의 비디오-윈도우를 다차원 공간의 한 점으로 사상시킨다. 인접한 비디오-윈도우를 연결하면 하나의 비디오는 다차원 공간에서의 하나의 궤적(trajectory)이된다. 두 비디오-윈도우의 유서성은 두 점의 유클리디안 거리로 정의되며, 비디오 단편(segment)의 유사성 비교는 궤적을 비교함으로써 검사한다. 여과(filtering), 정제(refinement)과정을 가지는 새로운 검색 방법을 개발한다. 새로운 검색 방법을 여과/정제 과정이 없는 질의 결과가 정확하고, 질의 처리 속도는 약 4.7배 향상되었다.

• 제어로봇시스템학회논문지
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• 제17권10호
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• pp.1029-1036
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• 2011

An energy-efficient reference walking trajectory generation algorithm is suggested utilizing allowable ZMP (Zero-Moment-Point) region, which maxmizes the energy efficiency for cyclic gaits, based on three-dimensional LIPM (Linear Inverted Pendulum Model) for biped robots. As observed in natural human walking, variable ZMP manipulation is suggested, in which ZMP moves within the allowable region to reduce the joint stress (i.e., rapid acceleration and deceleration of body), and hence to reduce the consumed energy. In addition, opimization of footstep planning is conducted to decide the optimal step-length and body height for a given forward mean velocity to minimize a suitable energy performance - amount of energy required to carry a unit weight a unit distance. In this planning, in order to ensure physically realizable walking trajectory, we also considered geometrical constraints, ZMP stability condition, friction constraint, and yawing moment constraint. Simulations are performed with a 12-DOF 3D biped robot model to verify the effectiveness of the proposed method.

• 한국전자통신학회논문지
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• 제18권4호
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• pp.731-736
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• 2023

보행은 특정 단계를 반복하는 주기적인 동작으로 사람의 기본 이동방법이다. 보행 분석을 통해 여러 가지 근골격계의 건강상태를 판별할 수 있다. 본 연구에서는 공간의 제약 없이 보행 분석을 할 수 있는 착용형 센서 시스템을 제안한다. 거리를 측정하는 ToF(: Time-of-Flight) 센서와 기울기를 측정하는 IMU(: Inertial Measurement Unit) 센서로 보행 중의 뒤꿈치 궤적을 도출한다. 낙상의 위험이 있는 이상보행을 할 때의 뒤꿈치 궤적의 변화 양상을 분석하여 보행을 평가한다.

• 제어로봇시스템학회논문지
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• 제16권8호
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• pp.810-815
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• 2010

This paper proposes a vision/DR integrated navigation system using distance between wheels of the vehicle and a gyroscope. In order to show the validity of the proposed vision/DR integrated navigation system, experiments were performed for a trajectory of a mobile robot. Experimental results show that the proposed vision/DR integrated navigation system gives better navigation performance than a vision/DR integrated navigation system using only distance between wheels of the vehicle.

• 한국환경과학회지
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• 제9권1호
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• pp.57-64
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• 2000

The sensitivity analysis of two short-term models (ISCST3, INPUFF2.5) is performed to improve the model accuracy. It appears that the sensitivities on the changes of wind speed, stack height and stack inner diameter in the near distance from source, stability and mixing height in the remote distance form source, are significant. Also the gas exit velocity, stack inner diameter, gas temperature and air temperature which affect the plume rise have some effects on the concentration values of each model within the downwind distance where final plume rise is determined. And in modeling for the atmospheric dispersion of point pollutant source INPUFF2.5 can calculate amount, trajectory of puff and concentration versus time at each receptors. So, it is compatible to analyze distribution of point pollutants concentration at modeling area.

• Journal of Welding and Joining
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• 제18권5호
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• pp.77-83
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• 2000

This study proposes the analysis and evaluation method of time series ultrasonic signal using the attractor analysis. Features extracted from time series signal analyze quantitatively characteristics of weld defects. For this purpose, analysis objective in this study is fractal dimension and attractor quadrant feature. Trajectory changes in the attractor indicated a substantial difference in fractal characteristics resulting from distance shifts such as parts of head and flange even though the types of defects are identified. These difference in characteristics of weld defects enables the evaluation of unique characteristics of defects in the weld zone. In quantitative fractal feature extraction, feature values of 3.848 in the case of part of head(crack) and 4.102 in the case of part of web(side hole) and 3.711 in the case of part of flange(crack) were proposed on the basis of fractal dimensions. Proposed attractor analysis and DAC in this study can enhance the precision rate of ultrasonic evaluation for defect signals of rail weld zone such as side hole and crack.

• Physical Therapy Rehabilitation Science
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• 제6권4호
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• pp.189-195
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• 2017

Objective: The purpose of this study was to examine the effects of real-time visual feedback weight shift training during golf swinging on golf performance. Design: Repeated-measures crossover design. Methods: Twenty-sixth amateur golfers were enrolled and randomly divided into two groups: The golf swing training with real-time feedback on weight shift (experimental group) swing training on the Wii balance board (WBB) by viewing the center of pressure (COP) trajectory on the WBB. All participants were assigned to the experimental group and the control group. The general golf swing training group (control group) performed on the ground. The golf performance was measured using a high-speed 3-dimensional camera sensor which analyses the shot distance, ball velocity, vertical launch angle, horizontal launch angle, back spin velocity and side spin velocity. The COP trajectory was assessed during 10 practice sessions and the mean was used. The golf performance measurement was repeated three times and its mean value was used. The assessment and training were performed at 24-hour intervals. Results: After training sessions, the change in shot distance, ball velocity, and horizontal launch angle pre- and post-training were significantly different when using the driver and iron clubs in the experimental group (p<0.05). The interaction time${\times}$group and time${\times}$club were not significant for all variables. Conclusions: In this study, real-time feedback training using real-time feedback on weight shifting improves golf shot distance and accuracy, which will be effective in increasing golf performance. In addition, it can be used as an index for golf player ability.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2003년도 ISIS 2003
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• pp.228-231
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• 2003

This paper presents the leg trajectory generation for the quadruped robot with genetic-fuzzy algorithm. To have the nobility even at uneven terrain, a robot is able to recognize obstacles, and generates moving path of body that can avoid obstacles. This robot should have its own avoidance algorithm against obstacles, forwarding to target without collision. During walking period, n robot recognizes obstacle from external environment with a PSD and some interface, and this obstacle information is converted into proper the body rotation angle by fuzzy inference engine. After this process, we can infer the walking direction and walking distance of body, and finally can generate the optimal Beg trajectory using genetic algorithm. All these methods are verified with PC simulation program, and implemented to SERO-V robot.

• 제어로봇시스템학회논문지
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• 제6권2호
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• pp.164-172
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• 2000

To follow a moving target keeping a certain distance it is essential for a mobile robot to detect the target first and to measure its pose and velocity. This paper proposes a new solution for this problem using the accumulated ultrasonic image which is constructed by accumulating the returned ultrasonic signal along the time axis for a certain number of measurement periods. A moving target is separated by selecting the trajectory whose inclination is different from others in the imag since the inclination of a trajectory represents the relative speed of the target against the mobile robot. The proposed algorithm was implemented on a mobile robot and has shown that the robot follows a moving target successfully.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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• pp.328-333
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• 1994

This paper presents a real-time calculation method to generate the trajectory of robot manipulator for the purpose of avoiding collision. In order to model 3-D workspace, we use octree which has been used for fast collision detection. The levels of octree are used as the cost function to represent the distance between the manipulator and the obstacles. This criterion is not exact, but, due to this, we can obtain the approximate feasible trajectory extremely quickly. We will show the effectiveness of our method with some simulation examples. For example, the proposed method can solve a problem within 1 second on Intel 80486 processor running at 33 MHz. It has taken more than half an hour with one of the previously proposed methods.