• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.410-414
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• 1996

A visual servoing algorithm is proposed for a robot with a camera in hand. Specifically, novel image features are suggested by employing a viewing model of perspective projection to estimate relative pitching and yawing angles between the object and the camera. To compensate dynamic characteristics of the robot, desired feature trajectories for the learning of visually guided line-of-sight robot motion are obtained by measuring features by the camera in hand not in the entire workspace, but on a single linear path along which the robot moves under the control of a, commercially provided function of linear motion. And then, control actions of the camera are approximately found by fuzzy-neural networks to follow such desired feature trajectories. To show the validity of proposed algorithm, some experimental results are illustrated, where a four axis SCARA robot with a B/W CCD camera is used.

• 한국정보과학회논문지:시스템및이론
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• 제32권1호
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• pp.29-38
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• 2005

유체 애니메이션은 물리적 시뮬레이션과 시각적 렌더링으로 구성된다. 물리적 시뮬레이션은 입자 동역학을 이용한 해석 방법과 나비어-스토크스(Navier-Stokes) 방정식을 이용한 연속체 유동해석 방법이 많이 사용된다. 입자 동역학을 이용한 시뮬레이션은 연산 속도는 빠르나 유체의 움직임이 경우에 따라 부자연스러우며, 나비어-스토크스 방정식을 이용한 방법은 적절한 조건 하에서 사실적인 유체의 움직임을 표현할 수 있으나 방대한 연산량과 계산의 복잡성으로 인하여 실시간 응용이 어렵다. 우수한 품질의 렌더링 영상은 주로 전역적 조명 방법을 사용하여 얻을 수 있는데, 이 역시 실시간 응용에 적합한 속도론 내기에는 부적합하다. 본 논문에서는 개선된 입자 동역학 시뮬레이션과 선적분 볼륨 렌더링을 이용한 고속유체 애니메이션 방법을 제안한다 레나드-존스(Lennard-Jones) 모턴을 이용한 입자동역학 해석기법을 이용하여 유체의 움직임을 고속으로 시뮬레이션 하였으며, 적은 수의 입자만으로도 충분한 유체의 부피를 표현할 수 있도록 연산효율을 개선하였다. 또한 실시간 렌더링을 위하여 적은 수의 슬라이스로도 우수한 품질의 영상을 빠르게 얻을 수 있는 선적분 볼륨 렌더링 방식을 사용하였다. 본 제안 방법을 사용하여 실시간 응용에 적절한 속도와 화질을 보여주는 유체 애니메이션이 가능하다.

• 한국정보통신학회논문지
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• 제12권12호
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• pp.2337-2342
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• 2008

본 논문에서는 디지털 영상의 화질 개선을 위해 선명화와 잡음제거를 동시에 수행하는 새로운 알고리즘을 제안한다. 제안하는 방법은 영상 화소들에 대하여 계산된 활동도의 통계적 정보를 활용하여 평탄영역과 평탄하지 않은 영역을 구분하고 각 영역에 대해 저주파 통과 필터와 고주파 통과필터를 각기 다르게 적용하여 화질을 개선한다. 각 필터의 적용 강도는 활동도의 히스토그램을 바탕으로 하는 사상함수에 의해 결정되므로 기존의 잡음제거 필터와 샤프닝 필터가 가지고 있던 복잡한 파라메터의 설정과정이 필요 없이 평탄영역에서의 잡음제거 및 블러링 효과와 활동성이 높은 영역에서의 선명화 효과를 동시에 얻을 수 있다. 또한 화질개선에 필요한 파라메터가 통계적 정보를 이용하여 자동으로 얻어지므로 많은 양의 화질개선 작업을 일괄적으로 수행하는 경우에도 최적의 결과물을 기대할 수 있다.

• 복식
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• 제24권
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• pp.143-155
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• 1995

Unlike pure art such as painting and sculpture, dressmaking , a field of special plastic art, is characterized by its physical and functional nature. Having an inseparable relation with form, it is a field of art expressiion the human innersense of beauty in correlation with other various fields of art. In this respect, I think it should be necessary for us to study the forms of art from the past in order to study the forms of art from the past in order to study the correlations and mutual influencies between forms of pure art and dressmaking and to understand modern dressmaking from the standpoint of art. In this context, this study is an attempt to analze how the form and characteristics of OP ART , which represents the trends of the 1960's is embodied in modern dresses. The results are as follows : Fist , the expression of OP ART in dresses have visual effects harmonizing with bodily movements and , also, expanded the range and dynamics of expression which resulted from the introduction of visual phenomena in a fresh new sense by not limiting itself to the suggestion of patterns of OP ART. Second, OP ART paintings expressed the mobility and rhythimicity of a body in a limited space in a two-dimensional plane way of expression . When a dress is worn, however, it expands such mobility and rhythmicity in a cubic , three-dimensional way, maximizing the effects of , and boldly expression, OP ART, it can also create a new silhuette and ability of formation by seeking an open expression of OP ART rather than an expression of OP ART it self , due to the infinite possibility and unpredictability by the dynamics of movements and the elements principle of designs. Third , by applying the patterns of OP ART to dresses, we can obtain special visual effects of design, cover up the body's weak points, and create a desired three -dimensional sense by highlighting the beauty of the body's curved lines. Although modern dresses and OP ART are different genres of art, both have something in common in their pusuits. Since there is a infinite possibility in OP ART, there should be continuous attempts to combine dresses and art satisfying the sense of the times, which will lead dressmaking to a higher-dimensional dressmaking plastic art.

• 제어로봇시스템학회논문지
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• 제14권10호
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• pp.1047-1052
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• 2008

In this paper, we design an image-based robust controller to compensate uncertainties with image Jacobian and robot dynamics due to uncertain depth measurement and load variations. The proposed controller with eye-in-hand structure has separate terms to compensate each of uncertainties. The ultimate boundedness of the closed-loop system is proved by the Lyapunov approach. The performance of the proposed control system is demonstrated by simulation and experimental results a 5-link robot manipulator with two degree of freedom.

• 대한인간공학회지
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• 제21권2호
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• pp.13-23
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• 2002

Human dummies are essential tools in the development of such products as vehicle have been actively used not only in reach and view field tests. but also in impact perception evaluations. This study attempted to obtain geometric and dynamic model body segments from Korean anthropometric data. The investigation focused on the de both human and dummy for the geometric and inertial properties. The dynamic modeli being suggested is based on rigid body dynamics using fifteen individual body segments by joins. The segments are connected at the locations representing the physical joint body so that each segment has its mass and moment of inertia. For visual three-dimensional graphic was used for easier implementation of the dumn applications. For applications, proposed Korean dummies Were used in dynamic crash and driver's view and reach test modules were developed in virtual environment.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.117.5-117
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• 2001

This paper presents the key idea of handlebar reaction force and pedal resistance force generation in creating life-like feeling in KAIST bicycle simulator. Also, it provides methods to evaluate its reality level with given reaction force profile. In KAIST bicycle simulator, the pedal resistance force and the handlebar reaction force are calculated using the bicycle dynamic model. With the information handlebar angle, rider´s pedaling torque and road profile transmitted from the handlebar system, the pedal system and the visual part, the bicycle dynamics engine calculates the handlebar reaction force and the pedal velocity. The handlebar system and the pedal resistance system generate reaction force and resistance force transmitted from dynamics engine. However to make more realistic riding feeling ...

• 복식
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• 제59권9호
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• pp.163-179
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• 2009

The superimposition of the Russian constructivist architectural design is one of the notable transforming techniques of conventional design principles. The main objective of this paper is to analyse the superimposed space in the modern fashion design based on the techniques and characteristics of superimposition appeared in Russian constructivism architectural space. The artistic characteristics of the superimposed design in the modern fashion design can be determined by codes of dynamics, sense of space, rhythmical sense, communications and tension of the dress. Through this study, it was found that superimposition of the Russian constructivist architectural design in the modern fashion design has influenced the modern fashion design space in the forms of dynamics with directive sense, vitality through transparency, uniformity with geometric interpenetrates, intensive visual attraction created by duplicity, communication between human body and clothes, creation of transformative beauty and enhancement of structural volume on clothes.

• Journal of Mechanical Science and Technology
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• 제17권2호
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• pp.221-229
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• 2003

In the virtual environment, reality can be enhanced by offering the motion based on a motion simulator in harmony with visual and auditory modalities. In this research the Stewart-Gough-platform-based motion simulator has been developed. Implementation of vehicle dynamics is necessary in the motion simulator for realistic sense of motion, so bicycle dynamics is adopted in this research. In order to compensate for the limited range of the motion simulator compared with the real vehicle motion, washout algorithm composed of high-pass filter, low-pass filter and tilt coordination is usually employed. Generally, the washout algorithm is used with fixed parameters. In this research a new approach is proposed to tune the filter parameters based on fuzzy logic in real-time. The cutoff frequencies of the filters are adjusted according to the workspace margins and driving conditions. It is shown that the washout filter with the fuzzy-based parameters presents better performance than that with the fixed ones.

• 한국자동차공학회논문집
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• 제14권2호
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• pp.158-165
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• 2006

In this paper, a new uni-axial bushing model for vehicle dynamics analysis is proposed. Bushing components of a vehicle suspension system are tested to capture the nonlinear and hysteric behavior of the typical rubber bushing elements using the MTS machine. The results of the tests are used to develop the Bouc-Wen bushing model. The Bouc-Wen model is employed to represent the hysteretic characteristics of the bushing. ADAMS program is used for the identification process and VisualDOC program is also used to find the optimal coefficients of the model. Genetic algorithm is employed to carry out the optimal design. A numerical example is suggested to verify the performance of the proposed model.