• Proceedings of the KSR Conference
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• 1998.11a
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• pp.437-444
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• 1998

In this paper, an efficient and accurate formulation for the transient analysis of constrained multibody systems is presented. The formulation employs Kane's method along with the null space method. Kane's method reduces the dimension of equations of motion by using partial velocity matrix: it can improve the efficiency of the formulation. Furthermore, the formulation partitions the coefficient matrix of linear and nonlinear equations into several sub-matrices using kinematic uncoupling. This can solve the equations more efficiently. The proposed formulation can be used to perform dynamic analysis of systems which can he partitioned into several sub-systems such as train systems. One numerical example is given to demonstrate the efficiency and accuracy of the formulation, and another numerical example is given to show its application to the train systems.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2019.06a
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• pp.166-168
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• 2019

본 논문에서는 타일(tile) 기반 360 영상 스트리밍을 위해 Motion Constrained Tile Set(MCTS)을 적용하여 부호화된 영상을 독립적으로 전송하였을 때 독립적인 타일들을 하나의 영상으로 병합하는(merge) 기법의 제한점을 논의하고 타일 병합기를 구현한다. 360 영상 스트리밍 환경에서 타일 병합 기법을 적용하기 위한 방안으로, 시간적 및 공간적 독립성을 가진 타일들로 구성된 영상들을 이용하여 영상의 특성과 슬라이스 정보를 대체하여 병합된 영상을 생성하는 방법을 제안한다. 또한, 타일들을 병합을 하기 위해 일부 영상의 정보를 파싱하여 병합되는 영상 정보를 생성함으로써 송신단의 영상 정보를 이용하지 않고도 영상 병합이 가능해진다. 따라서, 제안하는 방식을 이용하면 미리 구성된 영상 정보로 병합하는 방법으로부터 더 나아가 영상 특성으로 인한 제한점을 해결하여 서로 다른 영상으로부터 분할된 타일들을 하나의 영상으로 병합할 수 있다.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2018.06a
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• pp.92-95
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• 2018

가상 현실을 위한 360 영상 비디오 전송기술이 활발히 연구되고 있다. 그러나 현재 가상현실 기기의 컴퓨팅 연산능력과 대역폭은 고화질 360 영상을 재생하기에 한계가 있다. 이 한계를 극복하기 위해 본 논문은 High Efficiency Video Coding (HEVC)와 Scalability Extension of HEVC (SHVC)를 활용하여 타일 기반의 360 도 영상 전송 기법을 제안한다. 제안하는 HEVC 와 SHVC 인코더는 타일을 독립적으로 전송 할 수 있는 비트 스트림을 생성한다. 제안하는 추출기는 사용자 시점에 해당하는 타일의 비트 스트림을 추출한다. 제안하는 기법에 의해 추출된 SHVC 비트스트림의 기본계층은 전체화면을 나타내며, 강화계층은 사용자 시점에 해당하는 타일로 구성된다. 제안하는 HEVC 인코더를 사용할 때에는 저화질과 고화질을 따로 인코딩하여 고화질만 사용자 시점에 해당하는 타일을 추출한다. 전체화면을 고화질로 보내는 대신에 전체화면을 저화질로, 사용자화면을 고화질로 보내기 때문에 제안하는 기법은 디코더의 컴퓨팅 연산과 네트워크 bitrate 를 대폭 줄일 수 있다. 본 제안 기법의 실험 결과는 전체화면 전송 대비 47%이상의 bitrate 를 줄인다.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2018.06a
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• pp.11-14
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• 2018

본 논문에서는 실시간 고화질 360 영상 전송을 위해 사용자 시점에 기반한 타일 분할 기법을 적용하고 360 영상을 가상현실 기기 화면에 표현하여 주관적 화질 평가를 위한 플랫폼을 구현한다. 사용자 시점에 기반한 고화질 360 영상 전송을 위한 방안으로, 분할된 영상에서 전송되지 않은 영상으로의 움직임 참조 문제를 해결하기 위해 적용된 MCTS (motion constrained tile sets) 기술과 실시간으로 사용자 시점에 위치한 타일들만 추출할 수 있도록 미리 구성된 타일 정보들을 포함하는 EIS (extraction information sets) SEI, 사용자 시점에 위치한 타일 정보만 추출해내고 영상을 분할 및 추출해주는 Extractor, 실제 추출된 영상 정보를 이용해 가상현실 기기 화면에 표현하는 방법에 대한 구현 내용을 설명한다. 따라서 제안된 구현물을 기반으로 고화질 360 영상 전송을 수행하면, 사용자 시점 영역의 영상만 전송하여 불필요한 영상 전송을 하지 않게 되어 화질 대비 낮은 대역폭의 향상된 실시간 전송 영상을 얻을 수 있다.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2020.07a
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• pp.51-54
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• 2020

본 논문에서는 360 도 VR 영상을 전송하는 기법의 일종인 타일 기반 전송을 MMT(MPEG Media Transport) 프로토콜 기반으로 구현하기 위하여 영상의 공간 분할 정보를 전달하는 방법을 소개한다. 360 도 VR 영상 전송은 대용량 미디어 전송인 동시에 사용자의 움직임에 따라 신속하게 적응적 영상을 전달해야 한다. 타일 기반 전송은 HEVC(High Efficiency Video Coding)의 MCTS(Motion Constrained Tile Sets) 기법을 이용하여 뷰포트에 해당하는 타일들을 고화질로 전달함으로써 이러한 요구사항을 해결한다. 반면, MMT 프로토콜은 초저지연 고화질 영상 전송에 유리한 기술로써 사용자의 시점 변화에 따라 기민하게 영상의 품질을 변환시킬 수 있다. 따라서 HEVC 의 SEI(Supplemental Enhancement Information) 메시지에 포함되는 타일들의 공간 분할 정보를 MMT 프로토콜에 적용하는 방식에 따라 적응적 타일 기반 전송 기법의 효율을 높일 수 있다.

• Journal of the Korea Computer Graphics Society
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• v.19 no.4
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• pp.13-22
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• 2013

A motion capture system is widely used in movies, computer game, and computer animation industries because it allows for creating realistic human motions efficiently. The inertial motion capture system has several advantages over more popular vision-based systems in terms of the required space and cost. However, it suffers from low accuracy due to the relatively high noise levels of the inertial sensors. In particular, the accelerometer used for measuring gravity direction loses the accuracy when the sensor is moving with non-zero linear acceleration. In this paper, we propose a method to remove the linear acceleration component from the accelerometer data in order to improve the accuracy of measuring gravity direction. In addition, we develop a simple method to calibrate the joint axis of a link to which an inertial sensor belongs as well as the position of a sensor with respect to the link. The calibration enables attaching inertial sensors in an arbitrary position and orientation with respect to a link.

• International Journal of Control, Automation, and Systems
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• v.4 no.3
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• pp.325-332
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• 2006

The dynamic responses of human standing postural control were investigated when subjects were exposed to long-term horizontal vibration. It was hypothesized that the motion of standing posture complexity mainly occurs in the mid-sagittal plane. The motor-driven support platform was designed as a source of vibration. The AC Servo-controlled motors produced anterior/posterior (AP) motion. The platform acceleration and the trunk angular velocity were used as the input and the output of the system, respectively. A method was proposed to identify the complexity of the standing posture dynamics. That is, during AP platform motion, the subject's knee, hip and neck were tightly constrained by fixing assembly, so the lower extremity, trunk and head of the subject's body were individually immovable. Through this method, it was assumed that the ankle joint rotation mainly contributed to maintaining their body balance. Four subjects took part in this study. During the experiment, the random vibration was generated at a magnitude of $0.44m/s^2$, and the duration of each trial was 40 seconds. Measured data were estimated by the coherence function and the frequency response function for analyzing the dynamic behavior of standing control over a frequency range from 0.2 to 3 Hz. Significant coherence values were found above 0.5 Hz. The estimation of frequency response function revealed the dominant resonance frequencies between 0.60 Hz and 0.68 Hz. On the basis of our results illustrated here, the linear model of standing postural control was further concluded.

• Journal of Digital Contents Society
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• v.18 no.8
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• pp.1615-1620
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• 2017

The development of Virtual Reality (VR)-related technologies has resulted in the improved performance of VR devices as well as affordable price arrangements, granting many users easy access to VR technology. VR drawing applications are not complicated for users and are also highly mature, being used for education, performances, and more. For controller-based spatial drawing interfaces, the user's drawing interface becomes constrained by the controller. This study proposes hand interaction based spatial drawing system where the user, who has never used the controller before, can intuitively use the drawing application by mounting LEAP Motion at the front of the Head Mounted Display (HMD). This traces the motion of the user's hand in front of the HMD to draw curved surfaces in virtual environments.

• Journal of Ocean Engineering and Technology
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• v.36 no.3
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• pp.143-152
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• 2022

To reach a port, a ship must pass through a shallow water zone where seabed effects alter the hydrodynamics acting on the ship. This study examined the maneuvering characteristics of an autonomous surface ship at 3-DOF (Degree of freedom) motion in deep water and shallow water based on the in-port speed of 1.54 m/s. The CFD (Computational fluid dynamics) method was used as a specialized tool in naval hydrodynamics based on the RANS (Reynolds-averaged Navier-Stoke) solver for maneuvering prediction. A virtual captive model test in CFD with various constrained motions, such as static drift, circular motion, and combined circular motion with drift, was performed to determine the hydrodynamic forces and moments of the ship. In addition, a model test was performed in a square tank for a static drift test in deep water to verify the accuracy of the CFD method by comparing the hydrodynamic forces and moments. The results showed changes in hydrodynamic forces and moments in deep and shallow water, with the latter increasing dramatically in very shallow water. The velocity fields demonstrated an increasing change in velocity as water became shallower. The least-squares method was applied to obtain the hydrodynamic coefficients by distinguishing a linear and non-linear model of the hydrodynamic force models. The course stability, maneuverability, and collision avoidance ability were evaluated from the estimated hydrodynamic coefficients. The hydrodynamic characteristics showed that the course stability improved in extremely shallow water. The maneuverability was satisfied with IMO (2002) except for extremely shallow water, and collision avoidance ability was a good performance in deep and shallow water.

• Journal of Navigation and Port Research
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• v.31 no.6
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• pp.515-521
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• 2007

To increase the stevedore efficiency and service level at container terminal, it is essential to reduce working time of container crane which has a bottle neck in the logistic flow of container. The working speed and safety are required to be improved by controlling the movement of the trolley as quick as possible without big overshoot and any residual swing motion of container in the vicinity of target position. This paper presents optimal state feedback control using RCGAs in the case of existing constrained conditions