• Journal of the Korea Society of Computer and Information
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• v.8 no.4
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• pp.13-20
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• 2003

Based on the studies on the motion vector distributions estimated on the image sequences, we proposed constrained diamond search (DS) algorithm for fast block-matching motion estimation. By considering the fact that motion vectors are searched within the 2 pixels distance in vertically and horizontally on average, we confirmed that DS algorithm achieves close performance on error ratio and requires less computation compared with new three-step search (NTSS) algorithm. Also, by applying displaced frame difference (DFD) to DS algorithm, we reduced the computational loads needed to estimate the motion vectors within the stable block that do not have motions. And we reduced the possibilities falling into the local minima in the course of estimation of motion vectors by applying DFD to DS algorithm. So, we knew that proposed constrained DS algorithm achieved enhanced results as aspects of error ratio and the number of search points to be necessary compared with conventional DS algorithm, four step search (FSS) algorithm, and block-based gradient-descent search algorithm

• Journal of the Korean Society for Precision Engineering
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• v.23 no.4 s.181
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• pp.176-182
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• 2006

Although several artificial disc designs have been developed for the treatment of discogenic low back pain, biomechanical changes with its implantation were rarely studied. To evaluate the effect of artificial disc implantation on the biomechanics of functional spinal unit, a nonlinear three-dimensional finite element model of L4-L5 was developed with 1-mm CT scan data. Biomechanical analysis was performed for two different types of artificial disc having constrained and unconstrained instant center of rotation(ICR), ProDisc and SB Charite III model. The implanted model predictions were compared with that of intact model. Angular motion of vertebral body, forces on the spinal ligaments and facet joint, and stress distribution of vertebral endplate for flexion-extension, lateral bending, and axial rotation with a compressive preload of 400N were compared. The implanted model showed increased flexion-extension range of motion compared to that of intact model. Under 6Nm moment, the range of motion were 140%, 170% and 200% of intact in SB Charite III model and 133%, 137%, and 138% in ProDisc model. The increased stress distribution on vertebral endplate for implanted cases could be able to explain the heterotopic ossification around vertebral body in clinical observation. As a result of this study, it is obvious that implanted segment with artificial disc suffers from increased motion and stress that can result in accelerated degenerated change of surrounding structure. Unconstrained ICR model showed increased in motion but less stress in the implanted segment than constrained model.

• Journal of Auto-vehicle Safety Association
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• v.15 no.4
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• pp.16-22
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• 2023

This paper presents a proactive longitudinal motion planning algorithm for improving the safety of an automated bus. Since the field of view (FOV) of the autonomous vehicle was limited depending on onboard sensors' performance and surrounding environments, it was necessary to implement vehicle-to-vehicle (V2V) communication for overcoming the limitation. After a virtual V2V-equipped target was constructed considering information obtained from V2V communication, the reference motion of the ego vehicle was determined by considering the state of both the V2V-equipped target and the sensor-detected target. Model predictive control (MPC) was implemented to calculate the optimal motion considering the reference motion and the chance constraint, which was deduced from manual driving data. The improvement in driving safety was confirmed through vehicle tests along actual urban roads.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.7
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• pp.154-162
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• 1997

본 논문은 구속된 기계 시스템의 운동 제어 설계를 위한 새로운 방법을 제안한다. 구속된 기계 시스템의 운동 제어에는 지금까지 주로 사용되어온 Lagrange의 운동 방정식에 의한 모델링 보다 Udwadia와 Kalaba에 의해 제안된 운동 방정식에 의한 모델링이 더욱 적합함을 보였으며 이는 Holonomic 및 Nonholonomic 구속 조건을 비롯한 대부분의 구속 조건이 포함된다. 문헌에 잘 알려진 두 시스템을 시뮬레이션을 통하여 비교 함으로써 본 논문에 제안된 방법이 보다 우수한 결과를 보여줌을 확인 할 수 있었다. 또한 지금까지 불가능 하였던 비선형 일반 속도(gereralized velocity)를 포함한 구속 조건도 용이하게 제어됨을 보임으로써 광범위한 구속된 기계 시스템의 제어 문제를 통일된 방법으로 접근 할 수 있음을 제시하였다.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1590-1595
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• 2003

Direct drive servovalve(DDV) is a kind of one-stage valve since the rotary motion of DC motor is directly transferred to the linear motion of valve spool through the link. Since the structure of DDV is simple, it is less expensive, more reliable and offers reduced internal leakage and reduced sensitivity to fluid contamination. However, the flow force effect on the spool motion is significant such that it induces large steady-state error in a step response. If the proportional control gain is increased to reduce the steady-state error, the system becomes unstable. In order to satisfy the system design requirements, the lead-lag controller is designed using the complex method that is one kind of constrained direct search method.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.20-25
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• 1998

This paper proposes a new compliant contact control strategy for the robot manipulators accidentally interacting with an unknown environment. The main features of the proposed method are summarized as follows: First, each entry in the diagonal stiffness matrix corresponding to the task coordinate in Cartesian space is adaptively adjusted during con-tact along the corresponding axis based on the contact force with its environment. Second, it can be used for both unconstrained and constrained motions without any switching mechanism which often causes undesirable instability and/or vibrational motion of the end effector. Third, the adjusted stiffness gains are automatically recovered to initially specified stiffness gains when the task is changed from constrained motion to unconstrained motion. The simulation results show the effectiveness of the proposed method by employing a two-link direct drive manipulator interacting with an unknown environment.

• Journal of Biomedical Engineering Research
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• v.34 no.2
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• pp.55-62
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• 2013

Wrist joints consist of irregularly shaped carpal bones and other complicated structures. Thus, evaluating the motion of a wrist joint is a challenging task. In this study, we used an infrared camera to perform a kinematic analysis of a dart-throwing motion. We measured the difference between the movement of a normal wrist and constrained wrist (wrist with a wrist glove) in the dart-throwing motion with thirty six healthy participants. We measured the ulna flexion - radial extension motion using the attached passive marker and analyzed it using Polygon software and SPSS. The pitch and yaw motions with a glove was bigger than the ones without a glove by 20 and 15 degrees, respectively. On the other hand, the roll motion without a glove was bigger than the one with a glove by 7 degree. Wilcoxon signed rank test (p<0.05) confirmed that there are significant differences between the motion with and without a glove. It was found that the magnitude of the pitch and yaw motion with a constrained wrist joint toward radial extension in dart-throwing motion is smaller than the one with a normal wrist joint. However, a normal wrist joint showed a bigger movement in the roll direction.

• Journal of Mechanical Science and Technology
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• v.18 no.11
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• pp.1891-1899
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• 2004

The characteristics of dynamic systems subjected to multiple linear constraints are determined by considering the constrained effects. Although there have been many researches to investigate the dynamic characteristics of constrained systems, most of them depend on numerical analysis like Lagrange multipliers method. In 1992, Udwadia and Kalaba presented an explicit form to describe the motion for constrained discrete systems. Starting from the method, this study determines the dynamic characteristics of the systems to have positive semidefinite mass matrix and the continuous systems. And this study presents a closed form to calculate frequency response matrix for constrained systems subjected to harmonic forces. The proposed methods that do not depend on any numerical schemes take more generalized forms than other research results.

• Journal of Broadcast Engineering
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• v.16 no.5
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• pp.861-872
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• 2011

Many fast block-matching algorithms (BMAs) in motion estimation field reduce computational complexity by screening the number of checking points. Although many fast BMAs reduce computations, sometimes they should endure matching errors in comparison with full-search algorithm (FSA). In this paper, a novel fast BMA for constrained one-bit transform (C1BT)-based motion estimation is proposed in order to decrease the calculations of the block distortion measure. Unlike the classical fast BMAs, the proposed algorithm shows a new approach to reduce computations. It utilizes the binomial distribution based on the characteristic of binary plane which is composed of only two elements: 0 and 1. Experimental results show that the proposed algorithm keeps its peak signal-to-noise ratio (PSNR) performance very close to the FSA-C1BT while the computation complexity is reduced considerably.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.43 no.1 s.307
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• pp.1-8
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• 2006

This paper presents a fast full search algorithm for motion estimation applicable to multiple reference images. The proposed method is an extended version of the rate constrained successive elimination algorithm (RSEA) for multiple reference frame applications. We will show that motion estimation for the reference images temporally preceding the first reference image can be less intensive in computation compared with that for the first reference image. for computational reduction, we will drive a new condition to lead the smaller number of candidate blocks for the best matched block. Simulation results explain that our method reduces computation complexity although it has the same quality as RSEA.