• ETRI Journal
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• 제41권4호
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• pp.494-505
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• 2019

In this paper, we propose a new framework for detecting the unauthorized dumping of garbage in real-world surveillance camera. Although several action/behavior recognition methods have been investigated, these studies are hardly applicable to real-world scenarios because they are mainly focused on well-refined datasets. Because the dumping actions in the real-world take a variety of forms, building a new method to disclose the actions instead of exploiting previous approaches is a better strategy. We detected the dumping action by the change in relation between a person and the object being held by them. To find the person-held object of indefinite form, we used a background subtraction algorithm and human joint estimation. The person-held object was then tracked and the relation model between the joints and objects was built. Finally, the dumping action was detected through the voting-based decision module. In the experiments, we show the effectiveness of the proposed method by testing on real-world videos containing various dumping actions. In addition, the proposed framework is implemented in a real-time monitoring system through a fast online algorithm.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2004년도 추계학술대회 논문집
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• pp.187-192
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• 2004

In this paper, it is presented a new technique to the design and real-time implementation of fuzzy control system based-on digital signal processors in order to improve the precision and robustness for system of industrial robot. Fuzzy control has emerged as one of the most active and fruitful areas for research in the applications of fuzzy set theory, especially in the real of industrial processes. In this thesis, a self-organizing fuzzy controller for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy logic composed of linguistic conditional statements is employed by defining the relations of input-output variable of the controller, In the synthesis of a FLC, one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult, SOFC is proposed for a hierarchical control structure consisting of basic level and high level that modify control rules. The proposed SOFC scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance of the SOFC is illustrated by simulation and experimental results for robot with eight joints.

• 한국공작기계학회논문집
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• 제13권1호
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• pp.35-47
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• 2004

In this paper presents a new approach to the design and real-time implementation of fuzzy control system based-on digital signal processors(DSP:IMS320C80) in order to improve the precision and robustness for system of industrial robot(Dual-Arm with 8 joint Robot). The need to meet demanding control requirement in increasingly complex dynamical control systems under significant uncertainties, leads toward design of intelligent manipulation robots. The IMS320C80 is used in implementing real time fuzzy control to provide an enhanced motion control for robot manipulators. In this paper, a Self-Organizing Fuzzy Controller(SOFC) for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy logic composed of linguistic conditional statements is employed by defining the relations of input-output variables of the controller. In the synthesis of a FLC(Fuzzy Logic Controller), one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult SOFC is proposed for a hierarchical control structure consisting of basic and high levels that modify control rules. The proposed SOFC scheme is simple in structure, Int in computation, and suitable for implementation of real-time control. Performance of the SOFC is illustrated by simulation and experimental results for a Dual-Arm robot with eight joints.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.939-944
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• 2007

Generally, development of a robot capable of fast movements or high payloads is progressed by the analysis of dynamic characteristics, DOF positioning, actuator selection, structure of links, and so on. This paper highlights the design of a robot manipulator handled by a human for man-machine cooperation. The requirements of the proposed system include its having multi-DOF(Degree of Freedom)and the capacity for a high payload in the condition of its maximum reach. The primary investigation factors are motion range, performance within the motion area, and reliabilityduring the handling of heavy materials. Traditionally, the mechanical design of robots has been viewed as a problem of packaging motors and electronics into a reasonable structure. This process usually transpires with heavy reliance of designerexperience. Not surprisingly, the traditional design process contains no formally defined rules for achieving desirable results, as there is little opportunity for quantitative feedback during the formative stages. This work primarily focuses on the selection of proper joint types and link lengths, considering a specific task type and motion requirements of the heavy material handling.

• 말소리와 음성과학
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• 제13권2호
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• pp.1-7
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• 2021

음성은 개별 조음 기관(입술, 혓끝, 혓몸, 연구개, 성문)에서 일어나는 협착 운동들의 시공간적 협응 구조라 할 수 있다. 다른 인간의 운동(예: 잡기)과 마찬가지로 각각의 협착 운동은 언어학적으로 의미 있는 task이며, 각 task는 그것과 관계된 기본 요소들의 시너지에 의해 수행된다. 본 연구는 이러한 음성 task가 어떻게 기본 요소들인 joint와 동역학적으로 연계될 수 있는지를 로보틱스의 관점에서 논의하고자 한다. 나아가 로보틱스의 기본 원리를 음성과학 분야에 소개함으로써 운동으로서의 음성이 어떻게 발화되는지에 대한 더 깊은 이해를 가능케 하고, 실제 인간의 조음을 모방한 말하는 기계를 구현하는 데 필요한 이론적 토대를 제공하고자 한다.

• 대한안전경영과학회지
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• 제12권1호
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• pp.51-57
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• 2010

Cycling that transform human energy into mechanical energy is one of the man-machine systems out of sports fields. Benchmarking means "improving ourselves by learning from others', therefore benchmarking toward dominant cyclist is necessary on field. The goals of this study were to provide important factors on multi-disciplines (kinematics, physiology, power, psychology) for a tailored-training program that is suitable to individual characteristics. Two cyclists participated in this study and gave consent to the experimental procedure. One was dominant cyclist (years: 21 yrs, height: 177 cm, mass: 70 kg), and the other was non-dominant cyclist (years: 21, height: 176, mass: 70). Kinematic data were recorded using six infrared cameras (240Hz) and QTM (software). Physiological data (VO2max, AT) were acquired according to graded exercising test with cycle ergometer and power with Wingate test used by Bar-Or et. al (1977) and to evaluate muscle function with Cybex. Psychological data were collected with competitive state anxiety inventory (CSAI-2) that was devised by Martens et. al (1990) and athletes' self-management questionnaire (ASMQ) of Huh (2003). It appears that the dominant's CV of ankle joint angle was higher than non-dominant's CV and dominant's pedaling pattern was consistent in biomechanics domain, which the dominant's values for all factors ware higher than non-dominant's values in physical, and physiological domain, and their values between cognitive anxiety and somatic anxiety were contrary to each other in psychology. Further research on multi-disciplines may lead to the development of tailored-optimal training programs applicable with key factors to enhance athletic performance by means of research including athlete, coach and parents.

• 공학교육연구
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• 제10권4호
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• pp.17-28
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• 2007

본 논문에서는 지역균형발전의 일환으로 실시된 지방대학 혁신역량 강화사업(New University for Regional Innovation, NURI) 중 부산권 기계부품산업 혁신인력 양성사업단(Busan Educational Alliance of Mechanical Engineering, BEAM)에서 시행중인 지역대학간 공동강의 시스템인 첨단기계부품 특화교육트랙을 통한 교육효과와 교과과정 개선의 질적 향상방안을 제시하였다. 트랙은 사업단 소속 4개 대학의 기계공학부(과)가 공동주관하며, 각 대학의 특화된 교육과정(첨단기계, 환경기계, 해양기계, 기반기계)을 중심으로 상호학점 인정을 통한 교과과정으로 편성되었다. 2005년 동계학기부터 현재까지 3차례의 계절학기를 통하여 실시되었으며, 2년간 총 486명의 학생이 각 트랙과목을 수강하였다. 그 결과 새로운 시대적 요구사항과 학습의 효율성을 동시에 수용하는 성과중심 및 수요자중심의 교육내용으로 국내 최초의 전공별 지역공동강의 제도를 정착시켰으며, 트랙 실시 이전인 2005년 대비 8.5%의 졸업생 취업률 향상과 기업체 임직원을 대상으로 실시된 설문조사에서 전년대비 9.4%의 수요자 만족도 향상의 성과를 거두었다. 또한, 지역대학간의 교류를 통한 인적 네트워크의 확대라는 긍정적인 결과를 얻을 수 있었다.

• 한국운동역학회지
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• 제25권2호
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• pp.175-182
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• 2015

Objective : The purpose of this study was to investigate difference in fascicle behavior of the medial gastrocnemius during the locomotion with varying intensities, such as gait and one-legged and two-legged vertical jumping. Methods : Six subjects (3 males and 3 females; age: $27.2{\pm}1.6yrs.$, body mass: $62.8{\pm}9.8kg$, height: $169.6{\pm}8.5cm$) performed normal gait (G) at preferred speed and maximum vertical jumping with one (OJ) and two (TJ) legs. While subjects were performing the given tasks, the hip, knee and ankle joint motion and ground reaction force was monitored using a 8-infrared camera motion analysis system with two forceplates. Simultaneously, electromyography of the triceps surae muscles, and the fascicle length of the medial gastrocnemius were recorded using a real-time ultrasound imaging machine. Results : Comparing to gait, the kinematic and kinetic parameters of TJ and OJ were found to be significantly different. Along with those parameters, change in the medial gastrocnemius (MG) muscle-tendon complex (MTC) length ($50.57{\pm}6.20mm$ for TJ and $44.14{\pm}5.39mm$ for OJ) and changes in the fascicle length of the MG ($18.97{\pm}3.58mm$ for TJ and $20.31{\pm}4.59mm$ for OJ) were observed. Although the total excursion of the MTC and the MG fascicle length during the two types of jump were not significantly different, however the pattern of length changes were found to be different. For TJ, the fascicle length maintained isometric longer during the propulsive phase than OJ. Conclusion : One-legged and two-legged vertical jumping use different muscle-tendon interaction strategies.