• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.154-159
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• 1989

This paper presents a motion planning algorithm for conveyor tracking. We formulate the problem as the linear quadratic tracking problem in optimal control theory and solve it through dynamic programming. In the proposed algorithm, the steady-state tracking error is eliminated completely, and the joint torque, velocity, acceleration, and jerks are considered as some constraints. Numerical examples are then presented to demonstrate the utility of the proposed motion planning algorithm.

• Journal of Internet Computing and Services
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• v.11 no.4
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• pp.59-72
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• 2010

WIM(Weigh-In-Motion) is the system measuring the weight of the vehicle with a high-speed. In the existing WIM system, vehicle weight is measured based on the constant speed and the error ratio has 10%. However, because of measuring the driving pattern, that is abnormal driving pattern which is like the acceleration and down-shift of the drivers, it has the error ratio which is bigger than the real. In order to it reduces the error ratio of WIM system, the improved WIM system needs to find the abnormal driving pattern. In order to reducing the error ratio of these WIM systems, the improved WIM system can find abnormal driving patterns. In this paper, the improved WIM system which analyzes the abnormality driving pattern influencing on the error ratio of WIM system of an existing and minimizes the error span is designed. The improved WIM system has the multi step loop structure of adding the loop sensor to an existing system. In addition, the measure function defined as an intrinsic is improved and the weight measured by the abnormal driving pattern is amended. The analysis of experiment result improved WIM system can know the fact that the error span reduces by 8% less than in the existing the maximum average sampling error 22.98%.

• Safety and Health at Work
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• v.9 no.1
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• pp.42-52
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• 2018

Background: Maintenance operations on-board ships are highly demanding. Maintenance operations are intensive activities requiring high man-machine interactions in challenging and evolving conditions. The evolving conditions are weather conditions, workplace temperature, ship motion, noise and vibration, and workload and stress. For example, extreme weather condition affects seafarers' performance, increasing the chances of error, and, consequently, can cause injuries or fatalities to personnel. An effective human error probability model is required to better manage maintenance on-board ships. The developed model would assist in developing and maintaining effective risk management protocols. Thus, the objective of this study is to develop a human error probability model considering various internal and external factors affecting seafarers' performance. Methods: The human error probability model is developed using probability theory applied to Bayesian network. The model is tested using the data received through the developed questionnaire survey of >200 experienced seafarers with >5 years of experience. The model developed in this study is used to find out the reliability of human performance on particular maintenance activities. Results: The developed methodology is tested on the maintenance of marine engine's cooling water pump for engine department and anchor windlass for deck department. In the considered case studies, human error probabilities are estimated in various scenarios and the results are compared between the scenarios and the different seafarer categories. The results of the case studies for both departments are also compared. Conclusion: The developed model is effective in assessing human error probabilities. These probabilities would get dynamically updated as and when new information is available on changes in either internal (i.e., training, experience, and fatigue) or external (i.e., environmental and operational conditions such as weather conditions, workplace temperature, ship motion, noise and vibration, and workload and stress) factors.

• Journal of the Korean Society for Precision Engineering
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• v.32 no.5
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• pp.405-413
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• 2015

This paper presents the motion accuracy simulation considering loads such as workpiece weight, cutting force, cogging force of a linear motor, and force caused by misalignment and runout error of a ballscrew in linear motion units. The transfer function method is basically utilized to estimate 5-DOF motion errors, together with the equilibrium equations of force and moment on the table. The transfer function method is modified in order to consider clearance changed according to the loads in the double sided hydrostatic/aerostatic bearings. Then, the analytic model for predicting the 5-DOF motion errors is proposed with the modified transfer function method. Motion errors were simulated under different loading conditions in the linear motion units using hydrostatic, aerostatic, and linear motion bearings, respectively. And the proposed analytic model was verified by comparing the estimated and measured motion errors.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.39 no.6
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• pp.612-622
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• 2002

In this paper, we review temporal error concealment for video transport over unreliable networks, and a new approach for the recovery of lost or erroneous motion vection(MV)s by classifying the movements of neighboring blocks by their homogeneity is proposed. MVs of the neighboring blocks are classified according to the direction of MVs and a representative value for each class is determined to obtain the candidate MV set. By computing the distortion of the candidates, a MV with the minimum distortion is selected. Experimental results show that the proposed algorithm exhibits better performance in many cases than existing methods.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.24 no.11
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• pp.898-906
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• 2014

This paper presents a reduction method for a straight-line path error of a flexible beam deploying from a rotating rigid hub. Previous studies discussed about only vibration phenomena of flexible beams deploying from rotating hubs; however, this study investigates a vibration reduction of a rotating beam with variable length. The equation of motion and associated boundary conditions are derived for a flexible beam deploying from a rotating rigid hub, and then they are transformed to a variational equation. By applying the Galerkin method, the discretized equations are obtained from the variational equation. Based on the discretized equations, the dynamic responses of a rotating/deploying beam are analyzed when the beam end has a straight line motion. A reduction method for the trajectory error is proposed, using the average length of a rotating/deploying beam. It is shown that the proposed method is able to reduce the residual vibration of a rotating/deploying beam.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2004.11a
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• pp.166-172
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• 2004

An underwater motion measurement system was constructed for applications to the model basin. A commercial motion capture system, FALCON of Motion Analysis Corp., which corrects automatically the distortion caused by refraction of the light passing through water and air, was adopted for underwater motion measurement. The modifications of FALCON system were performed: waterproofing camera housings, markers, connectors, and a new blue ring lighter. the accuracy of the motion measurement was obtained within the calibration error of 0.87mm in average and 0.89mm in standard deviation for the distance of 500mm between two markers on the calibration device. the volume of $2100mm(length)\times2100mm(breadth)\times2300mm(Height)$ was covered with 4 cameras of the underwater motion measurement system. For the performance verification, motion measurement test of a vertical mooring chain model excited at the top end was carried out. The 3D motions of mooring model were measured with variable amplitude and period of the forced excitation. Higher order motions of the mooring model were observed as the excitation period decreases. the performance of the system was verified by successfully measuring 3D motion of mooring model.

• Journal of Korea Multimedia Society
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• v.6 no.2
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• pp.259-266
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• 2003

In this paper, we propose a multi-level block matching algorithm using motion information in blocks. In the proposed algorithm, the block-level is decided by the motion degree in the block before motion searching procedure, and then adequate motion searching performs according to the block-level. This improves computational efficiency by eliminating the unnecessary searching Process in no motion or low motion regions, and brings more accurate estimation results by deepening motion searching Process in high motion regions. Simulation results show that the proposed algorithm brings the lower estimation error about 20％ MSE reduction with the fewer blocks pet frame and the operation number was reduced to 56% compared to TSSA and 98% compared to FS -BMA with constant block size.

• Journal of Mechanical Science and Technology
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• v.17 no.4
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• pp.538-544
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• 2003

Although many methodologies exist for determining the constrained equations of motion, most of these methods depend on numerical approaches such as the Lagrange multiplier's method expressed in differential/algebraic systems. In 1992, Udwadia and Kalaba proposed explicit equations of motion for constrained systems based on Gauss's principle and elementary linear algebra without any multipliers or complicated intermediate processes. The generalized inverse method was the first work to present explicit equations of motion for constrained systems. However, numerical integration results of the equation of motion gradually veer away from the constraint equations with time. Thus, an objective of this study is to provide a numerical integration scheme, which modifies the generalized inverse method to reduce the errors. The modified equations of motion for constrained systems include the position constraints of index 3 systems and their first derivatives with respect to time in addition to their second derivatives with respect to time. The effectiveness of the proposed method is illustrated by numerical examples.

• Journal of Korea Multimedia Society
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• v.17 no.12
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• pp.1437-1445
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• 2014

A smartphone has very limited input methods regardless of its various functions. In this respect, it is one alternative that sensor motion recognition can make intuitive and various user interface. In this paper, we recognize user's motion using acceleration sensor, magnetic field sensor, and gyro sensor in smartphone. We try to reduce sensing error by gradient descent algorithm because in single sensor it is hard to obtain correct data. And we apply vector quantization by conversion of rotation displacement to spherical coordinate system for elevated recognition rate and recognition of small motion. After vector quantization process, we recognize motion using HMM(Hidden Markov Model).