• Structural Engineering and Mechanics
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• v.34 no.6
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• pp.755-778
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• 2010

Near-fault ground motion with directivity or fling effects is significantly influenced by the rupture mechanism and substantially different from ordinary records. This class of ground motion has large amplitude and long period, exhibits unusual response spectra shapes, possesses high PGV/PGA and PGD/PGA ratios and is best characterized in the velocity and the displacement time-histories. Such ground motion is also characterized by its energy being contained in a single or very few pulses, thus capable of causing severe damage to the structures. This paper investigates the characteristics of near-fault pulse-like ground motions and their implications on the structural responses using new proposed measures, such as, the effective frequency range, the energy rate (in time and frequency domains) and the damage indices. The paper develops also simple mathematical expressions for modeling this class of ground motion and the associated structural responses, thus eliminating numerical integration of the equations of motion. An optimization technique is also developed by using energy concepts and damage indices for modeling this class of ground motion for inelastic structures at sites having limited earthquake data.

• The KIPS Transactions:PartB
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• v.14B no.6
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• pp.437-444
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• 2007

The objective of this paper is to accommodate the existing motion-capture-based animation to small memories and low computing powers of mobile embedded systems. To use efficiently memories, we propose a paradigm in which a motion capture database is compressed on a PC and so-compressed motion capture database is decompressed little by little on mobile embedded systems and the decompressed data are eliminated right after used. As a compression method for this paradigm we propose an approach that compresses captured motion rendering parameters using a polynomial function fitting method. To enhance its performance we also propose an optimization method for the degree of the polynomial fitting function. Using so-obtained compression method we demonstrate motion-capture-based animation on commercial mobile embedded systems.

• Journal of Auto-vehicle Safety Association
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• v.16 no.1
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• pp.6-11
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• 2024

This paper presents a motion planning algorithm of autonomous racing vehicles for mimicking the characteristics of a human driver. Time optimal maneuver of a race car has been actively studied as a major research area over the past decades. Although the time optimization problem yields a single time series solution of minimum time maneuver inputs for the vehicle, human drivers achieve similar lap times while taking various racing lines and velocity profiles. In order to model the characteristics of a specific driver and reproduce the motion, a stochastic motion planning framework based on kernelized motion primitive is introduced. The proposed framework imitates the behavior of the generated reference motion, which is based on a small number of human demonstration laps along the racetrack using Gaussian mixture model and Gaussian mixture regression. The mean and covariance of the racing line and velocity profile mimicking the driver are obtained by accumulating the outputs tested at equidistantly sampled input points. The results confirmed that the obtained lateral and longitudinal motion simulates the driver's driving characteristics, which are feasible for actual vehicle test environments.

• Journal of Korea Multimedia Society
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• v.14 no.7
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• pp.849-857
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• 2011

Gaming on demand(GOD) makes people enjoy games by encoding and transmitting game screen at a server side, and decoding the video at a client side. In this paper, we propose a fast game video encoder for multiple users over network with low-powered devices. In the proposed system, the computational complexity of game encoders is reduced by using scene descriptors, which consists of an object motion vector, global motion, and scene change. With additional information from game engines, the proposed encoder does not need to perform various complexity processes such as motion estimation and ratedistortion optimization. The motion estimation and rate-distortion optimization skipped by scene descriptors. We found that the proposed method improved 192 % in terms of FPS, compared with x264 software. With partial assembly code, we also improved coding speed by 86 % in terms of FPS. We found that the proposed fast encoder could encode over 60 FPS for real-time GOD applications.

• Journal of KIISE:Computer Systems and Theory
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• v.34 no.3
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• pp.124-131
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• 2007

Research field on crowd animation can be classified into two major categories. One is to offer realism of the crowd motion and the other is to improve speed of the animation. For the last decade, a lot of research on realism and behavior of crowd have been presented. But lately, research on improving speed seems like more interesting. Therefore, in this paper, we conducted an experiment to analyze what is the main bottleneck of crowd animation. As the result, we find out one of the most important bottleneck is the number of joints transformed in each animation frame. In order to resolve this problem we propose a novel level-of-detail technique 'motion level-of-detail', which is a joint-reduction technique operated in the pre-processing time. We used a non-linear optimization, SQP (sequential quadric programming), to generate the low detailed motions.

• Journal of IKEEE
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• v.21 no.1
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• pp.100-103
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• 2017

Motion estimation occupies the largest computation in the video compression. Multiple processing elements are often exploited in parallel to meet processing speed. More processing elements increase processing speed, but they also increase hardware area. therefore, it is important to optimize the number of processing element. HEVC (high efficiency video coding) usually exploits multi-stage motion estimation algorithms for low computation and high performance. Since the number and position of search points are different in each stage, the utilization of the processing elements is not always 100% and the utilization is quite different with the number of processing elements. In this paper, the optimizing method is proposed on the number of processing elements. It finds out the optimal number of the processing elements for the given multi-stage motion estimation algorithm by calculating utilization and execution cycle of the processing elements.

• Smart Structures and Systems
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• v.9 no.2
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• pp.165-188
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• 2012

In the first part of the paper, the optimal design parameters for tuned liquid column dampers (TLCD) in harmonic pitching motion were investigated. The configurations in design tables include uniform and non-uniform TLCDs with cross-sectional ratios of 0.3, 0.6, 1, 2 and 3 for the design in different situations. A closed-form solution of the structural response was used for performing numerical optimization. The results from optimization indicate that the optimal structural response always occurs when the two resonant peaks along the frequency axis are equal. The optimal frequency tuning ratio, optimal head loss coefficient, the corresponding response and other useful quantities are constructed in design tables as a guideline for practitioners. As the value of the head loss coefficient is only available through experiments, in the second part of the paper, the prediction of head loss coefficients in the form of a design chart are proposed based on a series of large scale tests in pitching base motions, aiming to ease the predicament of lacking the information of head loss for those who wishes to make designs without going through experimentation. A large extent of TLCDs with cross-sectional ratios of 0.3, 0.6, 1, 2 and 3 and orifice blocking ratios ranging from 0%, 20%, 40%, 60% to 80% were inspected by means of a closed-form solution under harmonic base motion for identification. For the convenience of practical use, the corresponding empirical formulas for predicting head loss coefficients of TLCDs in relation to the cross-sectional ratio and the orifice blocking ratio were also proposed. For supplemental information to horizontal base motion, the relation of head loss values versus blocking ratios and the corresponding empirical formulas were also presented in the end.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.40 no.5
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• pp.417-425
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• 2003

H.264, which is the latest video coding standard of both ITU-T(International Telecommunication Union-Telecommunication standardization sector) and MPEG(Moving Picture Experts Group), adopts new video coding tools such as variable block size motion estimation, multiple reference frames, quarter-pel motion estimation/compensation(ME/MC), 4${\times}$4 Integer DCT(Discrete Cosine Transform), and Rate-Distortion Optimization, etc. These new video coding tools provide good coding of efficiency compared with existing video coding standards as H.263, MPEG-4, etc. However, these new coding tools require the increase of encoder complexity. Therefore, in order to apply H.264 to many real applications, fast algorithms are required for H.264 coding tools. In this paper, when encoder MacroBlock(MB) mode is decided by rate-distortion optimization tool, fast mode decision algorithm by skipping variable block size ME/MC and spatial-predictive coding, which occupies most encoder complexity, is proposed. In terms of computational complexity, the proposed method runs about 4 times as far as JM(Joint Model) 42 encoder of H.264, while the PSNR(peak signal-to-noise ratio)s of the decoded images are maintained.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.95.2-95
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• 2001

Disturbance observer(DOB) based controller design is one of the most popular methods in the field of motion control. In this paper, a generalized disturbance compensation framework, called as robust internal-loop compensator(RIC) is introduced and an advanced design method of DOB is proposed based on the RIC. Mixed sensitivity optimization problem, which is the main issue of DOB design, is solved through the parameterization of DOB in the RIC framework. Different from conventional methods, Q-filter is separated in the mixed sensitivity optimization problem and the systematic design law for the DOB is proposed. This guarantees the robustness and optimality of the DOB and also enables the design for unstable plants.

• The Journal of Korea Robotics Society
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• v.17 no.4
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• pp.500-507
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• 2022

In this study, a motion planning method based on the integer representation of contact status between wheels and the ground is proposed for planning swing motion of a 6×6 wheel-legged robot to cross large obstacles and gaps. Wheel-legged robots can drive on a flat road by wheels and overcome large obstacles by legs. Autonomously crossing large obstacles requires the robot to perform complex motion planning of multi-contacts and wheel-rolling at the same time. The lift-off and touch-down status of wheels and the trajectories of legs should be carefully planned to avoid collision between the robot body and the obstacle. To address this issue, we propose a planning method for swing motion of robot legs. It combines an integer representation of discrete contact status and a trajectory optimization based on the direct collocation method, which results in a mixed-integer nonlinear programming (MINLP) problem. The planned motion is used to control the joint angles of the articulated legs. The proposed method is verified by the MuJoCo simulation and shows that over 95% and 83% success rate when the height of vertical obstacles and the length of gaps are equal to or less than 1.68 times of the wheel radius and 1.44 times of the wheel diameter, respectively.