• Journal of Korean Port Research
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• v.10 no.1
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• pp.25-36
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• 1996

Generally, it is pointed out that a nonlinear analysis is needed to estimate accurately the water surface fluctuation and dynamic responses of a floating structure in case of large wave reflection. In this study, a frequency-domain method is applied and newly developed to analyze the nonlinear characteristics of the air-chamber floating breakwater. The air-chamber floating breakwater in this study can control well the wave transformation, motions of the structure and its natural frequency by adjusting the air depth in the chamber. Experiments are carried out to verify the numerical results. It is appeared that the mean water level is setup in the anti-node and setdown in the node, while the nonlinearity in wave profile is larger in the node than in the anti-node. Because of vertical mooring system, the sway, especially the time-independent nonlinear component, plays predominant role in the motion. On the other hand, the time-dependent component, as well as the time-independent one to the tensile force of mooring line contributes greatly, and the time averaged value presents tensional force oriented to the onshore side due drift force.

• Korean Journal of Applied Biomechanics
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• v.26 no.3
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• pp.243-248
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• 2016

Objective: The aim of this study was to determine the kinematical characteristics of somersault with twist in the Lou Yun and Akopian motions and to provide useful information to gymnastic athletes in men's vault. Method: The study subjects were 12 male adult top athletes. After 12 trials (7 Lou Yun and 5 Akopian trials) filmed by using two digital high-speed camcorders set at 90 frames/sec, kinematical data were collected through the direct linear transformation (DLT) method. The mean differences in biomechanical variables were compared during the second flight upward phase. The kinematic characteristics of somersault with twist in the Lou Yun and Akopian motions were identified. Results: In Lou Yun motion, the vertical release velocity through horse breaking was not difficult to obtain, so the athletes had enough time to prepare for the twist. Therefore, the Lou Yun motion has an advantage to make a cat twist in the pike posture. In the Akopian motion, obtaining the horizontal velocity through horse pushing was so easy that the Akopian athletes attained a large angular impulse and angular momentum. Therefore, the Akopian motion has an advantage to making a tilt twist in the body tilting posture. Conclusion: This study suggests that gymnastic athletes should control their body segment movements in order to increase the twisting angular velocity of the whole body, which requires regulation of the longitudinal moment of inertia of the body. Moreover, athletes should prepare for the shoulder and hip twists early in order to make the landing position in advance.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.33 no.1C
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• pp.53-61
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• 2008

In this paper, we propose an algorithm for generation of multi-view video from conventional 2 dimensional video. Color and motion information of an object are used for segmentation and from the segmented objects, multi-view video is generated. Especially, color information is used to extract the boundary of an object that is barely extracted by using motion information. To classify the homogeneous regions with color, luminance and chrominance components are used. A pixel-based motion estimation with a measurement window is also performed to obtain motion information. Then, we combine the results from motion estimation and color segmentation and consequently we obtain a depth information by assigning motion intensity value to each segmented region. Finally, we generate multi-view video by applying rotation transformation method to 2 dimensional input images and the obtained depth information in each object. The experimental results show that the proposed algorithm outperforms comparing with conventional conversion methods.

• Journal of Biomedical Engineering Research
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• v.18 no.3
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• pp.223-231
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• 1997

In this paper, an interframe coding method for volumetric medical images is proposed. By treating interslice variations as the motion of bones or tissues, we use the motion compensation (MC) technique to predict the current frame from the previous frame. Instead of a block matching algorithm (BMA), which is the most common motion estimation (ME) algorithm in video coding, image warping with biolinear transformation has been suggested to predict complex interslice object variation in medical images. When an object disappears between slices, however, warping prediction has poor performance. In order to overcome this drawback, an overlapped block motion compensation (OBMC) technique is combined with carping prediction. Motion compensated residual images are then encoded by using an embedded zerotree wavelet (EZW) coder with small modification for consistent quality of reconstructed images. The experimental results show that the interframe coding suing warping prediction provides better performance compared with interframe coding, and the OBMC scheme gives some additional improvement over the warping-only MC method.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.18 no.10
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• pp.1024-1032
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• 2008

The vibration characteristics of a rotating cantilever beam undergoing impulsive force are investigated using wavelet transformation. The transient response induced by the impulsive force and the rigid body motion of the beam are calculated using hybrid deformation variable modeling along with the Rayleigh-Ritz assumed mode methods. The vibration characteristics of the beam can be analyzed in time-frequency domain with the wavelet transform method. Therefore, the effects of the impulsive force on the transient vibration characteristics of the beam can be investigated more effectively.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.12
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• pp.1233-1240
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• 2004

Recently the need for cooperative control among robots is increasing in a variety of industrial robot applications. Such a control framework enhances the efficiency of the real robotic assembly environment along with extending the robot application. In this paper, an ethernet-based cooperative control framework was proposed. The cooperative control of robots can multiply the handling capacity of robot system, and make it possible to implement jigless cooperation, due to realization of trajectory-synchronized movement between a master robot and slave robots. Coordinate transformation was used to relate among robots in a common coordinate. An optimized ethernet protocol of HiNet was developed to maximize the speed of communication and to minimize the error of synchronous movement. The proposed algorithm and optimization of network protocol was tested in several class of robots.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.4
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• pp.27-40
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• 1996

This paper proposed a kinematic modeling methodlogy and feedback control system based on kinematics for 2 degrees of freedom of 4-wheeled mobile robot. We assigned coordinate systems to specify the transformation matirx and write the kinematic equation of motion. We derived the actuated inverse and sensed forwared solution for the calculation of actual robot orientation and the desired robot orientation. It is the most significant error and has the largest impact on the motion accuracy. To calculate the WMR position in real time, we introduced the dead-reckoning algorithm and composed two feedback control system that is based on kinematics. Through the simulation result, we compare with the ffedback control system for position control.

• Journal of Ocean Engineering and Technology
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• v.20 no.5 s.72
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• pp.36-41
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• 2006

The main object of this study is to develop an accurate and convenient method for the response analysis of offshore structures in real sea states. A numerical procedure is described for predicting the motion responses and tension variations of the ISSC TLP in multi-directional irregular waves. The developed numerical approach in the frequency domain is based on acombination of the three dimensional source distribution method, the dynamic response analysis method, and the spectral analysis method. Frequency domain analysis in the multi-directional irregular waves is expanded to a time domain analysis by using a convolution integral after obtaining the impulse response by Fourier transformation. The results of the comparison between responses in the frequency and time domain confirmed the validity of the proposed approach.

• The Journal of Korea Robotics Society
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• v.9 no.4
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• pp.250-257
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• 2014

In this paper, a new mobile robot, so called a rollerbot, is presented, which has single body and rugby-ball shaped roller wheel. A rollerbot has single point contact on ground and low energy consumption in motion because of the reduced friction. By changing center of mass using a balancing weight, a rollerbot is able to get steering force. The vertical position of mass center of the rollerbot in this paper is designed to lie inside radius of the roller wheel, so that to have stable equilibrium position. Thus, the posture and the steering control of the rollerbot can be easily done by changing the center of mass. Kinematics of the rollerbot is derived by transformation of differential motion in this paper.

• International Journal of Aeronautical and Space Sciences
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• v.7 no.2
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• pp.1-13
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• 2006

The Lyapunov stability theory has been known inadequate to prove capturability of guidance laws because the equations of motion resulted from the guidance laws do not have the equilibrium point. By introducing a proper transformation of the range state, the original equations of motion for a stationary target can be converted into nonlinear equations with a specified equilibrium subspace. Physically, the equilibrium subspace denotes the direction of missile velocity to the target. By using a single Lyapunov function candidate, capturability of several PN laws for a stationary target is then proved for examples. In this approach, there is no assumption of the constant speed missile. The proposed method is expected to provide a unified and simplified scheme to prove the capturability of various kinds of guidance laws.