• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.1207-1210
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• 2004

As many humans age, degenerative lumbar spinal stenosis (DLSS) becomes a major cause of lower limb discomfort and disability. By surgical treatment method of DLSS, the existing surgical treatment methods using internal fixation have showed degeneration changes of an adjacent vertebrae and loss of lumbar spine lordosis-kyphosis due to eliminating a motion. For solving the problems of internal fixation, a novel interspinous spacer has been developed to treat DLSS by surgical treatment method. In this study, we evaluated the biomechanical effects of the interspinous spacer on the kinematics of the porcine lumbar spine before and after insertion of the implant. For this purpose, a device that is capable of measuring 3-D motions were built based on direct linear transformation (DLT) algorithm written with MATLAB program. Results showed that in extension, a change of the mean angle between the intact and the implanted specimens at L4-L5 was 1.87 degree difference and the implant reduced the extension range of motion of the L4-L5 (p＆lt;0.05). But the range of motion in flexion, axial rotation and lateral bending at the adjacent segments was not statistically affected by the implant. In conclusion, we thought that interspinous spacer may have remedical value for DLSS by flexing human lumbar spine.

• Transactions of the Korean Society of Mechanical Engineers
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• v.10 no.1
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• pp.102-109
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• 1986

Based on the Hartenberg-Denavit symbolic equation, which is one of equations for the kinematic analysis of three dimensional (3-D) linkage, a generalized kinematic motion equation is derived utilizing Euler angles and employing the coordinates transformation. The derived equation can feasibly be used for the motion analysis of any type of 3-D linkages as well as 2-D ones. In order to simulate the general motion of 3-D linkgages on digital computer, the generalized equation is programmed through the process of numerical analysis after converting the equation to the type of Newton-Raphson formula and denoting it in matrix form. The feasibility of theoretically derived equation is experimentally proved by comparing the results from the computer with those from experimental setup of three differrent but generally empolyed 3-D linkages.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.8
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• pp.3981-4004
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• 2019

This paper proposes a novel method for locating objects in real space from a single remote image and measuring actual distances between them by automatic detection and perspective transformation. The dimensions of the real space are known in advance. First, the corner points of the interested region are detected from an image using deep learning. Then, based on the corner points, the region of interest (ROI) is extracted and made proportional to real space by applying warp-perspective transformation. Finally, the objects are detected and mapped to the real-world location. Removing distortion from the image using camera calibration improves the accuracy in most of the cases. The deep learning framework Darknet is used for detection, and necessary modifications are made to integrate perspective transformation, camera calibration, un-distortion, etc. Experiments are performed with two types of cameras, one with barrel and the other with pincushion distortions. The results show that the difference between calculated distances and measured on real space with measurement tapes are very small; approximately 1 cm on an average. Furthermore, automatic corner detection allows the system to be used with any type of camera that has a fixed pose or in motion; using more points significantly enhances the accuracy of real-world mapping even without camera calibration. Perspective transformation also increases the object detection efficiency by making unified sizes of all objects.

• Korean Journal of Applied Biomechanics
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• v.21 no.4
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• pp.449-458
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• 2011

There are many functional methods for estimating the mean axis of rotation of a joint. However, it is still a controversial issue which method is superior. The purpose of this study was to compare functional methods for estimated axes of rotation from synthetic data. The comparison was made in terms of suitabilities on describing humans in sports. For a more practical situation, the axis error as well as measurement and marker movement error were applied to generated data. Simulations having 1000 times of 80 rotational displacements were performed. The functional methods used in the study were two transformation methods, two fitting methods, and one more transformation method called M. The M method is a combination of S$\ddot{o}$derk & Wedin(1993) and Mardia & Jupp(2000). Another factor of the study was angular velocity with levels of .01, .025, .05, .5 and 1 rad/s. The method M resulted in unbiased, stable, and consistent axis of rotation vectors in all levels of angular velocity except .01 rad/s. Therefore, the method M had the highest validity and reliability of all the methods. The fitting methods were very sensitive in small angular velocities and stable only in the velocities of more than .5 rad/s. The most suitable method for analyzing human motion by using marker photogrammetry is M.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.11
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• pp.1122-1129
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• 2009

Recently taping robot with smart recognition function have been studied in the coil manufacturing field. Due to the difficulty of 3D surface processing from the complicated working environment, it is not easy to accomplish smart tape attachment motion with non-contact sensor. To solve these problems the applicable surface recognition algorithm and a flexible sensing device has been recommended. In this research, the fusion method between 1D displacement and 3D laser scanner is applied for robust tape attachment about cold rolled coil. With these sensors we develop a two-step exploration and the smart algorithm for the awareness of non-aligned coil's information. In the proposed robot system for tape attachment, the problem is reduced to coil's radius searching with laser displacement sensor at first, and then position and orientation detection with 3D laser scanner. To get the movement at the robot's base frame, the hand-eye compensation between robot's end effector and sensing device should be also carried out respectively. In this paper, we examine the auto-coordinate transformation method in the calibration step for the real environment usage. From the experimental results, it was shown that the taping motion of robot had a robust under the non-aligned cold rolled coil.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.9
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• pp.869-876
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• 2017

Analysis of actuating forces and joint reaction forces are essential to determine the capacity of actuators, to control the mechanical system and to design its components. This paper presents an algorithm that calculates actuating forces(or torques), depending on the various types of driving constraints, in order to produce a given system motion in the joint coordinate space. The joint coordinates are used as the generalized coordinates of a kinematic system. System equations of motion and constraint acceleration equations are transformed from the Cartesian coordinate space to the joint coordinate space using the velocity transformation method. A numerical example is carried out to verify the algorithm proposed.

• Journal of KIISE:Computing Practices and Letters
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• v.14 no.5
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• pp.522-526
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• 2008

In this paper, we propose a system to convert a video motion into cartoon-style animation automatically. Our system is a new video cartoon stylization method that can apply natural transformation with satisfying physical constraints. It applies physically reasonable transformation to a selected video object with considering physical information such as momentum, movement direction and force. We construct several deformation scenarios which correspond with traditional animation techniques, then a scenario can be easily selected to apply the effects. Finally, this system gene-rates a dynamic cartoon-style video by timing control and a cartoon rendering technique.

• Geomechanics and Engineering
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• v.2 no.4
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• pp.229-252
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• 2010

In this paper, Soil-Structure Interaction (SSI) effect is investigated using a new and integrated approach. Faster solution of time dependant differential equation of motion is achieved using numerical representation of wavelet theory while dynamic Infinite Elements (IFE) concept is utilized to effectively model the unbounded soil domain. Combination of the wavelet theory with IFE concept lead to a robust, efficient and integrated technique for the solution of complex problems. A direct method for soil-structure interaction analysis in a two dimensional medium is also presented in time domain using the frequency dependent transformation matrix. This matrix which represents the far field region is constructed by assembling stiffness matrices of the frequency dependant infinite elements. It maps the problem into the time domain where the equations of motion are to be solved. Accuracy of results obtained in this study is compared to those obtained by other SSI analysis techniques. It is shown that the solution procedure discussed in this paper is reliable, efficient and less time consuming as compared to other existing concepts and procedures.

• Journal of the Institute of Convergence Signal Processing
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• v.7 no.4
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• pp.155-160
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• 2006

This paper presents the hierarchical block matching algorithm using the 4 subbands of the wavelet transformation and the thresholding method. The proposed algorithm improves the PSNR performance of the reconstructed image using the 4 subbands of the wavelet transformation and reduces the computational complexity by thresholding the motion vector. The experimental results of the proposed algorithm for 'Carphone' image and 'Mother and Daughter' image show that if the thresholding value is 0, the computational complexity is increasing up to 16% and the PSNR performance of the reconstructed image improves the 0.16dB in comparison with that of the existing. hierarchical motion estimation algorithm. In addition, as the thresholding value is increasing, the computational complexity reduces up to 8% and the PSNR performance of the reconstructed image is similar.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.4
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• pp.2042-2059
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• 2019

Digital shadow puppet has traditionally relied on expensive motion capture equipments and complex design. In this paper, a low-cost driven technique is presented, that captures human pose estimation data with simple camera from real scenarios, and use them to drive virtual Chinese shadow play in a 2.5D scene. We propose a special method for extracting human pose data for driving virtual Chinese shadow play, which is called 2.5D human pose estimation. Firstly, we use the 3D human pose estimation method to obtain the initial data. In the process of the following transformation, we treat the depth feature as an implicit feature, and map body joints to the range of constraints. We call the obtain pose data as 2.5D pose data. However, the 2.5D pose data can not better control the shadow puppet directly, due to the difference in motion pattern and composition structure between real pose and shadow puppet. To this end, the 2.5D pose data transformation is carried out in the implicit pose mapping space based on self-network and the final 2.5D pose expression data is produced for animating shadow puppets. Experimental results have demonstrated the effectiveness of our new method.