• 방송공학회논문지
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• 제16권2호
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• pp.372-383
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• 2011

본 논문은 영상의 움직임 특성을 참조하여 움직임 벡터 수평-수직 성분중 하나를 최적의 예측 움직임 벡터 성분으로 선택하여 사용할 수 있는 개선된 교차 움직임벡터 부호화 방법을 제시한다. 제안방법은 부-복호화를 수행할 움직임 벡터 성분의 순서를 복호화기에 알리는 신호비트를 별도로 보낼 필요 없이, 시공간적 움직임필드의 특성을 참조하여 적절한 움직임벡터 성분 예측치를 적응적으로 사용할 수 있다. 기존 H.264/AVC 방법과 비교한 실험 결과, 평균적으로 전체 비트량을 약 1.99% (최대 8.71%) 감소시킬 수 있음을 보여준다.

• 한국항해항만학회지
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• 제31권9호
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• pp.751-757
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• 2007

The authors aim to establish the theory necessary for developing free gyro positioning system and focus on measuring the nadir angle by using the motion rate of a free gyro. The azimuth of a gyro vector from the North can be given by using the property of the free gyro. The motion rate of the spin axis in the gyro frame is transformed into the platform frame and again into the NED (north-east-down) navigation frame. The nadir angle of a gyro vector is obtained by using the North components of the motion rate of the spin axis in the NED frame. The component has to be transformed into the horizontal component of the gyro by using the azimuth of the gyro vector and then has to be integrated over the sampling interval.

• Steel and Composite Structures
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• 제19권3호
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• pp.697-711
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• 2015

It is well known the importance of considering hysteretic energy demands for the seismic assessment and design of structures. In such a way that it is necessary to establish new parameters of the earthquake ground motion potential able to predict energy demands in structures. In this paper, several alternative vector-valued ground motion intensity measures (IMs) are used to estimate hysteretic energy demands in steel framed buildings under long duration narrow-band ground motions. The vectors are based on the spectral acceleration at first mode of the structure Sa($T_1$) as first component. As the second component, IMs related to peak, integral and spectral shape parameters are selected. The aim of the study is to provide new parameters or vector-valued ground motion intensities with the capacity of predicting energy demands in structures. It is concluded that spectral-shape-based vector-valued IMs have the best relation with hysteretic energy demands in steel frames subjected to narrow-band earthquake ground motions.

• 제어로봇시스템학회논문지
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• 제9권12호
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• pp.1033-1041
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• 2003

A new visual tracking scheme is proposed for a mobile robot that tracks a moving object in 3D space in real time. Visual tracking is to control a mobile robot to keep a moving target at the center of input image at all time. We made it possible by simplifying the relationship between the 2D image frame captured by a single camera and the 3D workspace frame. To precisely calculate the input vector (orientation and distance) of the mobile robot, the speed vector of the target is determined by eliminating the speed component caused by the camera motion from the speed vector appeared in the input image. The problem of temporary disappearance of the target form the input image is solved by selecting the searching area based on the linear prediction of target motion. The experimental results have shown that the proposed scheme can make a mobile robot successfully follow a moving target in real time.

• International Journal of Control, Automation, and Systems
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• 제6권6호
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• pp.859-872
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• 2008

In this paper, the problem of partial asymptotic stabilization of nonlinear control cascaded systems with integrators is considered. Unfortunately, many controllable control systems present an anomaly, which is the non complete stabilization via continuous pure-state feedback. This is due to Brockett necessary condition. In order to cope with this difficulty we propose in this work the partial asymptotic stabilization. For a given motion of a dynamical system, say x(t,$x_0,t_0$)=(y(t,$y_0,t_0$),z(t,$z_0,t_0$)), the partial stabilization is the qualitative behavior of the y-component of the motion(i.e., the asymptotic stabilization of the motion with respect to y) and the z-component converges, relative to the initial vector x($t_0$)=$x_0$=($y_0,z_0$). In this work we present new results for the adding integrators for partial asymptotic stabilization. Two applications are given to illustrate our theoretical result. The first problem treated is the partial attitude control of the rigid spacecraft with two controls. The second problem treated is the partial orientation of the underactuated ship.

• 한국화재소방학회논문지
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• 제22권4호
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• pp.27-32
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• 2008

본 논문에서는 화재의 조기 감지를 위하여 카메라 입력영상으로부터 화염과 연기를 검출하는 알고리즘을 제안한다. 화염과 연기는 특정 색분포를 가지며 지속적으로 형태가 변화하며 움직인다. 제안하는 화염검출 알고리즘은 화염의 색분포와 영상 프레임간의 변화를 측정하여 후보영역을 설정하고 화염의 움직임벡터를 계산하여 화염을 확정한다. 연기에 의하여 영상의 고주파수 성분이 감소하기 때문에 경계값의 변화는 연기의 중요한 특징이다. 연기검출은 색분포, 영상 프레임간의 변화 그리고 경계를 이용하여 후보영역을 설정하고 움직임 벡터를 계산하여 결정한다. 컴퓨터 시뮬레이션을 통하여 제안하는 알고리즘으로 화염과 연기를 검출할 수 있음을 보인다.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제13권2호
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• pp.124-132
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• 2013

This study investigated the feasibility of gait recognition using points on the body in three-dimensional (3D) space based on comparisons of four different feature vectors. To obtain the point trajectories on the body in 3D, gait motion data were captured from 10 participants using a 3D motion capture system, and four shoes with different heel heights were used to study the effects of heel height on gait recognition. Finally, the recognition rates were compared using four methods and different heel heights.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1664-1670
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• 1991

For kinematically redundant manipulators, conventional dynamic control methods of local torque optimization showed the instability which resulted in physically unachievable torque requirements. In order to guarantee stability of the null space vector method which resolves redundancy at the acceleration level, Maciejewski[1] analyzed the kinetic behavior of homogeneous solution component and proposed the condition to identify regions of stability and instability for this method. 'In this paper, a modified null space vector method is first presented based on the Maciejewski's condition which is a function of a manipulator's configuration. Secondly, a new control method which is based on the concept of aspects is proposed. It was shown by computer simulations that the modified null space vector method and the proposed method have a common property that a preferred aspect is preserved during the execution of a task. It was also illustrated that both methods demonstrate a drastic reduction of torque loadings at the joints in the tracking motion of a long trajectory when compared with the null space vector method, and thus guarantee the stability of joint torque.

• 한국지리정보학회지
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• 제6권2호
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• pp.46-64
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• 2003

벡터형 공간 객체는 장거리에 걸쳐 존재하고 있으며 폭이 좁은 특성을 가지고 있다. 벡터형 공간 객체에 대한 영상지도를 제작하기 위해서는 통상의 면형 영상지도에서 사용되는 기법과 전혀 다른 접근이 필요하다. 벡터형 공간 객체의 이와 같은 특성을 고려하여 원격동영상과 인터넷 GIS 기술을 결합한 영상지도 제작기법이 개발되었다. 인터넷상에서 원격동영상과 수치지도의 결합은 지형경관의 실제 모습을 시각적으로 제시할 수 있는 등 두 가지 기술의 장점을 효율적으로 활용할 수 있다. 원격 동영상지도는 사용자가 다양한 검색 방법에 의거 광역 공간정보를 단시간에 체험할 수 있는 기회를 제공하였으며 전통적인 지도는 위치 정보를 제공하여 동영상에 나타나는 물체가 실시간대에 확인할 수 있도록 하였다. 동영상 지도는 전통적인 지도학에서 확립된 지도의 개념 자체에 대한 재정립을 요구하게 되는 바, 본 연구는 '벡터형 공간 객체에 대한 인터넷 원격 동영상지도'라는 새로운 개념을 제시하였다는 데 가장 큰 의의가 있다. 향후 본 시스랩이 도입되어 본격적으로 서비스 될 경우 주민들에게 벡터형 공간 객체에 대한 다양한 유형의 영상정보 -다른 축척, 다양한 응용분야- 를 제공하여 지리정보의 대중화를 더욱 촉진할 수 있을 것으로 사료된다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2003년도 하계종합학술대회 논문집 Ⅳ
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• pp.1960-1963
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• 2003

For applications such as video surveillance and human computer interface, we propose an efficiently integrated method to detect and track faces. Various visual cues are combined to the algorithm: motion, skin color, global appearance and facial pattern detection. The ICA (Independent Component Analysis)-SVM (Support Vector Machine based pattern detection is performed on the candidate region extracted by motion, color and global appearance information. Simultaneous execution of detection and short-term tracking also increases the rate and accuracy of detection. Experimental results show that our detection rate is 91％ with very few false alarms running at about 4 frames per second for 640 by 480 pixel images on a Pentium IV 1㎓.