• PNF and Movement
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• v.5 no.1
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• pp.49-56
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• 2007

Objectives : We find that the reaction force on the elbow joint during elbow flexion, extension with and without an object in the hand can be calculated the equations of motion that the sum of the torque and the sum of the force acting on the elbow joint must be zero and (moment of inertia x angular acceleration) and (mass x acceleration). Methods : we have calculated the equations of motion (${\Sigma}F=0$, ${\Sigma}{\tau}=0$, ${\Sigma}F=ma$, ${\Sigma}{\tau}=Ia$) to investigate the reaction force on the elbow joint during elbow flexion, extension by means of the simplified free-body technique for coplanar forces. Results : we found that the reaction force on the elbow joint during elbow flexion, extention as constant acceleration motion is more than constant velocity, static motion. Also, we found that the relation between during flexion and during extension like this ; $J_{flexion}$ < $J_{extension}$.

• Journal of the Korea Society of Computer and Information
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• v.13 no.1
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• pp.125-133
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• 2008

Motion blur is a blurring effect on an image caused by the relative motion between the camera and objects in the scene. When an image is captured, motion blurs are caused by relative motion between the camera and the scene. When different objects are moving at different speeds, the characteristics of the blur effect for each object appear differently. To restore the spatially variant blurred image, each of the blur extents should be identified. In this paper, we propose a new method for the identification of blur extent locally using RATS from the image in which the spatially variant motion blur is caused Experiment shows that the proposed algorithm successfully segments the objects with different blurs and identifies the blur extents quite well.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2015.10a
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• pp.101-104
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• 2015

Motion vector is that comparing a frame between previous frame and current one about how much moved. Using this motion vector, if move the image object of current frame to former frame, it could be corrected to shake from hand and camera shaking. On this thesis, compared efficiency of block matching using SAD(Sum of Absolute Difference) equation as picking out the motion vector, matching using phase correlation, matching using feature point, block matching using bitplane.

• Journal of the Korea Computer Graphics Society
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• v.2 no.1
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• pp.7-14
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• 1996

A particle system is defined as a collection of primitive particles that together represent irregular and ever-changing objects such as smoke, clouds, waterfalls, and explosions. A particle system can be a powerful tool for modeling a deformable object's motion and change of form since it has dynamic properties with time. As an object becomes more complicated and shows more chaotic behavior, however, we need much more parameters for describing its characteristics completely. Consequently, the conventional particle system leads to difficulty in managing all of the parameters properly since one parameter can affect the others. Moreover, motion equations for representing particles' behavior are usually approximated to gain speed-ups. The inevitable errors in calculating the equations can cause an unexpected outcome. In this paper, we present a new approach of applying fuzzy contol to mage particles' motion and attributes changes over time. We also give an implementation result of a fuzzy particle system to show the feasibility of the proposed method. Applications of the system to explosions, nebulae, volcanos, and grass are presented.

• Journal of Korean Ophthalmic Optics Society
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• v.15 no.3
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• pp.241-245
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• 2010

Purpose: In this work we suggested a grating chart of vision test which could be used to measure the sense of distance and motion of object. Methods: A couple of gratings with periodic structure were fabricated. Through a lens the grating images showing geometrical shapes were projected on a vision test chart in order to form a new grating chart of vision test. In rotating and translating the gratings the examinee perceived the variation of position of gratings by the variation of the sense of distance and motion. Results: The results of the sense of distance and motion measured in rotating and translating the gratings showed the average errors of ~2.98% and ~1.73% at $\theta=15^{\circ}$ respectively compared to calculated values. Conclusions: The grating chart of vision test suggested in this work can be used as a new test chart that lets an examinee perceive a sense of distance and motion of object.

• Journal of KIISE:Software and Applications
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• v.29 no.5
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• pp.319-325
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• 2002

Tracking moving objects is one of the most important techniques in motion analysis and understanding, and it has many difficult problems to solve. Especially, estimating and identifying moving objects, when the background and moving objects vary dynamically, are very difficult. It is possible under such a complex environment that targets may disappear totally or partially due to occlusion by other objects. The Kalman filter has been used to estimate motion information and use the information in predicting the appearance of targets in succeeding frames. In this paper, we propose another version of the Kalman filter, to be called structured Kalman filter, which can successfully work its role of estimating motion information under a deteriorating condition such as occlusion. Experimental results show that the suggested approach is very effective in estimating and tracking non-rigid moving objects reliably.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1071-1076
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• 2003

In this work, we propose a new framework of robot control for a variety of applications to our unstructured everyday environments. Programming robots can be a very time-consuming process and seems almost impossible for ordinary end users. To cope with this, this work is to provide a software framework for building robot application programs automatically, where we have robots learn how to accomplish a commanded task from the object. An integrated sensing and computing tag is embedded into every single object in the environment. In the robot controller, only the basic software libraries for low-level robot motion control are provided from the robot manufacturer. The main contributions of this work is to develop a server platform that we call Omniscient Server that generates the application programs and send them to the robot controller through the network. The object-related information from the object server merges into robot control software to generate a detailed application program based on the task commands from the human. We have built a test bed and demonstrated that a robot can perform a common household task within the proposed framework.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.1 s.94
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• pp.42-48
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• 1999

A control method for a robot hand grasping a object in a partially unknown environment will be proposed, where a proximate sensor detecting the distance between the fingertip and object was used. Particularly, the finger joints were driven servo-pneumatically in this study. Based on the proximate sensor signal the finger motion controller could plan the grasping process divided in three phases ; fast aproach, slow transitional contact and contact force control. That is, the fingertip approached to the object with full speed, until the output signal of the proximate sensor began to change. Within the perating range of the proximate sensor, the finger joint was moved by a state-variable feedback position controller in order to obtain a smooth contact with the object. The contact force of fingertip was then controlled using the blocked-line pressure sensitivity of the flow control servovalve for finger joint control. In this way, the grasping impact could be reduced without reducing the object approaching speed. The performance of the proposed grasping method was experimentally compared with that of a open loop-controlled one.

• Proceedings of the Korea Contents Association Conference
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• 2003.11a
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• pp.281-284
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• 2003

In this study, we have proposed the method of moving area detection as the preprocessing step of moving object tracking system. First, we catch the two frames which are different at time in image sequence. We obtain the moving area by using their binary differential image. In differential image, the object area of previous and current frame is present. In the tracking system, the background is changed by camera motion. So, in this case we have to decide which moving area of object is current at time. We obtain the binary edge image of current frame by applying a threshold to the output of an edge detector. Then we performed logical AND operation between the edge image and differential image. As a result of this work moving area of object can be detected.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.4
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• pp.365-371
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• 2009

A intelligent mobile hexapod robot with various types of sensors and wireless camera is introduced. We show this mobile robot can detect objects well by combining the results of active sensors and image processing algorithm. First, to detect objects, active sensors such as infrared rays sensors and supersonic waves sensors are employed together and calculates the distance in real time between the object and the robot using sensor's output. The difference between the measured value and calculated value is less than 5%. This paper suggests effective visual detecting system for moving objects with specified color and motion information. The proposed method includes the object extraction and definition process which uses color transformation and AWUPC computation to decide the existence of moving object. We add weighing values to each results from sensors and the camera. Final results are combined to only one value which represents the probability of an object in the limited distance. Sensor fusion technique improves the detection rate at least 7% higher than the technique using individual sensor.