• 대한산업공학회지
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• 제26권1호
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• pp.73-80
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• 2000

To determine the exact direction and location of the human joint in motion is crucial in developing a more accurate human model and producing a more fitting artificial joint. There have been several reports on the biomechanical analysis of the joint to determine the anatomy and movement of joints. However, all the previous researches were made in vitro study, that is, they investigated the passive movement of the joint from cadavers and the suggested location of the joint axis was difficult to make practical applications due to the lack of the direction of joint axis. Also, in many biomechanical models, each joint axis is assumed to lie horizontally or vertically to the adjacent links. Such an assumption causes inherent inaccuracy. In this study, the direction and location of the transverse elbow axis was obtained with respect to the global coordinate system whose origin is on the lateral epicondyle of the humerus. The suggested result based on the global coordinate system lying on the external landmark will be helpful to understand the information of the axis and to make an application. From the experiments conducted for five subjects, the direction and location of the elbow transverse joint was determined for each subject by the helical axis method. A statistical validation was also performed to confirm the result. Finally, the result was applied to develop a simple elbow model which is a part of the kinematic arm model. The simple elbow movement model was developed to validate the significance of the result and the kinematic arm model was able to describe the geometry of any complex linkage system. As a result, the errors incurred from the proposed model were significantly reduced when compared to the ones from the previous approach.

• 로봇학회논문지
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• 제9권1호
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• pp.20-27
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• 2014

In this paper, an exact reshaping method for the motor dynamics of a flexible-joint robot is proposed using an integral manifold approach. Obtaining the exact model for both motor-side and link-side dynamics of a flexible-joint robot is difficult due to its under-actuated nature and complex dynamics. Despite the simple structure of the motor-side dynamics, they are difficult to model accurately for a flexible-joint robot due to motor disturbances, especially when speed reducers such as harmonic drives are installed. An integral manifold feedback control (IMFC) is proposed to reshape the motor dynamics. Based on the integral manifold approach, it is theoretically proved that the IMFC reshapes motor dynamics exactly even with bounded disturbances such as motor friction. The performance of the proposed IMFC is verified experimentally using a single degree-of-freedom flexible-joint robot under gravity conditions.

• 소음진동
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• 제4권2호
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• pp.155-161
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• 1994

The dynamic behavior of a complex mechanical structure can be identified by dividing the structure into a series of smaller structure, called sub- structure and by studying the dynamic characteristics of these components. Generally, the dynamic characteristics of mechanical structure are strongly affected by the properties of joint parameters. In this paper, to identify the dynamic characteristics of mechanical structure, and experimental identification method in which directrly measured frequency response function(FRF) is used is considered. The method does not use the procedure of complex matrix calculation but use that of real matrix calculation. To confirm this method, computer simulation is performed by using frequency response function mixed with noise, and the experimental study is performed about the simple structure. The dynamic characteristics of joint parameters and identified more accurately than in using the prcedure of complex matrix calculation.

• 한국통신학회논문지
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• 제22권6호
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• pp.1195-1209
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• 1997

This paper presents a new morphological spatio-temporal segmentation algorithm. The algorithm incorporates luminance and motion information simultaneously, and uses morphological tools such as morphological filtersand watershed algorithm. The procedure toward complete segmentation consists of three steps:joint marker extraction, boundary decision, and motion-based region fusion. First, the joint marker extraction identifies the presence of homogeneours regions in both motion and luminance, where a simple joint marker extraction technique is proposed. Second, the spatio-temporal boundaries are decided by the watershed algorithm. For this purposek, a new joint similarity measure is proposed. Finally, an elimination ofredundant regions is done using motion-based region function. By incorporating spatial and temporal information simultaneously, we can obtain visually meaningful segmentation results. Simulation results demonstratesthe efficiency of the proposed method.

• Advances in robotics research
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• 제2권2호
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• pp.129-140
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• 2018

With the increasing demand for the development of human pose estimation, such as human-computer interaction and human activity recognition, there have been numerous approaches to detect the 2D poses of people in images more efficiently. Despite many years of human pose estimation research, the estimation of human poses with images remains difficult to produce satisfactory results. In this study, we propose a robust 2D human body pose estimation method using an RGB camera sensor. Our pose estimation method is efficient and cost-effective since the use of RGB camera sensor is economically beneficial compared to more commonly used high-priced sensors. For the estimation of upper-body joint positions, semantic segmentation with a fully convolutional network was exploited. From acquired RGB images, joint heatmaps accurately estimate the coordinates of the location of each joint. The network architecture was designed to learn and detect the locations of joints via the sequential prediction processing method. Our proposed method was tested and validated for efficient estimation of the human upper-body pose. The obtained results reveal the potential of a simple RGB camera sensor for human pose estimation applications.

• 대한전자공학회논문지SP
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• 제47권3호
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• pp.87-95
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• 2010

오디오 신호를 무손실 압축하여 휴대용 멀티미디어 기기에서 최고의 오디오 품질을 제공하는 기기들이 등장하고 있으며, 무손실 오디오 압축을 위한 기술에서는 2006년 MPEG-4 audio lessless coding(ALS)와 MPEG-4 scalable lossless coding(SLS)가 국제 표준으로 채택 되었다. 2009년에는 MPEG에서 최대 스테레오 음원까지만 지원하는 MPEG-4 ALS simple profile을 정의하였다. 표준화된 무손실 오디오 코덱이 휴대용 멀티미디어 기기에서 널리 이용되기 위해서는 휴대용 멀티미디어 기기에서 가장 널리 쓰이는 스테레오 조건에서 낮은 복잡도를 보여야 한다. 하지만 기존 연구에서는 MPEG-4 ALS의 압축률을 향상시키거나, 혹은 다채널 환경에서의 복잡도를 개선하기 위한 연구들이 주로 이루어졌다. 본 논문에서는 MPEG-4 ALS 인코더의 복잡도와 압축률을 분석하고, 이를 바탕으로 MPEG-4 ALS simple profile 조건에서 MPEG-4 ALS 인코더의 복잡도를 개선하기 위한 방법을 제안한다. 분석 결과 MPEG-4 ALS 인코더의 analysis 블록에서 전체 복잡도의 75% 발생하므로, 기존의 연구에서 개발된 저 복잡도 필터를 인코더에 적용하여 복잡도를 감소시키며, joint coding의 압축 효율과 여기 신호의 상호상관계수의 관계를 기반으로 joint coding 결정 방법을 제안한다. 제안된 방법과 저 복잡도 필터가 포함된 MPEG-4 ALS 인코더의 성능은 MPEG-4 conformance test 파일과 일반 음악 파일을 이용하여 복잡도 및 압축률로써 평가된다. 실험 결과 제안된 방법이 적용되었을 경우 압축률은 유사하면서 인코더 복잡도가 24% 감소한다. 이를 통해 본 논문에서 제안된 방법이 MPEG-4 ALS 인코더의 복잡도 감소에 탁월한 성능을 가짐을 보였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.141-146
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• 1992

Joint probabilistic data association filter(JPDAF) for multi-target tracking was developed for real-time implementation, while it abandoned an algorithm for track initiation. In this paper, we propose three features for track initiation that can be adapted to the JPDA filter. In addition, with the proposed approaches, the performance of track maintenance is evaluated in the case of tracks being near. To eliminate the abundant false tracks, we exploit the simple method using the state error covariances. Simulations are performed to demonstrate the efficiency of the proposed approaches.

• 한국경영과학회지
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• 제10권2호
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• pp.38-44
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• 1985

Systems reliability can be improved by using redundancy and/or developing more reliable components. This papaer considers a joint optimization of both alternatives for a series system. It is shown that the n-stage optimization problem can be decomposed into n single stage subproblem. Each subproblem is further transformed into a univariate optimization problem for which a simple and efficient solution method is developed.

• Structural Engineering and Mechanics
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• 제3권2호
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• pp.135-144
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• 1995

Since structural systems may fail in any one of several failure modes, computation of system reliability is always difficult. A method using numerical quadrature for computing structural system reliability with either one or more than one failure mode is presented in this paper. Statistically correlated safety margin equations are transformed into a group of uncorrelated variables and the joint density function of these uncorrelated variables can be generated by using the Maximum Entropy Method. Structural system reliability is then obtained by integrating the joint density function with the transformed safety domain enclosed within a set of linear equations. The Gaussian numerical integration method is introduced in order to improve computational accuracy. This method can be used to evaluate structural system reliability for Gaussian or non-Gaussian variables with either linear or nonlinear safety boundaries. It is also valid for implicit safety margins such as computer programs. Both the theory and the examples show that this method is simple in concept and easy to implement.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2009년도 세계 도시지반공학 심포지엄
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• pp.441-448
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• 2009

In this study, the joint part of non-welding composite pile is investigated by a three dimensional finite element analysis. Special attention is given to the overall stress distribution under lateral, axial and tensional load conditions. Through comparisons with allowable stress of materials, a simple method is proposed to estimate the ultimate load condition of joint part. The appropriate design method is suggested and highlighted through the numerical analysis.