• Journal of Power System Engineering
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• v.11 no.4
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• pp.103-108
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• 2007

In general, the swing motion of the crane is controlled and suppressed by activating the trolley motion. In many papers reported by us, we suggested a new type of anti-sway control system of the crane. In the proposed control system, a small auxiliary mass(moving-mass) is installed on the spreader and the swing motion is controlled by moving the auxiliary mass. The actuator reaction against the auxiliary mass applies inertial control forces to the container in order to reduce the swing motion in the desired manner. The measuring system is based on laser sensor or others. However it is not so useful in real world. Especially, in this paper, the image sensor is used to measures the motions of the spreader and the measured data are fed back to the controller in real time. The applied image processing technique is a kind of robust template matching method which is named Vector Code Correlation (VCC) and devised to consider the real environmental conditions. And the $H_{\infty}$ based control technique is applied to suppress swing motion of the crane. And the experimental result shows that the proposed measurement system based on image sensor and control system is useful and robust to disturbances.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.40 no.2
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• pp.20-28
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• 2003

Recently we need a faster and more accurate motion vector search algorithm for ASIC(Application Specific IC) or small systems. Block motion estimation using Full Search(FS) algorithm provides the best visual quality and PSNR, but it requires intensive computations. The previously proposed fast algorithms reduced the number of computations by limiting the number of searching locations. This is accomplished at the expense of less accuracy of motion estimation and gives rise to an appreciably higher SAD(Sum of Absolute Difference) for motion compensated images. In this paper we exploit the spatial correlation of motion vectors and present a fast motion estimation scheme which uses the predicted motion vector(PMV). The PMV scheme is more clear and simpler than the previously proposed algorithms which also use adjacent motion vectors. Simulation results with standard video sequences show that the PMV scheme is faster and more accurate than other algorithms such as Nearest-Neighbors Search(NNS) algorithm.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.40 no.4
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• pp.311-318
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• 2004

It is very important for the safe navigation and fishing operation to ensure the hull response of a fishing vessel in rough seas. This is an experimental study on the dynamical characteristics of ship's motion during operating job and sailing in the real sea. The experiments were carried out on the small stern trawler in operating job and sailing, and then the ship's roll and pitch motion were simultaneously recorded by P/C according to the wave directions. From these data, the statistical properties and power spectra were obtained and the analysis of ship's motions in the both case were made. The results obtained are summarized follows : (1) The amplitudes of pitch motion don't appear a big different between trawl job and sailing, but at bow seas, its in sailing have a tendency to increase more than in trawl job. The amplitudes of roll motion appear a bog different between trawl job and sailing, but at beam sea, that slightly decreasing tendency. (2) The peak period of pitch motion in trawl job and sailing change, but that of roll motion don't change according to the direction of waves. (3) The warp tention cause the motion of hull to be reduce, if the tention of each side have a ballance.

• Journal of the Korea Computer Industry Society
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• v.4 no.10
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• pp.731-740
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• 2003

Since motion estimation remove the redundant data to employ the temporal correlations between adjacent frames in a video sequence, it plays an important role in digital video coding. And in the block matching algorithm, search patterns of different shapes or sizes and the distribution of motion vectors have a large impact on both the searching speed and the image quality. In this paper, we propose a new fast block matching algorithm using the small-cross search pattern and the block-based gradient descent search pattern. Our algorithm first finds the motion vectors that are close to the center of search window using the small-cross search pattern, and then quickly finds the other motion vectors that are not close to the center of search window using the block-based gradient descent search pattern. Through experiments, compared with the block-based gradient descent search algorithm(BBGDS), the proposed search algorithm improves as high as 26-40% in terms of average number of search point per motion vector estimation.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.45 no.3
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• pp.74-79
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• 2008

In an H.264/AVC video encoder, the motion estimation at fractional pixel accuracy improves a coding efficiency and image quality. However, it requires additional computation overheads for fractional search and interpolation, and thus, reducing the computation complexity of fractional search becomes more important. This paper proposes fast fractional search algorithms by combining the SASR(Simplified Adaptive Search Range) and the MSDSP(Mixed Small Diamond Search Pattern) with the predicted fractional motion vector. Compared with the full search and the prediction-based directional fractional pixel search, the proposed algorithms can reduce up to 93.2% and 81% of fractional search points, respectively with the maximum PSNR lost less than 0.04dB. Therefore, the proposed fast search algorithms are quite suitable for mobile applications requiring low power and complexity.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.22 no.2
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• pp.318-323
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• 2013

For fast and accurate motion of 6-axis articulated robot, more noble motion control strategy is needed. In general, the movement strategy of industrial robots can be divided into two kinds, PTP (Point to Point) and CP (Continuous Path). Recently, industrial robots which should be co-worked with machine tools are increasingly needed for performing various jobs, as well as simple handling or welding. Therefore, in order to cope with high-speed handling of the cooperation of industrial robots with machine tools or other devices, CP should be implemented so as to reduce vibration and noise, as well as decreasing operation time. This paper will realize CP motion (especially joint-linear) blending in 3-dimensional space for a 6-axis articulated (lab-manufactured) robot (called as "RS2") by using LabVIEW$^{(R)}$ (6) programming, based on a parametric interpolation. Another small contribution of this paper is the proposal of motion blending simulation technique based on Recurdyn$^{(R)}$ V7 and Solidworks$^{(R)}$, in order to figure out whether the joint-linear blending motion can generate the stable motion of robot in the sense of velocity magnitude at the end-effector of robot or not. In order to evaluate the performance of joint-linear motion blending, simple PTP (i.e., linear-linear) is also physically implemented on RS2. The implementation results of joint-linear motion blending and PTP are compared in terms of vibration magnitude and travel time by using the vibration testing equipment of Medallion of Zonic$^{(R)}$. It can be confirmed verified that the vibration peak of joint-linear motion blending has been reduced to 1/10, compared to that of PTP.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.11
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• pp.955-962
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• 2016

In recent years, there have been emerging needs for standardized software-based motion application development for better scalability and support for multiple operation modes for small quantity batch production. Although a software-based motion system provides a basis for constructing multiple operation modes on a machine, it is not easy to construct such systems without tools for defining multiple motion operation modes and standardized mode-change protocols. This paper proposes a motion recipe concept to overcome this problem; the concept includes the authoring of multiple motion operation modes using the PLCopen-compliant motion function blocks and communication protocols to trigger operation mode changes from an external interface. The motion recipe was implemented by extending an IEC 61131-3 compliant IDE called Beremiz, and the correctness of the motion recipe-based application behavior was verified on a real testbed.

• Progress in Medical Physics
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• v.22 no.3
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• pp.140-147
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• 2011

The purpose of this study was to estimate internal motion using molecular sieve for quantitative improvement of lung tumor and to localize lung tumor in the small animal PET image by evaluated data. Internal motion has been demonstrated in small animal lung region by molecular sieve contained radioactive substance. Molecular sieve for internal lung motion target was contained approximately 37 kBq Cu-64. The small animal PET images were obtained from Siemens Inveon scanner using external trigger system (BioVet). SD-Rat PET images were obtained at 60 min post injection of FDG 37 MBq/0.2 mL via tail vein for 20 min. Each line of response in the list-mode data was converted to sinogram gated frames (2~16 bin) by trigger signal obtained from BioVet. The sinogram data was reconstructed using OSEM 2D with 4 iterations. PET images were evaluated with count, SNR, FWHM from ROI drawn in the target region for quantitative tumor analysis. The size of molecular sieve motion target was $1.59{\times}2.50mm$. The reference motion target FWHM of vertical and horizontal was 2.91 mm and 1.43 mm, respectively. The vertical FWHM of static, 4 bin and 8 bin was 3.90 mm, 3.74 mm, and 3.16 mm, respectively. The horizontal FWHM of static, 4 bin and 8 bin was 2.21 mm, 2.06 mm, and 1.60 mm, respectively. Count of static, 4 bin, 8 bin, 12 bin and 16 bin was 4.10, 4.83, 5.59, 5.38, and 5.31, respectively. The SNR of static, 4 bin, 8 bin, 12 bin and 16 bin was 4.18, 4.05, 4.22, 3.89, and 3.58, respectively. The FWHM were improved in accordance with gate number increase. The count and SNR were not proportionately improve with gate number, but shown the highest value in specific bin number. We measured the optimal gate number what minimize the SNR loss and gain improved count when imaging lung tumor in small animal. The internal motion estimation provide localized tumor image and will be a useful method for organ motion prediction modeling without external motion monitoring system.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.9
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• pp.825-832
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• 2004

A small biped robot system is designed and implemented. The robot system consists of a mechanical robot body, a control system, a sensor system, and a user interface system. The robot has 12 dofs for two legs, 6 dofs for two arms, 2 dofs for a neck, so it has total 20 dofs to have dexterous motion capability. The implemented robot has the capability of performing intelligent actions such as playing soccer, resisting external forces, and walking on a slope terrain. In this paper, we focus on the robot's capability of playing soccer. The robot uses a color CCD camera attached on its head as a sensor for playing soccer. To make the robot play soccer with only one camera, an algorithm, which consists of searching, localization, and motion planning, is proposed and experimented. The results show that the robot can play soccer successfully in the given environments.

• Journal of Mechanical Science and Technology
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• v.17 no.9
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• pp.1268-1275
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• 2003

In this paper, a compact 3-DOF mobile microrobot with sub-micron resolution is presented. It has many outstanding features : it is as small as a coin ; its precision is of sub-micrometer resolution on the plane ; it has an unlimited travel range ; and it has simple and compact mechanisms and structures which can be realized at low cost. With the impact actuating mechanism, this system enable both fast coarse motion and highly precise fine motion with a pulse wave input voltage controlled. The 1 -DOF impact actuating mechanism is modeled by taking into consideration the friction between the piezoelectric actuator and base. This modeling technique is extended to simulate the motion of the 3-DOF mobile robot. In addition, experiments are conducted to verify that the simulations accurately represent the real system. The modeling and simulation results will be used to design the model-based controller for the target system. The developed system can be used as a robotic positioning device in the micromanipulation system that determines the position of micro-sized components or particles in a small space, or assemble them in the meso-scale structure.