• Proceedings of the Korea Information Processing Society Conference
• /
• 2018.10a
• /
• pp.774-777
• /
• 2018

어질러진 환경에서의 물체 조작은 개방형 과제이다. 어질러진 환경에서는 장애물들에 의한 물체 조작의 실패가 자주 발생한다. 본 논문에서는 어질러진 환경에서 장애물에 의한 막힌 물체 잡기를 위한 작업-모션 계획의 연계 방법을 제안한다. 작업-모션 계획의 연계는 로봇이 실행해야 할 연속된 행위들을 생성하고 이 행위들의 실행 가능성을 확인하는 방법이다. 본 논문에서 제안하는 연계 방법은 1) 실행 가능성 확인을 위해 비-기호적 상태를 포함한 작업 계획 생성, 2) 장애물 처음 위치를 고려한 목표 포즈 생성, 3) 실행 가능성 확인 과정에서 발생한 실패 처리를 위한 재계획 등의 세부 기술들을 포함한다. 본 논문에서 제안하는 연계 방법의 높은 효율성을 확인하기 위해 휴머노이드 로봇을 이용한 실험을 진행하고 그 내용을 소개한다.

• KIISE Transactions on Computing Practices
• /
• v.21 no.4
• /
• pp.315-319
• /
• 2015

This paper addresses the design and implementation of an Android application for real-time precise motion control. To provide stable real-time performance, we implemented the application in two parts: Android service in the form of a daemon process, which periodically transfers a set of position commands for all motors through a real-time fieldbus, and Android UI application, which generates and delivers the set of position commands to the Android service. To support such a real-time motion control application, we use multi-core partitioning, which partitions the processor cores into a real-time partition to be used by the real-time motion control service and a non-real-time partition to be used by the Android application, and set up a shared buffer between them for communication. Our experiments show that we can obtain a motion control period of 2 ms with 99% task activation jitters less than ${\pm}55{\mu}s$ for a configuration where each of the four threads controls two motors in a group.

• The Journal of the Korea Contents Association
• /
• v.15 no.5
• /
• pp.18-26
• /
• 2015

In this paper, we presented a design and control method of multi-stage with wagon and lift stage. Multi-stage system has 4 degree-of-freedom(DOF), i.e., forward/backward/left/right/rotate and up/down motion. Wagon mechanism in the type of two wheel and steering is proposed in order to improve for the maneuverability compared to the existing differential-type wagons. Also, the lift mechanism is designed by interlocking type in order to make the maximum height bigger than 10 times of the original height. We also proposed a path planning algorithm. The performance of the propped system is validated via multi motion experiments, so that the multi-stage system is useful for various performances production.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.52 no.12
• /
• pp.118-123
• /
• 2015

The study of input and output characteristics in dynamic motion control is important indicator of the performance of mechanical equipment and is the factors to be considered during commissioning and maintenance of machinery or equipment, and project planning. The Analysis on dynamical characteristic of the input/output of the automation solution that used for motion control in machinery, is represented the control performance of device and including controller which connected at automation network by considering period of the frequency as applied load. This paper was constructed the simulator of B & R Powerlink to be widely used for motion control in the machine and showed the dynamic system characteristics by analysing the period.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2002.11c
• /
• pp.2431-2434
• /
• 2002

본 논문에서는 전체 영역 경로 계획인 CCPP(Complete Coverage Path Planning)를 이용해 전 청소 영역을 청소하는 방법을 나타내고 청소영역을 해석 하였다. 그리고, Template방법에 CD(Cell Decomposition)을 접목시킨 방법을 이용해 청소영역을 청소 후 재 경로계획으로 청소 안된 영역을 효율적으로 청소하는 방법을 연구하였다. 또한 청소기의 회전 및 직선 모션에 따른 청소 영역을 비교 해석해 최적 시간과 거리에 따른 경로 계획을 살펴보았다.

• Archives of design research
• /
• v.16 no.3
• /
• pp.263-272
• /
• 2003

Motiongraphics is not short film and has a special communication method characteristic of design. As graphic design needs space-composition, motiongraphics requires time-composition. In the 1920's, artists belonged Bauhaus in Germany tried to realize time-composition in the plans for abstract animation. At that time the russian film director Eisenstein experimented with moving image composit on, creating new meanings through the montage of heterogeneous images. In the digital era of today, motiongraphics is composed of such various elements as moving image, photo, illustration, typography, etc. The editing in montage film is one-dimensional. Meanwhile, motiongraphics of these days consists of a lot of layers, composing various elements by editing. Motiongraphics needs time structure and visual rhythm as well as scenario or storyboard for time composition. The principle of time composition in motiongraphics ist similar to that of musical composition. If we compare the time composition of abstract animation or montage film with the melody in a solo, time composition for motiongraphicf is like a symphony. Various composing elements are developed under different tempos at the same time.

• Journal of the Korea Computer Graphics Society
• /
• v.14 no.2
• /
• pp.9-17
• /
• 2008

We propose a method to determine camera parameters for character motion, which confiders the motion by itself. The basic idea is to approximately compute the area swept by the motion of the character's links that are orthogonally projected onto the image plane, which we call "Motion Area". Using the motion area, we can determine good fixed camera parameters and camera paths for a given character motion in the off-line or real-time camera control. In our experimental results, we demonstrate that our camera path generation algorithms can compute a smooth moving camera path while the camera effectively displays the dynamic features of character motion. Our methods can be easily used in combination with the method for generating occlusion-free camera paths. We expect that our methods can also be utilized by the general camera planning method as one of heuristics for measuring the visual quality of the scenes that include dynamically moving characters.

• Cartoon and Animation Studies
• /
• s.15
• /
• pp.251-265
• /
• 2009

Motion Graphics are a great effective vehicle for precise communication between customers in various media and formats. The important thing in the expression of Motion Graphics is to deliver messages clearly. Some current Motion Graphics which are focused on only attracting attention or sensational expressions more than narrative are evaluated lower. This study aims to utilize easy and positive Motion Graphics to deliver messages by applying their utility to production of Motion Graphics, omitting time spent on delivering effective messages and analyzing their suggestive expression methods because of the nature of producing Motion Graphics. This thesis is to study several theoretical backgrounds of omission and implicated expressions mentioned in the similar studies from the view of Motion Graphics, and to search applied examples and functional things using the expression methods in some film title sequence. Excellent Motion Graphics use planned omission and implicated methods rather than to use entire narratives or complicated descriptions. Especially, a film title sequence should focus on symbolic visual expressions. They are necessary to attract the audience's interest. To overcome the limitation of time and space deliver a huge amount of information quickly and powerfully, Motion Graphics should properly use omission of image and time and suggestive expressions through symbols and metaphors. Then they will have a role to level up their current values and discussions.

• Journal of Internet of Things and Convergence
• /
• v.2 no.2
• /
• pp.1-6
• /
• 2016

Recently, various types of wearable computers have been studied. In this paper, we analyze the characteristics of head motion information for the operation of the motion classifier produced motion headset that the user can use while listening to music. The prototype receives music from smart phone over bluetooth communications, and transmits the motion information measured by the acceleration sensor to the smart phone. And the smartphone classifies the motion of the head through a motion classifier. we implemented a prototype for our experiment. The user's head motion "up", "down", "left" and "right" were classified using a Bayesian classifier. As a result, in case of the movement of the head "up" and "down", there are a large changes in the x, z-axis values. In future we have a plan to perform a user study to find suitable variables for creating motion classifier.

• Proceedings of the Korea Database Society Conference
• /
• 2002.10a
• /
• pp.529-543
• /
• 2002

미국 마케팅협회 (AMA)의 정의전문위원회가 1985년에 만든 마케팅의 정의를 보면, "마케팅이란 개인이나 조직의 목표를 만족시키는 교환을 창조하기 위한 아이디어ㆍ상품ㆍ서비스에 대해 개념 정립, 가격 설정, 프로모션, 유통을 계획하여 실행하는 프로세스이다" 라고 정의한다. 다시 말하면, 상품이나 서비스를 어떻게 만들어서 어떻게 판매 할 것인가에 대한 방법론이라고 할 수 있다. (중략)