• The Journal of the Korea institute of electronic communication sciences
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• v.5 no.4
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• pp.471-479
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• 2010

A holonomic drive can provide rotational and translational acceleration simultaneously in any direction. For this reason the holonomic drive technology is very desirable in creating motion for any mobile platform and has many promising mobility applications in the field of robotics and automation where manipulability is critical issue especially when the mobile system is operated in obstacle prone environment. In this paper a pragmatic methodology for realizing a holonomic drive system using multiple servo-casters is presented. The steering and driving of each servo-caster is controlled such that they are coordinated with the motions of other servo-casters in order to realize holonomic motion. This paper also proposes algorithms for varying manipulability as operation situation demands.

• Korean Journal of Computational Design and Engineering
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• v.17 no.5
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• pp.333-341
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• 2012

Modeling and simulation is important for military training. People can feel perspective when stereoscope images are created using multi-channel visualizations. A submarine oscillates when the submarine is just below the surface of the sea, so that the reconnaissance becomes difficult. Also, the operator should read the information of the target within 6 seconds using the periscope. The operator must have experience. To solve these problems, stereoscopic multi-channel visualization has been tested. The iCAVE system of KAIST provides a large-scale screen, 7 PCs, and 14 projectors to create the stereoscope images. To simulate the motion of a submarine just below the ocean surface, a 4-DOF motion platform is used. The motion data is transmitted to the visual system and the motion platform through the UDP protocol. Variety of weather conditions are created using the Vega Prime software. The stereoscopic multi-channel visualization and the motion platform system created a realistic simulation system.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.9
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• pp.818-826
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• 2015

This paper presents a novel methodology for estimating vehicle ego-motion, i.e. tri-axis linear velocities and angular velocities by using stereo vision sensor and 2G1Y sensor (longitudinal acceleration, lateral acceleration, and yaw rate). The estimated ego-motion information can be utilized to predict future ego-path and improve the accuracy of 3D coordinate of obstacle by compensating for disturbance from vehicle movement representatively for collision avoidance system. For the purpose of incorporating vehicle dynamic characteristics into ego-motion estimation, the state evolution model of Kalman filter has been augmented with lateral vehicle dynamics and the vanishing point estimation has been also taken into account because the optical flow radiates from a vanishing point which might be varied due to vehicle pitch motion. Experimental results based on real-world data have shown the effectiveness of the proposed methodology in view of accuracy.

• Journal of Korea Game Society
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• v.14 no.4
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• pp.87-94
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• 2014

In recent years, there has been an increasing interest in tangible sports simulators with the success of golf simulator. The main purpose of this study is to develop a tangible snowboard simulator for the beginner using virtual reality technology. This paper proposes an interactive virtual coach and high fidelity virtual environment for snowboard training. The virtual coach offers an intuitive guidance and personalized coaching feedback about the 5 fundamental riding skills. The virtual training environment uses the stereoscopic display system and motion platform to create more realistic training situation. We expect virtual reality will be used as a training aids in many sports such as taekwondo, baseball, archery and so on.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.10
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• pp.1067-1072
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• 2014

The ability to overcome obstacles is necessary for field robots for various applications including the ability to climb stairs. While much research has been performed focusing on overcoming obstacles, the resulting robots do not have sufficient ability to overcome obstacles such as stairs. In this research, the purpose is to overcome relatively large obstacles by flipping locomotion through the modification of the stair climbing robotic platform of the previous research. We propose two scenarios to overcome large obstacles: a rear wheel driving system and an elevation system using a ball screw. The research is performed based on static analyses on obstacle-climbing. As the simulation results indicate, we determined the optimal posture of the robot for climbing obstacles for rear wheel driving. Also, an elevation system is analyzed for obstacle climbing. Between the two scenarios an elevation system is determined to reduce the operating torque of the actuator, and the prototype was recently assembled. The climbing ability of the robotic platform is verified. We expect the application area for this robotic platform will be in accident areas of nuclear power plants.

• The KIPS Transactions:PartD
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• v.8D no.5
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• pp.623-630
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• 2001

Recently, Internet solution market is focused on competition in Electronic Commerce (EC) rather than necessity and effectiveness of EC. In this paper, we propose a policy-oriented matching agent system that makes EC market active. We can pursue diverse promotion since policies are objects, and we can formulate, carry out, pursue, and evaluated a policy consistently on the proposed solution since our solution is integrated into merits of rule-based system and operation space (release post). There are three important points of the implementation. It is component-based structure that fits to be a basic platform for EC. It is connected with other system easily, so it can help marketing. Marketing.

• Journal of IKEEE
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• v.16 no.4
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• pp.382-388
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• 2012

An H.264/AVC fast motion estimation methodology is presented in this paper. Advanced SIMD based NEON which is one of the parallel processing methods is supported under the ARM Cortex-A9 dual-core platform. NEON is applied to a full search technique with one of the various motion estimation methods and SAD operation count of each macroblock is reduced to 1/4. Pixel values of the corresponding macroblock are assigned to eight 16-bit NEON registers and Intrinsic function in NEON architecture carried out 128 bits arithmetic operations at the same time. In this way, the exact motion vector with the minimum SAD value among the calculated SAD values can be designated. Experimental results show that performance gets improved 30% above average in accordance with the size of image and macroblock.

• Proceedings of the Korean Society of Computer Information Conference
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• 2016.01a
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• pp.167-168
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• 2016

2015년 대한민국을 관통하는 키워드 중 하나가 O2O (Online to Offline)이다. 대기업과 중소기업까지 O2O를 전면에 내세우고 새로운 비즈니스를 모색하는 기업들이 확대되고 있다. O2O 비즈니스 기업들의 업종도 모바일 메신저, 포털을 비롯한 인터넷 사업자, 통신사업자, 모바일 기기 제조사, 전자상거래 기업과 같은 정보통신기술(ICT) 관련 기업부터 유통기업까지 다양하다. 본 연구를 위하여 2014.5~2015.5 1년 간 여자대학생 92명의 '모바일 쇼핑 금융서비스 이용 현황' 조사를 실시하였다. 조사 결과, 상품정보검색(96.7%), 구매(88%), 주문 배송(77.2%), 할인 프로모션정보(62%) 등 모바일 쇼핑을 하였고, 모바일금융 서비스로는 하루에 1번정도 (20.4%), 월1~3회(20.4%), 1주 3~4회(16.3%), 이용 안하는 경우(24.5%)로 조사 되었다. 모바일 금융서비스를 이용하지 못하는 이유로는 개인정보보안 및 해킹우려(39%), 이용/결제 과정의 불편함(25.8%) 등 이었으며, 국내 O2O 플랫폼이 제공하는 서비스는 쇼핑부터 결제까지 완결적인 구조로 보완할 부분이 필수적이다.

• The Journal of the Korea Contents Association
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• v.19 no.2
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• pp.469-476
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• 2019

Robotic motion is designed by the rotation and the translation of multiple joint coordinates in a three-dimensional space. Joint coordinates are generally modeled by homogeneous transform matrix. However, the complexity of three dimensional motions prefers the visualization methods based on simulation environments in which models and generated motions work properly. Many simulation environments have the limitations of usability and functional extension from platform dependency and interpretation of predefined commands. This paper proposes the web-based three dimensional simulation environment toward high user accessibility. Also, it covers the small size web server that is linked with Python script. The non linearities of robot control apply to verify the computing efficiency, the process management, and the extendability of user scripts.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2014.05a
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• pp.520-522
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• 2014

The 3D animation these days is confronted with a situation that should develop new contents fit for those circumstances of media in which new platforms such as smart phones, tablet PCs, and smart TVs, etc. are in a rapid change and establish media strategies. Attempts are made of developing methods to diversify content type coping with new smart media characteristics including smart phones, tablet PCs, and smart TVs, etc., with materials of the same story and character, and developing animation video contents based on new media technology. This study made avatas utilizing iClone, avata 3D production technology and investigated 3D animation production methods through costume editing and motion editing.