• 한국멀티미디어학회논문지
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• 제10권6호
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• pp.716-725
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• 2007

In this paper we describe a motion tracking algorithm for 3D human animation using stereo vision system. This allows us to extract the motion data of the end effectors of human body by following the movement through segmentation process in HIS or RGB color model, and then blob analysis is used to detect robust shape. When two hands or two foots are crossed at any position and become disjointed, an adaptive algorithm is presented to recognize whether it is left or right one. And the real motion is the 3-D coordinate motion. A mono image data is a data of 2D coordinate. This data doesn't acquire distance from a camera. By stereo vision like human vision, we can acquire a data of 3D motion such as left, right motion from bottom and distance of objects from camera. This requests a depth value including x axis and y axis coordinate in mono image for transforming 3D coordinate. This depth value(z axis) is calculated by disparity of stereo vision by using only end-effectors of images. The position of the inner joints is calculated and 3D character can be visualized using inverse kinematics.

• 에너지공학
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• 제25권4호
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• pp.103-109
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• 2016

폴리에틸렌(Polyethylene) 배관은 가요성이 좋고 부식이 되지 않는 등의 장점으로 가스배관 뿐만 아니라 원자력 발전소의 배수관, 석유화학 및 정유사 공정배관 등으로 그 사용범위가 점차 확대되고 있다. 그러나 폴리에틸렌 배관의 연결부를 직접적으로 검사할 수 있는 검사방법이 개발되지 않아서 사용범위를 확대하는데 제한을 받고 있다. 폴리에틸렌 배관의 연결방법은 전기융착 방법과 버트융착 방법으로 구분할 수 있는데 이 중에서 가장 많이 사용하는 방법은 버트융착이다. 버트융착은 배관과 배관을 열판에 맞닿게 하고 일정한 온도 및 압력을 가한 후 열판을 제거하고 용융된 배관의 말단부를 서로 연결하는 방법으로서 별도의 연결구가 필요하지 않아 가장 많이 사용하고 있는 연결방법이다. 버트융착 시에 열판으로부터 열이 용융된 후 압력을 가하면 용융부는 비드를 형성하는 부분과 연결부를 형성하는 부분으로 분리되고 냉각과정을 거쳐 버트융착부가 된다. 본 연구는 연결부를 형성하는 부분에서 열판으로부터 열이 전파되어 용융된 거리를 측정하고 이 결과를 연결부에 대한 건전성 평가 방법 중의 하나로 제시하고자 한다. 외경 225mm, 두께 20.5mm의 중밀도 폴리에틸렌 가스용 1호관의 초음파 속도를 측정한 결과 2,200m/s 였다. 열용융 거리를 측정하기 위하여 열판으로부터 열이 전파되어 폴리에틸렌을 가열하는 시간을 0%~130%까지 변화시켜 시험편을 제작하였다. 또한 정상적인 가열시간(100%의 가열)을 제공하고 스크레핑 처리를 하지 않은 시험편과 토양을 삽입한 시험편 그리고 자갈을 삽입한 시험편과 비닐류를 삽입한 시험편을 제작하였다. 총 20개의 시험편에 대한 열용융 거리를 측정하기 위하여 3.5MHz 및 5.0MHz 센서를 이용하였으며 1개의 시험편에 대하여 총 3곳에서 초음파 탐상을 실시하였다. 열용융 신호를 명확하게 구분하기 위하여 모든 탐상 결과에 대하여 동일한 post image processing을 수행하였고 이미지 레벨, contrast, sharpen 및 threshold를 적용하였으며 결과 탐상은 가장 직관적으로 파악할 수 있는 gray scale로 표현하였다. 탐상 결과 가열시간이 짧은 시험편일수록 융착이 이루어지지 않아 멀티플 에코가 반사되는 영역이 증가하였으며 이 부분을 최대한 배제할 수 있는 위치에서 데이터를 획득하였다. 정상적인 가열시간의 80%인 168초의 시간을 가한 시험편부터 열용융 거리에 대한 반사신호가 뚜렷이 구분되었으며 이 시험편부터 거리 측정을 실시하였다. 가열시간이 정상가열시간의 7%인 15초의 가열시간을 가한 시험편부터 더 낮은 가열시간을 가한 시험편의 경우 융착이 이루어지지 않아서 3곳 모두 데이터 영상을 획득할 수 없었다. 위 실험 결과로 위상배열초음파를 통해 폴리에틸렌 배관 버트융착부에서 열이 용융되어 전파된 거리 측정이 가능함을 확인하였으며 또한 열이 용융되어 전파된 거리 측정을 통해 정상적인 융착과 불완전 융착을 구분할 수 있음을 확인할 수 있었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.913-916
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• 1990

In this paper, attempts have been made to control AC synchronous servo motor used as actuators of joints of the FARA robot with high dynamic performance and precise positioning. The AC synchronous servo motors used in FARA robots have resolves as position sensors. Resolver to digital converters are used in order to obtain the information of rotor speed and position from resolver outputs. The proposed joint position control system consists of four speed controller and one position controller. Analog methods are used in the position controller, while digital methods are used in the position controller. For precise position control, PID control algorithm and interpolation functions are executed in two 16 bit microprocessors with sampling rate 2ms. Experimental results show that the proposed joint position control system can be effectively applied to industrial robots in order to obtain high dynamic performance and precise positioning. The proposed joint position control system is being used in the control of FARA robots of Samsung Electronics.

• 마이크로전자및패키징학회지
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• 제12권2호
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• pp.111-119
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• 2005

직경 $75{\mu}m$ 높이 $90{\mu}m$및 $150{\mu}m$ 피치의 Cu via를 통한 삼차원 배선구조를 갖는 스택 시편을 deep RIE를 이용한 via hole 형성공정 , 펄스-역펄스 전기도금법에 의한 Cu via filling 공정, CMP를 이용한 Si thinning 공정, photholithography, 금속박막 스퍼터링, 전기도금법에 의한 Cu/Sn 범프 형성공정 및 플립칩 공정을 이용하여 제작하였다. Cu via를 갖는 daisy chain 시편에서 측정한 접속범프 개수에 따른 daisy chain의 저항 그래프의 기울기로부터 Cu/Sn 범프 접속저항과 Cu via 저항을 구하는 것이 가능하였다. $270^{\circ}C$에서 2분간 유지하여 플립칩 본딩시 $100{\times}100{\mu}m$크기의 Cu/Sn 범프 접속저항은 6.7 m$\Omega$이었으며, 직경 $75 {\mu}m$, 높이 $90{\mu}m$인 Cu via의 저항은 2.3m$\Omega$이었다.

• 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.

• 국제학술발표논문집
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• The 9th International Conference on Construction Engineering and Project Management
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• pp.328-335
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• 2022

With the advance of robot capabilities and functionalities, construction robots assisting construction workers have been increasingly deployed on construction sites to improve safety, efficiency and productivity. For close-proximity human-robot collaboration in construction sites, robots need to be aware of the context, especially construction worker's behavior, in real-time to avoid collision with workers. To recognize human behavior, most previous studies obtained 3D human poses using a single camera or an RGB-depth (RGB-D) camera. However, single-camera detection has limitations such as occlusions, detection failure, and sensor malfunction, and an RGB-D camera may suffer from interference from lighting conditions and surface material. To address these issues, this study proposes a novel method of 3D human pose estimation by extracting 2D location of each joint from multiple images captured at the same time from different viewpoints, fusing each joint's 2D locations, and estimating the 3D joint location. For higher accuracy, the probabilistic representation is used to extract the 2D location of the joints, considering each joint location extracted from images as a noisy partial observation. Then, this study estimates the 3D human pose by fusing the probabilistic 2D joint locations to maximize the likelihood. The proposed method was evaluated in both simulation and laboratory settings, and the results demonstrated the accuracy of estimation and the feasibility in practice. This study contributes to ensuring human safety in close-proximity human-robot collaboration by providing a novel method of 3D human pose estimation.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제53권5호
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• pp.338-343
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• 2004

In general, the insulation and protective sheaths on electrical conductors are made of combustible substances like PVC, natural or synthetic rubbers, and other organic or synthetic materials. When an electrical fire starts due to overheating of conductors/joints or sparking/arcing, the first thing to ignite is usually the insulation on the cables. When the insulation bums, the produced fumes are very toxic. To solve the problem, we have surely need the fire resistance cable that doesn't bum in a high temperature and emit toxic fume for operating a disaster prevention installation. In this paper, we have simulated the thermal analysis for the fire resistance cable according to the values of current in a overload and a short, and the values of outside flame with the fire resistance cable of the L's company product(600 V, FR-8 : Four Core) using the finite element method(Flux2D).

• Journal of the Korean Wood Science and Technology
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• 제29권4호
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• pp.1-8
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• 2001

본 실험은 강판삽입형에 드리프트 핀, 볼트를 이용한 2가지 형태의 접합부의 강도 특성을 검토하였다. 하중 방향은 섬유평행방향 하중 (0도 하중)과 섬유직교방향 하중 (90도 하중)을 가하여 하중방향의 차이 및 접합구에 따른 강도 특성을 비교하였다. 소나무재의 강판 삽입의 드리프트 핀, 볼트 인장형 전단강도 실험에서 다음과 같은 결과를 얻었다. 1. 같은 단거리의 섬유평행방향 하중시 최대하중은 접합구의 직경이 증가함에 따라 증가되는 경향을 보였으며, 90도 하중인 경우 드라프트핀, 볼트 접합부는 2가지 접합구 직경(10 mm, 12 mm)에서 모든 소나무 시편이 할렬파괴 되었다. 2. 하중-변형 곡선의 초기 직선영역을 나타내는 직선과 접합구 직경의 5% 만큼을 횡축의 정방향으로 평행 이동시킨 접합부의 항복하중(Py)과 최대 하중비의 증가 정도는 0도 하중의 경우가 높고, 볼트의 접합에서 높았다. 또한 세장비가 증가될수록 높은 경향을 나타냈다. 3 항복 추정식으로 구한 항복하중과 실험값에서 5% 차감한 항복하중은 볼트 접합부에 비해 드리프트 핀 접합부가 추정치와 실험치가 잘 일치되었다.

• Reproductive and Developmental Biology
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• 제35권2호
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• pp.143-149
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• 2011

Arthritis is a common disease in aged people, and is clinically divided into rheumatoid arthritis (RA) and osteoarthritis (OA). Although common symptoms such as pain are present, the underlying pathological mechanisms are slightly different. Therefore, the objectives of the present study were to compare joint damage induced by RA and OA by analyzing the major morphological and molecular differences, and to propose a suitable therapeutic intervention based on the pathophysiological conditions of bones and joints. For the RA animal model, 8-week-old DBA1/J mice were immunized with bovine type II collagen emulsified in complete Freund's adjuvant (CFA). Normal C57BL/6 mice (over 2 years of age) were used for OA. The clinical arthritis score was calculated using a subjective scoring system, and paw thicknesses were measured using calipers. The serum TNF ${\alpha}$ level was analyzed using an ELISA kit. Micro-CT was used to identify pathological characteristics and morphological changes. In collagen-induced RA mice, there were increased ankle joint volumes and clinical scores (p<0.01). The concentration of TNF ${\alpha}$ was significantly increased from 3 to 7 weeks after immunization. Micro-CT images showed trabecular bone destruction, pannus formation, and subchondral region destruction in RA mice. OA among aged mice showed narrowed joint spaces and breakdown of articular cartilage. This study suggests that a careful therapeutic intervention between RA and OA is required, and it should be based on morphological alteration of bone and joint.

• 한국운동역학회지
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• 제31권3호
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• pp.155-161
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• 2021

Objective: There is a lack of studies using the 3D-2D image registration techniques on the mechanism of a shoulder injury for ice hockey players. This study aimed to analyze in vivo 3D glenohumeral joint arthrokinematics in collegiate ice hockey athletes and compare shoulder scaption with or without a hockey stick using the 3D-2D image registration technique. Method: We recruited 12 male elite ice hockey players (age, 19.88 ± 0.65 years). For arthrokinematic analysis of the common shoulder abduction movements of the injury pathogenesis of ice hockey players, participants abducted their dominant arm along the scapular plane and then grabbed a stick using the same motion under C-arm fluoroscopy with 16 frames per second. Computed tomography (CT) scans of the shoulder complex were obtained with a 0.6-mm slice pitch. Data from the humerus translation distances, scapula upward rotation, anterior-posterior tilt, internal to external rotation angles, and scapulohumeral rhythm (SHR) ratio on glenohumeral (GH) joint kinematics were outputted using a MATLAB customized code. Results: The humeral translation in the stick hand compared to the bare hand moved more anterior and more superior until the abduction angle reached 40°. When the GH joint in the stick hand was at the maximal abduction of the scapula, the scapula was externally rotated 2~5° relative to 0°. The SHR ratio relative to the abduction along the scapular plane at 40° indicated a statistically significant difference between the two groups (p < 0.05). Conclusion: With arm loading with the stick, the humeral and scapular kinematics showed a significant correlation in the initial section of the SHR. Although these correlations might be difficult in clinical settings, ice hockey athletes can lead to the movement difference of the scapulohumeral joints with inherent instability.