• Journal of Broadcast Engineering
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• v.26 no.5
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• pp.519-532
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• 2021

Recently, in various fields such as games, movies, and animation, content that uses motion capture to build body models and create characters to express in 3D space is increasing. Studies are underway to generate animations using RGB-D cameras to compensate for problems such as the cost of cinematography in how to place joints by attaching markers, but the problem of pose estimation accuracy or equipment cost still exists. Therefore, in this paper, we propose a system that inputs RGB images into a joint estimation network and converts the results into 3D data to create FBX format animations in order to reduce the equipment cost required for animation creation and increase joint estimation accuracy. First, the two-dimensional joint is estimated for the RGB image, and the three-dimensional coordinates of the joint are estimated using this value. The result is converted to a quaternion, rotated, and an animation in FBX format is created. To measure the accuracy of the proposed method, the system operation was verified by comparing the error between the animation generated based on the 3D position of the marker by attaching a marker to the body and the animation generated by the proposed system.

• Bulletin of the Korean Mathematical Society
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• v.27 no.2
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• pp.189-196
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• 1990

In this paper, we try to generalize ultraproducts in the category of locally convex spaces. To do so, we introduce D-ultracolimits. It is known [7] that the topology on a non-trivial ultraproduct in the category T $V^{ec}$ of topological vector spaces and continuous linear maps is trivial. To generalize the category Ba $n_{1}$ of Banach spaces and linear contractions, we introduce the category L $C_{1}$ of vector spaces endowed with families of semi-norms closed underfinite joints and linear contractions (see Definition 1.1) and its subcategory, L $C_{2}$ determined by Hausdorff objects of L $C_{1}$. It is shown that L $C_{1}$ contains the category LC of locally convex spaces and continuous linear maps as a coreflective subcategory and that L $C_{2}$ contains the category Nor $m_{1}$ of normed linear spaces and linear contractions as a coreflective subcategory. Thus L $C_{1}$ is a suitable category for the study of locally convex spaces. In L $C_{2}$, we introduce $l_{\infty}$(I. $E_{i}$ ) for a family ( $E_{i}$ )$_{i.mem.I}$ of objects in L $C_{2}$ and then for an ultrafilter u on I. we have a closed subspace $N_{u}$ . Using this, we construct ultraproducts in L $C_{2}$. Using the relationship between Nor $m_{1}$ and L $C_{2}$ and that between Nor $m_{1}$ and Ba $n_{1}$, we show thatour ultraproducts in Nor $m_{1}$ and Ba $n_{1}$ are exactly those in the literatures. For the terminology, we refer to [6] for the category theory and to [8] for ultraproducts in Ba $n_{1}$..

• Journal of Biosystems Engineering
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• v.38 no.2
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• pp.138-148
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• 2013

Purpose: Determining an appropriate path is a top priority in order for a robot to maneuver in a dynamically efficient way especially in a pick-and-place task. In a non-standardized work environment, current robot arm executes its motion based on the kinematic displacements of joint variables, though resulting motion is not dynamically optimal. In this research we suggest analyzing and applying motion patterns of the human arm as an alternative to perform near optimum motion trajectory for arbitrary pick-and-place tasks. Methods: Since the motion of a human arm is very complicated and diverse, it was simplified into two links: one from the shoulder to the elbow, and the other from the elbow to the hand. Motion patterns were then divided into horizontal and vertical components and further analyzed using kinematic and dynamic methods. The kinematic analysis was performed based on the D-H parameters and the dynamic analysis was carried out to calculate various parameters such as velocity, acceleration, torque, and energy using the Newton-Euler equation of motion and Lagrange's equation. In an attempt to assess the efficacy of the analyzed human motion pattern it was compared to the virtual motion pattern created by the joint interpolation method. Results: To demonstrate the efficacy of the human arm motion mechanical and dynamical analyses were performed, followed by the comparison with the virtual robot motion path that was created by the joint interpolation method. Consequently, the human arm was observed to be in motion while the elbow was bent. In return this contributed to the increase of the manipulability and decrease of gravity and torque being exerted on the elbow. In addition, the energy required for the motion decreased. Such phenomenon was more apparent under vertical motion than horizontal motion patterns, and in shorter paths than in longer ones. Thus, one can minimize the abrasion of joints by lowering the stress applied to the bones, muscles, and joints. From the perspectives of energy and durability, the robot arm will be able to utilize its motor most effectively by adopting the motion pattern of human arm. Conclusions: By applying the motion pattern of human arm to the robot arm motion, increase in efficiency and durability is expected, which will eventually produce robots capable of moving in an energy-efficient manner.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.7
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• pp.2205-2212
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• 1996

In order to move the body of a walking robot translationally, and step over the obstacles, the walking robot must have at least 3 degrees of freedom for each leg. Therefore each leg of the general walking robots can be composed of 3-link system with 3 revolute joints. In this paper, the colsed form of inverse kinimatic solutions is shown for this general 3R linkage. Moreover, in order to have efficient walking volume in rough terrain, the workspace of each log is obtained considering the twist angles and the offsets in D-H parameters. When we design a walking robot, the information of the walking volume is needed for planning desired trajectories of the feet effectively. Appropriate knowledge of the walking volume can also be used to maximize linear or angular velocity of minimize power of stress. However, since it is impossible to obrain the information of walking volume in 3-D space directly from the kinematic equations, the walking volume can be searched through the edge detection algorithm using the triangle tracer with closed from inverse kinematic solutions. In this study, we present the closed form inverse kinematic solutions for 3R linkage model, and the walking volume of 6 legged walking robot which is modeled after the darking bettle, Eleodes obscura sulcipennis, through the method of edge detection for an arbitrary 2 dimensional shape using triangle tracer.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.8 s.251
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• pp.931-940
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• 2006

Defect assessment of a weld zone is important in fitness-for-service evaluation of plant components. Typically a J and $C^*$ estimation method for a defective homogeneous component is extended to a mismatched component, by incorporating the effect due to the strength mismatch between the weld metal and the base material. The key element is a mismatch limit load. For instance, the R6/R5 procedure employs an equivalent material concept, defined by a mismatch limit load. A premise is that if a proper mismatch limit load solution is available, the same concept can be used for any defect location (either a weld centre defect or a heat affected zone (HAZ) defect) and for any material combination (either two-material or multi-material combinations; either similar or dissimilar joints). However, validation is still limited, and thus a more systematic investigation is needed to generalise the suggestion to any geometry, any defect location and any material combination. This paper describes the effect of structural geometry on the $C^*$ integral for defective similar welds, based on systematic elastic-creep 2-D and 3-D finite element (FE) analyses, to attempt to elucidate the questions given above. It is found that the existing 'equivalent material' concept is valid only for limited cases, although it provides conservative estimates of $C^*$ for most of cases. A modification to the existing equivalent material concept is suggested to improve accuracy.

• Journal of Korean Tunnelling and Underground Space Association
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• v.7 no.4
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• pp.269-283
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• 2005

To figure out the cause of underestimating the roughness and shear strength of rock joints suggested by numerous researchers, we analyzed roughness mobilization characteristics, characteristics of roughness parameters, effects of sampling interval, and waviness for roughness parameters. It was found out that lack of understanding of the roughness mobilization characteristics, inappropriate applications of roughness parameters, and effect of aliasing provide a main reasons for those problems. Several practical alternatives for improving those problems were suggested. As far as digitizing methods are concerned, we can find that using a 3D scanner can give a relatively effective result. To avoid aliasing, sampling interval should be less than one-quarter of the minimum asperities. As for the quantification of roughness, it was analyzed that the roughness parameter should be classified into two components depending on the scale of roughness to apply the shear strength model. For classifying the roughness, a framework of the criterion was suggested based on the plastic flow concept for the asperity failure, and the basis for proposing a new alternative shear strength model was established.

• Computers and Concrete
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• v.26 no.6
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• pp.565-576
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• 2020

Experimental and discrete element methods were used to investigate the effects of angle of Y shape non-persistent joint on the tensile behaviour of joint's bridge area under brazilian test. concrete samples with diameter of 100 mm and thikness of 40 mm were prepared. Within the specimen, two Y shape non-persistent notches were provided. The large notch lengths were 6 cm, 4 cm and 2 cm. the small notch lengths were 3 cm, 2 cm and 1 cm. The angle of larger notch related to horizontal axis was 0°, 30°, 60°, 90°. Totally, 12 different configuration systems were prepared for Y shape non-persistent joints. Also, 18 models with different Y shape non-persistent notch angle and notch length were prepared in numerical model. The large notch lengths were 6 cm, 4 cm and 2 cm. the small notch lengths were 3 cm, 2 cm and 1 cm. The angle of larger notch related to horizontal axis was 0, 30, 60, 90, 120 and 150. Tensile strength of model materil was 1 MPa. The axial load was applied to the model by rate of 0.02 mm/sec. This testing showed that the failure process was mostly governed by the Y shape non-persistent joint angle and joint length. The tensile strengths of the specimens were related to the fracture pattern and failure mechanism of the discontinuities. It was shown that the tensile behaviour of discontinuities is related to the number of the induced tensile cracks which are increased by increasing the joint length and joint angle. The minimum tensile strength occurs when the angle of larger joint related to horizontal axis was 60°. Also, the maximum compressive strength occurs when the angle of larger joint related to horizontal axis was 90°. The tensile strength was decreased by increasing the notch length. The failure pattern and failure strength are similar in both methods i.e. the experimental testing and the numerical simulation methods.

• Journal of the Microelectronics and Packaging Society
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• v.26 no.3
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• pp.43-49
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• 2019

In this study, a new approach using graphene oxide (GO) powder-composited Sn-3.0Ag-0.5Cu(in wt.%) solder paste for improving the bending reliability of solder joints between a flexible substrate and small outline package (SOP) was suggested. The GO addition slightly affected the melting temperature, however, the change in the melting temperature was not significant. Meanwhile, we observed the addition of GO could suppress IMC growth and IMC thickness of solder joint during the reflow process. Moreover, the cyclic bending test was also performed for evaluation of reliability in solder joint and we could improve the cyclic bending reliability of solder joint by adding GO powders. For 0.2 wt.% of GO added to the solder joint, the bending lifetime was increased to 20% greater than that without GO. Pull strength and ductility of the solder joint with GO were also higher than those of the joint without GO and it was assumed that this effect by adding GO could contribute to improve cyclic bending reliability of solder joint.

• Journal of Korean Medicine Rehabilitation
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• v.27 no.3
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• pp.137-146
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• 2017

Objectives The purpose of this study is to compare the effects between the KL-Grade and improvement of knee pain treated by Korean Medicine therapy. Methods 114 patients who received inpatient treatment from July 2014 to May 2017 in the Daejeon Jaseng of Korean Medicine Hospital were divided into 5 groups by the KL-Grade. All patients received a combination of treatment including acupunture, pharmacopunture, herbal medication. They were compared and analyzed on the basis of improvement between measuring Numeric Rating Scale (NRS), Western Ontario and McMaster Universities Arthritis Index (WOMAC Index), EuroQol-5 Dimension Index (EQ-5D Index) as they were hospitalized and as they were discharged. The statistically significance was evaluated by SPSS 23.0 for windows. Results After treatment, KL-Grade 0 group's Numeric Rating Scale (NRS), Western Ontario and McMaster Universities Arthritis Index (WOMAC Index), EuroQol-5 Dimension Index (EQ-5D Index) improvement was $2.02{\pm}1.69$, $7.50{\pm}9.67$ and $0.11{\pm}0.15$ respectively. KL-Grade 1 group's improvement was $2.09{\pm}1.23$, $11.75{\pm}13.99$ and $0.12{\pm}0.13$ respectively. KL-Grade 2 group's improvement was $1.60{\pm}1.07$ and $14.70{\pm}14.19$ respectively. But In this group, EQ-5D Index has decreased by $0.01{\pm}0.10$. KL-Grade 3 group's improvement was $1.88{\pm}1.31$, $7.81{\pm}13.35$ and $0.13{\pm}0.20$ respectively (p<0.034). In the case of KL-Grade 4, the population was not statistically significant (N=2) and therefore excluded from statistical significance. And there was no statistically significance between 4 group's improvement after treatment (p>0.05). Conclusions The above study showed that Korean medicine treatments showed significant therapeutic effects on knee pain and degenerative knee joints, but there was no significant difference in the effectiveness of degenerative arthritis (KL-Grade).

• Clinics in Shoulder and Elbow
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• v.21 no.3
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• pp.151-157
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• 2018

Background: Nonunion of lateral humeral condyle fracture causes cubitus valgus deformity. Although corrective osteotomy or osteosynthesis can be considered, there are controversies regarding its treatment. To evaluate elbow joint biomechanics in non-united lateral humeral condyle fractures, we analyzed the motion of elbow joint and pseudo-joint via in vivo three-dimensional (3D) kinematics, using 3D images obtained by computed tomography (CT) scan. Methods: Eight non-united lateral humeral condyle fractures with cubitus valgus and 8 normal elbows were evaluated in this study. CT scan was performed at 3 different elbow positions (full flexion, $90^{\circ}$ flexion and full extension). With bone surface model, 3D elbow motion was reconstructed. We calculated the axis of rotation in both the normal and non-united joints, as well as the rotational movement of the ulno-humeral joint and pseudo-joint of non-united lateral condyle in 3D space from full extension to full flexion. Results: Ulno-humeral joint moved to the varus on the coronal plane during flexion, $25.45^{\circ}$ in the non-united cubitus valgus group and $-2.03^{\circ}$ in normal group, with statistically significant difference. Moreover, it moved to rotate externally on the axial plane $-26.75^{\circ}$ in the non-united cubitus valgus group and $-3.09^{\circ}$ in the normal group, with statistical significance. Movement of the pseudo-joint of fragment of lateral condyle showed irregular pattern. Conclusions: The non-united cubitus valgus group moved to the varus with external rotation during elbow flexion. The pseudo-joint showed a diverse and irregular motion. In vivo 3D motion analysis for the non-united cubitus valgus could be helpful to evaluate its kinematics.