• Journal of the Korea Computer Graphics Society
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• v.20 no.2
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• pp.1-11
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• 2014

The quality of 2D-to-3D conversion depends on the accuracy of the assigned depth to scene objects. Manual depth painting for given objects is labor intensive as each frame is painted. Specifically, a human is one of the most challenging objects for a high-quality conversion, as a human body is an articulated figure and has many degrees of freedom (DOF). In addition, various styles of clothes, accessories, and hair create a very complex silhouette around the 2D human object. We propose an efficient method to estimate visually pleasing depths of a human at every frame in a monocular video. First, a 3D template model is matched to a person in a monocular video with a small number of specified user correspondences. Our pose estimation with sequential joint angular constraints reproduces a various range of human motions (i.e., spine bending) by allowing the utilization of a fully skinned 3D model with a large number of joints and DOFs. The initial depth of the 2D object in the video is assigned from the matched results, and then propagated toward areas where the depth is missing to produce a complete depth map. For the effective handling of the complex silhouettes and appearances, we introduce a partial depth propagation method based on color segmentation to ensure the detail of the results. We compared the result and depth maps painted by experienced artists. The comparison shows that our method produces viable depth maps of humans in monocular videos efficiently.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.4
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• pp.359-365
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• 2011

A mobile surveillance robot is defined as a surveillance robot system that is mounted on a mobile platform and is used to protect public areas such as airports or harbors from invaders. The mobile surveillance robot that is mounted on a mobile platform consists of a gun module, a camera system module, an embedded control system, and AHRS (Attitude and Heading Reference System). It has two axis control systems for controlling its elevation and azimuth. In order to obtain stable images for targeting invaders, this system requires a stabilizer to compensate any disturbance due to vehicle motion. In this study, a virtual model of a mobile surveillance robot has been created and ADAMS/Matlab simulations have been performed to verify the suitability of the proposed stabilization algorithm. Further, the suitability of the stabilization algorithm has also been verified using a mock-up of the mobile surveillance robot and a 6-DOF (Degree Of Freedom) motion simulator.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.10
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• pp.1021-1028
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• 2011

The objective of this paper is to optimize the design parameters of a novel mechanism for a robotic knee orthosis. The feature of the proposed knee othosis is to drive a knee joint with independent actuation during swing and stance phases, which can allow an actuator with fast rotation to control swing motions and an actuator with high torque to control stance motions, respectively. The quadriceps device operates in five-bar links with 2-DOF motions during swing phase and is changed to six-bar links during stance phase by the contact motion to the patella device. The hamstring device operates in a slider-crank mechanism for entire gait cycle. The suggested kinematic model will allow a robotic knee orthosis to use compact and light actuators with full support during walking. However, the proposed orthosis must use additional linkages than a simple four-bar mechanism. To maximize the benefit of reducing the actuators power by using the developed kinematic design, it is necessary to minimize total weight of the device, while keeping necessary actuator performances of torques and angular velocities for support. In this paper, we use a SGA (Simple Genetic Algorithm) to minimize sum of total link lengths and motor power by reducing the weight of the novel knee orthosis. To find feasible parameters, kinematic constraints of the hamstring and quadriceps mechanisms have been applied to the algorithm. The proposed optimization scheme could reduce sum of total link lengths to half of the initial value. The proposed optimization scheme can be applied to reduce total weight of general multi-linkages while keeping necessary actuator specifications.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.37 no.3
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• pp.232-239
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• 2009

The prediction of the separation trajectories of external stores carried by military aircraft is an important task in the area of aircraft design having the objective to define the operational, release envelopes. This paper presents the results obtained for safe store separation from a fighter aircraft by experimental methods in the subsonic wind tunnel. The problems associated with separation of external stores can be studied by the use of several wind-tunnel test techniques. Attention is given the two most useful techniques: 1) dynamically scaled drop-model testing, 2) grid testing. A description of each method is given and data obtained are shown to validate the similarity within acceptable limits.

• Transactions of the Korean Society of Mechanical Engineers
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• v.12 no.5
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• pp.959-967
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• 1988

In this paper, 2-DOF vehicle suspension system with a semiactive on-off damper was studied for improving the ride comfort. It is known that a nonlinear hydraulic damper, which generates force proportional to the square of the relative velocity, can describe the actual fluid resisting type damper more properly than the traditional viscous damping model. On the other hand, hydraulic damper adoption in analysis makes the system nonlinear and causes difficulties to get the system response. In this work, time domain direct integration method was used to calculate system displacement and acceleration. first of all, the response of the suspension system experiencing a given road profile was optimized by Lagrangian multiplier method within the range of given damping coefficients. The appropriate on-loaf damping values were obtained by averaging the already calculated optimum damping coefficients from Lagrangian techniques. The criterion to control the on-off mechanism was determined by examining the suspension efficiency. It was found that the best out of practically applicable criteria is following the sign (positive and negative) of the multiplication of relative displacement and velocity. Judging from the theoretical calculations, it was proved that the semiactive on-off damper can increase suspension efficiency as much as 8-11% in object function.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.43 no.9
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• pp.765-772
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• 2015

Aerodynamic force measurements and phase-locked PIV study were carried out to check the bio-mimetic MAV applicability of a swift flight. Two-rotational DOF robotic wing model and blowing-type wind tunnel were employed. The amplitude of twist angle were ${\pm}0$, ${\pm}5$, ${\pm}10$, and ${\pm}20$ deg. and stroke angles were manipulated by simple harmonic function with out-of-phase in regards to the stroke motion. It is acknowledged that the time-varying lift coefficients in accordance with the change of the twist angle did not result in any noticeable differences, just the small decrease and delay. However, the drag exhibited that the small change of the twist angle can produce large thrust. These findings imply why a swift uses small twist angle during flight. The PIV results displayed that the delay of aerodynamic forces is highly associated with the vortical structures around the wing. It is therefore indicated that a process of designing a swift-based Micro Air Vehicle should take the twist angle into consideration, as the essential parameter.

• Journal of Ocean Engineering and Technology
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• v.33 no.4
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• pp.350-357
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• 2019

The development of marine technology is expected to increase the demand for marine plants because of increasing oil prices. Therefore, there is also expected to be an increase in the demand for cylindrical structures such as URF (umbilical, riser, flowline) structures and spars, which are used operating in various seas. However, a cylindrical structure experiences vortex induced motion (VIM) in a current. In particular, for risers and umbilicals, it is important to identify the characteristics of the VIM because interference between structures can occur. In addition, various studies have been conducted to reduce VIM because it is the cause of fatigue damage to structures. The helical strake, which was developed for VIM reduction, has an excellent VIM reduction performance, but is difficult to install on structures and has a negative effect on heave motion. Therefore, the purpose of this study was to supplement the shortcomings of the helical strake and develop a high-performance reduction device. In the reduction device developed in this study, a string is placed around the structure inside the flow, causing vibration. The vibration of this string causes a small turbulence in the flow field, reducing the VIM effect on the structure. Finally, in this study, the 2-DOF motion characteristics of models without a suppression device, models with a helical strake, and models with a string were investigated, and their reduction performances were compared through model tests.

• Journal of the Korea institute for structural maintenance and inspection
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• v.18 no.6
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• pp.147-154
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• 2014

The cable damages of the bridge structures induce very important impact on the structural safety, which implies the close monitoring of the cable damage is required to secure sustained safety of the bridges. Most usual available maintenance techniques are based on the monitoring the change of the natural frequency of the structures by damages. However, existing method are based on vibration method to calculate lateral vibration and system identification can calculate the axial stiffness using sensitivity equation by trial error method. But the frequency study by the longitudinal movement need because of the sag effect in system identification. This study proposes a new method to investigate the damage magnitudes and status. The method improves the accuracies in the magnitudes and status of damages by adopting the natural frequency of longitudinal movement. The study results have been validated by comparing them with the approximate solution of FEM. Thus, the relationship of cable damage and frequency appear with relation that the severe damage has the little frequency. If we know the real frequency we can estimate the cable damage severity using this relationship. This method can be possible the efficient management of the cable damage.