• Journal of Yeungnam Medical Science
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• v.7 no.2
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• pp.103-108
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• 1990

A method to roll-over the paralyzed body by means of Functional Electrical Stimulation(FES) is considered. It is demonstrated that individual joint motions necessary for the rolling-over are realized by electrical stimulation. EMG measurements are also performed to analyze the cooperative activities of the muscles during rolling over motion in a case where an upper extremity was used. These results of two experiments using normal subjects verifies the fundamental feasibility of body control by FES.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.9
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• pp.957-963
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• 2014

This paper proposes a predictive control for an efficient human following robot using Kinect sensor. Especially, this research is focused on detecting of foot-end-point and foot-vector instead of human body which can be occluded easily by the obstacles. Recognition of the foot-end-point by the Kinect sensor is reliable since the two feet images can be utilized, which increases the detection possibility of the human motion. Depth image features and a decision tree have been utilized to estimate the foot end-point precisely. A tracking point average algorithm is also adopted in this research to estimate the location of foot accurately. Using the continuous locations of foot, the human motion trajectory is estimated to guide the mobile robot along a smooth path to the human. It is verified through the experiments that detecting foot-end-point is more reliable and efficient than detecting the human body. Finally, the tracking performance of the mobile robot is demonstrated with a human motion along an 'L' shape course.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.1
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• pp.87-93
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• 2014

Conventional two-wheeled balancing robots are limited in terms of turning speed because they lack the lateral motion to compensate for the centrifugal force needed to stop rollover. In order to improve lateral stability, this paper suggests a two-wheeled balancing mobile platform equipped with a tilting mechanism to generate roll motions. In terms of static force analysis, it is shown that the two-body sliding type tilting method is more suitable for small-size mobile robots than the single-body type. For the mathematical modeling, the tilting-balancing platform is assumed as a 3D inverted pendulum and the four-degrees-of-freedom equation of motion is derived. In the velocity/posture control loop, the desired tilting angle is naturally determined according to the changes of forward velocity and steering yaw rate. The efficiency of the developed tilting type balancing mobile platform is validated through experimental results.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.341-345
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• 1996

This paper presents the dynamics and the teal-time control of a horizontally rotating inverted pendulum. The dynamic equations representing three degrees of freedom rigid body motion of the pendulum are derived, and the state feedback controller is applied to the motion control of the pendulum. A 32 bit counter board with 16 bit hardware communication ability is developed to improve the real-time control performance and is applied to a horizontally rotating inverted pendulum. The simulation and experimental studies are conducted to evaluate the performance of the developed pendulum system and the timing in the real-time control is analyzed.

• Journal of Fashion Business
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• v.24 no.4
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• pp.63-84
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• 2020

It is essential to consider the heavy industrial working environment factors which are regarded as harmful to workers' health and safety and suitable work motion factors for the workers' motion while developing the work clothes for painting workers in the machinery and shipbuilding industries. This study suggests the use of 3D virtual clothing simulations as a solution to protect the human body from hazardous working conditions accompanying the development of painting work clothes and assessing the work motion performance associated with the comfort while workers wear them during the work clothes. The initial aim of the study is to examine a male avatar to run work motions simultaneously within a 3D virtual clothing simulator, secondly, to present the simulation images of coverall type men's painting work clothes with the application of two experimental painting work motions and one control motion to the avatar, and finally, to present the distance analysis images of the painting work clothes and the avatar body and air gap rates through the analysis of cross-sections of the avatar body while wearing the coverall work clothes according to the work motions. The results showed that the distance degree of painting work clothes to the avatar body for each part of the human body when performing painting work motions. Moreover, 3D virtual clothing simulations enabled the creation of a male model avatar to run painting work motions together and the painting work clothes developed were found to be suitable for the painting work motions.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2018.10a
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• pp.377-378
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• 2018

This paper introduce the improvement of the pupil motion recognition algorithm in the previously reported "Eye-Motion Communication System using FPGA and OpenCV". It is a system for generalized paralysis and Lou Gehrig patients who can not move their body naturally, recognizing the pupil's motion and selecting the text in the FPGA in real time. In this paper, we improve the speed of motion recognition by minimizing the operation of eye detection function based on the user being general paralysis patient.

• Journal of the Korea Computer Graphics Society
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• v.23 no.3
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• pp.105-113
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• 2017

This paper presents a novel on-line trajectory optimization framework based on automatic time warping, which performs the time warping of a reference motion while optimizing character motion control. Unlike existing physics-based character animation methods where sampling times for a reference motion are uniform or fixed during optimization in general, our method considers the change of sampling times on top of the dynamics of character motion in the same optimization, which allows the character to effectively respond to external pushes with optimal time warping. In order to do so, we formulate an optimal control problem which takes into account both the full-body dynamics and the change of sampling time for a reference motion, and present a model predictive control framework that produces an optimal control policy for character motion and sampling time by repeatedly solving the problem for a fixed-span time window while shifting it along the time axis. Our experimental results show the robustness of our framework to external perturbations and the effectiveness on rhythmic motion synthesis in accordance with a given piece of background music.

• Journal of Korea Multimedia Society
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• v.15 no.6
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• pp.827-836
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• 2012

After successful advent of Microsoft's Kinect, many interactive contents that control user's 3D avatar motions in realtime have been created. However, due to the Kinect's intrinsic IR projection problem, users are restricted to face the sensor directly forward and to perform all motions in a standing-still position. These constraints are main reasons that make it almost impossible for the 3D character to navigate the virtual environment, which is one of the most required functionalities in games. This paper proposes a new method that makes 3D character navigate the virtual environment with highly realistic motions. First, in order to find out the user's intention of navigating the virtual environment, the method recognizes walking-in-place motion. Second, the algorithm applies the motion splicing technique which segments the upper and the lower motions of character automatically and then switches the lower motion with pre-processed motion capture data naturally. Since the proposed algorithm can synthesize realistic lower-body walking motion while using motion capture data as well as capturing upper body motion on-line puppetry manner, it allows the 3D character to navigate the virtual environment realistically.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.1
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• pp.116-123
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• 2004

The demand for the stable and comfortable cabin of a high speed passenger ship is increasing. The study on shipboard comfort has been mainly concentrated on the motion control of a whole hull body. In this study, however, a new control system operated by two parallel robots (3RPS, 3SPR) such as the active suspension system of motor vehicle is proposed. The goal of this control is keeping zero velocity of the upper robot (cabin) although the lower robot (ship) is moving by the waves. Jacobian matrix was used to design the controller, From the simulation results, the remarkable reduction of motion of the cabin (upper platform) was observed. The 3SPR parallel robot shows better performance compared to the 3RPS robot.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.56.5-56
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• 2001

In the three axis control of satellite by using reaction wheel and gyro, a reaction wheel produces the control torque by the wheel speed or momentum, and a gyro carries out measuring of the attitude angle and the attitude angular velocity In this study, dynamic modelling of the Low Earth Orbit (LEO) is consisted of the one from the rotational motion of the satellite with the basic rigid body and a flexible body model, and the gyro in addition to the reaction wheel model. The results obtained by the robust controller are compared with those of the PI (Proportional and Integration) controller which is commonly used for the stabilizing satellite.