• 제어로봇시스템학회논문지
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• 제13권1호
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• pp.33-38
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• 2007

In this paper, hardware implementation of interface and control between two robots, the master and the slave robot, are designed. The master robot is the motion capturing device that captures motions of the human operator who wears it. The slave robot is the corresponding humanoid robot arms. Captured motions from the master robot are transferred to the slave robot to follow after the master. All hardware designs such as PID controllers, communications between the master robot, encoder counters, and PWM generators are embedded on a single FPGA chip. Experimental studies are conducted to demonstrate the performance of the FPGA controller design.

• 한국생산제조학회지
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• 제22권3_1spc호
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• pp.558-565
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• 2013

This paper describes a whole-body (human body's) motion generation scheme for an android robot that uses motion capture device and a nonlinear constrained optimization method. Because the captured motion data are based on global coordinates and the actors have different heights and different upper-lower body ratios, the captured motion data cannot be used directly for a humanoid robot. In this paper, we suggest a method for obtaining robot joint angles, which allow the resultant robot motion to be as close as possible to the captured human motion data, by applying a nonlinear constrained optimization method. In addition, the results are animated to demonstrate the similarity of the motions.

• 한국컴퓨터정보학회논문지
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• 제24권4호
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• pp.19-26
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• 2019

In this study, we study the development and control of motion of 3D character animation and discuss the development direction of technology. Character animation has been developed as a data-based method and a physics-based method. The animation generation technique based on the keyframe method has been made possible by the development of the hardware technology, and the motion capture device has been used. Various techniques for effectively editing the motion data have appeared. At the same time, animation techniques based on physics have emerged, which realistically generate the motion of the character by physically optimized numerical computation. Recently, animation techniques using machine learning have shown new possibilities for creating characters that can be controlled by the user in real time and are expected to be developed in the future.

• 한국정밀공학회지
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• 제33권7호
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• pp.565-570
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• 2016

This paper presents the characteristics related to needle insertion of a robotic device for the automated biopsy procedure. The automated biopsy device, a main component of the robotic needle insertion type intervention system, allows performance of the full biopsy procedure, except for anesthesia, without direct handling of a radiologist or a tele-operated control. In this study, the needle length parameters corresponding to various insertion depths and precision for needle insertion of the automated biopsy device, are discussed. There were two combinations of needle length parameters for appropriate needle insertion and motion capture-based measurement was performed; 0.156 mm error for the 90 mm length commanded insertion displacement was measured. The pre-defined goal is a maximum 1 mm error and thus our measured error is within the acceptable range. In the repeatability check, it was also shown that the device can implement a highly accurate insertion.

• 한국운동역학회지
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• 제25권3호
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• pp.353-361
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• 2015

Objective : The aim of this study was to develop the non-powered horse riding device and was to evaluate the elaborate its applicability throughout static structural and transient structural analysis of the outdoor core strength exercise equipment. Method : Fifteen college students (mass: $69.55{\pm}13.38kg$, height: $1.69{\pm}5.61m$, age: $21.42{\pm}1.83yrs$) rode the powered horse riding device and 14 college students (mass: $71.12{\pm}9.74kg$, height: $1.73{\pm}3.31m$, age: $22.50{\pm}1.47yrs$) rode the non-powered horse riding device for the comparison. All motion capture data was collected at 100 Hz using six infrared cameras and the muscular activities were collected using a Delsys Trigno wireless system. The peak forward/backward lean angle, range of motion anter/posterior and vertical COM(Center of mass) movement of trunk and pelvis segment, and muscle activities of six muscles were compared between the two devices by using independent t-test (p<.05). Results : Several kinematic variables (peak forward-backward lean angle and vertical COM movement of trunk and pelvis segment, range of motion of trunk) significantly different between non-powered and powered horse riding device. The muscle activities of Rectus abdominis and External oblique of abdomen on the non-powered horse riding device were significantly greater than those of the powered device. Conclusion : It was concluded that non-power horse riding device could give the effect of core strength exercise as well as the body motion which can simulate the powered horse riding device.

• 대한조선학회 특별논문집
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• 대한조선학회 2015년도 특별논문집
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• pp.50-55
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• 2015

Application of newly conceptualized Anti-Splash Devices designed for COT vent pipes were studied on a P/V valve located on the upper deck of an oil carrier vessel. Anti-Splash devices are used in the shipbuilding industry in order to avoid oil overflow and spray accidents caused by excess pressure and vacuum condition in the cargo oil tanks. These conditions are caused by the transverse and longitudinal sloshing forces that arise from ship motion during sea voyages. The main issue with existing Anti-Splash device model is flux at the outlet of the Anti-Splash Device, and so, new conceptual models for the Anti-Splash device were developed and compared to existing Anti-Splash device model using CFD analysis. Transient analysis was used to capture the flow and velocity of each model and a comparative analysis was performed between old and new-concept models. This data was used to determine the optimal design parameters in order to develop an optimized Anti-Splash Device. A Factory acceptance test was performed on the new-concept models in order to verify the performance and efficiency against their design requirements and other criterion. The final step performed was to apply the optimized Anti-Splash Device models for COT vent pipes to an actual vessel and verify performance through a seawater cargo operation during a sea voyage as per the ship owner's request. The patent for the aforementioned device was obtained by the Korean Intellectual property Office dated Dec. 18th,2014.

• 만화애니메이션 연구
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• 통권41호
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• pp.133-152
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• 2015

일부 예술가와 과학자의 물리적 현상과 그 표현형식에 대한 연구에서 시작된 애니메이션은 20세기후반에 들어 인식론과 이미지 생산 기술의 급속한 발달에 힘입어 기존의 미디어 기능을 통합, 재창조를 수행하며 대중문화콘텐츠 형성에 핵심적인 요소로 인식되어 왔다. 현대의 애니메이션은 작가의 예술 활동만큼이나 상업성과 흥행 여부도 강조되며 그 대상인 관객도 배제할 수 없다. 이것은 애니메이션이 예술적 의미에서 상업적 의미까지 그 범위가 확장되었음을 뜻한다. 관객은 애니메이션에서 단순히 '볼거리'와 '들을 거리' 만을 제공받고자 하는 것이 아니며 그이상의 간접적인 정신적 충족을 요구한다. 반면 연출자는 관객의 몰입을 이끌어내 자신이 의도한 신비화된 세계관으로 작품 안으로 유도하고자 한다. 여기서 관객과 연출자간의 충돌이 일어나며 연출자에게는 그 해결점으로 '소통에 대한 기교와 기술'이 요구된다. 어떻게 말할 것인가'로 축약되는 소통의 기술은 애니메이션 연출가가 관객에게 접근하는 표현 방법이며 관객의 심리적 면과 밀접한 관계가 있다. 관객은 연출자와 시점의 동일선상에 놓이지만 화면이라는 제한적 공간에서 재현되기 때문에 관객은 수용하는 입장이고 연출자는 제공하는 입장이기에 연출자에게 주도권이 부여되기 때문이다. 이러한 이유로 연출자는 관객의 심리적인 면에 주의를 기울일 필요가 있고 정신분석학의 이론에 따라 설명이 가능하다. 본고에서는 애니메이션이 "어떻게 관객과 연출자가 동일선상에 놓일 수 있는가?" 하는 논리 아래 관객의 심리현상중 하나인 '시각포획 현상'으로 일어나는 '선택적 주의집중'과 하위 개념인 '목표 지향적 선별기능'과 '자극에 의한 포착기능'을 심리학 이론의 배경으로 자료를 삼고자 한다. 또한 그에 따른 관객의 선택적 주의집중을 이끌어내는 유도장치들이 애니메이션 안에서 어떻게 적용되고 있는가를 고찰해보자 한다.

• 한국자기학회지
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• 제25권5호
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• pp.162-168
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• 2015

광 리소그래피 공정을 이용하여 반강자성체 IrMn 층을 기반으로 하는 GMR-SV(giant magnetoresistance-spin valve) 소자 위에 ${\mu}m$ 선폭 크기의 코일을 적층하여 미크론 크기 코일을 제작하였다. GMR-SV 박막일 때와 소자 제작 후의 자기저항비와 자장감응도는 각각 4.4 %, 2.0 %/Oe와 1.6 %, 0.1 %/Oe로 나타났다. 여러 개의 $1{\mu}m$ 크기인 자성비드가 붙은 적혈구 바로 아래 위치에 놓일 소자와 10번 감은 미크론 크기 코일에 흐르는 AC 및 DC 전류 크기에 따른 자기장 분포를 유한요소법 전산모사로 분석하였다. 코일 중심인 $z=0{\mu}m$에서 주파수 20 kHz인 AC 전류가 0.1 mA에서 10.0 mA로 증가하면 이 값에 비례하여 자기장의 크기는 $30{\mu}T$에서 $3060{\mu}T$로 증가하였다. 그리고 코일 중심에서부터 $z=10{\mu}m$에서 자기장 크기는 $z=0{\mu}m$인 중심에서 보다 1/6배로 줄어들었다. 미크론 크기 코일에 흐르는 전류에 의해 생성되는 자기장은 적혈구 포획용으로 충분한 크기를 갖고 있어서 검출용 바이오센서로 활용 가능함을 확인 할 수 있었다.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2001년도 추계학술대회 학술발표 논문집
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• pp.15-18
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• 2001

Recently, CMOS image sensor is rapidly used as an image capture device such as mobile phone or notebook PC. Because of poor quality of image by CMOS image sensor, ISP is essential step to improve image quality. In this paper, we implemented and simulated ISP algorithm for real time moving picture of CMOS image sensor. Especial Iy, we concentrated on color interpolation, which extracts three color component from uncompleted color information. Several algorithms for color interpolation are implemented and analyzed to acquire a good quality of picture. Finally, we proposed an improved algorithm and confirmed the effectiveness by experimental simulation results.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2007년도 하계종합학술대회 논문집
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• pp.377-378
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• 2007

This paper proposes an system to generate rolled-equivalent fingerprints by mosaicking sequential images captured by an toothless device. To capture rolled-equivalent fingerprints, previous works use multiple cameras. However, the method in this paper captures sequential fingerprint images with a single camera and mosaic the images by estimating the transform between images through optical flow.