• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.2 no.3
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• pp.53-60
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• 2009

The vision-based driver fatigue detection is one of the most prospective commercial applications of facial expression recognition technology. The facial feature tracking is the primary technique issue in it. Current facial tracking technology faces three challenges: (1) detection failure of some or all of features due to a variety of lighting conditions and head motions; (2) multiple and non-rigid object tracking; and (3) features occlusion when the head is in oblique angles. In this paper, we propose a new active approach. First, the active IR sensor is used to robustly detect pupils under variable lighting conditions. The detected pupils are then used to predict the head motion. Furthermore, face movement is assumed to be locally smooth so that a facial feature can be tracked with a Kalman filter. The simultaneous use of the pupil constraint and the Kalman filtering greatly increases the prediction accuracy for each feature position. Feature detection is accomplished in the Gabor space with respect to the vicinity of predicted location. Local graphs consisting of identified features are extracted and used to capture the spatial relationship among detected features. Finally, a graph-based reliability propagation is proposed to tackle the occlusion problem and verify the tracking results. The experimental results show validity of our active approach to real-life facial tracking under variable lighting conditions, head orientations, and facial expressions.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2004.05b
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• pp.603-607
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• 2004

The vision-based driver fatigue detection is one of the most prospective commercial applications of facial expression recognition technology. The facial feature tracking is the primary technique issue in it. Current facial tracking technology faces three challenges: (1) detection failure of some or all of features due to a variety of lighting conditions and head motions; (2) multiple and non-rigid object tracking and (3) features occlusion when the head is in oblique angles. In this paper, we propose a new active approach. First, the active IR sensor is used to robustly detect pupils under variable lighting conditions. The detected pupils are then used to predict the head motion. Furthermore, face movement is assumed to be locally smooth so that a facial feature can be tracked with a Kalman filter. The simultaneous use of the pupil constraint and the Kalman filtering greatly increases the prediction accuracy for each feature position. Feature detection is accomplished in the Gabor space with respect to the vicinity of predicted location. Local graphs consisting of identified features are extracted and used to capture the spatial relationship among detected features. Finally, a graph-based reliability propagation is proposed to tackle the occlusion problem and verify the tracking results. The experimental results show validity of our active approach to real-life facial tracking under variable lighting conditions, head orientations, and facial expressions.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.4
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• pp.1523-1531
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• 2011

Multi-axle driving vehicle are favored for military use in off road operations because of their high mobility on extreme terrains and obstacles. Especially, Military Vehicle needs an ability to driving on hills of 60% angle slope. This paper presents the improvement of the ability of hill climbing for 6WD/6WS vehicle through the optimal tire force distribution method. From the driver's commands, the desired longitudinal force, the desired lateral force, and the desired yaw moment were obtained for the hill climbing of vehicle using optimal tire force distribution method. These three values were distributed to each wheel as the torque based on optimal tire force distribution method using friction circle and cost function. To verify the performance of the proposed algorithm, the simulation is executed using TruckSim software. Two vehicles, the one the proposed algorithm is implemented and the another the tire's forces are equivalently distributed, are compared. At the hill slop, the ability to driving on hills is improved by using the optimum tire force distribution method.

• Korean Journal of Applied Biomechanics
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• v.17 no.4
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• pp.115-125
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• 2007

Grould Reaction force(GRF) is important in human movements and GRF measurements are one of the most frequently used tool in biomechanical studies. In the studies of the golf swing motion, people refer to GRF as weight transfer. A successful golf swing motion requires many segments activation sequences which are controled by the nerve system. Due to the inter- and intra-individual variability of the human movement and the movement strategies, reliability of the measurements are important in human movement studies. Previous golf researches were based on group studies and certain events' values were analyzed. The purposes of this study were to determine the number of trials for the reliable golf swing GRF data collection, to reveal the variability level of the meaningful components of the golf swing GRF, and to classify the types of the golf swing GRF patterns. Twenty three male professional golfers($26.4{\pm}6.6$ years, $174.3{\pm}5.2\;cm$, $71.3{\pm}6.5\;kg$) signed an informed consent form prior to participation in this study. GRFs of driver swings were collected with Kistler 9285 force platform and 9865A amplifier, and calculated by the KwonGRF program(Visol, Korea). Sampling frequency was 1080 Hz. GRF data were trimmed from 1.5 s prior to the impact to 0.5 s after the impact. The number of trials for the reliable GRF collection was determined when the change in floating mean overs the 25 % of the standard deviation of that variable. Variabilities of the variables were determined by the coefficient of variation(CV) of 10 %. The types of GRF patterns were determined by visual inspection of the peak GRF shapes. The minimum number of trials for the reliable golf swing GRF data collection was five. Ten-trial seems more conservative. The value of the peak GRF was more reliable than the value of the impact GRF. The CV of the peak GRF and impact GRF were 7.4 %, 15.2 %, respectively. Because of the +/- sigh of the peak GRF appearance time, it was impossible to calculate CV of the peak GRF appearance time. Golf swing GRF patterns were classified as sing peak type, double peak type, and plateau peak type. This classification suggests the presence of the different golf swing weight transfer strategies.

• Science of Emotion and Sensibility
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• v.14 no.4
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• pp.571-580
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• 2011

The purpose of this study was to evaluate the effects of secondary task such as sending text message (STM) and searching navigation (SN) using the variable indicating control of vehicle ((Medial-Lateral Coefficient of Variation, MLCV), (Anterior-Posterior Coefficient of Variation, APCV)) and motion signal (Jerk-Cost function, JC). Participants included 50s taxi drivers; 14 males and 14 females. Participants were instructed to keep a certain distance (30m) from the car ahead with constant speed (80km/hr or 100km/hr). Experiement consisted of driving alone for 1minute and driving with secondary task for 1minute. Both MLCV and APCV were significantly increased during Driving + Sending Text Message(STM) and Driving + Searching Navigation(SN) than Driving only. Also, JC was increased during Driving + STM and Driving + SN than Driving only. In this study, we found that even in the experts group who are taxi driver and have 25 years driving experience, the smoothness of motion is decreased and the control of vehicle is disturbed when they were performing secondary tasks like sending text message or searching navigation.

• Korean Journal of Applied Biomechanics
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• v.17 no.2
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• pp.31-40
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• 2007

Proper weight shifting is essential for a successful shot in golf swing and this could be described by means of the ground forces between the feet and ground. It is assumed that the ground forces would different according to the club used because the length and swing weight of each club is different. But, in present, it is not clear what changes are made by the change of clubs and this affect the swing motion. Therefore this study focused on the investigation of the changes of the ground forces and ground reaction forces (GRF) by the change of club length. The subjects were three professional male golfers. Four swings (driver, iron 3, iron 5, and iron 7) for each subject were taken by two high speed video cameras and two AMTI force platforms were used to measure the GRF simultaneously. Kwon GRF 2.0 and Mathcad 13 software were used to post processing the data. Changes of the three major component of GRF (Vertical, lateral, anterior-posterior force) at 10 predefined events were analyzed including the maximum. Major findings of this study were as follows. 1. Vertical forces; - There were no significant changes until the top of backswing. - Maximum was occurred at the club horizontal position in the downswing for both feet. The shorter club produced more maximum forces than longer ones in the left foot, but reverse were true for the right foot. - Maximum forces at impact shows the same patterns. 2. Lateral forces; Maximum was occurred at the club horizontal position for both feet, but there were no lateral forces because the direction of two forces was different. Maximum force pattern by different clubs was same as the vertical component. 3. Anterior-posterior forces; - This component made a counter-clock wise moment about a vertical axis located between two foot until the club vertical position was reached during the backswing, and reverse moment were produced when the club reached horizontal at the downswing. - Also this component made a forward moment about a horizontal axis located in the CG during the fore half of the downswing, and a reverse moment until the club reached vertical at the follow through phase. Maximum was occurred at the club vertical in the downswing for both feet. The longer club produced more maximum forces than shorter ones for both feet.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.10 no.4
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• pp.659-666
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• 2006

Servo-motors are used as key components of automated system by performing precise motion control as accurate positioning and accurate speed regulation in response to the commands from computers and sensors. Especially, the linear brushless servo-motors have numerous advantages over the rotary servo motors which have connection with the friction induced transfer mechanism such as ball screws, timing belts, rack/pinion. This paper proposes an estimation method of unknown motor system parameters using the informations from the sinusoidal driving type linear brushless DC motor dynamics and outputs. The estimated parameters can be used to tune the controller gain and a disturbance observer. In order to meet this purpose high performance Digital Signal Processor, TMS320F240, designed originally for implementation of a Field Oriented Control(FOC) technology is adopted as a controller of the liner BLDC servo motor. Having A/D converters, PWM generators, rich I/O port internally, this servo motor application specific DSP play an important role in servo motor controller. This linear BLDC servo motor system also contains IPM(Intelligent Power Module) driver and hail sensor type current sensor module, photocoupler module for isolation of gate signals and fault signals.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2014.10a
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• pp.320-323
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• 2014

Today is going with the advancement of intelligent transportation systems and traffic environment and helping to provide safe and convenient service through a mobile device work with the popularization of the vehicle black box. The traffic flow by a variety of causes is constantly changing, it is often unable to prepare the driver, depending on external factors can not be controlled by the power of the public, leading to a major accident. The system needs to pass the real-time weather data in the inter-operator to prevent this. The proposed detection algorithm weather information delivered real-time weather information for this paper. The weather condition is detected by using the contrast between the histogram of the motion of the wiper and the clear day algorithm. In general, the wiper is worked in extreme weather conditions that will have a value different contrast due to rain or snow. Situation was considered clear, snowy conditions, such as using it on a rainy situation. First, designated as ROI (Region Of Interest) of the minimum area that can be detected in order to reduce the amount of calculation for the wiper, the wiper, which was detected through the operation of the threshold Thresholding the brightness of the vehicle wiper. In addition, we distinguish the value of each meteorological situation by using contrast. Results was obtained to 80% for the snow conditions, a rainy situation.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2017.05a
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• pp.463-466
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• 2017

The purpose of this paper is to develop a module capable of all-directional driving different from conventional wheeled robots, and to solve the problems of the conventional mobile robot with side driving performance degradation, It is possible to overcome the disadvantages such as an increase in the time required for the unnecessary driving. The all - direction spherical wheel drive module for driving a ball - balancing robot is required to develop a power transfer mechanism and a driving algorithm for driving the robot in all directions using three rotor casters. 3DoF (Axis) A driver with built-in forward motion algorithm is embedded in the module and a driving motor module with 3DoF (axis) for driving direction and speed is installed. The movement mechanism depends on the sum of the rotation vectors of the respective driving wheels. It is possible to create various movement directions depending on the rotation and the vector sum of two or three drive wheels. It is possible to move in different directions according to the rotation vector field of each driving wheel. When a more innovative all-round spherical wheel drive module for forward movement is developed, it can be used in the driving part of the mobile robot to improve the performance of the robot more technically, and through the forward-direction robot platform with the drive module Conventional wheeled robots can overcome the disadvantage that the continuous straightening performance is lowered due to resistance to various environments. Therefore, it is necessary to use a full-direction driving function as well as a cleaning robot and a mobile robot applicable in the Americas and Europe It will be an essential technology for guide robots, boarding robots, mobile means, etc., and will contribute to the expansion of the intelligent service robot market and future automobile market.