• Journal of KIISE:Computing Practices and Letters
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• v.8 no.4
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• pp.367-375
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• 2002

Inverse kinematics is a very useful method for control]ing the posture of an articulated body. In most inverse kinematics processes, the major matter of concern is not the posture of an articulated body itself but the position and direction of the end effector. In some applications such as 3D character animations, however, it is more important to generate an overall natural posture for the character rather than place the end effector in the exact position. Indeed, when an animator wants to modify the posture of a human-like 3D character with many physical constraints, he has to undergo considerable trial-and-error to generate a realistic posture for the character. In this paper, the Inductive Inverse Kinematics(IIK) algorithm using a Uniform Posture Map(UPM) is proposed to control the posture of a human-like 3D character. The proposed algorithm quantizes human behaviors without distortion to generate a UPM, and then generates a natural posture by searching the UPM. If necessary, the resulting posture could be compensated with a traditional Cyclic Coordinate Descent (CCD). The proposed method could be applied to produce 3D-character animations based on the key frame method, 3D games and virtual reality.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.18 no.1
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• pp.142-148
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• 2014

A descriptor which is suitable for motion analysis by using the motion features of moving objects from the real time image sequence is proposed. To segment moving objects from the background, the background learning is performed. We extract motion trajectories of individual objects by using the sequence of the 1st order moment of moving objects. The center points of each object are managed by linked list. The descriptor includes the 1st order coordinates of moving object belong to neighbor of the pre-defined position in grid pattern, The start frame number which a moving object appeared in the scene and the end frame number which it disappeared. A video retrieval by the proposed descriptor combining global and local feature is more effective than conventional methods which adopt a single feature among global and local features.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.6
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• pp.553-559
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• 2015

The purpose of this research is to develop a gait assistive device to enhance the gait stability and training efficiency of stroke patients. The configuration of this device is mainly composed of a motored wheel and a single cane whose lower end is attached to a motored wheel frame. A patient can feel haptic information from continuous ground contact from the wheel while walking through the grip handle. In addition, the wheeled cane can avoid using excessive use of the patient's upper limb for weight support and motivate the patient to use a paralyzed lower limb more actively. Moreover, the proposed device can provide intuitive and safe user interaction by integrating a force sensor and a tilt sensor equipped to the cane frame, and a switch sensor at the cane's handle. The admittance control has been implemented for the patient to change the walking speed intuitively by using the interaction forces at the handle. A hemi-paretic stroke patient participated in the walking assistive experiments as a pilot study to verify the effectiveness of the proposed haptic cane system. The results showed that the patient could improve walking speed and muscle activations during walking with a constant speed mode of the haptic cane. Moreover, the patient could maintain the preferred walking speeds and gait stability regardless of the magnitude of resistance forces with the admittance control mode of the haptic cane. The proposed robotic gait assistive device with a simple and intuitive mechanism can provide efficient gait training modes to stroke patients with high possibilities of widespread utilizations.

• Journal of Korean Society of Steel Construction
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• v.24 no.1
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• pp.109-117
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• 2012

This study seeks to devise a design application for a beam structure with partially restrained composite connection to a CFT column. A cost-efficient and stable component is applied by adjusting the stiffness ratio of the column connection through partially restrained composite connection. Based on a review of the structure's stability, it was confirmed that in the case of a low-rise building as a moment frame, resistance without bracing is feasible because stiffness increased by virtue of the partial restrained composite connection by composite action. In the case of a high-rise building, lateral resistance load of moment frame was approximately 10% when proper partial restrained rate was at around 60%. With considerations related to economic efficiency, the partial restriction effect of the beam component was significantly activated by the uniform load, but that of the beam activated by concentrated load was not significantly indicative. The analysis indicated that 60% partial restrained girder at the connection was the most economical in the case of uniform load. It also showed that end moments can be reduced by approximately 25%.

• Korean Journal of Microbiology
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• v.41 no.3
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• pp.157-163
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• 2005

The acetate kinase gene from the copepod Paracyclopina nana was cloned. The open reading frame (ORF) was 1,200 bp, and poly(A) signal sequence was located in the end of the ORF. After the molecular phylogenetic analysis of P nana acetate kinase gene, it was revealed that it formed the same branch with that of Aspergillus. Also P. nana acetate kinase showed the difference with those of other prokaryotic microorganisms but showed the same clade with those of fungi. We also confirmed that the recombinant protein of P. nana acetate kinase made approximately 50 kDa after expression of recombinant gene construct in E. coli. This may be useful to compare this protein to those of other organisms in biochemical characteristics.

• Journal of KIISE
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• v.42 no.3
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• pp.341-360
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• 2015

While architectural patterns provide software development solutions by providing schemas for structural organizations of software systems based on empirical knowledge, Jackson's problem frames provide a method of analyzing software problems. Problem frames are useful to understanding the software development problem, by putting emphasis on the problem domain, rather than on the solution space. Research exists that relates problem frames and software architecture, but most of this research uses problem frames only to understand given problems. Moreover, none of the existing research derives architectural patterns by considering both problem frames and quality attributes. In this paper, we propose a software architecture design method for pattern-based architecture design, by matching problem frames and architectural patterns. To that end, our approach first develops the problem model based on the problem frames approach, and then uses it to match with candidate architectural patterns, from the perspectives of both functionality, and quality attributes. Functional matching uses the problem frame diagram to match the problem model of an architectural pattern. We conduct a case study to show that our approach can systematically decide the right architectural patterns, and provide a basis for fine-grained software architecture design.

• Journal of Korean Society of Steel Construction
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• v.24 no.3
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• pp.257-265
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• 2012

Current trends in steel construction include using tapered, non-compact sections to minimize the use of excess material as much as possible by choosing the cross-sections instead of the classical approach of using prismatic members. In addition, snug conditions, especially the end-plate type, have the advantage of incurring less construction costs and shorter assembly times as opposed to full pre-tensioned conditions. On the other hand, it is important to predict the collapse of the PEB system due to over-loading. Large-scale tests of tapered steel portal frames with non-compact sections were conducted. The primary test parameters included the bolt connection method and the loading condition (vertical and horizontal load). The test results on initial stiffness and load capacity were investigated. Furthermore, comparisons between the analytical and experimental data for load-displacement curves were initiated. In addition, we evaluated the applicability of a snug bolt for the PEB frame in the field.

• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.6
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• pp.709-713
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• 2005

A new algorithm is proposed for the extraction of line segments to construct 3D wire-frame models of building from the high-resolution aerial images. The purpose of this study Is the accurate and effective extraction of line segments, considering the problems such as discordance of lines and blurred edges existing in the conventional methods. Using the edge map extracted from aerial images, chain code tracking of edges was performed. Then, we extract the line segments considering the strength of edges and the direction of them. SUSAN (Smallest Uni-value Segment Assimilating Nucleus) algorithm proposed by Smith was used to extract an edge map. The proposed algorithm consists of 4 steps: removal of the horizontal, vertical and diagonal components of edges to reduce non-candidate point of line segments based on the chain code tracking of the edge map, removal of contiguous points, removal of the same angle points, and the extraction of the start and end points to be line segments. By comparing the proposed algorithm with Boldt algorithm, better results were obtained regarding the extraction of the representative line segments of buildings, having relatively less extraction of unnecessary line segments.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2015.05a
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• pp.571-575
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• 2015

This paper propose a temporal histogram -based behavior pattern analysis algorithm to analyze the movement features of moving objects from the image inputted in real-time. For the purpose of tracking and analysis of moving objects, it needs to be performed background learning which separated moving objects from the background. Moving object is extracted as a background learning after identifying the object by using the center of gravity and the coordinate correlation is performed by the object tracking. The start frame of each of the tracked object, the end frame, the coordinates information and size information are stored and managed by the linked list. Temporal histogram defines movement features pattern using x, y coordinates based on time axis, it compares each coordinates of objects for understanding its movement features and behavior pattern. Behavior pattern analysis system based on temporal histogram confirmed high tracking rate over 95% with sustaining high processing speed 45~50fps through the demo experiment.

• Journal of Animal Environmental Science
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• v.8 no.3
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• pp.171-176
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• 2002

Physical parameters of milk cow were measured to design and build RMS(Robotic Milking System) with a tape-measurer and body parameter measurer. The parameters are very important variables to design an RMS. For the working zone space of an RMS manipulator and the movement blunting of milk cow, an interval frame was installed on the stall bottom, and then cow's behavioral reactions were tested. The results from this study is summarized as follow. 1. On the general physical condition measurement, the maximum, minimum and average body length of cow which is related to the space that the manipulator could work into the RMS were 175cm, 144cm, and 163cm respectively. It appeared that the average distance between bottom and chest was 60cm. 2. The average length between fore teats, fore and hind teats and hind teats were 178mm, 150mm and 95mm respectively. It appeared that the average length between bottom and teat attachments was 544mm, and the average length between fore teats and tail-end was 331mm. 3. Although a cow kept a some extent length between hind legs for milking, it looked a stable pose. However, the cow kept a some extent distance between front legs for milking, it looked a unstable pose. Based on results of this test, an interval frame of stall bottom should be installed around the position which was located at its hind legs.