• 제어로봇시스템학회논문지
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• 제3권3호
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• pp.297-304
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• 1997

In stereo vision, camera modeling is very important because the accuracy of the three dimensional locations depends considerably on it. In the existing stereo camera models, two camera planes are located in the same plane or on the optical axis. These camera models cannot be used in the active vision system where it is necessary to obtain two stereo images simultaneously. In this paper, we propose four kinds of stereo camera models for active stereo vision system where focal lengths of the two cameras are different and each camera is able to rotate independently. A single closed form solution is obtained for all models. The influence of the stereo camera model to the field of view, occlusion, and search area used for matching is shown in this paper. And errors due to inaccurate focal length are analyzed and simulation results are shown. It is expected that the three dimensional locations of objects are determined in real time by applying proposed stereo camera models to the active stereo vision system, such as a mobile robot.

• 한국측량학회지
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• 제27권5호
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• pp.555-563
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• 2009

모바일 매핑 시스템 또는 로봇이 GPS (Global Positioning System)와 다중 스테레오 카메라만 탑재 할 경우, V-SLAM(Vision based Simultaneous Localization And Mapping)에 의한 카메라 외부표정과 3차원 데이터를 GIS데이터와 연계 또는 카메라 외부표정의 누적에러를 제거하기 위해 극부 카메라 좌표계에서 GPS (Global Positioning System) 좌표계로 변환이 필요로 한다. 이 요구사항을 만족시키기 위해, 본 논문은 GPS와 V-SLAM에 의한 3쌍의 카메라의 위치를 이용하여 GPS좌표계에서 카메라 자세를 계산하는 새로운 방법을 제안하였다. 제안한 방법은 간단한 4단계로 구성되어 있다; 1)각 3개의 카메라 위치에 기반한 두 평면 법선벡터가 병렬이되도록 하는 사원수 (quaternion)를 계산한다, 2) 계산된 사원수를 통하여 V-SLAM에 의한 3개의 카메라 위치를 변환한다, 3) 변환된 위치에서 두번째 또는 세번째 점이 GPS에 의한 점과 일치하도록 하는 두번째 사원수를 계산한다, 4)두 사원수의 곱을 통하여 최종 사원수 결정한다. 최종 사원수는 극부 카메라 좌표계에서 GPS좌표계로 변환할 수 있다. 추가적으로, 촬영된 물체 위치에서 카메라를 보는 시야각을 기반으로 물체의 3차원좌표 갱신방법을 제안하였다. 본 논문은 제안한 방법을 시뮬레이션과 실험을 통하여 증명하였다.

• 한국운동역학회지
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• 제16권3호
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• pp.183-188
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• 2006

This research is to know differentiation of CP(center of pressure) pattern among four pitching sort(straight ball, raise ball, change up ball, drop ball). Subject are three national or junior athletes. We use the one camera, Novel Win pressure measurement system. Conclusions are as follows : 1. When we throw the straight ball, CP of left foot is effective to end movement at middle of foot in body balance on arm angular motion and enhanced speed. 2. When we throw the raise ball, to change CP from middle to post is more effective in order to raise the ball. 3.In drop ball pitching, in order to fall down the ball in front of hitter, CP of left foot move from post foot to interior part of forefoot 4. In change up ball pitching, if CP of left foot move into forefoot, it is a cause of high ball and hitter can recognize the change up ball because of late arm rotation motion.

• 한국마린엔지니어링학회:학술대회논문집
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• 한국마린엔지니어링학회 2006년도 전기학술대회논문집
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• pp.53-54
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• 2006

Experimental analyses on the Hydroelastic Flow-Structure Interactions on pulsed impinged jet is measured with the FSIMS(Flow-Structure Interaction Measurement System. The nozzle diameter is D=15mm and two major experiments have been carried out for the cases of the distance between the nozzle tip to the elastic wall is 6.0. The pulsed jets were controlled by a solenoid valve and were impinged onto an elastic plate (material: silicon, diameter: 350mm, thickness: 0.5mm, hardness: 15). The Reynolds numbers were 20,000 and 24,000 when the jets were impinged with the volume velocities. The results showed that the elastic plate moved slightly to the opposite direction of the jet direction at the time of valve opening. It has been shown that the vortices travelling over the surface of the wall made the elastic wall distorted locally due to a vector forces between rotating forces of the vortex and a newly-incoming flow.

• 대한원격탐사학회지
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• 제26권5호
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• pp.593-603
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• 2010

대부분의 모바일 공간정보 획득시스템은 촬영범위가 좁고 기선 길이에 대한 제약이 따르는 프레임 카메라를 탑재하고 있다, 촬영지점을 기준으로 모든 방향으로의 영상정보 획득이 기능한 전방위 카메라 탑재를 통해 프레임 카메라의 촬영 범위 및 기선 거리에 대한 문제점을 해결할 수 있다. 광속조정법(Bundle Block Adjustment)은 다수의 중첩된 영상의 외부표정요소를 결정하는 대표적인 지오레퍼런싱(Georeferencing) 방법이다. 본 연구에서는 전방위 영상에 적합한 광속조정법의 수학적 모델을 제안하여 전방위 영상의 외부표정요소 및 지상점을 추정하고자 한다. 먼저 전방위 영상에 적합한 공선조건식을 이용해 관측방정식을 수립한다. 그리고 지상 모바일매핑시스템(GMMS, Ground Mobile Mapping System)에 탑재되어 있는 GPS/INS로부터 획득된 데이터와 정지 GPS 및 토털 스테이션(Total Station)을 통해 측정한 지상기준점을 이용한 확률제약조건 (Stochastic Constraints)식을 수립한다. 마지막으로 확률제약조건 요소 및 추정 미지수를 조합하여 다양한 종류의 수학적 모델을 수립하고 모델별로 추정된 지상점 좌표의 정확도를 검증한다. 그 결과, 지상기준점을 확률제약조건으로 사용하는 모델에 적용한 경우에 지상점이 ${\pm}5cm$ 정도로 정확하게 추정되었다. 연구의 결과를 통해 전방위 카메라 영상으로부터 대상객체의 3차원 모델 추출이 가능함을 알 수 있었다.

• Journal of Advanced Marine Engineering and Technology
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• 제35권7호
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• pp.957-965
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• 2011

The wakes of a cylindrical body have been investigated. The cylindrical body was attached with a thin film. The film is made of silicon with configurations of 50mm(W) ${\times}$ 150mm(L) ${\times}$ 0.3mm(T). The cylinder wakes have been measured with PIV experiments under the conditions with and without the thin film. The diameter of the installed cylinder body is 30mm and the Reynolds numbers are 2730, 6160 and 9750 with the diameter. The measurement system consists of an Ar-ion laser(6W), a high speed camera(1024 ${\times}$ 992 pixel, 500fps) and a host computer. FFT analyses have been carried out using the velocity vectors obtained by PIV measurements at the point X/D=1.52 and Z/D=0.52. For understanding the three-dimensional flow structures, a new Volumetric PTV(particle tracking velocimetry) has been constructed, in which the same four high-resolution cameras have been used. It has been verified that the flexible film suppresses or damps the vortices separated from the cylinder body, which makes the cylinder's wakes stable. With increase of Re numbers the intensity of the dominant frequency of the wakes become smaller.

• Computers and Concrete
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• 제31권5호
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• pp.385-394
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• 2023

Displacement is an important element for evaluating the stability and failure mechanism of hydraulic structures. Digital image correlation (DIC) is a useful technique to measure a three-dimensional displacement field using two cameras without any contact with test material. The objective of this study is to evaluate the behavior of stacked geotextile tubes using the DIC technique. Geotextile tubes are stacked to build a small-scale temporary dam model to exclude water from a specific area. The horizontal and vertical displacements of four stacked geotextile tubes are monitored using a dual camera system according to the upstream water level. The geotextile tubes are prepared with two different fill materials. For each dam model, the interface layers between upper and lower geotextile tubes are either unreinforced or reinforced with a cementitious binder. The displacement of stacked geotextile tubes is measured to analyze the behavior of geotextile tubes. Experimental results show that as upstream water level increases, horizontal and vertical displacements at each layer of geotextile tubes initially increase with water level, and then remain almost constant until the subsequent water level. The displacement of stacked geotextile tubes depends on the type of fill material and interfacial reinforcement with a cementitious binder. Thus, the proposed DIC technique can be effectively used to evaluate the behavior of a hydraulic structure, which consists of geotextile tubes.

• 한국HCI학회논문지
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• 제10권2호
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• pp.21-26
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• 2015

NUI(Natural User Interface)는 사용자의 자연스러운 동작이나 동작 시 발생하는 생체 신호를 해석하여 기계에 명령을 내리는 것을 말한다. 물리적인 변화가 있어야 사용이 가능한 가속도 센서나 영상 기반의 NUI와는 달리 특정 동작과 관련된 근육의 표면 근전도(surface Electromyogram, sEMG)를 측정하면 실제 움직임이 발생하지 않아도(isometric contraction) 동작 의도를 예측할 수 있다. 본 연구에서는 근전도 기반으로 손목 동작 의도를 분류할 때 전극 개수에 따른 정확도를 확인하고, 키보드 등에 적용 가능한 인터페이스 기술을 제안한다. 손목의 동작 중 신전(extension, up), 굴곡(flexion, down), 외전(abduction, right), 내전(adduction, left)의 네 가지 동작 의도를 분류하는 실험을 진행하였다. 50ms 간격으로 계산된 제곱평균제곱근(Root Mean Square, RMS)을 특징으로 사용하였고, 동작 의도 인식을 위해 역전파 알고리즘으로 학습한 다층 퍼셉트론 분류기를 사용하였다. 전극 쌍의 개수를 네 개(91.9%), 세 개(87.0%), 두 개(78.9%)로 줄여가며 정확도를 확인했다. 전극 쌍의 개수가 네 개에서 두 개로 줄었을 때 정확도는 약 13% 감소하였다. 두 쌍의 전극만 사용하는 경우의 분류 정확도를 높이기 위하여 직전의 RMS를 특징에 추가하였다. 150 ms 이전까지의 정보를 사용하였을 때, 분류 정확도가 78.9%에서 83.6%로 4.6% 증가하였다. 전극 쌍의 개수가 감소함에 따라 정확도는 감소하였지만, 이전 데이터를 함께 사용한 경우 부분적으로 증가 시킬 수 있음을 확인하였다.

• 한국전문물리치료학회지
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• 제13권2호
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• pp.16-25
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• 2006

The aim of this study was to investigate the kinematics of young adults during descent ramp climbing at different inclinations. Twenty-three subjects descended four steps at four different inclinations (level, $-8^{\circ}$, $-16^{\circ}$, $-24^{\circ}$). The 3-D kinematics were measured by a camera-based Falcon System. The data were analyzed using one-way ANOVA and the Student-Newman-Keuls test. The kinematics of descent ramp walking could be clearly distinguished from the kinematics of level walking. On a sagittal plane, the ankle joint was more plantar flexed at initial contact with $-16^{\circ}/-24^{\circ}$ inclination, was decreased in the toe off position with all inclinations (p<.001),and was decreased at maximum plantar flexion during the swing phase (p<.001). The knee joint was more flexed at initial contact with the $-24^{\circ}$ inclination (p<.001), was more flexed in the toe off position with all inclinations (p<.001), and was more flexed at minimum flexion during stance phase and at maximum flexion during swing phase with $-16^{\circ}$, $-24^{\circ}$ inclination (p<.001). The hip joint was more flexed in the toe off position with $-16^{\circ}$, $-24^{\circ}$ inclination and was deceased at maximum extension during stance phase with $-16^{\circ}$, $-24^{\circ}$ inclination (p<.05). In the frontal plane, the ankle joint was more everted at maximum eversion during stance phase with $-16^{\circ}/-24^{\circ}$ inclination (p<.01) and was decreased at maximum inversion during swing phase with $-16^{\circ}$, $-24^{\circ}$ inclination (p<.01). The knee joint was more increased at maximum varus during stance phase with $-16^{\circ}/-24^{\circ}$ inclination (p<.001). The hip joint was deceased at maximum adduction during stance phase with $-24^{\circ}$ inclination (p<.05). In a horizontal plane, only the knee joint was increased at maximum internal rotation during stance phase with $-24^{\circ}$ inclination (p<.05). In descent ramp walking, the different gait patterns occurred at an inclination of over $16^{\circ}$ on the descending ramp in the sagittal and frontal planes. These results suggest that there is a certain inclination angle or angular range where subjects do switch between level walking and descent ramp walking gait patterns.

• The Journal of Korean Physical Therapy
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• 제17권4호
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• pp.633-650
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• 2005

The aim of this study was to investigate the kinematics of young adults during ascent ramp climbing at different inclinations. Twenty-three subjects ascended a four step at four different inclinations(level, $8^{\circ},\;16^{\circ},\;24^{\circ}$). The 3-D kinematics was analysed by a camera-based falcon system. Groups difference was tested with one -way ANOVA and SNK test. The different kinematic patterns of ramp ascent were analysed and compared to level walking patterns. The kinematics of ramp walking could be clearly distinguished from the kinematics of level walking. In sagittal plane, Ankle joint was more dorsiflexed at initial contact and Max. dorsiflex. during stance phase with $16^{\circ},\;24^{\circ}$ inclination and more plantarflexed at toe off and Max. plantarflex. during swing phase with $24^{\circ}$(p<.001). Knee joint was more flexed at initial contact with $16^{\circ},\;24^{\circ}$ inclination(p<.001). Hip joint was more flexed at initial contact and Max. flex. during swing phase with $16^{\circ},\;24^{\circ}$ inclination and at toe off with $24^{\circ}$(p<.001) and was more extended at Max. ext. during stance phase with $24^{\circ}$(p<.05). In frontal plane, ankle joint was more everted at Max. eversion. during stance phase with $16^{\circ},\;24^{\circ}$ inclination(p<.001). Knee joint was more increased at Max. varus. during stance phase with $16^{\circ},\;24^{\circ}$ inclination(p<.001). Hip joint was not differentiated with different inclinations. In horizontal plane, all joints were not differentiated with different inclinations. Conclusionally, In ascent ramp walking, the different gait pattern generally occurred at over $16^{\circ}$ on the ascending ramp in sagittal and frontal plane. These results suggest that there is a certain inclination angle or angular range where subjects do switch between a level walking and a ascent ramp walking gait pattern. This shows their motor control strategy between level and ascent ramp walking. Further studies are necessary to confirm and detect the ascent ramp gait patterns.