• Journal of the Korean earth science society
• /
• v.39 no.4
• /
• pp.305-316
• /
• 2018

Satellite-derived sea surface winds (SSWs) and atmospheric motion vectors (AMVs) over the global ocean, particularly including the areas in and around tropical cyclones (TCs), have been provided in a real-time and continuous manner. More and better information is now derived from technologically improved multiple satellite missions and wind retrieving techniques. The status and prospects of key SSW products retrieved from scatterometers, passive microwave radiometers, synthetic aperture radar, and altimeters as well as AMVs derived by tracking features from multiple geostationary satellites are reviewed here. The quality and error characteristics, limitations, and challenges of satellite wind observations described in the literature, which need to be carefully considered to apply the observations for both operational and scientific uses, i.e., assimilation in numerical weather forecasting, are also described. Additionally, on-going efforts toward merging them, particularly for monitoring three-dimensional TC wind fields in a real-time and continuous manner and for providing global profiles of high-quality wind observations with the new mission are introduced. Future research is recommended to develop plans for providing more and better SSW and AMV products in a real-time and continuous manner from existing and new missions.

• Fisheries and Aquatic Sciences
• /
• v.17 no.1
• /
• pp.145-153
• /
• 2014

The motion of the otter board on a trawl can affect the motion of trawl nets, and the motion of the codend can affect fish selectivity. Preliminary measurements of the tilt of bottom trawl gear were carried out to compare the tilts of the otter board and codend. The tilt of the otter board was measured by Vector and tilt at 1.5 m anterior to the end of the codend, and the middle upper panel was measured with a micro-DST-tilt logger. Tilt data such as yaw, pitch, and roll were analyzed by the fast Fourier transformation method and global wavelet and event analyses for the period or amplitude. The mean period ${\pm}$ standard deviation of the tilt in the otter board, $(5-6){\pm}2s$, was similar to the period of the codend, $(4-6){\pm}(2-3)s$, whereas the amplitude of the codend was greater than that of the otter board. The yaw and pitch periods were not significantly different between the otter board and codend, but roll was different. Furthermore, the tilt period frequencies of the otter board and codend were not significantly different. Accordingly, the tilt motion of the codend was mostly related to the tilt of the otter board.

• Journal of information and communication convergence engineering
• /
• v.3 no.1
• /
• pp.33-37
• /
• 2005

One of the most important feature of the Mobile Manipulator is redundant freedom. Using the redundant freedom, Mobile Manipulator can move various mode, perform dexterous motion. In this paper, to improve robot job ability, as two robots perform a job in co-operation control, we studied optimal position and posture of Mobile Manipulator with minimum movement of each robot joint. Kinematics of mobile robot and task robot is solved. Using mobility of Mobile robot, weight vector of robots is determined. Using Gradient methode, global motion trajectory is minimized. so the job which Mobile Manipulator perform is optimized. The proposed algorithm is verified with PURL-II which is Mobile Manipulator combined Mobile robot and task robot. and discussed the result.

• Journal of Mechanical Science and Technology
• /
• v.19 no.12
• /
• pp.2187-2196
• /
• 2005

In this paper, the stiffness and the mass matrices for the in-plane motion of a thin circular beam element are derived respectively from the strain energy and the kinetic energy by using the natural shape functions of the exact in-plane displacements which are obtained from an integration of the differential equations of a thin circular beam element in static equilibrium. The matrices are formulated in the local polar coordinate system and in the global Cartesian coordinate system with the effects of shear deformation and rotary inertia. Some numerical examples are performed to verify the element formulation and its analysis capability. The comparison of the FEM results with the theoretical ones shows that the element can describe quite efficiently and accurately the in-plane motion of thin circular beams. The stiffness and the mass matrices with respect to the coefficient vector of shape functions are presented in appendix to be utilized directly in applications without any numerical integration for their formulation.

• Journal of Institute of Control, Robotics and Systems
• /
• v.20 no.1
• /
• pp.70-77
• /
• 2014

This paper proposes a novel localization algorithm based on ego-motion which used Lucas-Kanade Optical Flow and warping image obtained through fish-eye lenses mounted on the robots. The omnidirectional image sensor is a desirable sensor for real-time view-based recognition of a robot because the all information around the robot can be obtained simultaneously. The preprocessing (distortion correction, image merge, etc.) of the omnidirectional image which obtained by camera using reflect in mirror or by connection of multiple camera images is essential because it is difficult to obtain information from the original image. The core of the proposed algorithm may be summarized as follows: First, we capture instantaneous $360^{\circ}$ panoramic images around a robot through fish-eye lenses which are mounted in the bottom direction. Second, we extract motion vectors using Lucas-Kanade Optical Flow in preprocessed image. Third, we estimate the robot position and angle using ego-motion method which used direction of vector and vanishing point obtained by RANSAC. We confirmed the reliability of localization algorithm using ego-motion based on fisheye warping image through comparison between results (position and angle) of the experiment obtained using the proposed algorithm and results of the experiment measured from Global Vision Localization System.

• Journal of Korea Multimedia Society
• /
• v.14 no.7
• /
• pp.849-857
• /
• 2011

Gaming on demand(GOD) makes people enjoy games by encoding and transmitting game screen at a server side, and decoding the video at a client side. In this paper, we propose a fast game video encoder for multiple users over network with low-powered devices. In the proposed system, the computational complexity of game encoders is reduced by using scene descriptors, which consists of an object motion vector, global motion, and scene change. With additional information from game engines, the proposed encoder does not need to perform various complexity processes such as motion estimation and ratedistortion optimization. The motion estimation and rate-distortion optimization skipped by scene descriptors. We found that the proposed method improved 192 % in terms of FPS, compared with x264 software. With partial assembly code, we also improved coding speed by 86 % in terms of FPS. We found that the proposed fast encoder could encode over 60 FPS for real-time GOD applications.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.4 no.3
• /
• pp.126-133
• /
• 2003

This paper is related to a morphological segmentation method for extracting the moving object in video sequence using global motion compensation and two-dimensional spatio-temporal entropic thresholding. First, global motion compensation is performed with camera panning vector estimated in the hierarchical pyramid structure constructed by wavelet transform. Secondly, the regions with high possibility to include the moving object between two consecutive frames are extracted block by block from the global motion compensated image using two-dimensional spatio-temporal entropic thresholding. Afterwards, the LUT classifying each block into one among changed block, uncertain block, stationary block according to the results classified by two-dimensional spatio-temporal entropic thresholding is made out. Next, by adaptively selecting the initial search layer and the search range referring to the LUT, the proposed HBMA can effectively carry out fast motion estimation and extract object-included region in the hierarchical pyramid structure. Finally, after we define the thresholded gradient image in the object-included region, and apply the morphological segmentation method to the object-included region pixel by pixel and extract the moving object included in video sequence. As shown in the results of computer simulation, the proposed method provides relatively good segmentation results for moving object and specially comes up with reasonable segmentation results in the edge areas with lower contrast.

• Journal of Electrical Engineering and Technology
• /
• v.10 no.3
• /
• pp.1264-1274
• /
• 2015

Human action recognition received many interest in the computer vision community. Most of the existing methods focus on either construct robust descriptor from the temporal domain, or computational method to exploit the discriminative power of the descriptor. In this paper we explore the idea of using local action attributes to form an action descriptor, where an action is no longer characterized with the motion changes in the temporal domain but the local semantic description of the action. We propose an novel framework where introduces local action attributes to represent an action for the final human action categorization. The local action attributes are defined for each body part which are independent from the global action. The resulting attribute descriptor is used to jointly model human action to achieve robust performance. In addition, we conduct some study on the impact of using body local and global low-level feature for the aforementioned attributes. Experiments on the KTH dataset and the MV-TJU dataset show that our local action attribute based descriptor improve action recognition performance.

• Journal of the Optical Society of Korea
• /
• v.20 no.6
• /
• pp.745-751
• /
• 2016

A detection algorithm, based on the combined local-global (CLG) optical-flow model and Gaussian pyramid for a moving target appearing against a dynamic background, can compensate for the inadaptability of the classic Horn-Schunck algorithm to illumination changes and reduce the number of needed calculations. Incorporating the hypothesis of gradient conservation into the traditional CLG optical-flow model and combining structure and texture decomposition enable this algorithm to minimize the impact of illumination changes on optical-flow estimates. Further, calculating optical-flow with the Gaussian pyramid by layers and computing optical-flow at other points using an optical-flow iterative with higher gray-level points together reduce the number of calculations required to improve detection efficiency. Finally, this proposed method achieves the detection of a moving target against a dynamic background, according to the background motion vector determined by the displacement and magnitude of the optical-flow. Simulation results indicate that this algorithm, in comparison to the traditional Horn-Schunck optical-flow algorithm, accurately detects a moving target undergoing illumination changes against a dynamic background and simultaneously demonstrates a significant reduction in the number of computations needed to improve detection efficiency.

• The KIPS Transactions:PartB
• /
• v.11B no.1
• /
• pp.27-34
• /
• 2004

This paper proposes a method to trace and interpret a moving object based on the information which can be directly obtained from MPEG-2 compressed video stream without decoding process. In the proposed method, the motion flow is constructed from the motion vectors included in compressed video. We calculate the amount of pan, tilt, and zoom associated with camera operations using generalized Hough transform. The local object motion can be extracted from the motion flow after the compensation with the parameters related to the global camera motion. Initially, a moving object to be traced is designated by user via bounding box. After then automatic tracking Is performed based on the accumulated motion flows according to the area contributions. Also, in order to reduce the cumulative tracking error, the object area is reshaped in the first I-frame of a GOP by matching the DCT coefficients. The proposed method can improve the computation speed because the information can be directly obtained from the MPEG-2 compressed video, but the object boundary is limited by macro-blocks rather than pixels. Also, the proposed method is proper for approximate object tracking rather than accurate tracing of an object because of limited information available in the compressed video data.