• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2001.10a
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• pp.111-116
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• 2001

In this paper, a simple 2 D.O.F. planar motion model is proposed in order to analyze the snake motion of a machining center cross head assembly, that is travelling on linear guide rails. In the proposed mathematical model, the friction between head and guide ways is neglected, and also the support structures including guide rails, rear- and side-panels of the machining center are assumed to be rigid. The equations of motion of the proposed model are derived and successfully solved to determine vibration responses of the head assembly due to some applied traction forces.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.04a
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• pp.708-713
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• 2000

This paper reviews the concepts of the snake motion which can be often observed on the bodies moving along guide rails. A simple modelling is proposed in order to analyze the snake motion of the cross head assembly and force and moment equilibrium equations are established. It is determined the critical conditions at which snake motion just brings about. Some possible methods to reduce or prevent snake motion are discussed in detail.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.663-668
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• 2003

This paper presents a new observation system which is useful to observe the scene of the remote controlled robot vision. This system is composed of a motionless camera and head motion detector with a motion sensor. The motionless camera has a fish eye lens and is for observing a hemisphere space. The head motion detector has a motion sensor is for defining an arbitrary subspace of the hemisphere space from fish eye lens. Thus processing the angular information from the motion sensor appropriately, the direction of face is estimated. However, since the fisheye image is distorted, it is unclear image. The partial domain of a fish eye image is selected by head motion, and this is converted to perspective image. However, since this conversion enlarges the original image spatially and is based on discrete data, crevice is generated in the converted image. To solve this problem, interpolation based on an intensity of the image is performed for the crevice in the converted image (space problem). This paper provides the experimental results of the proposed observation system with the head motion detector and perspective image conversion using the proposed conversion and interpolation methods, and the adequacy and improving point of the proposed techniques are discussed.

• Korean Journal of Applied Biomechanics
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• v.17 no.2
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• pp.217-226
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• 2007

Putting score counts about 43 % of the golf score. The dominant idea of the putting motion to amateur golfers as well as to many professional golfers is a pendulum-like motion. If a golfer's putting stroke motion is a pendulum-like motion, the putting motion should be straight-back-and-through, the same backswing, downswing, and follow through length and period, and a swing with a fixed hinge joint. If the putting motions of the human are different from the pendulum motion, there could be confusion in understanding and teaching golf putting. The purpose of this study was to examine the center of rotation(COR) of the putter head to reveal whether professional golfers really putt like a pendulum. Thirteen male professional golfers were recruited for the study. Each golfers executed 10.94 m putts six times on an artificial grass mat. Putter head position data were collected through a 60 Hz three-dimensional motion analysis system and low pass filtered with cut-off frequency of 6 Hz. COR of the putter head was mathematically acquired. Each golfer's last five putting motions were considered. The results show that the COR of the putter head was neither fixed nor located inside of the golfer. The medio-lateral directional component of the COR of the putter head fluctuated in the range of 10 cm during downswing and follow through. The anterior-posterior directional component of the COR of the putter head was fixed from the beginning of the downswing through impact. Just after impact, however, it moved to the target up to 60 cm. The superior-inferior directional component of COR of the putter head moved in a superior direction with the beginning of the downswing and showed peak height just prior to impact. During the follow through, it moved back in an inferior direction. The height-normalized peak value of the COR of the putter head was $1.4{\pm}0.3$ height. Technically speaking, male professional golfers' 10.94 m putting motion is not a pendulum-like motion. The dominating idea of a pendulum-like motion in putting might come from the image of the flawless, smooth motion of a pendulum.

• Journal of Internet of Things and Convergence
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• v.2 no.2
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• pp.1-6
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• 2016

Recently, various types of wearable computers have been studied. In this paper, we analyze the characteristics of head motion information for the operation of the motion classifier produced motion headset that the user can use while listening to music. The prototype receives music from smart phone over bluetooth communications, and transmits the motion information measured by the acceleration sensor to the smart phone. And the smartphone classifies the motion of the head through a motion classifier. we implemented a prototype for our experiment. The user's head motion "up", "down", "left" and "right" were classified using a Bayesian classifier. As a result, in case of the movement of the head "up" and "down", there are a large changes in the x, z-axis values. In future we have a plan to perform a user study to find suitable variables for creating motion classifier.

• Korean Journal of Applied Biomechanics
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• v.28 no.2
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• pp.109-117
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• 2018

Objective: To compare head and hand movement patterns during squash forehand motions between experts and less-skilled squash players. Method: Four experts and four less-skilled squash players participated in this study. They performed squash forehand swings and a VICON motion analysis system was used to obtain displacement and velocity data of the head and right hand during the movement. Mann-Whitney U-tests were performed to compare head and hand range of motion and peak velocity, and cross-correlation was performed to analyze the head-hand coordination pattern between groups in three movement directions. Results: In terms of head and hand kinematic data, experts had greater head range of motion during down swings than less-skilled squash players. Experts seemed to reach peak hand velocity at impact by reaching peak head velocity followed by hand peak velocity within a given temporal sequence. In terms of head-hand coordination patterns, both groups revealed high positive correlations in the medial-lateral direction, indicating a dominant allocentric coordination pattern. However, experts had uncoupled coordination patterns in the vertical direction and less-skilled squash players had high positive correlations. These results indicate that the head-hand movement pattern likely an important factor squash forehand movement. Conclusion: Analysis of head and hand movement patterns could be a key variable in squash training to reach expert-level performance.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.18 no.9
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• pp.905-912
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• 2008

Notion sickness is well known to be caused by long time exposure to the very low frequency motion in the multiple axes of human body Since the vestibular system for the perception of low frequency motion is located in the head, accurate measurement of 6 degree of freedom head motion is of great importance. In this study, the measurement system consisting of a safety helmet and 9 translational accelerometers was constructed for the estimation of 3 translational and 3 rotational motions of human head. Since estimation errors of 3 rotational components can be significantly magnified even by small offset of the sensitivity axis from the geometric center of an accelerometer, accurate measurement of sensitivity axis must be preceded. The method for accurate estimation of the offset was proposed, and the effect of offset on the estimation of angular acceleration was investigated.

• The KIPS Transactions:PartB
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• v.14B no.4
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• pp.311-320
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• 2007

This paper presents vision-based 3D facial expression animation technique and system which provide the robust 3D head pose estimation and real-time facial expression control. Many researches of 3D face animation have been done for the facial expression control itself rather than focusing on 3D head motion tracking. However, the head motion tracking is one of critical issues to be solved for developing realistic facial animation. In this research, we developed an integrated animation system that includes 3D head motion tracking and facial expression control at the same time. The proposed system consists of three major phases: face detection, 3D head motion tracking, and facial expression control. For face detection, with the non-parametric HT skin color model and template matching, we can detect the facial region efficiently from video frame. For 3D head motion tracking, we exploit the cylindrical head model that is projected to the initial head motion template. Given an initial reference template of the face image and the corresponding head motion, the cylindrical head model is created and the foil head motion is traced based on the optical flow method. For the facial expression cloning we utilize the feature-based method, The major facial feature points are detected by the geometry of information of the face with template matching and traced by optical flow. Since the locations of varying feature points are composed of head motion and facial expression information, the animation parameters which describe the variation of the facial features are acquired from geometrically transformed frontal head pose image. Finally, the facial expression cloning is done by two fitting process. The control points of the 3D model are varied applying the animation parameters to the face model, and the non-feature points around the control points are changed by use of Radial Basis Function(RBF). From the experiment, we can prove that the developed vision-based animation system can create realistic facial animation with robust head pose estimation and facial variation from input video image.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.34 no.3
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• pp.35-40
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• 2011

5-axis laser cutting has great advantages when it is applied to three dimensional machining requiring high cutting quality. For developing 5-axis CNC laser cutting systems, however, many problems such as rotating a laser head or a working table, 5-axis servo-control mechanism, tool path generation and post-processing, and collision avoidance between a laser head and a work-piece should be solved. In this paper, we deal with developing a motion simulator for 5-axis laser cutting machine with a nutating cutting head whose rotational axis is in an inclined plane. Two essential modules such as post-processor and cutting motion simulator was developed based on a commercial 3D CAD of UG-NX. The developed system was applied to three dimensional cutting products and showed the validity of the developed methods.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.21 no.4
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• pp.563-569
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• 2012

In the semiconductor and display device production processes, the handling of sensitive objects needs new carrying technology. Floating carrying motion is a practical alternative solution for non-contact handling of parts and substrates. This paper presents a study of through paths inside the air pressure pick-up head to generate the floating motion. The air motion by conceptual designed paths inside the head gradually develops positive pressure and vacuum between narrow objects. Positive pressure occurs through the head tip before discharging outside of the head. Negative pressure is developed by evacuating the inside head bottom as result of the radial flow connecting the vertical through-holes. The numerical analysis was done to figure out the stable levitation caused by the two acting forces between surfaces. In comparing with the standard case that the levitation gap gets 0.7-0.9 mm, it confirms the suggested head characteristics to show floating capacity in accordance with the head size, number of through-hole, and locations of through-hole in succession of conceptual design for a prototype.