• 한국생산제조학회지
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• 제22권3_1spc호
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• pp.558-565
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• 2013

This paper describes a whole-body (human body's) motion generation scheme for an android robot that uses motion capture device and a nonlinear constrained optimization method. Because the captured motion data are based on global coordinates and the actors have different heights and different upper-lower body ratios, the captured motion data cannot be used directly for a humanoid robot. In this paper, we suggest a method for obtaining robot joint angles, which allow the resultant robot motion to be as close as possible to the captured human motion data, by applying a nonlinear constrained optimization method. In addition, the results are animated to demonstrate the similarity of the motions.

• 핵의학기술
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• 제18권2호
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• pp.28-32
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• 2014

심근 관류 SPECT 검사 중 환자의 움직임은 관류 결손과 인공물을 발생시켜 정확한 진단에 영향을 줄 수 있는 인자이다. 움직임으로 왜곡된 데이터를 보정하는 방법으로 움직임 보정방법이 개발되었고 각 방법마다 사용된 알고리즘이 다르기에 상황에 비교하고자 한다. 실험에 사용된 장비는 GE Ventri Gamma Camera와 Anthropomorphic Torso Phantom을 이용하였다. 팬텀을 환자 조건과 동일하게 하기 위하여 심근에 74 kBq/mL, 연부조직 1.1 kBq/mL, 폐 2.6 kBq/mL, 간 9.6 kBq/mL의 Tl-201을 주입하여 제작하고, 움직이는 상황에서 결손의 변화 관찰 목적으로 심근의 Anterior wall에 임의로 결손을 삽입하였다. 움직이지 않는 정상군과 일정간격(2 cm, 3 pixel) 상하 1회 이동, 상하 반복 이동, 좌우 1회 이동, 좌우 반복 이동한 데이터에 나누어 영상 획득하고 MDC, Hopkins, Stasis 방법을 적용하여 Polar map과 정량분석 Score로 비교 하였다. 환자와 동일한 조건으로 회전각 $6^{\circ}$, 50sec/frame으로 영상 획득하고, OSEM (2 iterations, 10 subsets), Butterworth filter (order 10; cutoff frequency; 0.32 cycle per pixel)를 적용, scatter correction, 감쇠보정은 적용하지 않았다. 팬텀 실험에서 세 가지 방법들에서 MDC 방법이 Visual 인공물 없이 잘 보정하였으나, 환자의 데이터에 이를 적용 하였을 때, 환자마다 움직임 보정방법 적용 결과들이 일정하지 않았다. 이는, 환자의 움직임이 일정하지 않고, 장기내의 동위원소의 비율도 다르기에 발생한다고 생각되며 추가적인 연구와 상황에 맞는 움직임 보정방법의 유동적인 사용이 필요하다고 사료된다.

• 한국멀티미디어학회논문지
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• 제17권7호
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• pp.797-805
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• 2014

In this paper we propose a new frame rate up conversion scheme which is used to overcome the motion blur problem of liquid crystal display caused by its slow response. The conventional bilateral motion estimation method which is mainly used in the frame rate up conversion scheme has a drawback that it cannot find true motion vector if there are blocks with simple texture in the search range. To solve this problem, a texture adaptive bilateral motion estimation method that increases cost value of block with simple texture is proposed. Also a motion estimation scheme that utilizes neighboring motion vector effectively is proposed to reduce computation time required to estimate motion. Since the proposed scheme does not apply all available motion vectors within the search range, the execution time of frame rate up conversion can be reduced dramatically. Experimental results show that the interpolated frame image quality of the proposed method is improved in subjective as well as objective view point compared with that of the conventional method.

• 한국정밀공학회지
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• 제32권5호
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• pp.405-413
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• 2015

This paper presents the motion accuracy simulation considering loads such as workpiece weight, cutting force, cogging force of a linear motor, and force caused by misalignment and runout error of a ballscrew in linear motion units. The transfer function method is basically utilized to estimate 5-DOF motion errors, together with the equilibrium equations of force and moment on the table. The transfer function method is modified in order to consider clearance changed according to the loads in the double sided hydrostatic/aerostatic bearings. Then, the analytic model for predicting the 5-DOF motion errors is proposed with the modified transfer function method. Motion errors were simulated under different loading conditions in the linear motion units using hydrostatic, aerostatic, and linear motion bearings, respectively. And the proposed analytic model was verified by comparing the estimated and measured motion errors.

• ETRI Journal
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• 제37권4호
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• pp.766-771
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• 2015

Robust motion estimation for human-computer interactions played an important role in a novel method of interaction with electronic devices. Existing pose estimation using a monocular camera employs either ego-motion or exo-motion, both of which are not sufficiently accurate for estimating fine motion due to the motion ambiguity of rotation and translation. This paper presents a hybrid vision-based pose estimation method for fine-motion estimation that is specifically capable of extracting human body motion accurately. The method uses an ego-camera attached to a point of interest and exo-cameras located in the immediate surroundings of the point of interest. The exo-cameras can easily track the exact position of the point of interest by triangulation. Once the position is given, the ego-camera can accurately obtain the point of interest's orientation. In this way, any ambiguity between rotation and translation is eliminated and the exact motion of a target point (that is, ego-camera) can then be obtained. The proposed method is expected to provide a practical solution for robustly estimating fine motion in a non-contact manner, such as in interactive games that are designed for special purposes (for example, remote rehabilitation care systems).

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1998년도 The Third Asian Fuzzy Systems Symposium
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• pp.750-755
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• 1998

Due to the temporal spatial correlation of the image sequence, the motion vector of a block is highly related to the motion vectors of its adjacent blocks in the same image frame. If we can obtain useful and enough information from the adjacent motion vectors, the total number of search points used to find the motion vector of the block may be reduced significantly. Using that idea, an efficient fuzzy prediction search (FPS) algorithm for block motion estimation is proposed in this paper. Based on the fuzzy inference process, the FPS can determine the motion vectors of image blocks quickly and correctly.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송∙미디어공학회 2017년도 하계학술대회
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• pp.66-69
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• 2017

본 논문에서는 프레임율 향상 기법 (Frame Rate Up-Conversion, FRUC)에 사용되는 새로운 움직임 예측(motion estimation)알고리즘을 제시한다. 제안된 알고리즘은 단 방향 움직임 예측(unilateral motion estimation)에 의해 순방향 및 역방향의 움직임 벡터(motion vector)를 독립적으로 추정한다. 움직임 벡터를 찾은 후, weighted motion vector smoothing(WMVS)가 적용된다. 다음으로, 보간 프레임 (interpolated frame)의 관점에서 현재 블록의 인접 블록들의 모션 벡터들을 후보들로 사용하여 현재 블록과 가장 잘 일치하는 움직임 벡터를 찾는다. 그 후, 선택된 움직임 벡터를 현재 블록의 유도 움직임 벡터 (guidance motion vector)로 정한다. 그런 다음 motion vector shifting error 를 없애기 위해 motion vector refinement (MVR)가 진행된다. 마지막 단계에서는 각 움직임 벡터의 신뢰도를 계산하여 순방향 및 역방향 움직임 벡터 중 최종 움직임 벡터를 선택한다.

• 대한수학회보
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• 제53권5호
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• pp.1327-1339
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• 2016

Self-organizing systems arise very naturally in artificial intelligence, and in physical, biological and social sciences. In this paper, we modify the classic Cucker-Smale model at both microscopic and macroscopic levels by taking the target motion pattern driving forces into consideration. Such target motion pattern driving force functions are properly defined for the line-shaped motion pattern and the ball-shaped motion pattern. For the modified Cucker-Smale model with the prescribed line-shaped motion pattern, we have analytically shown that there is a flocking pattern with an asymptotic flocking velocity. This is illustrated by numerical simulations using both symmetric and non-symmetric pairwise influence functions. For the modified Cucker-Smale model with the prescribed ball-shaped motion pattern, our simulations suggest that the solution also converges to the prescribed motion pattern.

• 로봇학회논문지
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• 제12권1호
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• pp.19-25
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• 2017

A design methodology for parametric design optimization of washing machine door is presented. We develop a motion simulator and a robotic door to simulate the various motion of washing machine doors. The motion of the washing machine door is related to hinge parameters. Springs and dampers are usually used in the hinge of washing machine door for controlling motion of the door. A physical simulator of the door motion is used for finding candidate parameters of the hinge and a robotic door whose motion is controlled algorithmically is used for consumer tests. Through the consumer evaluation on the robotic motion, the optimized parameters are determined. We find the optimal parameters as a function of angle and angular velocity of the door.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2010년도 춘계학술대회
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• pp.725-727
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• 2010

선박의 운동을 시뮬레이터 하기 위해서는 Pitch, Roll, Yaw의 세가지 선박 운동 요소를 시뮬레이터 할 수 있어야 한다. 이를 위해 선박의 운동을 시뮬레이터 할 수 있는 6축의 자유도를 가지는 모션 시뮬레이터를 설계 개발 하였다. Gyro Sensor based Servo Motion Control 알고리즘은 선박의 6자유도운동을 분석하여 그에 대응 할 수 있는 Motion Control 동요안정화 제어장치를 개발하였다.