• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송∙미디어공학회 2021년도 하계학술대회
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• pp.52-54
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• 2021

In this paper we propose a method predict whether a video frame contains motion according to the invoking situation of the coding unit mode in HEVC. The motion prediction of video frames is conducive for use in video compression and video data extraction. In the existing technology, motion prediction is usually performed by high complexity computer vision technology. However, we proposed to analyze the motion frame based on HEVC coding unit mode which does not need to use the static background frame. And the prediction accuracy rate of motion frame analysis by our method has exceeded 80%.

• 한국소음진동공학회논문집
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• 제14권12호
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• pp.1314-1321
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• 2004

The non-linear responses of a slender rectangular cantilever beam subjected to lateral harmonic base-excitation are investigated by the 2-channel FFT analyzer. Both linear and nonlinear behaviors of the cantilever beam are compared with each other. Bending mode, torsional mode, and transverse mode are coupled in such a way that the energy transfer between them are observed. Especially, superharmonic, subharmonic, and chaotic motions which result from the unstable inertia terms in the transverse mode are analyzed by the FFT analyzer The aim is to give the explanations of the route to chaos, i.e., harmonic motion \longrightarrow superharmonic motion \longrightarrow subharmonic motion \longrightarrow chaos.

• 반도체디스플레이기술학회지
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• 제13권1호
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• pp.109-112
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• 2014

H.264/AVC is an international video coding standard that is established in cooperation with ITU-T VCEG and ISO/IEC MPEG, which shows improved code and efficiency than the previous video standards. Motion estimation using various macroblock from 44 to 1616 among the compression techniques of H.264/AVC contributes much to high compression efficiency. Generally, in the case of small motion vector or low complexity about P slice is decided $P16{\times}16$ mode encoding method. But according to circumstances, macroblock is decided $P16{\times}16$ mode despite large motion vector. If the motion vector variance is more than threshold and final select mode is $P16{\times}16$ mode, it is switched to $P8{\times}8$ mode, so this paper shows that the storage capacity is reduced. The results of experiment show that the proposed algorithm increases the compression efficiency of the H.264/AVC algorithm to 0.4%, even reducing the time and without increasing complexity.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.296-300
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• 1992

This paper deals with a dual mode control system design for the starching work robot. From the feature of this work, the robot has redundant degree of freedom. In this paper, we try to split the whole movement the robot into a gross motion part ai. a fine motion part so as to achieve a good tracking performance. The preview learning control is applied to the gross motion part. The validity of the dual mode control architecture is demonstrated.

• 방송공학회논문지
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• 제7권4호
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• pp.300-309
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• 2002

본 논문은 H.264 / MPEG-4 AVC 비디오 코덱에서 쌍예측 픽쳐의 시간적 다이렉트 모드의 모션벡터를 유포하는 방법을 소개한다. 우선, 다이렉트 모드의 list 1 레퍼런스 픽쳐에 있는 동일 위치 블록에서의 시간적 다이렉트 모드의 모션벡터 유포를 위해 사용될 모션벡터 결정 방법과 상기 결정된 모션벡터가 가리키는 레퍼런스 픽쳐를 다이렉트 모드의 list 0 레퍼런스 픽쳐로 결정하는 방법을 제시한다. 또한 동일 위치의 매크로블록이 인트라 모드를 예측모드로 가지고 있을 때, 코딩 효율을 높이기 위한 방법으로써 레퍼런스 픽쳐 인덱스 및 다이렉트 모드의 모션벡터를 공간적으로 예측하는 기법을 제시한다. 그리고, 쌍예측 픽쳐 매크로블록과 다이렉트 모드의 list 1 레퍼런스 픽쳐에 있는 동일 위치 블록은 프레임 모드 또는 피일드 모드로 코딩이 이루어질 수 있으므로 4가지 경우에 대한 다이렉트 모드의 모션벡터 연산 방법을 소개한다. 마지막으로, 실험을 통한 공간적 다이렉트 모드와의 성능평가 결과를 보임으로써, 본 논문이 제시한 기법이 H.264 / MPEG-4 AVC의 시간적 다이렉트 모드에 적용될 수 있음을 보여준다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.461-465
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• 1996

Position and rate control modes arc the two common modes for controlling remote manipulators with joysticks or hand controllers. Generally, position mode is easier for teleoperation than rate modes, when the manipulation work space is small or comparable to the human operator's control space. When the telemanipulator's work space is very large, human operator's control motion range must be large to allow telemanipulator's full range of motion resulting poor control resolution. One way to solve the poor resolution problem is to use indexing. However, rate mode can provide any higher degree of resolution without use of indexing. If two modes are mixed, master controller will be more convenient. The mixed mode algorithm, changes operating mode from position mode to rate mode or vise versa using fuzzy logic. The fuzzy logic algorithm, which has been designed to recognize the teleoperator's intended motion properly, provides an intelligence to a master controller.

• 한국멀티미디어학회논문지
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• 제13권10호
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• pp.1487-1493
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• 2010

H.264는 기존의 표준안들보다 좋은 성능을 내기 위해서 더 세밀하고, 더 많은 움직임 정보를 처리한다. 하지만, 움직임 벡터가 기존 표준안에 비해 높은 비율을 차지하게 되어 이에 대한 고려가 필요하게 되었다. 본 논문에서는 움직임 벡터를 효율적으로 처리하기 위해 단말 모드를 사용하는 새로운 방법을 제안한다. 제안하는 알고리즘은 단말 모드를 이용하여 모드들의 분포를 집중시키고, 더 적은 모드 종류를 이용하여 움직임 벡터의 압축을 수행한다. 본 논문에서 제시하는 알고리즘은 현재의 $4{\times}4$ 움직임 벡터 행렬 뿐만 아니라 $8{\times}8$ 행렬 등으로 확장시킬 수 있다. 제안하는 알고리즘은 헤더에서 12.68%, 전체 비트스트립에서 9.7%의 감소율을 보여준다.

• 로봇학회논문지
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• 제18권4호
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• pp.496-504
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• 2023

This paper recognizes the motion intention of the wearer using a muscle stiffness sensor and proposes a control system for a wearable robot based on this. The proposed system recognizes the onset time of the motion using sensor data, determines the assistance mode, and provides assistive torque to the hip flexion/extension motion of the wearer through the generated reference trajectory according to the determined mode. The onset time of motion was detected using the CUSUM algorithm from the muscle stiffness sensor, and by comparing the detection results of the onset time with the EMG sensor and IMU, it verified its applicability as an input device for recognizing the intention of the wearer before motion. In addition, the stability of the proposed method was confirmed by comparing the results detected according to the walking speed of two subjects (1 male and 1 female). Based on these results, the assistance mode (gait assistance mode and muscle strengthening mode) was determined based on the detection results of onset time, and a reference trajectory was generated through cubic spline interpolation according to the determined assistance mode. And, the practicality of the proposed system was also confirmed by applying it to an actual wearable robot.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.311-314
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• 1995

Biped locomotion can be simply modeled as a linear inverted pendulum mode. This model considers only the CG (center of gravity) of the entire system. But in real biped robot systems, the free-leg motion dynamics is not negligible. So if its dynamics is not considered in designing the reference CG motion, it is badly influence to the ZMP(zero moment point) position of the biped robot walking in the sagittal plane. Therefore, we modeled the biped locomotion similar to the linear inverted pendulum mode but considered the predetermined free-leg dynamics. To verify that the proposed biped locomotion is more stable than the linear inverted pendulum mode, we constructed a biped robot simulator and designed a serco controller to track both the reference motion of the free leg and the reference motion of CG of the biped robot using the computed torque control low. And through simulations, we verified that the proposed walking is better in stability than the one based on the linear inverted pendulum mode.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2000년도 춘계학술대회논문집
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• pp.441-448
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• 2000

An investigation into the nonlinear free vibrations of a cantilever beam which can have not only planar motion but also nonplanar motion is made. Using Galerkin's method based on the first mode in each motion, we transform the boundary and initial value problem into an initial value problem of two-degree-of-freedom system. The system turns out to have two normal modes. By Synge's stability concept we examine the stability of each mode. In order to check validity of the stability we obtain the numerical Poincare map of the motions neighboring on each mode.