• ETRI Journal
• /
• 제23권4호
• /
• pp.190-198
• /
• 2001

The performance of Motion Compensated Discrete Cosine Transform (MC-DCT) video coding is improved by using the region adaptive subband image coding [18]. On the assumption that the video is acquired from the camera on a moving platform and the distance between the camera and the scene is large enough, both the motion of camera and the motion of moving objects in a frame are compensated. For the compensation of camera motion, a feature matching algorithm is employed. Several feature points extracted using a Sobel operator are used to compensate the camera motion of translation, rotation, and zoom. The illumination change between frames is also compensated. Motion compensated frame differences are divided into three regions called stationary background, moving objects, and newly emerging areas each of which is arbitrarily shaped. Different quantizers are used for different regions. Compared to the conventional MC-DCT video coding using block matching algorithm, our video coding scheme shows about 1.0-dB improvements on average for the experimental video samples.

• IEIE Transactions on Smart Processing and Computing
• /
• 제3권3호
• /
• pp.118-127
• /
• 2014

This paper presents an efficient motion and disparity prediction method for multi-view video coding based on the high efficient video coding (HEVC) standard. The proposed method exploits inter-view candidates for effective prediction of the motion or disparity vector to be coded. The inter-view candidates include not only the motion vectors of adjacent views, but also global disparities across views. The motion vectors coded earlier in an adjacent view were found to be helpful in predicting the current motion vector to reduce the number of bits used in the motion vector information. In addition, the proposed disparity prediction using the global disparity method was found to be effective for interview predictions. A multi-view version based on HEVC was used to evaluate the proposed algorithm, and the proposed correspondence prediction method was implemented on a multi-view platform based on HEVC. The proposed algorithm yielded a coding gain of approximately 2.9% in a high efficiency configuration random access mode.

• 센서학회지
• /
• 제23권2호
• /
• pp.82-86
• /
• 2014

This paper reports the development of a platform for tracking and analysis of animal locomotion. The platform is composed of a commercial webcam, a metal stand for the webcam, and a plastic bathtub as a cage. Using it, researchers can track and analyze an animal's movement within the plastic bathtub's dimensions of $100cm{\times}100cm{\times}55cm$ in a cost-effective manner. After recording the locomotion of an animal with $1920{\times}1080$ resolution at a rate of 30 frames per second, finding the position of the animal in each frame and analyzing the ambulation pattern were executed with custom software. To evaluate the performance of the platform, movements of imprinting control region mice and transgenic mice were recorded and analyzed. The analysis successfully compared velocity, moving pattern, and total moving distance for the two mouse groups. In addition, the developed platform can be used not only in simple motion analysis but also in various experimental conditions, such as a water maze, by easy customization of the platform. Such a simple and cost-effective platform yields a powerful tool for animal ambulatory analysis.

• 정보처리학회논문지:소프트웨어 및 데이터공학
• /
• 제10권12호
• /
• pp.595-602
• /
• 2021

로봇은 주변 상황을 인지하고 Task를 부여받는 software oriented 형상으로 발전하고 있다. Cloud Robotics Platform은 로봇에 Service Oriented Architecture 형상을 지원하기 위한 방법으로, 상황에 따라 필요한 Task와 Motion Controller를 클라우드 기반으로 제공할 수 있는 방안이다. 휴머노이드 로봇으로 진화할수록 로봇은 로봇 3대 원칙에 따라 보편화된 일상생활 속에서 인간에게 도움을 주기 위해 사용될 것이다. 따라서 특정 개인만을 위한 로봇 이외에도, 상황에 따라 모든 인간에게 도움을 줄 수 있는 공공재로써의 로봇이 보편화될 것이다. 따라서, 생성하는 정보는 사람, 로봇, 로봇에 지능을 부여하는 클라우드 상의 서비스 애플리케이션, 로봇과 클라우드를 이어주는 클라우드 브릿지로 구성될 것으로 분석되는 Cloud Robotics Computing 환경에서 정보보안의 중요성은 인간의 생명 및 안전을 위해 필수불가결한 요소로 자리잡게 될 것이다. 본 논문에서는 지능화된 로봇을 위한 Cloud Robotics Computing 환경에서 사람, 로봇, 클라우드 브릿지, 클라우드 시스템간 통신 시 보안을 제공하여 해킹으로부터 안전하고 개인의 정보가 보호되는 로봇 서비스가 가능할 수 있는 Security Scheme을 제안한다.

• 한국CDE학회논문집
• /
• 제18권4호
• /
• pp.290-298
• /
• 2013

A walking navigation system (usually known as a locomotion interface) is an interactive platform which gives simulated walking sensation to users using sensed bipedal motion signals. This enables us to perform navigation tasks using only bipedal movement. Especially, it is useful for the certain VR task which emphasizes on physical human movement, or accompanies understanding of the size and complexity of building structures. In this work, we described system components of VR walking system and investigated several types of walking platform by literature survey. We adopted a MS Kinect depth sensor for the motion recognition and a treadmill which includes directional turning mechanism for the walking platform. Through the integration of these components with a VR navigation scenario, we developed a simple VR walking navigation system. Finally several technical issues were found during development process, and further research directions were suggested for the system improvement.

• 한국소음진동공학회논문집
• /
• 제23권5호
• /
• pp.438-444
• /
• 2013

This paper presents the replication of a desired vibration response by iterative learning control (ILC) system for a vibration motion replication actuator. The vibration motion replication actuator has parameter uncertainties including system nonlinearity and joint nonlinearity. Vehicle manufacturers worldwide are increasingly relying on road simulation facilities that put simulated loads and stresses on vehicles and subassemblies in order to reduce development time. Road simulation algorithm is the key point of developing road simulation system. With the rapid progress of digital signal processing technology, more complex control algorithms including iterative learning control can be utilized. In this paper, ILC algorithm was utilized to produce simultaneously the six channels of desired responses using the Stewart platform composed of six linear electro-magnetic actuators with Halbach magnet array. The convergence rate and accuracy showed reasonable results to meet the requirement. It shows that the algorithm is acceptable to replicate multi-channel vibration responses.

• 천문학회보
• /
• 제42권2호
• /
• pp.84.1-84.1
• /
• 2017

SLGT (Superconducting Low-frequency Gravitational-wave Telescope) platform has three arms whose ends support six superconducting test masses. Therefore, any motion of the platform could cause noises on measuring the displacements of test masses which contain the effect of gravitational waves passing by. Thermal motions of the platform are the main noise source, and are related to resonant motions of the platform structure. We briefly report preliminary results of nodal analysis in finite element method performed for various platform configurations including 2-m, 30-m, 50-m and 100-m arm lengths. Platform designs giving resonant frequencies outside of the signal bandwidth (e.g., 0.1~10 Hz) have been identified.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 1994년도 추계학술대회 논문집
• /
• pp.449-454
• /
• 1994

The Stewart Platform is one example of a motion simulator which generater 6DOF motion in space by six actuators in parallel. The presented control methrol of 6DOF motion simulator is generally classified into two types, one is SISO and the other is MIMO control type. The SISO control can't compensate for external load variation and different dynamic behavior of 6DOF motion, trerefore this type don's control motion precisely. On the other hand, the MIMO control compensates for a interference of 6DOF motion because MIMO controller is designed with 6DOF motion simulator synamics. But MIMO control of motion simulator has a complexity of 6DOF displacement feedback, because in oder to obtain feedback value we must solve the forward kinematics using measurement of cylinder length or design a state estimator, unless measurement of 6DOF displacement is possible. In this paper, a multivariable controller using H .inf. optimal control theory is designed to consider a interference of 6DOF motion and to obtain robust,precise control of system. Also in order to solve the mentioned problem of MIMO control, this paper presents a modified MIMO control model which control 6DOF motion by using feedback of measurement od cylinder length.

• 한국해양공학회지
• /
• 제33권2호
• /
• pp.168-177
• /
• 2019

KRISO (Korea Research Institute of Ship & Ocean Engineering) started a project to develop the core algorithms for autonomous intervention using an underwater robot in 2017. This paper introduces the development of the robot platform for the core algorithms, which is an ROV (Remotely Operated Vehicle) type with one 7-function manipulator. Before the detailed design of the robot platform, the 7E-MINI arm of the ECA Group was selected as the manipulator. It is an electrical type, with a weight of 51 kg in air (30 kg in water) and a full reach of 1.4 m. To design a platform with a small size and light weight to fit in a water tank, the medium-size manipulator was placed on the center of platform, and the structural analysis of the body frame was conducted by ABAQUS. The robot had an IMU (Inertial Measurement Unit), a DVL (Doppler Velocity Log), and a depth sensor for measuring the underwater position and attitude. To control the robot motion, eight thrusters were installed, four for vertical and the rest for horizontal motion. The operation system was composed of an on-board control station and operation S/W. The former included devices such as a 300 VDC power supplier, Fiber-Optic (F/O) to Ethernet communication converter, and main control PC. The latter was developed using an ROS (Robot Operation System) based on Linux. The basic performance of the manufactured robot platform was verified through a water tank test, where the robot was manually operated using a joystick, and the robot motion and attitude variation that resulted from the manipulator movement were closely observed.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2005년도 춘계학술대회 논문집
• /
• pp.250-253
• /
• 2005

A Programmable Automation Controller (PAC) has been developed by Turbotek Co., Ltd. The developed system has multi-domain functionality-including sequence control, motion control and HMI- on a single platform. The PAC also has a common development platform for the design and integration of multi-domain automated systems. Since hardware of the developed system has modular architectures, performance and specification of the controller are determined by combination of specific modules. The developed system employs de facto standards such as OPC interface that allow users to easily exchange data as part of networked multi-vendor systems.