• Proceedings of the Korea Multimedia Society Conference
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• 2004.05a
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• pp.167-170
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• 2004

본 논문에서는 다양한 디지털 컨텐츠들 중에 디지털 비디오에 대한 워터마킹 방법을 제안하였다. 현재 비디오 압축 부호화의 기본 알고리즘으로 사용되는 DCT(discrete cosine transform)는 고압축을 수행할 경우 블록킹 현상이 심하게 나타나는 단점이 있다. 제안한 방법은 이러한 단점을 극복하고 점진적 전송 특성을 갖는 비디오를 위해 웨이브릿 변환 영역에서 SPIHT(set partitioning in hierarchical trees)를 이용한 비디오 부호화 과정에 워터마크를 삽입하였다. SPIHT 부호화 과정에서 비디오 신호의 시간 중복성을 이용한 I 프레임에 대한 이전 프레임의 움직임 벡터를 이용하여 I 프레임에 워터마크를 삽입한다. 워터마크 삽입 시 HVS(human visual system)를 이용하여 움직임 벡터 분석에 의해 선택된 영역에서 지각적 중요 계수 (PSC :perceptual significant coefficient)를 선택하여 워터마크를 삽입한다. 실험 결과 시간 중복성과 HVS를 이용하여 I 프레임에 워터마크를 삽입하였기 때문에 비가시성과 강인성이 우수함을 확인하였다.

• The Journal of the Korea Contents Association
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• v.16 no.6
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• pp.9-18
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• 2016

This paper proposes a multi-view Wyner-Ziv Video coding scheme based on spatio-temporal adaptive estimation. The proposed algorithm is designed to search for a better estimated block with joint bi-directional motion estimation by introducing weights between temporal and spatial directions, and by classifying effectively the region of interest blocks, which is based on the edge detection and the synthesis, and by selecting the reference estimation block from the effective motion vector analysis. The proposed algorithm exploits the information of a single frame viewpoint and adjacent frame viewpoints, simultaneously and then generates adaptively side information in a variety of closure, and reflection regions to have a better performance. Through several simulations with multi-view video sequences, it is shown that the proposed algorithm performs visual quality improvement as well as bit-rate reduction, compared to the conventional methods.

• Smart Structures and Systems
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• v.17 no.3
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• pp.363-389
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• 2016

Deficient modes that cannot be always identified from different sets of measurement data may exist in the application of operational modal analysis such as the stochastic subspace identification techniques in large-scale civil structures. Based on a recent work using the long-term ambient vibration measurements from an instrumented cable-stayed bridge under different wind excitation conditions, a benchmark problem is launched by taking the same bridge as a test bed to further intensify the exploration of mode identifiability. For systematically assessing this benchmark problem, a recently developed SSI algorithm based on an alternative stabilization diagram and a hierarchical sifting process is extended and applied in this research to investigate several sets of known and blind monitoring data. The evaluation of delicately selected cases clearly distinguishes the effect of traffic excitation on the identifiability of the targeted deficient mode from the effect of wind excitation. An additional upper limit for the vertical acceleration amplitude at deck, mainly induced by the passing traffic, is subsequently suggested to supplement the previously determined lower limit for the wind speed. Careful inspection on the shape vector of the deficient mode under different excitation conditions leads to the postulation that this mode is actually induced by the motion of the central tower. The analysis incorporating the tower measurements solidly verifies this postulation by yielding the prevailing components at the tower locations in the extended mode shape vector. Moreover, it is also confirmed that this mode can be stably identified under all the circumstances with the addition of tower measurements. An important lesson learned from this discovery is that the problem of mode identifiability usually comes from the lack of proper measurements at the right locations.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.05a
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• pp.859-865
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• 2007

This paper presents a method to analyze the unbalance response of a high speed polygon mirror scanner motor supported by sintered bearing and flexible supporting structures by using the finite element method and the mode superposition method. The appropriate finite element equations for polygon mirror are described by rotating annular sector element using Kirchhoff plate theory and von Karman non-linear strain, and its rigid body motion is also considered. The rotating components except for the polygon mirror are modeled by Timoshenko beam element including the gyroscopic effect. The flexible supporting structures are modeled by using a 4-node tetrahedron element and 4-node shell element with rotational degrees of freedom. Finite element equations of each component of the polygon mirror scanner motor and the flexible supporting structures are consistently derived by satisfying the geometric compatibility in the internal boundary between each component. The rigid link constraints are also imposed at the interface area between sleeve and sintered bearing to describe the physical motion at this interface. A global matrix equation obtained by assembling the finite element equations of each substructure is transformed to a state-space matrix-vector equation, and both damped natural frequencies and modal damping ratios are calculated by solving the associated eigenvalue problem by using the restarted Arnoldi iteration method. Unbalance responses in time and frequency domain are performed by superposing the eigenvalues and eigenvectors from the free vibration analysis. The validity of the proposed method is verified by comparing the simulated unbalance response with the experimental results. This research also shows that the flexibility of supporting structures plays an important role in determining the unbalance response of the polygon mirror scanner motor.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.875-881
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• 2014

The redundancy resolution of the seven DOF (Degree of Freedom) upper limb exoskeleton is key to the synchronous motion between a robot and a human user. According to the seven DOF human arm model, positioning and orientating the wrist can be completed by multiple arm configurations that results in the non-unique solution to the inverse kinematics. This paper presents analysis on the kinematic and dynamic aspect of the human arm movement and its effect on the redundancy resolution of the seven DOF human arm model. The redundancy of the arm is expressed mathematically by defining the swivel angle. The final form of swivel angle can be represented as a linear combination of two different swivel angles achieved by optimizing two cost functions based on kinematic and dynamic criteria. The kinematic criterion is to maximize the projection of the longest principal axis of the manipulability ellipsoid of the human arm on the vector connecting the wrist and the virtual target on the head region. The dynamic criterion is to minimize the mechanical work done in the joint space for each of two consecutive points along the task space trajectory. The contribution of each criterion on the redundancy was verified by the post processing of experimental data collected with a motion capture system. Results indicate that the bimodal redundancy resolution approach improved the accuracy of the predicted swivel angle. Statistical testing of the dynamic constraint contribution shows that under moderate speeds and no load, the dynamic component of the human arm is not dominant, and it is enough to resolve the redundancy without dynamic constraint for the realtime application.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.11
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• pp.1332-1340
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• 2009

The front end wheel loader is widely used for the loading of materials in mining and construction fields. It has repetitive digging, loading and dumping procedures. The bucket is subjected to large resistance force from the soil during scooping. We considered the soil reaction force characteristics from scooping procedure, the protection by overload and automatic scooping mode algorithm. The main topic of this paper is the analysis of the soil reaction force characteristics. The analysis of soil mechanics is carried out and the developed soil model is verified by experimental results from the simplified experimental equipment. A simplified model of the soil shape and bucket trajectory is used to determine the scooping direction based on an estimation of the resistance force applied on the bucket during the scooping motion. In the future, this model will be used for the generation of an appropriate path for the wheel loader automation.

• Journal of the Korean Society of Visualization
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• v.8 no.1
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• pp.31-38
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• 2010

An experimental study to evaluate dynamic structures of flow and turbulence characteristics in bubble-driven liquid flow in a rectangular tank with a varying flow rate of compressed air is conducted. Liquid flow fields are measured by time-resolved particle image velocimetry (PIV) with fluorescent tracer particles to eliminate diffused reflections, and by an image intensifier to acquire enhanced clean particle images. Instantaneous vector fields are investigated by using the two frame cross-correlation function and bad vectors are eliminated by magnitude difference technique. By proper orthogonal decomposition (POD) analysis, the energy distributions of spatial and temporal modes are acquired. When Reynolds number increases, bubble-induced turbulent motion becomes dominant rather than the recirculating flow near the side wall. The total kinetic energy transferred to the liquid from the rising bubbles shows a nonlinear relation regarding the energy input because of the interaction between bubbles and free surface.

• The Journal of Korea Robotics Society
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• v.17 no.4
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• pp.417-424
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• 2022

In this paper, the developed trunk cargo unloading automation system is introduced, and the RGB-D sensor-based box loading situation recognition method and unloading plan applied to this system are suggested. First of all, it is necessary to recognize the position of the box in a truck. To do this, we first apply CNN-based YOLO, which can recognize objects in RGB images in real-time. Then, the normal vector of the center of the box is obtained using the depth image to reduce misrecognition in parts other than the box, and the inner wall of the truck in an image is removed. And a method of classifying the layers of the boxes according to the distance using the recognized depth information of the boxes is suggested. Given the coordinates of the boxes on the nearest layer, a method of generating the optimal path to take out the boxes the fastest using this information is introduced. In addition, kinematic analysis is performed to move the conveyor to the position of the box to be taken out of the truck, and kinematic analysis is also performed to control the robot arm that takes out the boxes. Finally, the effectiveness of the developed system and algorithm through a test bed is proved.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.41 no.1
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• pp.13-20
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• 2004

In this paper, we have analyzed the current MPEG-4 video encoding tools and proposed efcient coding techniques that reduce the complexity of the encoder. Until recently, encoder optimization without shape coding has been a major concern in video for wire/wireless low bit rate coding services. Recently, we found out that the computational complexity of MPEG-4 shape coding plays a very important role in the object-based coding through experiments. We have made an experiment whether we could get optimized object-based coding method through successfully combining latest optimized texture coding techniques with our proposed optimized shape coding techniques. In texture coding, we applied the MVFAST method for motion estimation. We chose not to use IVOPF(Intelligent VOP Formation) but to use TRB(Tightest Rectangular Boundary) for positioning VOP and, finally, to eliminate the spiral search of shape motion estimation to reduce the complexity in shape coding. As a result of experiment, our proposed scheme achieved improved time complexity over the existing reference software by $57.3\%$ and over the optimized method on which only shape coding was applied by $48.7\%$, respectively.

• Journal of Internet Computing and Services
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• v.6 no.1
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• pp.85-93
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• 2005

This paper describes how to distribute high multi-dimensional facial expression data of vast quantity over a suitable space and produce facial expression animations by selecting expressions while animator navigates this space in real-time. We have constructed facial spaces by using about 2400 facial expression frames on this paper. These facial spaces are created by calculating of the shortest distance between two random expressions. The distance between two points In the space of expression, which is manifold space, is described approximately as following; When the linear distance of them is shorter than a decided value, if the two expressions are adjacent after defining the expression state vector of facial status using distance matrix expressing distance between two markers, this will be considered as the shortest distance (manifold distance) of the two expressions. Once the distance of those adjacent expressions was decided, We have taken a Floyd algorithm connecting these adjacent distances to yield the shortest distance of the two expressions. We have used CCA(Curvilinear Component Analysis) technique to visualize multi-dimensional spaces, the form of expressing space, into two dimensions. While the animators navigate this two dimensional spaces, they produce a facial animation by using user interface in real-time.