• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2009.01a
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• pp.460-465
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• 2009

This paper presents a new algorithm that includes a mechanism to avoid local solutions in a motion vector detection method that uses the steepest descent method. Two different implementations of the algorithm are demonstrated using two major search methods for tree structures, depth first search and breadth first search. Furthermore, it is shown that by avoiding local solutions, both of these implementations are able to obtain smaller prediction errors compared to conventional motion vector detection methods using the steepest descent method, and are able to perform motion vector detection within an arbitrary upper limit on the number of computations. The effects that differences in the search order have on the effectiveness of avoiding local solutions are also presented.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2003.05a
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• pp.57-62
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• 2003

This paper describes the design and simulation of a multivariable optimal control system for the combined speed, heading and depth control of a Semi-Autonomous Underwater Vehicle (SAUV) developed in Korea Ocean Research and Development Institute (KRODI). The SAUV is a test-bed for the evaluation of the navigation and manipulator technologies developed for a mine disposal vehicle (MDV) in military use and for a light working underwater vehicle in scientific use. The vehicle was designed to control its cruising speed, heading and depth with 4 horizontal thrusters installed at the rear of the hull. Therefore, the decoupled control methods are limited to apply to the SAUV because the thrust forces are highly coupled with the surging, yawing, and pitching motion of the vehicle. The multivariable Linear Quadratic (LQ) control method is chosen to control steering and diving in variable speed motion automatically. A series of simulation is carried out with fully nonlinear six degree of freedom dynamic model to validate the controller.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2016.06a
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• pp.228-230
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• 2016

In this paper, we introduce new FRUC method for Multi-View Video based on DIBR (Depth Image based Rendering, DIBR). In the proposed method, we divide each block to sub-regions using depth map. Then, we reconstruct occlusion region information at each sub-regions by using other views. With reconstructed occlusion region information, we estimate and compensate each sub-regions' motion. The proposed method estimates more accurate motion compared to the conventional methods in occlusion region.

• The KIPS Transactions:PartB
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• v.12B no.3 s.99
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• pp.247-256
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• 2005

One of the classic research problems in computer vision is that of stereo, i.e., the reconstruction of three dimensional shape from two or more images. This paper deals with the problem of extracting depth information of non-rigid dynamic 3D scenes from general 2D video sequences taken by monocular camera, such as movies, documentaries, and dramas. Depth of the blocks are extracted from the resultant block motions throughout following two steps: (i) calculation of global parameters concerned with camera translations and focal length using the locations of blocks and their motions, (ii) calculation of each block depth relative to average image depth using the global parameters and the location of the block and its motion, Both singular and non-singular cases are experimented with various video sequences. The resultant relative depths and ego-motion object shapes are virtually identical to human vision.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.12
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• pp.1115-1121
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• 2012

This paper proposes a method to extract accurate plane of an object in unstructured environment for a humanoid robot by using a laser scanner. By panning and tilting 2D laser scanner installed on the head of a humanoid robot, 3D depth map of unstructured environment is generated. After generating the 3D depth map around a robot, the proposed plane extraction method is applied to the 3D depth map. By using the hierarchical clustering method, points on the same plane are extracted from the point cloud in the 3D depth map. After segmenting the plane from the point cloud, dimensions of the planes are calculated. The accuracy of the extracted plane is evaluated with experimental results, which show the effectiveness of the proposed method to extract planes around a humanoid robot in unstructured environment.

• Journal of Ocean Engineering and Technology
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• v.32 no.1
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• pp.68-75
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• 2018

This study deals with the heading angle and depth keeping control technique for an ROV with multiple horizontal and vertical thrusters by thrust allocation. The light work class ROV URI-L, which is under development at KRISO, is a redundant actuating system with multiple thrusters that are larger than the ROV's degree of freedom. In the redundant actuating system, there are several solutions for a specific ROV motion to be performed. Therefore, a thrust allocation algorithm that considers the entire propulsion system should be regarded as important. First, this paper describes the propulsion system of the ROV and introduces the thrust allocation method of each motion controller. In addition, the performance of the controller is examined using a heading angle and depth keeping control test in a stationary state.

• Journal of the Korean Institute of Intelligent Systems
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• v.27 no.2
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• pp.126-131
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• 2017

In this paper, we propose a method to extract meaningful motion among various kinds of hand gestures on giving commands to robots using hand gestures. On giving a command to the robot, the hand gestures of people can be divided into a preparation one, a main one, and a finishing one. The main motion is a meaningful one for transmitting a command to the robot in this process, and the other operation is a meaningless auxiliary operation to do the main motion. Therefore, it is necessary to extract only the main motion from the continuous hand gestures. In addition, people can move their hands unconsciously. These actions must also be judged by the robot with meaningless ones. In this study, we extract human skeleton data from a depth image obtained by using a Kinect v2 sensor and extract location data of hands data from them. By using the Kalman filter, we track the location of the hand and distinguish whether hand motion is meaningful or meaningless to recognize the hand gesture by using the hidden markov model.

• Journal of Ocean Engineering and Technology
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• v.25 no.1
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• pp.1-7
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• 2011

The radiation of water waves by a heaving truncated circular cylinder with damping plate is solved in the frame of the three-dimensional linear potential theory. The damping plate has a distinct advantage in reducing the motion response of a floating circular cylinder by increasing the added mass and the damping coefficient. Using the matched eigenfunction expansion method, the characteristics of hydrodynamic added mass and the damping coefficient are investigated with various system parameters, such as the radius and submergence depth of the damping plate. It is found that both added mass and the damping coefficient are significantly increased due to the arranged features of the larger damping plate with shallow submergence, which are positive factors as a motion reduction device of the floating offshore platform. Also the numerical results for an oscillating submerged disk show that the added mass is negative and that the damping coefficient has a peak value at resonant frequency when submergence depth is sufficiently small.

• International Journal of Naval Architecture and Ocean Engineering
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• v.8 no.1
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• pp.53-65
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• 2016

The interaction between incident waves and a floating rectangular breakwater with the vertical porous side plates has been investigated in the context of the two-dimensional linear potential theory. The matched eigenfunction expansion method(MEEM) for multiple domains is applied to obtain the analytic solutions. The dependence of the transmitted coefficients and motion responses on the design parameters, such as porosity and protruding depth of side plates, is systematically analyzed. It is found that the non-dimensional wavelength where the sudden drop of transmission coefficients occurs, corresponds to the heave resonant frequency obtained from Ruol et al. (2013) for $\pi$-type floating breakwater. It is concluded that both properly selected porosity and deeper protruding depth of side plates are helpful in reducing the transmission coefficients and also extending the wider applicable extent of incident wavelength for performance enhancement.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.7
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• pp.104-118
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• 1998

In this paper, the motion of ballscrew and shape of workpiece are the main objective variables varying with load conditions. To verify feed mechanism in NC lathe, the monitoring system is designed and cutting condition variables are spindle speed depth of cut and feed. During machining, rotation number of ballscrew motion of ballscrew in direction to gravity center and cutting force are measured. After machining, the roughness of workpiece is measured.