• Journal of the Korea Society of Computer and Information
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• v.15 no.4
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• pp.65-74
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• 2010

At the aim of solving the problems appearing in traditional optical motion capturing systems such as the interference among multiple patches and the complexity of sensor and patch allocations, this paper proposes a new motion capturing system which is composed of a single camera and multiple motion sensors. A motion sensor is consisted of an acceleration sensor and a gyro sensor to detect the motion of a patched body and the orientation (roll, pitch, and yaw) of the motion, respectively. Although Image information provides the positions of the patches in 2D, the orientation information of the patch motions acquired by the motion sensors can generate 3D pose of the patches using simple equations. Since the proposed system uses the minimum number of sensors to detect the relative pose of a patch, it is easy to install on a moving body and can be economically used for various applications. The performance and the advantages of the proposed system have been proved by the experiments.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.8
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• pp.697-702
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• 2001

The ring laser gyro(RLG) has been used extensively in strapdown inertial navigation system(SDINS) because of the apparent of having wide dynamic range, digital output and high accuracy. The dithered RLG system has dynamic motion at sensor level, caused by the dithering motion to overcome the lock-in threshold. In this case, an attitude error is produced by not only the true coning of the vehicle motion but also the pseudo coning of the sensor motion. This paper describes the definition of the multi-frequency coning motion and its noncommutativity error to reject the pseudo coning error produced by the sensor motion such as the dithered RLG. The simulation results are presented to minimize the multi-frequency coning error.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2014.10a
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• pp.231-232
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• 2014

We develop a remote control system of a walking robot using a Leap motion sensor. Hand gestures and the position of fingers are provided from the Leap motion sensor. We use Processing and the LeapMotionP5 library for the development software.

• Journal of the Korea Institute of Military Science and Technology
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• v.15 no.3
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• pp.257-265
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• 2012

This paper presents a study on characteristics of precession motion of a smart munition. It's a kind of the Sensor Fuzed Weapon. The particular thing for the smart munition is that it has precession motion in the air while the sensor is searching the ground to detect ground vehicles such as tanks. The smart munition has a cylindrical shape and has a sensor attached on its side. Due to its non-uniform mass distribution, its center of gravity(CG) is located away from the center of volume(CV). In order for the smart munition to detect the target effectively, the ground searching pattern of sensor should have an uniform circular form, and for this, the precession motion of smart munition should be in its steady-state. Finally, it is necessary to choose the right initial conditions at the moment of firing, for the steady-state precession motion during flight.

• Journal of Korean Society for Geospatial Information Science
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• v.12 no.4 s.31
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• pp.35-43
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• 2004

Multibeam Echosounder system is the latest technology of a hydrographic survey utilized in producing an electronic nautical chart, obtaining a DEM with high precision, making a moving image by Swath surveying a wide area. As a fundamental study for improving the precision of MBES, we compared and analyzed measurements of DGPS and Motion sensor, and studied for the dynamic characteristics of vessel's movements. DGPS was installed in front and in the rear and on both side or the vessel and surveyed. The receiving precision of surveyed GPS results was obtained to the satisfactory extent that was possible to valuate the accuracy of Motion sensor as 0.0016$^{\circ}$ of the roll value and 0.0009$^{\circ}$ of the pitch value. The relationship between the values of heading, pitch, and roll in Motion sensor and the data of DGPS was proportional correlation. In addition, it is considered that deviations by elements like rapid turning and vibration of the vessel will be occurred, although the correlation of each deviation according to each amount or change is proportional. It is suitable that GPS installs in the central line of the vessel that is less affected than other places by waving because the amount of change in the tide level obtained from GPS survey and the value of heave are similar with the values taken by Motion sensor, and the velocity of GPS is different from installed places. The accuracy of the final result from MBES could be affected by the values of gyro and Motion sensor inputted to MBES processor because there were intervals of 15s and 13s of receiving time in gyro and Motion sensor respectively compared with the real-time measurements of DGPS.

• International Journal of Control, Automation, and Systems
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• v.1 no.3
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• pp.395-400
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• 2003

A quantitative performance evaluation of a robot teaching method using a force/moment direction sensor is presented. The performance of the teaching method using the force/moment direction sensor is compared with the conventional teaching pendant method. Two types of teaching tasks were designed and the teaching times required to complete the teaching tasks were measured and compared. Task A requires a teaching motion that involves four degrees of freedom motion. Task B requires a teaching motion that involves six degrees of freedom motion. It was found that, by using the force/moment direction sensor method, the teaching times were reduced by 25% for Task A and 45% for Task B compared to the teaching pendant method.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2016.05a
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• pp.791-793
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• 2016

In the development of various types of sensor technology, the general users smartphone, the environment is increased, which can be seen in contact with the movement recognition device, such as a console game machine (Nintendo Wii), an increase in the user needs of the action recognition-based input device there is a tendency to have. Mouse existing behavior recognition, attached to the outside, is mounted in the form of mouse button is deformed, the left mouse was the role of the right button and a wheel, an acceleration sensor (or a gyro sensor) inside to, plays the role of a mouse cursor, is to manufacture a compact, there is a difficulty in operating the button, to apply a motion recognition technology is used to operate recognition technology only pointing cursor is limited. Therefore, in this paper, using a MEMS-based motion-les Koguni tion sensor (Motion Recognition Sensor), to recognize the behavior of the two points of the human body (thumb and forefinger), to generate the motion data, and this to the foundation, compared to the pre-determined matching table (moving and mouse button events cursor), and generates a control signal by determining, were studied the generated control signal input device of the computer wirelessly transmitting.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.672-676
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• 2004

In this paper, measuring system of 5 DOF motion errors are proposed using two capacitive type sensor, a straight edge and a laser interfoerometer. Yawing error and pitching error are measured using the laser interferometer, and rolling error is measured by the reversal method using a capacitive type sensor. Linear motion errors of horizontal and vertical direction are measured using the sequential two point method. In this case, influence of angular motion errors is compensated using the previously measured angular motion errors. In the horizontal direction, measuring accuracy is within 0.05 $\mu$m and 0.27 arcsec, and in the vertical direction, it is within 0.15 $\mu$m and 0.5 arcsec. From these results, it is confirmed that the proposed measureing system is very effective to the measurement of 5 DOF motion errors in the ultra precision feed tables.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.4
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• pp.314-320
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• 2012

This paper proposes a new robust motion deblurring filter using the inertial sensor measurements for strapdown image IR applications. With taking the PSF measurement error into account, the motion blurred image is modeled by the linear uncertain state space equation with the noise corrupted measurement matrix and the stochastic parameter uncertainty. This motivates us to solve the motion deblurring problem based on the recently developed robust least squares estimation theory. In order to suppress the ringing effect on the deblurred image, the robust least squares estimator is slightly modified by adoping the ridge-regression concept. Through the computer simulations using the actual IR scenes, it is demonstrated that the proposed algorithm shows superior and reliable motion deblurring performance even in the presence of time-varying motion artifact.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.780-785
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• 1992

We present a multi-sensor fusion method in positioning control of a robot by using fuzzy logic. In general, the vision sensor is used in the gross motion control and the force/torque sensor is used in the fine motion control. We construct a fuzzy logic controller to combine the vision sensor data and the force/torque sensor data. Also, we apply the fuzzy logic controller to the peg-in-hole process. Simulation results uphold the theoretical results.