• International Journal of Aeronautical and Space Sciences
• /
• v.11 no.1
• /
• pp.31-40
• /
• 2010

For weapon cueing and Head-Mounted Display (HMD), it is essential to continuously estimate the motion of the helmet. The problem of estimating and predicting the position and orientation of the helmet is approached by fusing measurements from inertial sensors and stereo vision system. The sensor fusion approach in this paper is based on nonlinear filtering, especially expended Kalman filter(EKF). To reduce the computation time and improve the performance in vision processing, we separate the structure estimation and motion estimation. The structure estimation tracks the features which are the part of helmet model structure in the scene and the motion estimation filter estimates the position and orientation of the helmet. This algorithm is tested with using synthetic and real data. And the results show that the result of sensor fusion is successful.

• Journal of the Korean Society for Precision Engineering
• /
• v.20 no.3
• /
• pp.187-193
• /
• 2003

This paper presents an on-machine measurement method of flatness error fur surface machining processes. There are two kinds of on-machine measurement methods available to measure flatness errors in workpieces: i.e., surface scanning method and sensor scanning method. However, motion errors are often engaged in both methods. This paper proposes an idea to realize a measurement system of flatness errors and its rigorous application for estimation of motion errors of the positioning system. The measurement system is made by modifying the straightness measurement system, which consists of a laser, a CCD camera and processing system, a sensor head, and some optical units. The sensor head is composed of a retroreflector, a ball and ball socket, a linear motion guide unit and adjustable arms. The experimental .results show that the proposed method is useful to identify flatness errors of machined workpieces as well as motion errors of positioning systems.

• International Journal of Advanced Culture Technology
• /
• v.9 no.3
• /
• pp.367-372
• /
• 2021

The purpose of this study is to suggest that the movement expression activity of intellectually disabled people is effective in the learning process of LMA motion recognition based on Kinect sensor. We performed an ICT motion recognition games for intellectually disabled based on movement learning of LMA. The characteristics of the movement through Laban's LMA include the change of time in which movement occurs through the human body that recognizes space and the tension or relaxation of emotion expression. The design and implementation of the motion recognition model will be described, and the possibility of using the proposed motion recognition model is verified through a simple experiment. As a result of the experiment, 24 movement expression activities conducted through 10 learning sessions of 5 participants showed a concordance rate of 53.4% or more of the total average. Learning motion games that appear in response to changes in motion had a good effect on positive learning emotions. As a result of study, learning motion games that appear in response to changes in motion had a good effect on positive learning emotions

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.663-668
• /
• 2003

This paper presents a new observation system which is useful to observe the scene of the remote controlled robot vision. This system is composed of a motionless camera and head motion detector with a motion sensor. The motionless camera has a fish eye lens and is for observing a hemisphere space. The head motion detector has a motion sensor is for defining an arbitrary subspace of the hemisphere space from fish eye lens. Thus processing the angular information from the motion sensor appropriately, the direction of face is estimated. However, since the fisheye image is distorted, it is unclear image. The partial domain of a fish eye image is selected by head motion, and this is converted to perspective image. However, since this conversion enlarges the original image spatially and is based on discrete data, crevice is generated in the converted image. To solve this problem, interpolation based on an intensity of the image is performed for the crevice in the converted image (space problem). This paper provides the experimental results of the proposed observation system with the head motion detector and perspective image conversion using the proposed conversion and interpolation methods, and the adequacy and improving point of the proposed techniques are discussed.

• Proceedings of the IEEK Conference
• /
• 2009.05a
• /
• pp.375-377
• /
• 2009

This paper researched the algorithm of robot's walking and action on the basis of robot studied and made at our laboratory and studied how to efficiently control the robot joints by developing wireless Digital Servo Motor using Zigbee Sensor Network Module which is using at wide part recently. I realized the stable walking by adopt Press Sensor at the bottom of robot foot to get stability of walking. Also I let the algorithm calculate the robot movement to make the joint motion and monitored the robot walk to its motion. At this Paper, I studied the method organizing the motion by the each robot walking and measuring the torque applying to the joint. And I also knew that it is possible to make its control and construct hardware more conveniently than them of the existing studied and controling 2Legs Walking Robot by applying it at walking robot and developing wireless servo motor by Zirbee Sensor Network.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.28 no.1
• /
• pp.39-46
• /
• 2010

Sounding data is the essential source for the safety of ships navigation system, and fundamental to the reasonable usage and maintenance of the ocean as well. As IT tech, positioning equipment such as GPS and INS, echo sounder are developed, recently, the precise submarine topography database bas been built by Multi-Beam Echo Sounder. However, MBES data includes some inevitable error caused by several factor, and some data have errors where the terrain is wobble. The error, which causes the $moir\acute{e}$ pattern error is the main factor hindering the accuracy of MBES data results, and therefore it is necessary to figure out the main cause of the error for the improvement of the accuracy by removing error data. On this research, the main cause of the error data is studied by analyzing motion sensor value of data including the $moir\acute{e}$ pattern error. Thus, as the result of examination, it turns out that the $moir\acute{e}$ pattern error is related to the standard deviation of Roll, and error data values are results of the non-correspondence between Swath data and Roll values caused by the drastic change of Roll values. Accordingly, the error data is removed by comparing between the gradient of Swath data and Roll values. Finally, as the result of removing error data, it is expected to be able to estimate the quality of MBES using the standard deviation of Motion sensor's Roll value, and calculate the additive error factor, which minimize non-corresponding data, and also this research must be contributed to improve the accuracy of sounding for small vessels with lots of motion in the bad circumstance for navigation.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2010.05a
• /
• pp.860-863
• /
• 2010

Wireless sensor networks consist of small, autonomous devices with wireless networking capabilities. In order to further increase the applicability in real world applications, minimizing energy consumption is one of the most critical issues. Therefore, accurate energy model is required for the evaluation of wireless sensor networks. In this paper, we analyze the energy consumption for wireless sensor networks. To estimate the lifetime of sensor node, we have measured the energy characteristics of sensor node based on Telosb platforms running TinyOS. Based on the proposed model, the estimated lifetime of a battery powered sensor node can use about 6.925 months for 10 times motion detection per hour.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2007.05a
• /
• pp.655-662
• /
• 2007

This paper presents a disk-type capacitive sensor for simultaneous measurement of five-dimensional motions of a target. The sensor can be manufactured with a printed circuit board (PCB) such that the sensor can be integrated with its electronics in a single PCB board, whereby the manufacturing costs is considerably reduced. The sensor is optimally designed through an error analysis of possible mechanical errors. Furthermore, the sensor can correct the horizontal motion measurement errors due to the sensor installation tilting error. A proto-type PCB sensor, electronics and a test rig were built, and the effectiveness of the developed sensor was proved through experiments.

• Transactions on Control, Automation and Systems Engineering
• /
• v.3 no.4
• /
• pp.236-241
• /
• 2001

Teach pendant is the most widely used means of robot teaching at present. Despite the difficulties of using the motion command buttons on the teach pendant, it is an economical, robust, and effective device for robot teaching task. This paper presents the development of a force/moment direction sensor named COSMO that can improve the teach pendant based robot teaching. Robot teaching experiment of a six axis commercial robot using the sensor is described where operator holds the sensor with a hand, and move the robot by pushing, pulling, and twisting the sensor in the direction of the desired motion. No prior knowledge of the coordinate system is required. The function of the COSMO sensor is to detect the presence f force and moment along the principal axes of the sensor coordinate system. The transducer used in the sensor is micro-switch, and this intuitive robot teaching can be implemented at a very low cost.

• ETRI Journal
• /
• v.40 no.4
• /
• pp.511-521
• /
• 2018

The ability to realize human-motion imitation using robots is closely related to developments in the field of artificial intelligence. However, it is not easy to imitate human motions entirely owing to the physical differences between the human body and robots. In this paper, we propose a work chain-based inverse kinematics to enable a robot to imitate the human motion of upper limbs in real time. Two work chains are built on each arm to ensure that there is motion similarity, such as the end effector trajectory and the joint-angle configuration. In addition, a two-phase filter is used to remove the interference and noise, together with a self-collision avoidance scheme to maintain the stability of the robot during the imitation. Experimental results verify the effectiveness of our solution on the humanoid robot Nao-H25 in terms of accuracy and real-time performance.