• 동력기계공학회지
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• 제7권3호
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• pp.54-60
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• 2003

In general, the swing motion of the crane is controlled and suppressed by activating the trolley motion. In this paper, we suggest a new type of anti-sway control system of the crane. In the proposed control system, a small auxiliary mass(moving-mass) is installed on the spreader and the swing motion is controlled by moving the auxiliary mass. The actuator reaction against the auxiliary mass applies inertial control forces to the container to reduce the swing motion in the desired manner. In this paper, we apply the $H_{\infty}$ based control technique to the anti-sway control system design problem. And the experimental result shows that the proposed control system is shown to be useful and robust to disturbances like winds and initial sway motion.

• 동력기계공학회지
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• 제8권1호
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• pp.55-61
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• 2004

In general, the swing motion of the crane is controlled and suppressed by activating the trolley motion. In this paper, we suggest a new type of anti-sway control system of the crane. In the proposed control system, a small auxiliary mass(moving-mass) is installed on the spreader and the swing motion is controlled by moving the auxiliary mass. The actuator reaction against the auxiliary mass applies inertial control forces to the container in order to reduce the swing motion in the desired manner. In this paper, we apply the $H_{\infty}$ based control technique to the anti-sway control system design problem. And the experimental result shows that the proposed control system is useful and robust to disturbances like winds and initial sway motion.

• 한국통신학회논문지
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• 제22권6호
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• pp.1343-1355
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• 1997

Full motion video data is the most effective data type that transmits information in multimedia enviornment. VOD service is system that uses network to transmit full motion video data interactively. Therefore VOD service system must satisfy the following requirements. First, it should transmit high quality full motion video. Second, it should be able to control a large quantity of full motion video. Third, a user should be able to retrieve the full motion vide effectively. However the existing VOD service system is established based n file system that not only does it have disadvantages in managment such as transaction control but also it is not suitable for distributed multimedia environment. The goal of this research is to build a VOD service system that provides high-quality full motion video assuming information retrieval. In order to mainly search video data's bibliographical information and to manage related information, VOD service system and DBMS system are to be closely related. Also, to transmit high quality full motion video data, we use MTP$^{TM}$(Media Transfer Protocol) developed by StarLight. MTP$^{TM}$ guarantees high bandwidth that is necessary to tansmit high quality full motion video data effectively. In other hand TCP/IP which is used for information search does not guarentee high bandwidth as that in MTP$^{TM}$. Therfore VOD service system that seraches information managed by DBMS and transmits requried full motion video data should control different kinds of protocol simultaneously. This paper describes the configuration of VODB system that has solved these problems, implementation and efficiency of data applied system.stem.

• 제어로봇시스템학회논문지
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• 제6권10호
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• pp.871-880
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• 2000

A twin-servo mechanism is used to increase the payload capacity and assembling speed of high precision motion control systems such as semiconductor chip mounters. In this paper, we focus on the modeling of the twin-servo system and propose its network representation. And also, we propose a robust synchronizing motion control algorithm to cancel out the skew motion of the twin-servo system caused by different dynamic characteristics of two driving systems and the vibration generated by high accelerating and decelerating motions. The proposed control algorithm consists of separate feedback motion control algorithms for each driving system and a skew motion compensation algorithm. A robust tracking controller based on internal-loop compensation is proposed as a separate motion controller and its disturbance attenuation property is shown. The skew motion compensation algorithm is also designed to maintain the synchronizing motion during high speed operation, and the stability of the whole closed loop system is proved based on passivity theory. Finally, experimental results are shown to illustrate control performance.

• 한국컴퓨터정보학회논문지
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• 제20권9호
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• pp.39-45
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• 2015

Along with the advance of digital technology, various methods are adopted for capturing the 3D animating data. Especially, in 3D animation production market, the motion capture system is widely used to make films, games, and animation contents. The technique quickly tracks the movements of the actor and translate the data to use as animating character's motion. Thus the animation characters are able to mimic the natural motion and gesture, even face expression. However, the conventional motion capture system needs tricky conditions, such as space, light, number of camera etc. Furthermore the data acquired from the motion capture system is frequently corrupted by noise, drift and surrounding environment. In this paper, we introduce the post production techniques to stabilizing the jitters of motion capture data from the low cost handy system based on Kinect.

• 한국컴퓨터산업학회논문지
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• 제8권3호
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• pp.181-186
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• 2007

폐쇄된 계 내부와 외부에서 작용되는 운동에는 선형 열린 운동과 닫힌 운동이 있고 비선형 열린 운동과 닫힌 운동이 있다. 선형 닫힌 운동이 마찰과 같은 외력을 받을시 갇힌 운동이 발생된다. 회전 닫힌 운동에도 마찰과 같은 외력을 받을시 회전 갇힌 운동이 있음을 해석 한다. 회전 닫힌 운동과 갇힌 운동을 액체 실험 장치를 통하여 정량적으로 고찰하고 회전 갇힌 운동이 있음을 분석하여 회전 열린 운동, 닫힌 운동 과 갇힌 운동에 대한 컴퓨터 씨뮬레이션 수식모델을 정한다. 그리고 간단한 운동 장치의 그래픽 구조를 고려 할 수 있도록 소개한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1344-1347
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• 1996

A general procedure for motion capture and mimic system has been delineated. Utilizing sensors operated in the magnetic fields, complex and optimized movements are easily digitized to analyze and follow. Design concepts of the system are modular, open, and user friendly to ensure the overall system performance. The system consists of motion capture, visualization, plan, mimic and GUI modules. This procedure is currently being implemented on a virtual cyber cube.

• 로봇학회논문지
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• 제12권2호
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• pp.184-193
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• 2017

This work shows how to create an algorithm and implementation for motion and image matching between a vehicle simulator and Unity 3D based virtual object. The motion information of the virtual vehicle is transmitted to the real simulator via a RS232 communication protocol, and the motion is controlled based on the inverse kinematics solution of the platform adopting rotary-type six actuators driving system. Wash-out filters to implement the effective motion of the motion platform are adopted, and thereby reduce the dizziness and increase the realistic sense of motion. Furthermore, the simulator system is successfully designed aiming to reducing size and cost with adaptation of rotary-type six actuators, real driving environment via VR (Virtual Reality), and control schemes which employ a synchronization between 6 motors and 3rd order motion profiles. By providing relatively big sense of motion particularly in impact and straight motions mainly causing simulator sickness, dizziness is remarkably reduced, thereby enhancing the sense of realistic motion.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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• pp.243-247
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• 1996

A general procedure for motion capture and mimic system has been delineated. Utilizing sensors operated in the magnetic fields, complicated and optimized movements are easily digitized to analyze and reproduce. The system consists of a motion capture module, a motion visualization module, a motion plan module, a motion mimic module, and a GUI module. Design concepts of the system are modular, open, and user friendly to ensure the overall system performance. This procedure is being implemented on a virtual cyber cube. and an inverted pendulum. With modifications, this procedure can applied for complicated motion controls.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제12권2호
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• pp.121-130
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• 2012

This paper proposes an intuitive real-time robot control system using human body movement. Recently, it has been developed that motion generation for humanoid robots with reflecting human body movement, which is measured by a motion capture. However, in the existing studies about robot control system by human body movement, the detailed structure information of a robot, for example, degrees of freedom, the range of motion and forms, must be examined in order to calculate inverse kinematics. In this study, we have proposed Associative Motion Generation as humanoid robot motion generation method which does not need the detailed structure information. The associative motion generation system is composed of two neural networks: nonlinear principal component analysis and Jordan recurrent neural network, and the associative motion is generated with the following three steps. First, the system learns the correspondence relationship between an indication and a motion using training data. Second, associative values are extracted for associating a new motion from an unfamiliar indication using nonlinear principal component analysis. Last, the robot generates a new motion through calculation by Jordan recurrent neural network using the associative values. In this paper, we propose a real-time humanoid robot control system based on Associative Motion Generation, that enables user to control motion intuitively by human body movement. Through the task processing and subjective evaluation experiments, we confirmed the effective usability and affective evaluations of the proposed system.