• 제어로봇시스템학회논문지
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• 제10권5호
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• pp.434-441
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• 2004

In this paper, an exoskeleton-type motion capturing system is designed and implemented. The device is designed to have 12 degree-of-freedom entirely to represent human arm motions. Forward and inverse kinematics of the device are analyzed to make sure of its singular positions. With the designed model parameters, simulation studies are conducted to verify that the designed motion capturing system is effective to represent human motions within the workspace. As a counterpart of the exoskeleton system, a mobile robot is built to follow human motion restrictively. Experimental studies of teleoperation from the exoskeleton device to control the mobile robot are carried out to show feasible application of wireless man-machine interface.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2003년도 ISIS 2003
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• pp.62-65
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• 2003

We propose the Distance Communication System that is not only Making Distance Learning Contents but also controlling intellectual moving object. In order to make Distance Learning Contents (Video Contents), we must follow the motion of lecturer. In the former Systems and a person operates Video-Camera because it's not enough to follow the motion, In this research and we make the systems that can match the motion of lecturer naturally. The systems use Intelligent Space software and so the systems recognize lecturer's motion automatically and order Pan/Tilt-Type Camera to follow the motion. And we made possible to operate an intellectual moving object with application of this system.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.359-363
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• 2004

Numerous studies have been performed to analyze various phenomena of human's walking, gait. In the present study, unrecognized walking and recognized walking were analyzed by three dimensional motion capture system(VICON motion system Ltd., England) and simulated by computer program. Two normal males participated in measuring the motion of unrecognized and recognized walking. Six infrared cameras and four force plates were used and sixteen reflective markers were attached to the subject to capture the motion. A musculoskeletal model was generated anatomically by using ADAMS(MSC software corp., USA) and LifeMOD(Biomechanics Research Group Inc, USA). The inverse dynamic simulation and forward dynamic simulation were also performed. The result of simulation was similar to the experimental result. This study provides the base line for dynamic simulation of the falling walking. It will be useful to simulate various another pathologic gaits for old peoples.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.296-299
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• 2001

We developed a motion capture system to get angle data of human joints in the walking mode. The motion capture system is a pair of leg-shape device, which is composed of three links with ankle, knee and pelvis joints. The sensors for measurement of the joint angle are potentiometers. We used an A/D converter to get digital data from joint angles, and which are used to simulate and coordinate the biped-walking robot developed in our laboratory. To simulate and analyze walking motion, animation based on three-dimension motion is performed using the open inventor software.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.264-268
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• 1987

This paper is concerned on kinematic analysis and simulation of an automatic feeding mechanism subjected by the motion of a curvilinear inverse can. The curvilinear cam is rotated by positioning a translating roller and the automatic feeding mechanism is moved to the sliding position by the motion of a campin fixed on the curvilinear cam. The curvilinear cam consists of two arcs of circles and two straight lines. The modular approach is used for the kinematic analysis of the feeding mechanism. As the first part of the paper for the motion simulation of the cam-feeding system, this paper discusses the algorithm to simulate the motion of the cam-feeding mechanism. The second part of the paper presents the state-of-art for the graphics-oriented CAD technique,

• 한국군사과학기술학회지
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• 제12권5호
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• pp.622-635
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• 2009

Laser Inertial Navigation System(LINS) consists of Ring Laser Gyroscopes(RLG) and accelerometers. RLG has a lock-in region in which there is zero output for input angular rates less than about 0.1deg/sec. The lock-in region is generated by the imperfect mirrors in RLG. To avoid the lock-in region, a sinusoidal motion called dither motion is applied on RLG. Therefore this dither motion is measured by RLG/accelerometer even if at a stop state. In this situation, the performance on the initial alignment of LINS can be degraded. In this paper, we analyze the performance on the initial alignment of LINS theoretically and experimentally. Analysis results include how dither motion, the pre-filter and the corner frequency in alignment loop affects the performance on the initial alignment of LINS.

• 한국정밀공학회지
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• 제15권3호
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• pp.127-132
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• 1998

Mobile wheeled robots are nonholonomically constrained systems. Generally, it is very difficult to describe the motion of mechanical systems with nonintegrable nonholonomic constraints. An objective of this study is to describe the motion of a robot with a free wheel. The motion of holonomically and/or nonholonomically constrained system can be simply determined by Generalized Inverse Method presented by Udwadia and Kalaba in 1992. Using the method, we describe the exact motion of the robot and determine the constraint force exerted on the robot for satisfying constraints imposed on it. The application illustrates the ease with which the Generalized Inverse Method can be utilized for the purpose of control of nonlinear system without depending on any linearization, maintaining precision tracking motion and explicit determination of control forces of nonholonomically constrained system.

• 로봇학회논문지
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• 제1권2호
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• pp.180-187
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• 2006

This paper presents a new sensor system, CALOS, for motion estimation and 3D reconstruction. The 2D laser sensor provides accurate depth information of a plane, not the whole 3D structure. On the contrary, the CCD cameras provide the projected image of whole 3D scene, not the depth of the scene. To overcome the limitations, we combine these two types of sensors, the laser sensor and the CCD cameras. We develop a motion estimation scheme appropriate for this sensor system. In the proposed scheme, the motion between two frames is estimated by using three points among the scan data and their corresponding image points, and refined by non-linear optimization. We validate the accuracy of the proposed method by 3D reconstruction using real images. The results show that the proposed system can be a practical solution for motion estimation as well as for 3D reconstruction.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 하계종합학술대회 논문집(4)
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• pp.113-116
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• 2002

Windows provides Directshow for efficient multimedia streaming processings such as multimedia capture, storage, display and etc. Presently, many motion picture codecs and audio codecs are made to be used in Directshow framework and Windows also supports many codecs (MPEG4, H,263, WMV, WMA, ASF, etc.) in addition to a lot of useful tools for multimedia streaming processing. Therefore, Directshow can be effectively utilized for developing windows-based multimedia streaming applications such as visual monitoring systems which needs to store real-time video data for later retrieval. In this paper, we present our efforts for developing a Directshow Filter System supporting storage of motion pictures in various motion picture codecs. Our Directshow Filter system also provides an additional functionality of motion detection.

• Journal of Positioning, Navigation, and Timing
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• 제12권4호
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• pp.409-421
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• 2023

In order to develop navigation systems, simulators that provide navigation sensors data are required. A trajectory generator that simulates vehicle motion is needed to generate navigation sensors data in the simulator. In this paper, a trajectory generator for evaluating navigation system performance is proposed. The proposed trajectory generator consists of two parts. The first part obtains parameters from the motion scenario file whereas the second part generates position, velocity, and attitude from the parameters. In the proposed trajectory generator six degrees of freedom, halt, climb, turn, accel turn, spiral, combined, and waypoint motions are given as basic motions with parameters. These motions can be combined to generate complex trajectories of the vehicle. Maximum acceleration and jerk for linear motion and maximum angular acceleration and velocity for rotational motion are considered to generate trajectories. In order to show the usefulness of the proposed trajectory generator, trajectories were generated from motion scenario files and the results were observed. The results show that the proposed trajectory generator can accurately simulate complex vehicle motions that can be used to evaluate navigation system performance.