• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.428-433
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• 1993

An analytic solution approach to the time-varying obstacle avoidance problem is pursued. We use the view-time concept, especially the adaptive view-time. First. we introduce the adaptive view-time and analyze its properties. Next, we propose a view-time based motion planning method. The proposed method is applied and simulated for the collision-free motion planning of a 2 DOF robot manipulator. We simulate the robot motion under several different view-time systems. Generally, the motion planning with the adaptive view-time systems has some advantages over that with the fixed view-time systems.

• 한국운동역학회지
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• 제17권3호
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• pp.69-80
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• 2007

The purpose of this study was to investigate the difference of ground reaction forces of swimming athletes during their starting motion and to find out the most effective starting motions which were used in swimming athletes. The subjects were 9 male and 8 female high school swimming athletes who were athletic career over 7 years and used three starting motions in competition. The ground reaction forces were measured from each athletes performing three starting motion each of the open grap starting motion, closed grap starting motion and track starting motion. For the measurement, the force platform of AMTI company was utilized, and the analysis on measured ground reaction forces were used of Biosoft(Ver. 1.0). The items measured were stance time, Fz max deceleration force and Fz max deceleration force time, Fz mid stance force and Fz mid stance force time, Fz max acceleration force and Fz max acceleration force time, Torque maximum and Torque maximum time, Torque average, Excursion along Y axis of center of pressure of foot, Excursion along X axis of center of pressure of foot, Length of center of pressure of foot, Average velocity of center of pressure of foot. The data measured by the closed grap starting motion, open grap starting motion and track starting motion were analyzed by one-way repeated ANOVA. The results were as follows ; 1. The Fz max deceleration force time, Fz mid stance force, Fz max acceleration force, Torque maximum and Torque maximum time, Excursion along Y axis of center of pressure of foot, Average velocity of center of pressure of foot were significantly fast and large in the closed grap starting motion then open grap starting motion and track starting motion. 2. The Excursion along Y axis of center of pressure of foot was significantly long in the closed grap starting motion then open grap starting motion and track starting motion.

• Journal of Information Processing Systems
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• 제13권4호
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• pp.818-833
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• 2017

This paper introduces a new algorithm that renders motion blur using triangular motion paths. A triangle occupies a set of pixels when moving from a position in the start of a frame to another position in the end of a frame. This is a motion path of a moving triangle. For a given pixel, we use a motion path of each moving triangle to find a range of time that this moving triangle is visible to the camera. Then, we sort visible time ranges in the depth-time dimensions and use bitwise operations to solve the occlusion problem. Thereafter, we compute an average color of each moving triangle based on its visible time range. Finally, we accumulate an average color of each moving triangle in the front-to-back order to produce the final pixel color. Thus, our algorithm performs shading after the visibility test and renders motion blur in real time.

• 대한임베디드공학회논문지
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• 제8권6호
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• pp.295-301
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• 2013

In this paper, we propose a real-time centralized soft motion control system for high speed and precision robot control. The system engages EtherCAT as high speed industrial motion network to enable force based motion control in real-time and is composed of software-based master controller with PC and slave interface modules. Hard real-time control capacity is essential for high speed and precision robot control. To implement soft based real time control, The soft based master controller is designed using a real time kernel (RTX) and EtherCAT network, and servo processes are located in the master controller for centralized motion control. In the proposed system, slave interface modules just collect and transfer all sensor information of robot to the master controller via the EtherCAT network. It is proven by experimental results that the proposed soft motion control system has real time controllability enough to apply for various robot control systems.

• 국제학술발표논문집
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• The 6th International Conference on Construction Engineering and Project Management
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• pp.321-323
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• 2015

Monitoring crane motion in real time is the first step to identifying and mitigating crane-related hazards on construction sites. However, no accurate and reliable crane motion capturing technique is available to serve this purpose. The objective of this research is to explore a method for real-time crane motion capturing and investigate an approach for assisting hazard detection. To achieve this goal, this research employed various techniques including: 1) a sensor-based method that accurately, reliably, and comprehensively captures crane motions in real-time; 2) computationally efficient algorithms for fusing and processing sensing data (e.g., distance, angle, acceleration) from different types of sensors; 3) an approach that integrates crane motion data with known as-is environment data to detect hazards associated with lifting tasks; and 4) a strategy that effectively presents crane operator with crane motion information and warn them with potential hazards. A prototype system was developed and tested on a real crane in a field environment. The results show that the system is able to continuously and accurately monitor crane motion in real-time.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.367-370
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• 1996

This study deals with the motion modeling by the unit motion of robots and the work measurement through classification of robot motions and standardization. The proposed approach is to scrutinize the Predetermined Time Standards(PTS) methods for measurement of manual tasks performed by people and the basic motions for accomplishing that tasks. And then, it constructs the unit motion models as subsets composed with the basic motions. It apply together with movements distance as a time variable, too. These results are used for the work measurements of robots by the unit motion models.

• 한국CDE학회논문집
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• 제19권1호
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• pp.68-79
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• 2014

Human model simulation has been widely used in various industrial areas such as ergonomic design, product evaluation and characteristic analysis of work-related musculoskeletal disorders. However, the process of building digital human models and capturing their behaviors requires many costly and time-consuming fabrication iterations. To overcome the limitations of this expensive and time-consuming process, many studies have recently presented a markerless motion capture approach that reconstructs the time-varying skeletal motions from optical devices. However, the drawback of the markerless motion capture approach is that the phenomenon of occlusion of motion data occurs in real-time human simulation. In this study, we propose a systematic method of discriminating missing or inaccurate motion data due to motion occlusion and interpolating a sequence of motion frames captured by a markerless depth camera.

• 정보처리학회논문지:소프트웨어 및 데이터공학
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• 제7권11호
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• pp.405-410
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• 2018

표면 실장 장비에서 같은 시간 동안 더 많은 부품을 실장한다면, 이는 전체 생산량이 증가하며, 생산성 향상을 가져올 것이다. 본 논문에서는 표면 실장 장비의 생산성 향상을 위해 부품의 흡착에서 실장까지의 겐트리 구동 시간을 줄일 수 있는 방법을 제시하였다. 그 방법은 비전 검사 시 카메라 앞에서 최대의 속도를 낼 수 있는 방법을 찾는 것이었다. 이를 위해 본 논문에서는 비전 검사 시 stop-motion방식, fly1-motion방식 그리고 fly2-motion방식의 구동 시간 계산 알고리즘을 개발하였으며, 3가지 방식의 구동 시간을 계산하여 비교해보았다. 그 결과 stop-motion방식보다 fly1-motion방식이 13%, fly2-motion방식이 18%의 시간 단축을 할 수 있었다.

• 대한통합의학회지
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• 제7권1호
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• pp.81-88
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• 2019

Purpose : The purpose of this study was to examine if there is any correlation between pelvic tilt angle and trunk motion and trunk extensor during trunk forward flexion and to measure trunk motion, onset time of trunk motion, and onset time of trunk extensor activation. Methods : The subjects of this study were 42 healthy adults. The subjects had no back pain due to neurological disease and no experience of back surgery. After pelvic tilt angle was measured, each trunk forward flexion was performed three times. Trunk motion and onset time of trunk motion were measured using Myomotion. Four sensors were used, with one located at the upper thoracic (below $C_7$), the lower thoracic ($T_{12}-L_1$), the sacrum ($S_1$), and at the center of the anterior femur. Onset time of trunk extensors (spinalis, longissimus, gluteus medius, gluteus maximus, biceps femoris, and gastrocnemius) activation was measured using a wireless surface EMG. The EMG amplitude was normalized by using the reference voluntary contraction (RVC). The statistical significance of the results were evaluated using Pearson's correlation test. Results : The correlation between pelvic tilt angle and lumbar motion, onset time of pelvis motion, and onset time of gluteus medius activation was statistically significant in a positive direction (p<.05). The correlation between pelvic tilt angle with pelvis motion, onset time of lumbar motion, and onset time of longissimus activation showed a statistically significant negative correlation (p<.05). Conclusion : The study results provide a significant contribution to our understanding of the lumbar load at the initial stage of trunk flexion. Therefore, it may be possible to provide basic data for evaluation and treatment, such as orthodontic treatment for alignment of the spine and back pain. In addition, it is necessary to focus on normal exercise pattern reeducation as well as pelvic correction during exercise in daily life or in industrial fields.

• 한국기계가공학회지
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• 제10권3호
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• pp.33-38
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• 2011

A cubic spline trajectory planner with arc-length parameter is formulated with estimation by summing up to the 3rd order in Taylor's expansion. The PVAJT motion planning is presented to reduce trajectory calculation time at every cycle time of servo control loop so that it is able to generate cubic spline trajectory in real time. This method can be used to more complex spline trajectory. Several case studies are executed with different values of cycle time and sampling time, and showed the advantages of the PVAJT motion planner. A DSP-based motion controller is designed to implement the PVAJT motion planning.