• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2006.10a
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• pp.123-128
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• 2006

This paper presents the design of a surveillance night vision system for marine ships. Both a hardware system and software modules for tracking control are developed. In order to control each control axis with compensation for ship motion, the two-degree of freedom(TDF) PID controller is designed and its parameters are tuned using a real-coded genetic algorithm(RCGA). Simulation demonstrates the effectiveness of the proposed system.

• The KIPS Transactions:PartB
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• v.18B no.1
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• pp.11-20
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• 2011

Pictorial Structures is known as an effective method that recognizes and tracks human poses. In this paper, the upper body pose is also tracked by PS and a particle filter(PF). PF is one of dynamic programming methods. But Markov chain-based dynamic motion model which is used in dynamic programming methods such as PF, couldn't predict effectively the highly articulated upper body motions. Therefore PF often fails to track upper body pose. In this paper we propose the key pose-based proposal distribution for proper particle prediction based on the similarities between key poses and an upper body silhouette. In the experimental results we confirmed our 70.51% improved performance comparing with a conventional method.

• The KIPS Transactions:PartB
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• v.12B no.7 s.103
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• pp.721-728
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• 2005

This paper suggests effective object detection system for moving objects with specified color and motion information. The proposed detection system includes the object extraction and definition process which uses MCN(Multiple Color Normalization) and MCWUPC(Moving Color Weighted Unmatched Pixel Count) computation to decide the existence of moving object and object segmentation technique using signature information is used to exactly extract the objects with high probability. Finally, real time detection system is implemented to verify the effectiveness of the technique and experiments show that the success rate of object tracking is more than $89\%$ of total 120 image frames.

• The Journal of Korea Robotics Society
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• v.11 no.2
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• pp.92-99
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• 2016

An electro-hydraulic actuator (EHA) is widely used in industrial motion systems and the increasing bandwidth of EHA position control is important issue. The model-inverse feedforward controller is known to extend the bandwidth of system. When the system has non-minimum phase (NMP) zeros, direct model inversion makes system unstable. To overcome this problem, an approximate model-inverse method is used. A representative approximate model inversion method is zero phase error tracking control (ZPETC). However, if zeros locate right half plane of z-plane, the approximate inverse model amplifies the high-frequency response. In this paper, to solve the problem of ZPETC, an adaptive model-inverse control is proposed. The adaptive algorithm updates feedforward term in real-time. The effectiveness of the proposed adaptive model-inverse position control strategy is verified by comparison with typical proportional-integral (PI) control and feedforward control by experiments. As a result, the proposed adaptive controller extends the bandwidth of EHA position control.

• International Journal of Aeronautical and Space Sciences
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• v.18 no.3
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• pp.565-573
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• 2017

This paper presents a multistage in-flight alignment (MIFA) method for a strapdown inertial navigation system (SDINS) suitable for moving vehicles with no initial attitude references. A SDINS mounted on a moving vehicle frequently loses attitude information for many reasons, and it makes solving navigation equations impossible because the true motion is coupled with an undefined vehicle attitude. To determine the attitude in such a situation, MIFA consists of three stages: a coarse horizontal attitude, coarse heading, and fine attitude with adaptive Kalman navigation filter (AKNF) in order. In the coarse horizontal alignment, the pitch and roll are coarsely estimated from the second order damping loop with an input of acceleration differences between the SDINS and GPS. To enhance estimation accuracy, the acceleration is smoothed by a scalar filter to reflect the true dynamics of a vehicle, and the effects of the scalar filter gains are analyzed. Then the coarse heading is determined from the GPS tracking angle and yaw increment of the SDINS. The attitude from these two stages is fed back to the initial values of the AKNF. To reduce the estimated bias errors of inertial sensors, special emphasis is given to the timing synchronization effects for the measurement of AKNF. With various real flight tests using an UH60 helicopter, it is proved that MIFA provides a dramatic position error improvement compared to the conventional gyro compass alignment.

• Transactions of the Society of Information Storage Systems
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• v.3 no.4
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• pp.191-195
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• 2007

The optical disc drive has used a high NA objective lens and a shorter wavelength laser diode for high recording density. But high NA and shorter wavelength cause several margins to become short. Focusing and tracking servo has to be more accurate and active tilt compensation mechanism is also needed for coma aberration compensation. In this paper, we proposed 3-axis moving magnet type actuator. For 3-DOF motion, moving coil actuator has to be equipped with 6 wires for supplying 3 independent signals. However, moving magnet type actuator doesn't need to change the configuration of wires because coils are in stator. So, we added a tilt mechanism to the 2-axis moving magnet actuator which is designed in previous research. Addition of the tilt mechanism cuts down the focus sensitivity. So, maximization the tilting sensitivity and securing the focusing sensitivity are objectivities of this research. DOE (design of experiments) procedures of electromagnetic circuit are performed for parameter study and the optimization is also performed to maximize the tilt sensitivity. And then the final design is suggested and its performance is verified by FE simulation.

• Proceedings of the Korea Information Processing Society Conference
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• 2018.10a
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• pp.478-479
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• 2018

수부는 일상생활동작(ADL, activities of daily living)을 위한 중요 부위로 손상이나 장애가 있는 경우 재활치료를 통해 과제수행능력을 향상시킨다. 그러나 치료 과정은 주관적으로 진행되어 정확한 치료 성과를 위한 객관적 지표가 필요하다. 본 논문에서는 실제 수부 움직임을 추적할 수 있는 동작인식 장비인 립모션 컨트롤러와 Unity3D로 가상공간 상에서 구현된 Box&Block Test를 이용하여 수부 움직임에 대한 객관적인 데이터를 얻었다. 기존 Box&Block Test와 제안한 모션인식과 추적에 의한 수지손상 환자용 진단 및 치료시스템의 성능을 T검정 수행한 결과 통계적으로 유의미한 차이가 없음을 보였으며 수부 움직임의 정량적인 데이터를 통해 정확한 치료성과 판단의 가능성을 확인하였다.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1777-1778
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• 2007

In this paper, We design and implement a humanoid robot, With Educational purpose, which can collaborate and communicate with human. We present an affective human-robot communication system for a humanoid robot, D2, which we designed to communicate with a human through dialogue. D2 communicates with humans by understanding and expressing emotion using facial expressions, voice, gestures and posture. Interaction between a human and a robot is made possible through our affective communication framework. The framework enables a robot to catch the emotional status of the user and to respond appropriately. As a result, the robot can engage in a natural dialogue with a human. According to the aim to be interacted with a human for voice, gestures and posture, the developed Educational humanoid robot consists of upper body, two arms, wheeled mobile platform and control hardware including vision and speech capability and various control boards such as motion control boards, signal processing board proceeding several types of sensors. Using the Educational humanoid robot D2, we have presented the successful demonstrations which consist of manipulation task with two arms, tracking objects using the vision system, and communication with human by the emotional interface, the synthesized speeches, and the recognition of speech commands.

• Proceedings of the KAIS Fall Conference
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• 2011.12a
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• pp.241-243
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• 2011

인체동작 인식에 대한 연구는 재활치료, 운동선수의 동작 교정 및 모니터링, 3차원 애니메이션 제작등 많은 분야에서 필요로 하고 있다. 동작 인식에 대한 일반적인 방법으로는 반사 마커를 부착하여 여러 대의 적외선 카메라로 관절 운동을 관찰하는 방식이였다. 이러한 방식은 여러 개의 마커를 사용자들이 옷을 벗고 몸에 붙이거나 특수 복장을 착용해야 하는 불편함이 있을 뿐만 아니라 초기 위치 보정에도 많은 시간이 소모된다. 이와 같은 문제점을 해결하기 위하여 본 연구에서는 어떠한 특수 장비를 착용하거나 몸에 부착하지 않고 즉각적으로 인체의 움직임을 트래킹 할 수 있는 마커리스 트래킹시스템을 개발하였다. 이 시스템은 사람의 동작 분석을 하는데 있어 빠르게 측정 및 분석이 가능하고 특수 장비를 착용하지 않아도 됨으로 인해 동작에 방해를 받지 않아서 3차원 영상을 즉각적으로 확인할 수 있는 편리성을 갖추고 있다.

• The Journal of the Korea institute of electronic communication sciences
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• v.14 no.5
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• pp.991-1000
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• 2019

The flying-disc game has started since 1940. It has been spreading rapidly in Korea since 2007, mainly in elementary schools. Additionally, as sports science has been developed, research on flying discs has been continued to build a monitoring system for technological improvement and efficiency. In this paper, we acquire information on the user's flying-disc using 9-axis motion sensor and GPS. Then we propose a method for wireless transmission using Bluetooth 5.0. Specifically, the HW platform was designed and implemented not only to monitor a real-time data but also to compare and analyze rotational speed, flight trajectory, and a count of disc rotation through post-processing.