• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2004.10a
• /
• pp.312-316
• /
• 2004

In this study, a spatial 3-dof haptic mechanism is implemented. The implemented mechanism does not employ the gear transmissions as velocity reducers for all three joints but uses wire-based transmissions, thereby it is able to minimize the frictions significantly. Also, by employing the structure of the four-bar mechanism to drive third joint from close to the base, the mechanism is able to minimize the inertia effect from the third actuator very effectively. Its kinematic analysis such as position and velocity analyses are performed first. Then, its operating software development, hardware implementation, and the related interfaces between a PC and the implemented Haptic device are completed. To evaluate its potential and its performance as a haptic device, a experiment generating a virtual constraint in a operational task space is conducted and preliminary results are discussed.

• Proceedings of the KSRS Conference
• /
• v.2
• /
• pp.926-929
• /
• 2006

Some features of vertical structure of the frontal interaction zone of the warm Kuroshio Current and cold Oyashio Current are known from 1930 from analysis of ship data. Ship data however do not allow carrying out the area detailed survey opposite to satellite infrared (IR) observations which possess by high spatial and temporal resolution. Analysis of NOAA AVHRR IR images demonstrated that process of formation and development of the Kuroshio warm core rings is highly complex. They are formed as a result of development of anticyclonic meanders of the warm Kuroshio waters and spin off them from the current. Joint analysis of thermal infrared images and altimetry data has also indicated that interaction of eddies to the frontal zone plays a crucial role in formation of large eddies moving to the Southern Kuril region.

• 제어로봇시스템학회:학술대회논문집
• /
• 1993.10a
• /
• pp.660-665
• /
• 1993

Neural networks are used in the framework of sensorbased tracking control of robot manipulators. They learn by practice movements the relationship between PSD ( an analog Position Sensitive Detector) sensor readings for target positions and the joint commands to reach them. Using this configuration, the system can track or follow a moving or stationary object in real time. Furthermore, an efficient neural network architecture has been developed for real time learning. This network uses multiple sets of simple backpropagation networks one of which is selected according to which division (corresponding to a cluster of the self-organizing feature map) in data space the current input data belongs to. This lends itself to a very fast training and processing implementation required for real time control.

• Journal of the Korean Institute of Telematics and Electronics A
• /
• v.33A no.10
• /
• pp.168-176
• /
• 1996

This paper presetns a 2-D DCT architecture adopting accurac y compensator for reducing the hardware complexity and increasing processing speed in VL\ulcornerSI implementation. In the application fields such as moving pictures experts group (MPEG) and joint photographic experts group (JPEG), 2-D DCT processor must be implemented precisely enough to meet the accuracy specifications of the ITU-T H.261. Almost all of 2-D DCT processors have been implemented using many multiplications and accumulations of matrices and vectors. The number of multiplications and accumulations seriously influence on comlexity and speed of 20D DCT processor. In 2-D DCT with fixed-point calculations, the computation bit width must be sufficiently large for the above accuracy specifications. It makes the reduction of hardware complexity hard. This paper proposes the accuracy compensator which compensates the accuracy of the finite word length calculation. 2-D DCT processor with the proposed accuracy compensator shows fairly reduced hardware complexity and improved processing speed.

• Information and Communications Magazine
• /
• v.24 no.4
• /
• pp.15-26
• /
• 2007

멀티미디어 기술이 빠르게 발전함에 따라 보다 사실감 있는 콘텐츠의 수요가 급증하고 있다. 특히 2차원의 단방향 방송시스템에서 사용자의 요구에 따라 콘텐츠의 내용이 바뀌는 상호작용이 가능한 시스템이 활발히 연구되고 있다. 이러한 기술 중에 다시점 비디오는 여러 대의 카메라로 한 장면을 동시에 촬영한 영상으로, 사용자의 요구에 따라 시청 시점을 자유로이 선택할 수 있는 차세대 방송기술이다. 그러나 데이터의 양이 방대하여 다양한 서비스에 적용이 쉽지 않다. 이에 따라 MPEG(moving picture experts group)과 JVT (joint video team) 그룹은 다시점 비디오 부호화(multi-view video coding)의 국제 표준화 작업을 진행하고 있다. 2001년 12월에 시작하여 2007년 1월 국제회의까지 다시점 비디오 부호화의 요구사항, 부호화 조건, 테스트영상 선정, 세부 기술 제안 및 선정 등 국제 기술의 표준화를 위한 활동이 진행되었다. 그리고 향후 2008년까지 최종 국제 규격안이 제정될 예정이다.

• Journal of the Korean Institute of Telematics and Electronics A
• /
• v.29A no.2
• /
• pp.47-54
• /
• 1992

In this paper, a new extended JPDA (Joint Probabilistic Data Association) tracking algorithm which has more excellent performance than that of the conventional JPDA algorithm in case of the tracking of crossing targets is proposed. In the proposed extended JPDA algorithm, the velocity parameters as well as the position parameters are included to compute the association probabilities between tracks and measurement data. Then the tracking performance of crossing targets is improved and the track bias of parallel moving targets can be reduced. Accordingly, in this paper, the new extended JPDA algorithm for multitarget tracking is proposed and its good performance is shown through the computer simulation. And, tracking performance of extended JPDA algorithm is also compared with that of JPDA algorithm with our noise model.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 2001.04a
• /
• pp.239-243
• /
• 2001

Neural networks are used in the framework of sensorbased tracking control of robot manipulators. They learn by practice movements the relationship between PSD (an analog Position Sensitive Detector) sensor readings for target positions and the joint commands to reach them. Using this configuration, the system can track or follow a moving or stationary object in real time. Furthermore, an efficient neural network architecture has been developed for real time learning. This network uses multiple sets of simple backpropagation networks one of which is selected according to which division (corresponding to a cluster of the self-organizing feature map) in data space the current input data belongs to. This lends itself to a very training and processing implementation required for real time control.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2003.06a
• /
• pp.486-489
• /
• 2003

To reduce lateral force of traditional plunger type piston in the swash plate type hydraulic piston pumps and motors, we have proposed rod type piston with ball joint on both ends. We have studied the theoretical reaction force on two types of piston moving in the cylinder block bore. and made an experiment for the resistance force measurement on a reciprocating motion of plunger and rod type piston, changing the test condition such as swash plate angel and supply oil pressure and so on. As a result. a rod type piston has more smaller resistance force, about 29%. than a plunger type one.

• International Journal of Precision Engineering and Manufacturing
• /
• v.2 no.4
• /
• pp.75-80
• /
• 2001

An error analysis is very important to estimate performance of a precision machine. This study proposes an error analysis for a new parallel device, a cubic parallel device. The cubic parallel manipulator has error sources including upper and lower universal joint errors due to the directional changes in the link and actuation errors. The maximum errors of the end effector are affected by the axial direction changes of each links and the clearances of the universal joints when the parallel manipulator is moving along a path. It is found that the changes of errors mostly occur at the positions where the directions of exerting link forces shift. The error analysis is based on an error model formed from the relation between the universal point errors and the end-effector accuracy. The analysis method can be also used in predicting the accuracy of other parallel devices.

• Journal of the Korean Society for Precision Engineering
• /
• v.14 no.8
• /
• pp.108-114
• /
• 1997

A simple and efficient method is presented for the dynamics of interconnected flexible beams having large rigid body rotations. A simple mass matrix is obtained by interpolating the displacements in the global inertia frame, and the elastic force is also simply computed by using linear finite element technique with the moving frame attached to the beam. For the beams connected by revolute joints, kinematic constraints and relative rotations between the beans are not required and the equations of motions are time integrated by a simple ODE technique. Numerical simulations are conducted to demonstrate the accuracy and efficiency of the present technique.