• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.486-491
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• 2005

There come various types of robot with researches for mobile robot. This paper introduces the multi-joint snake robot having 16 degree of freedom and composing of eight-axis. The biological snake robot uses the forward movement friction and the proposed artificial snake robot uses the un-powered wheel instead of the body of snake. To determine the enable joint angle of each joint, the controller inputs are considered such as color and distance using PC Camera and ultra-sonic sensor module, respectively. The movement method of snake robot is sequential moving from head to tail through body. The target for movement direction is decided by a certain article be displayed in the PC Camera. In moving toward that target, if there is any obstacle then the snake robot can avoid by itself. In this paper, we show the method of snake robot for tracing the target with experiment.

• The Academic Congress of Korean Shoulder and Elbow Society
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• 1995.03a
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• pp.9-13
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• 1995

1. The static restraints are improtant in maintaining balance between shoulder mobility and stability. But the shoulder musculature plays the vital role in moving the joint and providing stability. 2. Study of the dynamic restraints continues and study of the combined effect of the static and dynamic restraints is demanded.

• Proceedings of the Korea Concrete Institute Conference
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• 1999.10a
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• pp.553-556
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• 1999

In this dissertation, experimental research was carried out to study the hysteretic behavior of reinforced high-strength concrete beam-column joints designed by high performance techniques, such as application of high-strength concrete, reducing of joint regions damage, moving of beam plastic hinge. Specimens(HJAI, HJCI), designed by the development of earthquake-resistant performance, moving of beam plastic hinge, and new design approach, were attained the moving of beam plastic hinge and developed significantly earthquake-resistant performance of such joints.

• Journal of the Korean Institute of Intelligent Systems
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• v.13 no.1
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• pp.70-75
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• 2003

There come various types of robot with researches for mobile robot. This paper introduces the multi-joint snake robot having 16 degree of freedom and composing of eight-axis. The biological snake robot uses the forward movement friction and the proposed artificial snake robot uses the un-powered wheel instead of the body of snake. To determine the enable joint angle of each joint, the controller inputs are considered such as color and distance using PC Camera and ultra-sonic sensor module, respectively. The movement method of snake robot is sequential moving from head to tail through body. The target for movement direction is decided by a certain article be displayed in the PC Camera. In moving toward that target, if there is any obstacle then the snake robot can avoid by itself. In this paper, we show the method of snake robot for tracing the target with experiment.

• Journal of Broadcast Engineering
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• v.8 no.2
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• pp.163-171
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• 2003

In this paper, we develop an approach toward Joint Source-Channel Coding for MPEG-4(Moving picture Experts Group) based video coding In fixed and mobile reception environment. We have considered channel environment of AWGN and mobile reception. The source coder used MPEG-4 video. the channel coder used RCPC(Rate Compatible Punctured Convolution) and the modulation method used QPSK(Quadrature Phase Shift Keying) modulation. This study determined optimum Trade-off point between source bit rate and channel coding rate In variable channel states. We compared Joint Source/channel Coding method and general constant bit rate transmission. In this results, Joint Source/channel Coding was appeared better performance than constant bit rate transmission.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.3
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• pp.131-140
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• 2005

Fault-tolerant gait generation of a hexapod robot with crab walking is proposed. The considered fault is a locked joint failure, which prevents a joint of a leg from moving and makes it locked in a known position. Due to the reduced workspace of a failed leg, fault-tolerant crab walking has a limitation in the range of heading direction. In this paper, an accessible range of the crab angle is derived for a given configuration of the failed leg and, based on the principles of fault-tolerant gait planning, periodic crab gaits are proposed in which a hexapod robot realizes crab walking after a locked joint failure, having a reasonable stride length and stability margin. The proposed crab walking is then applied to path planning on uneven terrain with positive obstacles. i.e., protruded obstacles which legged robots cannot cross over but have to take a roundabout route to avoid. The robot trajectory should be generated such that the crab angle does not exceed the restricted range caused by a locked joint failure.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.10
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• pp.998-1004
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• 2008

In this paper, a visual servoing control technique of humanoid robot arms is implemented for tracking a moving object. An embedded time-delayed controller is designed on an FPGA(Programmable field gate array) chip and implemented to control humanoid robot arms. The position of the moving object is detected by a stereo vision camera and converted to joint commands through the inverse kinematics. Then the robot arm performs visual servoing control to track a moving object in real time fashion. Experimental studies are conducted and results demonstrate the feasibility of the visual feedback control method for a moving object tracking task by the humanoid robot arms called the ROBOKER.

• Journal of Information Display
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• v.5 no.1
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• pp.41-46
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• 2004

In this paper, a new stereo 3D moving-target tracking system using the MSE (mean square error) and BPEJTC (binary phase extraction joint transform correlator) algorithms is proposed. A moving target is extracted from the sequential input stereo image by applying a region-based MSE algorithm following which, the location coordinates of a moving target in each frame are obtained through correlation between the extracted target image and the input stereo image by using the BPEJTC algorithm. Through several experiments performed with 20 frames of the stereo image pair with $640{\times}480$ pixels, we confirmed that the proposed system is capable of tracking a moving target at a relatively low error ratio of 1.29 % on average at real time.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2007.04a
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• pp.141-145
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• 2007

The part in the structure that is most affected by changes of external temperature is the protective concrete layer that protects a waterproofing layer. Also, the waterproofing layer that is situated under or on the back of such a protective concrete layer is affected by temperature and the behavior of the protective concrete layer under the condition of consolidation or close adhesion. In particular, in many cases, the damage is serious mainly around the projection (such as a parapet), crack, and joint (expansion joint). However, there is no proper way of examining again the non-exposed waterproofing layer once it has been constructed. Therefore, there is an assessment only on the physical property of materials and the capability of the layer in construction, and there is no actual assessment in consideration of its environmental condition or the condition of the use of buildings after construction. Therefore, in order to create more pleasant buildings and to enhance the durability of structures, this study conducts research into the change of capability of non-exposed waterproofing material after the application of a static load and moving load on the waterproofing layer situated under or on the back of protective concrete.

• Korean Journal of Applied Biomechanics
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• v.15 no.4
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• pp.97-104
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• 2005

Previous studies of kinematic analysis of golf swing usually dealt with variations vertically. The purpose of the study was to examine the horizontal hip joints motion of the fifteen male professional golfers during driver swinging. Kinematic variables were calculated by the Kwon3D motion analysis program. Paired t-tests and one-way ANOVA were used to compare the hip height, distance, displacement, and position differences. Results showed that there were no hip height changes and no hip height differences between left and right hip from address to impact. The axis of the backswing was braced right hip, the axis of the downswing was moving left hip. Hips position at the top of the backswing showed that hips move to target prior to hands, which means the sequential motion of the chain linked body segments. From address to impact, left hip moving distance was longer than right hip(p<.001), but during the whole swing, right hip moving distance was longer than left hip(p<.001). Hip rotation angle to target line was $-48.14{\pm}9.32^{\circ}$ at top of the backswing, $40.88{\pm}8.44^{\circ}$ at impact, and $104.70{\pm}8.14^{\circ}$ at finish.