• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.8 no.2
• /
• pp.483-503
• /
• 2014

In this paper, human action recognition using pyramid histograms of oriented gradients and collaborative multi-task learning is proposed. First, we accumulate global activities and construct motion history image (MHI) for both RGB and depth channels respectively to encode the dynamics of one action in different modalities, and then different action descriptors are extracted from depth and RGB MHI to represent global textual and structural characteristics of these actions. Specially, average value in hierarchical block, GIST and pyramid histograms of oriented gradients descriptors are employed to represent human motion. To demonstrate the superiority of the proposed method, we evaluate them by KNN, SVM with linear and RBF kernels, SRC and CRC models on DHA dataset, the well-known dataset for human action recognition. Large scale experimental results show our descriptors are robust, stable and efficient, and outperform the state-of-the-art methods. In addition, we investigate the performance of our descriptors further by combining these descriptors on DHA dataset, and observe that the performances of combined descriptors are much better than just using only sole descriptor. With multimodal features, we also propose a collaborative multi-task learning method for model learning and inference based on transfer learning theory. The main contributions lie in four aspects: 1) the proposed encoding the scheme can filter the stationary part of human body and reduce noise interference; 2) different kind of features and models are assessed, and the neighbor gradients information and pyramid layers are very helpful for representing these actions; 3) The proposed model can fuse the features from different modalities regardless of the sensor types, the ranges of the value, and the dimensions of different features; 4) The latent common knowledge among different modalities can be discovered by transfer learning to boost the performance.

• Journal of the Computational Structural Engineering Institute of Korea
• /
• v.26 no.4
• /
• pp.247-254
• /
• 2013

In this paper, dynamic response analysis of a heave compensation system is performed for offshore drilling operations based on multibody dynamics. With this simulation, the efficiency of the heave compensation system can be virtually confirmed before it is applied to drilling operations. The heave compensation system installed on a semi-submersible platform consists of a passive and an active heave compensator. The passive and active heave compensator are composed of several bodies that are connected to each other with various types of joints. Therefore, to carry out the dynamic response analysis, the dynamics kernel was developed based on mutibody dynamics. To construct the equations of motion of the multibody system and to determine the unknown accelerations and constraint forces, the recursive Newton-Euler formulation was adapted. Functions of the developed dynamics kernel were verified by comparing them with other commercial dynamics kernels. The hydrostatic force with nonlinear effects, the linearized hydrodynamic force, and the pneumatic and hydraulic control forces were considered as the external forces that act on the platform of the semi-submersible rig and the heave compensation system. The dynamic simulation of the heave compensation system of the semi-submersible rig, which is available for drilling operations with a 3,600m water depth, was carried out. From the results of the simulation, the efficiency of the heave compensation system were evaluated before they were applied to the offshore drilling operations. Moreover, the calculated constraint forces could serve as reference data for the design of the mechanical system.

• International Journal of Aeronautical and Space Sciences
• /
• v.8 no.1
• /
• pp.10-20
• /
• 2007

For spacecraft attitude control, reaction wheel (RW) steering laws with more than three wheels for three-axis attitude control can be derived by using a control allocation (CA) approach.1-2 The CA technique deals with a problem of distributing a given control demand to available sets of actuators.3-4 There are many references for CA with applications to aerospace systems. For spacecraft, the control torque command for three body-fixed reference frames can be constructed by a combination of multiple wheels, usually four-wheel pyramid sets. Multi-wheel configurations can be exploited to satisfy a body-axis control torque requirement while satisfying objectives such as minimum control energy.1-2 In general, the reaction wheel steering laws determine required torque command for each wheel in the form of matrix pseudo-inverse. In general, the attitude control command is generated in the form of a feedback control. The spacecraft body angular rate measured by gyros is used to estimate angular displacement also.⁵ Combination of the body angular rate and attitude parameters such as quaternion and MRPs(Modified Rodrigues Parameters) is typically used in synthesizing the control command which should be produced by RWs.¹ The attitude sensor signals are usually corrupted by noise; gyros tend to contain errors such as drift and random noise. The attitude determination system can estimate such errors, and provide best true signals for feedback control.⁶ Even if the attitude determination system, for instance, sophisticated algorithm such as the EKF(Extended Kalman Filter) algorithm⁶, can eliminate the errors efficiently, it is quite probable that the control command still contains noise sources. The noise and/or other high frequency components in the control command would cause the wheel speed to change in an undesirable manner. The closed-loop system, governed by the feedback control law, is also directly affected by the noise due to imperfect sensor characteristics. The noise components in the sensor signal should be mitigated so that the control command is isolated from the noise effect. This can be done by adding a filter to the sensor output or preventing rapid change in the control command. Dynamic control allocation(DCA), recently studied by Härkegård, is to distribute the control command in the sense of dynamics⁴: the allocation is made over a certain time interval, not a fixed time instant. The dynamic behavior of the control command is taken into account in the course of distributing the control command. Not only the control command requirement, but also variation of the control command over a sampling interval is included in the performance criterion to be optimized. The result is a control command in the form of a finite difference equation over the given time interval.⁴ It results in a filter dynamics by taking the previous control command into account for the synthesis of current control command. Stability of the proposed dynamic control allocation (CA) approach was proved to ensure the control command is bounded at the steady-state. In this study, we extended the results presented in Ref. 4 by adding a two-step dynamic CA term in deriving the control allocation law. Also, the strict equality constraint, between the virtual and actual control inputs, is relaxed in order to construct control command with a smooth profile. The proposed DCA technique is applied to a spacecraft attitude control problem. The sensor noise and/or irregular signals, which are existent in most of spacecraft attitude sensors, can be handled effectively by the proposed approach.

• Journal of the Computational Structural Engineering Institute of Korea
• /
• v.35 no.2
• /
• pp.131-140
• /
• 2022

Installing Continuous Welded Rail (CWR) is one of the economical ways to resolve the challenges of noise, vibration, and the open-deck steel railway bridge impact, and the SSF method using the interlocking sleeper fastener has recently been developed. In this study, the method employed for determining the optimum vertical stiffness of the sleeper pad installed under the bridge sleeper, which is utilized to adjust the rail height and absorb shock when the train passes when the interlocking sleeper fastener is applied, is presented. To determine the optimal vertical stiffness of the sleeper pad, related existing design codes are reviewed, and, running safety, ride comfort, track safety, and bridge vibration according to the change in the vertical stiffness of the sleeper pad are estimated via flexible multi-body dynamic analysis,. The flexible multi-body dynamic analysis is performed using commercial programs ABAQUS and VI-Rail. The numerical analysis is conducted using the bridge model for a 30m-long plate girder bridge, and the response is calculated when passing ITX Saemaeul and KTX vehicles and freight wagon when the vertical stiffness of the sleeper pad is altered from 7.5 kN/mm to 240 kN/mm. The optimum stiffness of the sleeper pad is calculated as 200 kN/mm under the conditions of the track components applied to the numerical analysis.

• 한국전산유체공학회:학술대회논문집
• /
• 2007.04a
• /
• pp.83-86
• /
• 2007

Turbulent flow analysis is conducted around the multi-stage launch vehicle including base region and detachment motion of strap-on boosters due to resultant aerodynamic forces and gravity is simulated. Aerodynamic solution procedure is coupled with rigid body dynamics for the prediction of separation behavior. An overset mesh technique is adopted to achieve maximum efficiency in simulating relative motion of bodies and various turbulence models are implemented on the flow solver to predict the aerodynamic forces accurately. At first, some preliminary studies are conducted to show the importance of base flow for the exact prediction of detachment motion and to find the most suitable turbulence model for the simulation of launch vehicle configurations. And then, developed solver is applied to the simulation of KSR-III, a three-stage sounding rocket researched in Korea. From the analyses, after-body flow field strongly affects the separation motions of strap-on boosters. Negative pitching moment at initial stage is gradually recovered and a strap-on finally results in a safe separation, while fore-body analysis shows collision phenomena between core rocket and booster. And a slight variation of motion is observed from the comparison between inviscid and turbulent analyses. Change of separation trajectory based on viscous effects is just a few percent and therefore, inviscid analysis is sufficient for the simulation of separation motion if the study is focused only on the movement of strap-ons.

• Transactions of the KSME C: Technology and Education
• /
• v.5 no.2
• /
• pp.89-95
• /
• 2017

LCD robot vertical frame lets a arm assembly with glass substrate move up and down, so it must have high stiffness and strength. We applied new manufacturing process by using design optimization process such as topology and size optimization in order to satisfy the request of high stiffness and light weight. The proposed model should be evaluated for endurance strength. Therefore fatigue assessment for weak point of aluminum welding area of vertical frame studied with hot spot stress approach. And the actual stress measuring from test was compared and evaluated with the dynamic stress calculated from multi-body dynamics considering flexible body.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.37 no.2
• /
• pp.257-263
• /
• 2013

In this study, dynamic behaviors of a wave energy generation system (WEGS) that converts wave energy into electric energy are analyzed using multibody dynamics techniques. Many studies have focused on reducing the effects of a mooring system on the motion of a WEGS. Several kinematic constraints and force elements are employed in the modeling stage. Three-dimensional wave load equations are used to implement wave loads. The dynamic behaviors of a WEGS are analyzed under several wave conditions by using MSC/ADAMS, and the rotating speed of the generating shaft is investigated for predicting the electricity capacity. The dynamic behaviors of a WEGS with a mooring system are compared with those of a WEGS without a mooring system. Stability evaluation of a WEGS is carried out through simulation under extreme wave load.

• Journal of Biomedical Engineering Research
• /
• v.28 no.2
• /
• pp.218-228
• /
• 2007

Modem concepts of gait rehabilitation after stroke favor a task-specific repetitive approach. In practice, the required physical effort of the therapists limits the realization of this approach. Therefore, a mechanized gait trainer enabling nonambulatory patients to have the repetitive practice of a gait-like movement without overstraining therapists was constructed. In this study, we developed an active gait training system for patients with gait disorder. This system provides joint movements to patients who cannot carry out an independent gait. It provides a normal stance-swing ratio of 60:40 using an eccentric configuration of two gears. Joint motions of the knee and the ankle were evaluated with using the 3D motion analysis system and compared with the results from the multi-body dynamics simulation. In addition, clinical investigations were also performed for low stroke patients during the 6-week gait training. Results from the dynamics simulation showed that joint movements of the knee and the ankle were affected by the gear size, the step length and the length of the foot plate, except the radius of curvature of the foot guide plate. Also, the 6-week gait training revealed relevant improvements of the gait ability in all low subjects. Functional ambulation category levels of subjects after training were 2 in three patients and 1 in a patient. The developed active gait trainer seems feasible as an adjunctive tool in gait rehabilitation after stroke.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.40 no.4
• /
• pp.389-395
• /
• 2016

Wheel loaders are utilized not only on construction sites, but also for general purposes, such as manufacturing and transportation. Therefore, during the basic design stage of this type of working device equipment, the designer should consider specifications as well as working performance. In this research, a characteristic analysis program was developed for use in the basic design stage of construction equipment using multibody dynamics analysis. In addition, through the optimization of its links, improvements to the lifting capability of a Z-bar-linkage-type wheel loader were suggested. Using the developed program and process, it is possible to reduce the time required for the basic design of the working device.

• Journal of the Korean Society for Railway
• /
• v.13 no.2
• /
• pp.139-146
• /
• 2010

In this study, a new equivalent modeling technique of rollingstock for 1-D collision dynamics was proposed using crash analysis of 3-D finite element model in some detail. To obtain good simulation results of 1-D dynamic model, the force-deformation curves of crushable structures should be well modelled with crash analysis of 3-D finite element model. Up to now, the force-deformation curves of the crushable structures have been extracted from crash analyses of sectionally partitioned parts of the carbody, and integrated into 1-D dynamic model. However, the results of the 1-D model were not satisfactory in terms of crash accelerations. To improve this problem, the force-deformation curves of the crushable structures were extracted from collision analysis of a simplified train consist in this study. A comparative study applying the suggested technique shows in good agreements in simulation results between two models for KHST.