• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 2002.10a
• /
• pp.219-224
• /
• 2002

This paper aims to derive a mathematical model of the dynamics of handling tasks in robot finger which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of area-contacts of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of area-contact is discussed. Finally, it is shown that even in the simplest case of dual single D.O.F manipulators there exists a sensory feedback from sensing data of the rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes secure grasping of the object, provided that the object is of rectangular shape and motion is confined to a horizontal plane.

• Journal of Korea Multimedia Society
• /
• v.24 no.10
• /
• pp.1435-1448
• /
• 2021

Recent years, due to the direct or indirect damages caused by meteorological disasters more and more attention have been paid to natural disasters. At same time, diversified and multi-sensory interactive meteorological services is increasingly demanded. In this study, novel interactive meteorological service was compared with the traditional communication methods. Combining with case studies and systems creation, a virtual reality weather simulation framework was proposed, and a realistic virtual game environment providing real-time and historical weather information was created. The primary goal of this study is to build a weather display cabinet game system by using virtual reality technology, and promoting public's understanding of the principles of weather changes. With the interactive games in realistic scenarios, public's awareness for disasters prevention could be promoted. It is helping to change public's traditional understanding of meteorological theories, and will provide a more convenient way for the public to explore more effective weather forecasts. The simulation system is supported by VR technology. It was combined with Leap Motion interactive equipment to make popularization games for weather science. T-test data analysis showed that the application of VR technology in weather games has strong operability and interactivity.

• International Journal of Control, Automation, and Systems
• /
• v.5 no.4
• /
• pp.410-418
• /
• 2007

For the purpose of fault detection of the primary control surface, real-time estimation of the longitudinal stability and control derivatives of the DURUMI-II using the flight data is considered in this paper. The DURUM-II, a research UAV developed by KARI, is designed to have split control surfaces for the redundancy and to guarantee safety during the fault mode flight test. For fault mode analysis, the right elevator was deliberately fixed to the specified deflection condition. This study also mentions how to implement the multi-step control input efficiently, and how to switch between the normal mode and the fault mode during the flight test. As a realtime parameter estimation technique, Fourier transform regression method was used and the estimated data was compared with the results of the analytical method and the other available method. The aerodynamic derivatives estimated from the normal mode flight data and the fault mode data are compared and the possibility to detect the elevator fault by monitoring the control derivative estimated in real time by the computer onboard was discussed.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.39 no.6
• /
• pp.587-598
• /
• 2021

This study aims to develop a multi-camera based MMS (Mobile Mapping System) technology for building a HD (High Definition) map for autonomous driving and for quick update. To replace expensive lidar sensors and reduce long processing times, we intend to develop a low-cost and efficient MMS by applying multiple cameras and real-time data pre-processing. To this end, multi-camera storage technology development, multi-camera time synchronization technology development, and MMS prototype development were performed. We developed a storage module for real-time JPG compression of high-speed images acquired from multiple cameras, and developed an event signal and GNSS (Global Navigation Satellite System) time server-based synchronization method to record the exposure time multiple images taken in real time. And based on the requirements of each sector, MMS was designed and prototypes were produced. Finally, to verify the performance of the manufactured multi-camera-based MMS, data were acquired from an actual 1,000 km road and quantitative evaluation was performed. As a result of the evaluation, the time synchronization performance was less than 1/1000 second, and the position accuracy of the point cloud obtained through SFM (Structure from Motion) image processing was around 5 cm. Through the evaluation results, it was found that the multi-camera based MMS technology developed in this study showed the performance that satisfies the criteria for building a HD map.

• Journal of Broadcast Engineering
• /
• v.25 no.4
• /
• pp.475-486
• /
• 2020

This paper is a thesis on media art technology for high-tech performances and exhibitions. After creating an interactive stroke in VR, it is projected in real time through a media facade technique. Among our traditional dramas emphasizing linear movements, movements were extracted from the Bongsan mask dance, and the movements of the lines were used in a media art performance called 'Multi-face Convergence'. When motion data enters the virtual space, geometry consisting of faces is created in the VR space. The created strokes can be set with various brush types, and when performing, a stroke with a red fire effect that matches a dynamic movement was used. It was made to be able to harmonize with the dancers performing the Bongsan mask dance. The medium called VR has characteristics that are not suitable for melting into a performance, but in this performance, it has overcome its limitations by using a technique called media façade. We propose the world's first performance technique that combines interactive strokes with traditional dance performances.

• Journal of the Society of Naval Architects of Korea
• /
• v.44 no.1 s.151
• /
• pp.8-15
• /
• 2007

In this paper, numerical calculations are performed to analyze the unsteady flow of NACA airfoil sections. In order to ease the flow computation for the fluid region changing in time, improve the quality of solution and simplify the grid generation for the oscillating foil flow, the computational method adopts a moving and deforming mesh with the multi-block grid topology. The multi-block, structured-unstructured hybrid grid is generated using the commercial meshing software Gridgen V15. The MDM (Moving & Deforming Mesh) and the UDF (User Define function) function of FLUENT 6 are adopted for computing turbulent flows of the foil in pitching motion. Computed unsteady lift and drag forces are compared with experimental data. in general, the characteristics of unsteady lift and drag of the experiments are reproduced well in the numerical analysis.

• Journal of computational fluids engineering
• /
• v.15 no.4
• /
• pp.25-31
• /
• 2010

Interface tracking of two phase is significant to analyze multi-phase phenomena. The VOF(Volume of Fluid) and level set are well known interface tracking method. However, they have limitations to solve compressible flow and incompressible flow at the same time. CIP(Cubic Interpolate Propagation) method is appropriate for considering compressible and incompressible flow at once by solving the governing equation which is divided up into advection and non-advection term. In this article, we analyze the droplet impingement according to various We number using improved CIP method which treats nonlinear term once more comparison with original CIP method. Furthermore, we compare spread radius after droplet impingement on the wall with the experimental data and original CIP method. The result using improved CIP method shows the better result of the experiments, comparison with result of original CIP method, and it reduces the mass conservation error which is generated in the numerical analysis comparison with original CIP method.

• Journal of Communications and Networks
• /
• v.16 no.4
• /
• pp.465-474
• /
• 2014

Wireless sensor network (WSN) is considered to be one of the most important research fields for ubiquitous healthcare (u-healthcare) applications. Healthcare systems combined with WSNs have only been introduced by several pioneering researchers. However, most researchers collect physiological data from medical nodes located at static locations and transmit them within a limited communication range between a base station and the medical nodes. In these healthcare systems, the network link can be easily broken owing to the movement of the object nodes. To overcome this issue, in this study, the fast link exchange minimum cost forwarding (FLE-MCF) routing protocol is proposed. This protocol allows real-time multi-hop communication in a healthcare system based on WSN. The protocol is designed for a multi-hop sensor network to rapidly restore the network link when it is broken. The performance of the proposed FLE-MCF protocol is compared with that of a modified minimum cost forwarding (MMCF) protocol. The FLE-MCF protocol shows a good packet delivery rate from/to a fast moving object in a WSN. The designed wearable platform utilizes an adaptive linear prediction filter to reduce the motion artifacts in the original electrocardiogram (ECG) signal. Two filter algorithms used for baseline drift removal are evaluated to check whether real-time execution is possible on our wearable platform. The experiment results shows that the ECG signal filtered by adaptive linear prediction filter recovers from the distorted ECG signal efficiently.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2022.05a
• /
• pp.76-77
• /
• 2022

In this paper, we propose a method to stabilize the 3D pose estimation result of a 3D volumetric data sequence by matching the pose estimation results from multi-view. Draw a circle centered on the volumetric model and project the model from the viewpoint at regular intervals. After performing Openpose 2D pose estimation on the projected 2D image, the 2D joint is matched to localize the 3D joint position. The tremor of 3D joints sequence according to the angular spacing was quantified and expressed in graphs, and the minimum conditions for stable results are suggested.

• Journal of Astronomy and Space Sciences
• /
• v.23 no.4
• /
• pp.435-444
• /
• 2006

Since artificial space objects are observable only in a short period of time and the characteristics of their motion is not exactly predictable, it is difficult to obtain both photometric and spectroscopic data by a set of observations. We have, therefore, designed a mount to load multi-optical instruments on the Kyung Hee University (KHU) satellite tracking and observation system for both photometric and spectroscopic observations of artificial space objects. In this paper, we have calculated the deformation of the remodeled mount using structural analyses for the loading of the multi-optical instruments. We have also deduced pointing errors of the mount occurring at tracking and observing artificial space objects. we have derived tracking reliably artificial space objects in our field of view and confirmed structural safety test of mount utilizing equivalent (von-mises) stress distribution.