• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.46-48
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• 2004

This paper presents a simple method of rotational and translational motion estimation for digital image stabilization. The scheme first computes the rotation center by taking least squares of selected local velocity vectors, and the rotational angle is found from special subset of motion vectors. And then translational motion can be estimated by the relation among movement of rotation center, rotation angle and translation movement. To show the effectiveness of our approach, the synthetic images are evaluated, resulting in better performance.

• International Journal of Control, Automation, and Systems
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• v.3 no.3
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• pp.387-396
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• 2005

The Rotational/Translational Actuator (RTAC) benchmark problem considers a fourth-order dynamical system involving the nonlinear interaction of a translational oscillator and an eccentric rotational proof mass. This problem has been posed to investigate the utility of a rotational actuator for stabilizing translational motion. In order to experimentally implement any of the model-based controllers proposed in the literature, the values of model parameters are required which are generally difficult to determine rigorously. In this paper, an approach to the least-squares estimation of the parameters of a system is formulated and practically applied to the RTAC system. On the other hand, this paper shows how to model a nonlinear system as a linear uncertain system via nonparametric system identification, in order to provide the information required for linear robust $H_\infty$ control design. This method is also applied to the RTAC system, which demonstrates severe nonlinearities, due to the coupling from the rotational motion to the translational motion. Experimental results confirm that this approach can effectively condense the whole nonlinearities, uncertainties, and disturbances within the system into a favorable perturbation block.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.8
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• pp.603-609
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• 2016

This paper presents an optimally designed master device mechanism for teleoperated interventional robotic system. The interventional procedures using the teleoperated robotic system and the physicians' requirements are summarized. The master device should implement 5-DOF motion including 2-DOF translational motion for the entry position control, 2-DOF rotational motion for the orientation control, and 1- DOF translational motion for needle insertion. The handle assembly includes a 1-DOF translational mechanism for needle insertion and buttons for operation mode selection. The mechanisms for the 2-DOF translational motion and the 2-DOF rotational motion are designed using motors and brakes based on the various mechanisms to satisfy all the above requirements, respectively. Absolute position sensors are adopted to implement automatic initial positioning and orientation matching at the first step of needle insertion.

• Journal of Advanced Marine Engineering and Technology
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• v.40 no.2
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• pp.120-130
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• 2016

In general, a series of ship steering motions is composed of a combination of translational motions and rotational motions of the ship. In particular, a series of rotational motions frequently occurs in narrow areas such as ports and canal zones. In this paper, a method was suggested for composing an integrated control algorithm based on the jog dial as a command instrument for rotational motion control. In order to realize the rotational motions, several algorithms were suggested for generating rotational commands, for selecting motion variables, for choosing reference input values for the motion variables, for computing required accelerations and thrusts, and for allocating thrusts to actuators. A simulation program was compiled to execute simulations for three rotational motions. Finally, the effectiveness of the suggested method was verified by analyzing the simulation results.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.30.6-30
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• 2001

We build near minimum-time trajectory planning algorithm for Wheeled mobile robots (WMRs) With Piece-Wise Constant control voltages satisfying i) initial and final postures and velocities as well as ii) voltage constraints We consider trajectory planning problem for cornering motion with a path-deviation requirement for obstacle avoidance. We divide our trajectory planning algorithm for cornering motion into five ordered sections: translational, transient, rotational, transient, and translational sections. Transforming dynamics into uncorrelated form with respect to translational and rotational velocities, we can make controls for translation/rotational velocities to be independent. By planning each section with constant voltages, and integrating five sections with adjustment of numbers of steps, the overall trajectory is planned. The performance is very close to the minimum-time solution, which is validated via simulation studies.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.21 no.10
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• pp.897-904
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• 2011

When whole-body is exposed to vertical vibration, asymmetry shape of human body affects the response on the translational(fore-aft, lateral, vertical) and rotational(roll, pitch, yaw) motion. While the translational motion has been studied with various titles, it has been rare to study the rotational motion of human body exposed to vertical excitation because of lack of experimental equipment. This study was performed by using a 6-axis force plate installing strain gage type sensors for the rotational response. Sixteen male subjects were exposed to vertical vibration on rigid seat in order to investigate apparent mass of three translational motion and apparent eccentric mass of three rotational motion. Random signal was generated to make excitation vibration which was on an effective frequency range of 3~40 Hz, and magnitude of 0.224 m/$s^2$ r.m.s. The frequency range and magnitude used was selected for the vibration of passenger vehicle on idling condition. As the result, cross-axis apparent masses of fore-and-aft and lateral direction were not significant showing 20 % and 3 % of vertical apparent mass relatively. And apparent eccentric mass of pitch motion was dominant when compared to that of roll and yaw motion, which is reasoned by asymmetry direction of human body sitting on a seat.

• Proceedings of the IEEK Conference
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• 1998.10a
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• pp.883-886
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• 1998

In order to detect the user's gaze position on a monitor by computer vision, the accurate estimations of 3D positions and 3D motion of facial features are required. In this paper, we apply a EKF(Extended Kalman Filter) to estimate 3D motion estimates and assumes that its motion is "smooth" in the sense of being represented as constant velocity translational and rotational model. Rotational motion is defined about the orgin of an face-centered coordinate system, while translational motion is defined about that of a camera centered coordinate system. For the experiments, we use the 3D facial motion data generated by computer simulation. Experiment results show that the simulation data andthe estimation results of EKF are similar.e similar.

• Journal of Ocean Engineering and Technology
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• v.6 no.1
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• pp.19-28
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• 1992

The motion of a cylindrical object resting on shallow seabed due to wave forces and soil friction is studied. Given environmental conditions such as wave characteristics and seabed soil properties, the equations of motion are derived and the corresponding reponses of the cylinder in two dimensional plane, i.e., translational and rotational displacements, accelerations, are calculated. The motion is substantially restrained by the penetration of a cylinder into seabed and the parametric study focuses on finding out a minimum penetration depth which makes the cylinder motionless.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.18 no.9
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• pp.905-912
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• 2008

Notion sickness is well known to be caused by long time exposure to the very low frequency motion in the multiple axes of human body Since the vestibular system for the perception of low frequency motion is located in the head, accurate measurement of 6 degree of freedom head motion is of great importance. In this study, the measurement system consisting of a safety helmet and 9 translational accelerometers was constructed for the estimation of 3 translational and 3 rotational motions of human head. Since estimation errors of 3 rotational components can be significantly magnified even by small offset of the sensitivity axis from the geometric center of an accelerometer, accurate measurement of sensitivity axis must be preceded. The method for accurate estimation of the offset was proposed, and the effect of offset on the estimation of angular acceleration was investigated.

• Journal of Advanced Marine Engineering and Technology
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• v.39 no.1
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• pp.32-44
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• 2015

In general, a series of ship steering motion is represented by the combination of translational motion and rotational motion of the ship. Especially, special-functioned ships such as large-scale cruises, ships for installing underwater optical cable, and diver ships must be able to reveal only a translational motion without the change of orientation. In this paper, a method to comprise an integrated control system based on the joystick as a command instrument for translational motion control is suggested. In order to realize the translational motion control system, several algorithms are suggested including the velocity command generation, the selection of motional variables, and the generation and tracking of reference inputs for the selected motional variables. A simulation bench is composed to execute simulations for several translational motion commands. At last, the effectiveness of the proposed method is verified by analyzing the simulation results.