• Proceedings of the KIEE Conference
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• 2004.05a
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• pp.144-146
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• 2004

It is known that Global Positioning System(GPS) is the most efficient navigation system because it provides precise position information on the all areas of Earth regardless of metrology. Until now, the size of GPS receivers has become smaller and the performance of receivers has become higher. So receivers provide the position information of not only static system but also dynamic system. Usually, users make similar movement trajectory according to their life pattern and it is possible to build up efficient database by collecting only the repeated users' position. Because position information calculated by the receiver is erroneous about 10-30m within 5% error tolerance, the position information is oscillated even on the same area. In this paper, we propose the system that can estimate whether users are out of trajectory or in dangerous situation by soft-computing method.

• Korean Journal of Agricultural and Forest Meteorology
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• v.23 no.4
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• pp.222-234
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• 2021

Airborne-pests can be introduced into Korea from overseas areas by wind, which can cause considerable damage to major crops. Meteorological models have been used to estimate the wind trajectories of airborne insects. The objective of this study is to analyze the effect of input settings on the prediction of areas where airborne pests arrive by wind. The wind trajectories were predicted using the HYbrid Single-Particle Lagrangian Integrated Trajectory (HYSPLIT) model. The HYSPLIT model was used to track the wind dispersal path of particles under the assumption that brown plant hopper (Nilaparvata lugens) was introduced into Korea from sites where the pest was reported in China. Meteorological input data including instantaneous and average wind speed were generated using meso-scale numerical weather model outputs for the domain where China, Korea, and Japan were included. In addition, the calculation time intervals were set to 1, 30, and 60 minutes for the wind trajectory calculation during early June in 2019 and 2020. It was found that the use of instantaneous and average wind speed data resulted in a considerably large difference between the arrival areas of airborne pests. In contrast, the spatial distribution of arrival areas had a relatively high degree of similarity when the time intervals were set to be 1 minute. Furthermore, these dispersal patterns predicted using the instantaneous wind speed were similar to the regions where the given pest was observed in Korea. These results suggest that the impact assessment of input settings on wind trajectory prediction would be needed to improve the reliability of an approach to predict regions where airborne-pest could be introduced.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1577-1580
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• 1997

A hybrid control method based on using the relative motion between a manipulator and a workpiece is described for a two-dimensional manipulator, in which it is assumed that there are no collisions between the robot manipulator and the workpiece, and that we use a computed force law which is similar to the computed torque law in the trajectory tracking problem of a robot manipulator. The effectiveness of the proposed hybrid control emthod is illustratec by some simulations.

• Journal of the HCI Society of Korea
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• v.5 no.2
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• pp.15-24
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• 2010

A Digilog Book is an augmented reality (AR) based next generation publication supporting both sentimental analog emotions and digitized multi-sensory feedbacks by combining a conventional printed book and digital contents. As a Digilog Book authoring software, ARtalet provides an intuitive authoring environment through 3D user interface in AR environment. In this paper, we suggest ARtalet authoring environment based trajectory editing method to generate and manipulate a movement path of an augmented 3D object on the Digilog Book. Specifically, the translation points of the 3D manipulation prop is examined to determine that the point is a proper control point of a trajectory. Then the interpolation using splines is conducted to reconstruct the trajectory with smoothed form. The dynamic score based selection method is also exploited to effectively select small and dense control points of the trajectory. In an experimental evaluation our method took the same time and generated a similar amount of errors as the usual approach, but reduced the number of control points needed by over 90%. The reduced number of control points can properly reconstruct a movement path and drastically decrease the number of control point selections required for movement path modification. For control manipulation, the task completion time was reduced and there was less hand movement needed than with conventional method. Our method can be applicable to drawing or curve editing method in immersive In-Situ AR based education, game, design, animation, simulation application domains.

• Journal of Korean Neurosurgical Society
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• v.62 no.4
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• pp.376-381
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• 2019

Objective : To define optimal method that calculate the safe direction of cervical pedicle screw placement using computed tomography (CT) image based three dimensional (3D) cortical shell model of human cervical spine. Methods : Cortical shell model of cervical spine from C3 to C6 was made after segmentation of in vivo CT image data of 44 volunteers. Three dimensional Cartesian coordinate of all points constituting surface of whole vertebra, bilateral pedicle and posterior wall were acquired. The ideal trajectory of pedicle screw insertion was defined as viewing direction at which the inner area of pedicle become largest when we see through the biconcave tubular pedicle. The ideal trajectory of 352 pedicles (eight pedicles for each of 44 subjects) were calculated using custom made program and were changed from global coordinate to local coordinate according to the three dimensional position of posterior wall of each vertebral body. The transverse and sagittal angle of trajectory were defined as the angle between ideal trajectory line and perpendicular line of posterior wall in the horizontal and sagittal plane. The averages and standard deviations of all measurements were calculated. Results : The average transverse angles were $50.60^{\circ}{\pm}6.22^{\circ}$ at C3, $51.42^{\circ}{\pm}7.44^{\circ}$ at C4, $47.79^{\circ}{\pm}7.61^{\circ}$ at C5, and $41.24^{\circ}{\pm}7.76^{\circ}$ at C6. The transverse angle becomes more steep from C3 to C6. The mean sagittal angles were $9.72^{\circ}{\pm}6.73^{\circ}$ downward at C3, $5.09^{\circ}{\pm}6.39^{\circ}$ downward at C4, $0.08^{\circ}{\pm}6.06^{\circ}$ downward at C5, and $1.67^{\circ}{\pm}6.06^{\circ}$ upward at C6. The sagittal angle changes from caudad to cephalad from C3 to C6. Conclusion : The absolute values of transverse and sagittal angle in our study were not same but the trend of changes were similar to previous studies. Because we know 3D address of all points constituting cortical shell of cervical vertebrae. we can easily reconstruct 3D model and manage it freely using computer program. More creative measurement of morphological characteristics could be carried out than direct inspection of raw bone. Furthermore this concept of measurement could be used for the computing program of automated robotic screw insertion.

• Korean Journal of Applied Biomechanics
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• v.23 no.4
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• pp.295-306
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• 2013

The purpose of this study was to provide high school male shot putters training methods of gliding and delivery motion through comparative analysis of kinematic characteristics. To accomplish this purpose, three dimensional motion analysis was performed for the subjects(PKC, KKH, YDL) who participated in high school male shot putter competition on 92nd (2011), 93rd (2013) National Sports Festival. The subjects were filmed by four Sony HXR-MC2000 video cameras with 60 fields/s. The three-dimensional kinematic data of the glide, conversion and delivery phase were obtained by Kwon3d 3.1 version. The data of the shoulder rotational angles and projection angles were calculated with Matlab R2009a. The following conclusions had been made. With the analysis of the gliding and stance length ratio, the gliding length was shorter at the TG than the SG with short-long technique but the gliding and stance length ratio was 46.8:53.2% respectively. The deviation of the shots trajectory from APSS(Athlete-plus-shot-system) revealed that the PKC showed similar to "n-a-b-c-I" of skilled S-shape type, KKH and YDL showed "n-a-d-f-I'" of unskilled type. Furthermore, they showed smaller radial distance from the central axis of the APSS and the shots were away from the linear trajectory. From this characteristics, The PKC who performed more TG than SG had shorter glide with S-shape of APSS(skilled type) showed the better record than others with technical skill. But KKH and YDL had bigger glide ratio with "n-a-d-f-I'" of unskilled type and improved their records with technical factor. The projection factor had an effect on the record directly. Because PKC maintained more lower glide and transition posture with momentum transfer through COG's rapid horizontal velocity respectively the subject possessed the characteristics of high horizontal and vertical velocity with large turning radius from shot putter to APSS.

• Transactions of the Korean hydrogen and new energy society
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• v.16 no.1
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• pp.1-8
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• 2005

Transition of momentum-controlling hydrogen jet to buoyant jet is experimentally investigated in order to develop a prediction model for the moving trajectory of hydrogen leaked from hydrogen devices. In the experiments, room-temperature helium, that has a similar density to the hydrogen leaked from high pressure tank, is horizontally injected through a 4mm tube and its moving trajectory is visualized by the shadowgraph method. The moving trajectories are found to be parabolic, thereby exhibiting increasing influence of the buoyancy. In analyzing the experimental results, the vertical movement is assumed to be controlled by the buoyancy while the horizontal movement is controlled by the air entrainment caused by the initial momentum. The resealing based on this assumption yields a single curve fitting to the all experimental results.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.212-217
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• 1993

In this paper, characteristics of the motions of a human arm are investigated experimentally. When the conditions of the target point are restricted, human adjusts its trajectory and velocity pattern of the arm to fit the conditions skillfully. The purpose of this work is to examine the characteristics of the trajectory, velocity pattern, and the size of the duration in the following cases. First, we examine the case of point-to-point motion. The results are consistent with the minimum jerk theory. However, individual differences in the length of the duration can be observed in the experiment. Second, we examine the case which requires accuracy of positioning at the target point. It is found that the velocity pattern differs from the bell shaped pattern explained by the minimum jerk theory, and has its peak in the first half of the duration. When higher accuracy of the positioning is required, learning effects can be observed. Finally, to examine the case which requires constraint of the arm posture at the target point, we conduct experiments of a human trying to grasp a cup. It is considered that this motion consists of two steps : one is the positioning motion of the person in order to start the grasping motion, the other is the grasping motion of the human's hand approaching toward the cup and grasping it. In addition, two representative velocity patterns are observed : one is the similar velocity pattern explained in the above experiment, the other is the velocity pattern which has its relative maximum in the latter half of the duration.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.2
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• pp.90-98
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• 2015

This research propose with image-based visual a new approach to design a feedback control of mobile robot. because mobile robot must be recharged periodically, it is necessary to detect and move to docking station. Generally, laser scanner is used for detect of position of docking station. CCD Camera is also used for this purpose. In case of using camera, the position-based visual servoing method is widely used. But position-based visual servoing method requires the accurate calibration and it is hard and complex work. Another method using cameras is inmage-based visual feedback. Recently, image based visual feedback is widely used for robotic application. But it has a problem that cannot have linear trajectory in the 3-dimensional space. Because of this weak point, image-based visual servoing has a limit for real application. in case of 2-dimensional movement on the plane, it has also similar problem. In order to solve this problem, we point out the main reason of the problem of the resolved rate control method that has been generally used in the image-based visual servoing and we propose an image-based visual feedback method that can reduce the curved trajectory of mobile robot in th cartesian space.

• Journal of Mechanical Science and Technology
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• v.15 no.5
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• pp.580-591
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• 2001

This paper proposes a fuzzy-sliding mode control which is designed by a self tuning fuzzy inference method based on a genetic algorithm. Using the method, the number of inference rules and the shape of the membership functions of the proposed fuzzy-sliding mode control are optimized without the aid of an expert in robotics. The fuzzy outputs of the consequent part are updated by the gradient descent method. It is further guaranteed that the selected solution becomes the global optimal solution by optimizing Akaikes information criterion expressing the quality of the inference rules. In order to evaluate the learning performance of the proposed fuzzy-sliding mode control based on a genetic algorithm, a trajectory tracking simulation of the polishing robot is carried out. Simulation results show that the optimal fuzzy inference rules are automatically selected by the genetic algorithm and the trajectory control result is similar to the result of the fuzzy-sliding mode control which is selected through trial error by an expert. Therefore, a designer who does not have expert knowledge of robot systems can design the fuzzy-sliding mode controller using the proposed self tuning fuzzy inference method based on the genetic algorithm.