• 한국정밀공학회지
• /
• 제31권9호
• /
• pp.813-820
• /
• 2014

This paper presents design and performance validation of a method for motion compensation using fast steering mirror. First of all, the schematics of the Electro Optical/Infra-Red (EO/IR) and step-stare image gathering system for an aerial reconnaissance are introduced. Because of the steering mirror with low inertia so called Back scan mechanism (BSM), the fast step-stare image gathering technique that is required for taking a high-definition still image will be realized. After then, the BSM hardware includes motors and feedback sensors are introduced. Also, the motion profile for BSM will be designed to compensate roll scan motion of the gimbals. At the end of this paper, designed profile and tracking performance of the EO/IR system with BSM will be validated through experiments.

• 한국정보과학회논문지:컴퓨팅의 실제 및 레터
• /
• 제15권6호
• /
• pp.459-463
• /
• 2009

배경 모델링 및 물체 검출 기술은 실시간 비디오 처리 기술에서 중요한 부분을 차지하고 있다. 그동안 많은 연구들이 진행되었지만 안정적인 성능을 위해서는 아직도 상당한 계산량을 요구한다. 이 때문에 고해상도 영상 처리나 객체 추적, 행동 분석 및 대상 인식 등의 알고리즘과 함께 사용되는 경우, 실시간 처리에 어려움이 있다. 본 논문에서는 가장 일반적으로 쓰이는 배경 모델링 기법 중의 하나인 혼합정규모델(mixtures of Gaussian)을 근사화한 효과적인 다봉(multimodal) 배경 모델링 및 물체 검출 방법을 제안한다. 근사화의 타당성과 각 과정들을 유도 및 검증하였고, 실험을 통해 제안하는 알고리즘이 기존 방법의 안정성과 유연성을 유지하면서 3배 이상의 처리 속도를 나타냄을 보였다.

• International journal of advanced smart convergence
• /
• 제8권2호
• /
• pp.162-169
• /
• 2019

Facial rigging technology has been developing more and more since the 21st century. Facial rigging of various methods is still attempted and a technique of capturing the geometry in real time recently also appears. Currently Modern CG is produced image which is hard to distinguish from actual photograph. However, this kind of technology still requires a lot of equipment and cost. The purpose of this study is to perform facial rigging using muscle simulation instead of using such equipment. Original muscle simulations were made primarily for use in the body of a creature. In this study, however, we use muscle simulations for facial rigging to create a more realistic creature-like effect. To do this, we used Ziva Dynamics' Ziva VFX muscle simulation software. We also develop a method to overcome the disadvantages of muscle simulation. Muscle simulation can not be applied in real time and it takes time to simulate. It also takes a long time to work because the complex muscles must be connected. Our study have solved this problem using blendshape and we want to show you how to apply our method to face rig.

• 한국콘텐츠학회논문지
• /
• 제6권9호
• /
• pp.98-107
• /
• 2006

모바일 기기의 성능(3D 엔진, 3D가속 칩 등) 및 무선 네트워크 기술의 발달로 이용자들의 실감 있는 콘텐츠에 대한 요구가 급증하고 있다. 그러나 모바일 기기의 성능에 따라 사용할 수 있는 리소스의 제약으로 빠른 시간에 모바일용 실감 미디어 콘텐츠를 제작하는데 어려움이 있다. 일반적으로 모바일 환경에서 애니메이션 되는 캐릭터를 생성하기 위한 방법으로 전문 애니메이터가 수작업에 의해 키 프레임 방식으로 모션을 생성한다. 이는 모션 생성 시간과 비용이 많이 들고, 모션의 왜곡이 일어날 수 있다. 이러한 문제점 해결을 위하여, 본 논문에서는 광학식 모션캡처 시스템을 이용하여 빠르고 쉽게 정확한 모션 데이터를 획득하고, 이를 통해 효율적으로 모바일 3D 댄스 콘텐츠를 제작하는 방법을 연구하였다. 아울러 대용량 모션캡처 데이터를 적은 리소스를 요구하는 모바일 환경에서 사용할 수 있도록 키 단순화, 프레임 수 조정 기법을 적용하였다. 본 구현실험 결과를 통해 3D 댄스 콘텐츠 제작에 있어, 광학식 모션캡처 시스템 활용은 기존 일반적인 제작 공정에 비해 제작 시간 단축과 실감 있는 캐릭터 모션을 생성해냄으로써 실감형 콘텐츠 제작과 사용에 효과적임을 확인하였다.

• 제어로봇시스템학회논문지
• /
• 제13권11호
• /
• pp.1137-1145
• /
• 2007

Palletizing tasks are necessary to promote efficient storage and shipping of boxed products. These tasks, however, involve some of the most monotonous and physically demanding labor in the factory. Thus, many types of robot palletizing systems have been developed, although many robot motion commands still depend on the teach pendant. That is, the operator inputs the motion command lines one by one. This is very troublesome and, most importantly, the user must know how to type the code. We propose a new GUI(Graphic User Interface) for the palletizing system that is more convenient. To do this, we used the PLP "Fast Algorithm" and 3-D auto-patterning visualization. The 3-D patterning process includes the following steps. First, an operator can identify the results of the task and edit them. Second, the operator passes the position values of objects to a robot simulator. Using those positions, a palletizing operation can be simulated. We chose a widely used industrial model and analyzed the kinematics and dynamics to create a robot simulator. In this paper we propose a 3-D patterning algorithm, 3-D robot-palletizing simulator, and modified trajectory generation algorithm, an "overlapped method" to reduce the computing load.

• Smart Structures and Systems
• /
• 제31권4호
• /
• pp.409-419
• /
• 2023

Structural integrity can be accessed from dynamic deformations of structures. Moreover, dynamic deformations can be acquired from non-contact sensors such as video cameras. Kanade-Lucas-Tomasi (KLT) algorithm is one of the commonly used methods for motion tracking. However, averaging throughout the extracted features would induce bias in the measurement. In addition, pixel-wise measurements can be converted to physical units through camera intrinsic. Still, the depth information is unreachable without prior knowledge of the space information. The assigned homogeneous coordinates would then mismatch manually selected feature points, resulting in measurement errors during coordinate transformation. In this study, a two-stage optimization method for video-based measurements is proposed. The manually selected feature points are first optimized by minimizing the errors compared with the homogeneous coordinate. Then, the optimized points are utilized for the KLT algorithm to extract displacements through inverse projection. Two additional criteria are employed to eliminate outliers from KLT, resulting in more reliable displacement responses. The second-stage optimization subsequently fine-tunes the geometry of the selected coordinates. The optimization process also considers the number of interpolation points at different depths of an image to reduce the effect of out-of-plane motions. As a result, the proposed method is numerically investigated by using a truss bridge as a physics-based graphic model (PBGM) to extract high-accuracy displacements from recorded videos under various capturing angles and structural conditions.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.1022-1027
• /
• 2003

The Motion controllers provide the sophisticated performance and enhanced capabilities we can see in the movements of robotic systems. Several types of motion controllers are available, some based on the kind of overall control system in use. PLC (Programmable Logic Controller)-based motion controllers still predominate. The many peoples use MCU (Micro Controller Unit)-based board level motion controllers and will continue to in the near-term future. These motion controllers control a variety motor system like robotic systems. Generally, They consist of large and complex circuits. PLC-based motion controller consists of high performance PLC, development tool, and application specific software. It can be cause to generate several problems that are large size and space, much cabling, and additional high coasts. MCU-based motion controller consists of memories like ROM and RAM, I/O interface ports, and decoder in order to operate MCU. Additionally, it needs DPRAM to communicate with host PC, counter to get position information of motor by using encoder signal, additional circuits to control servo, and application specific software to generate a various velocity profiles. It can be causes to generate several problems that are overall system complexity, large size and space, much cabling, large power consumption and additional high costs. Also, it needs much times to calculate velocity profile because of generating by software method and don't generate various velocity profiles like arbitrary velocity profile. Therefore, It is hard to generate expected various velocity profiles. And further, to embed real-time OS (Operating System) is considered for more reliable motion control. In this paper, the structure of chip-based precision motion controller is proposed to solve above-mentioned problems of control systems. This proposed motion controller is designed with a FPGA (Field Programmable Gate Arrays) by using the VHDL (Very high speed integrated circuit Hardware Description Language) and Handel-C that is program language for deign hardware. This motion controller consists of Velocity Profile Generator (VPG) part to generate expected various velocity profiles, PCI Interface part to communicate with host PC, Feedback Counter part to get position information by using encoder signal, Clock Generator to generate expected various clock signal, Controller part to control position of motor with generated velocity profile and position information, and Data Converter part to convert and transmit compatible data to D/A converter.

• International Journal of Automotive Technology
• /
• 제8권1호
• /
• pp.59-66
• /
• 2007

High frequency excitation terms in a cam profile can excite vibration of a cam follower system. In this paper, modified smoothing spline curves are used to reduce the high frequency terms. The essential difference between the proposed method and other existing approaches is its ability to make the principal cam motions smooth while still exactly satisfying boundary conditions of follower displacement, velocity and acceleration. The boundary values usually depend on the ramp properties of a cam. Our method, thus, allows designers to smooth the existing cam motion without any damages on its ramp areas. Because the ramp height, velocity and acceleration are maintained exactly, more radical smoothing is possible. An example shows that the proposed method can be a powerful tool of cam profile smoothing, which removes high frequency components in the cam profile excitations without any changes in ramp properties.

• 방송공학회논문지
• /
• 제16권6호
• /
• pp.1069-1072
• /
• 2011

본 논문에서는 현재 표준화가 진행 중인 HEVC(High Efficiency Video Coding)에서 양예측(bi-predictive)모드에 존재하는 문제점을 거론하고 문제점에 대한 해결방안을 제시하여 부호화 효율을 증가시키고 계산 복잡도를 감소시키는 방법을 제안한다. 현재 HM 3.0에서는 양예측을 사용하는 블록에서 L0 움직임 정보와 L1 움직임 정보가 동일해지는 경우가 빈번히 발생한다. 본 논문에서는 이러한 현상이 발생하는 경우 L1의 움직임 벡터를 현재 블록의 주변 블록의 (0,0)이 아닌 L0 움직임 벡터로 대체 하고, 여전히 L0 움직임 벡터와 L1 움직임 벡터가 동일할 경우 예측모드를 단예측으로 변경하여 부호화 성능을 향상 시키고 계산 복잡도를 감소시키는 방법을 제안하였다. 실험 결과, LD(Low-Delay) 실험조건의 경우 기존 대비 복호화기의 수행시간을 2% ~ 5% 감소시키고 부호화 성능을 약 0.3% ~ 0.5% 향상 시켰다.

• 대한조선학회논문집
• /
• 제51권6호
• /
• pp.459-479
• /
• 2014

This paper considers experimental and numerical studies on added resistance in waves. As the numerical methods, three different methods, strip method, Rankine panel method and Cartesian-grid method, are applied. The computational results of vertical motion response and added resistance are compared with the experimental data of Series 60($C_B=0.8$) hull, S175 containership and KVLCC2 hull. To investigate the influence of above-still water hull form, a Rankine panel method is extended to two nonlinear methods: weakly-nonlinear and weak-scatterer approaches. As nonlinear computational models, three ships are considered: original KVLCC2 hull, 'Ax-bow' and 'Leadge-bow' hulls. Two of the three models are modified hull forms of original KVLCC2 hull, aiming the reduction of added resistance. The nonlinear computational results are compared with linear results, and the improvement of computational result is discussed. As experimental approach, a series of towing-tank experiment for ship motions and added resistance on the three models (original KVLCC2 hull, 'Ax-bow' and 'Leadge-bow') are carried out. For the original KVLCC2 hull, uncertainty analysis in the measurement of vertical motion response and added resistance is performed in three waves conditions: ${\lambda}/L=0.5$, 1.1, 2.0. From the experimental results, the effects of hull form on added resistance are discussed.