• 동력기계공학회지
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• 제11권4호
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• pp.103-108
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• 2007

In general, the swing motion of the crane is controlled and suppressed by activating the trolley motion. In many papers reported by us, we suggested a new type of anti-sway control system of the crane. In the proposed control system, a small auxiliary mass(moving-mass) is installed on the spreader and the swing motion is controlled by moving the auxiliary mass. The actuator reaction against the auxiliary mass applies inertial control forces to the container in order to reduce the swing motion in the desired manner. The measuring system is based on laser sensor or others. However it is not so useful in real world. Especially, in this paper, the image sensor is used to measures the motions of the spreader and the measured data are fed back to the controller in real time. The applied image processing technique is a kind of robust template matching method which is named Vector Code Correlation (VCC) and devised to consider the real environmental conditions. And the $H_{\infty}$ based control technique is applied to suppress swing motion of the crane. And the experimental result shows that the proposed measurement system based on image sensor and control system is useful and robust to disturbances.

• 제어로봇시스템학회논문지
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• 제10권3호
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• pp.267-272
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• 2004

In this Paper, we present analysis on the dynamics of human swing and its realization by a miniaturized humanoid robot. Since the motion of legs is the most important in the swing, the swing system can be approximated as a double pendulum. Based on Lagrangian analysis, the leg motion is designed to make the swing motion as sustained oscillation. In order to detect the peak instant of the swing and to synchronize the leg motion with the swing, we use ADXL acceleration/inclination sensor. The miniaturized humanoid in this paper has total 20 DOFs including 6 DOFs in each leg, 34cm in height, and 2kg in weight. As a result of realization of the swing by the humanoid, the sustained oscillation is verified through experiments.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.94.5-94
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• 2001

Unrestricted measurement method of three-dimensional walking distance utilizing body acceleration and terrestrial magnetism is discussed. The three-dimensional walking distance is derived by the integration of the three dimensional acceleration of foot during swing phase. Since the sensor system attached on the foot rotates during swing phase, the acceleration data measured on the foot include acceleration of gravity which causes inaccurate calculation of the velocity and the distance. Three gyros are used to compensate the rotation of the sensor system. Moreover, one geomagnetic sensor is employed to derive the heading direction of the subject Healthy volunteers performed ...

• 한국해양공학회지
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• 제22권4호
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• pp.90-96
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• 2008

In general, the swing motions of a crane are controlled and suppressed by controlling the trolley motion. In many of our previous studies, we suggested a new type of anti-sway control system for a crane. In this proposed control system, a small auxiliary mass (moving-mass) is installed on the spreader and moving this auxiliary mass controls tire swing motion. The actuator reaction against the auxiliary mass applies inertial control forces to the container in order to reduce the swing motion in the desired manner. However, measuring systems based on a laser sensor or other means are not veryuseful in real-worldapplications. So, in this paper, animage sensor is used to measure the motions of the spreader and the measured data are fed back to the controller in real time. The applied image processing technique is a kind of robust template matching method called Vector Code Correlation (VCC), which was devised to consider real environmental conditions. The H $\infty$ based control technique is applied to suppress the swing motion of the crane. Experimental results showed that the proposed measurement and control system based on an image sensor is useful and robust to disturbances.

• 한국항행학회논문지
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• 제21권2호
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• pp.200-205
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• 2017

현대의 스포츠는 과학이 접목된 스포츠 과학으로 발전하고 있으며 기록 향상을 위한 각종 분석 시뮬레이션 시스템들도 많이 개발되고 있고, 실제 경기 기록 향상에 상당한 도움을 주고 있다. 이에 다양한 스포츠 종목중 하나인 골프는 동호인과 일반인들에게 대중화 되면서 본인의 운동자세를 교정하고자 하는 요구가 증가하고 있다. 이러한 요구에 따라 골프스윙 자세를 분석하고 교정 받을 수 있는 시스템들이 많이 개발되고 있다. 골프스윙 정확도 분석시스템은 육안으로 볼 수 없는 순간의 동작들을 분석하여 이해하기 쉽도록 지도하는 것으로 시각적 효과로 인한 즉각적인 피드백을 통해 골프스윙동작을 개선할 수 있으며, 피드백을 주기 위한 정보는 프로 골퍼와 골프스윙 동영상 등에서 수집한 골프스윙 동작에 대한 지식을 활용하여 신뢰도를 향상시켰다. 또한 자신의 골프스윙 동영상을 육안으로 확인하고 분석할 수 있는 기능을 제공함으로써 다양한 골프 스윙 분류 방법을 기반으로 각 구간에 대한 분석이 가능하다.

• 방송공학회논문지
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• 제18권3호
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• pp.380-392
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• 2013

본 논문에서는 키넥트와 퍼지 시스템을 이용하여 골프 스윙 동작을 7가지 구간으로 분류하는 방법을 제안한다. 퍼지 논리의 입력으로 골프 클럽과 클럽의 헤드 위치를 사용하였으며 이 정보는 키넥트로부터 획득한 골퍼의 관절 정보와 컬러 영상 정보로부터 검출하였다. 제안하는 방법은 크게 신체 관절 추출 모듈, 골프 클럽 검출 및 헤드 추적 모듈, 골프 스윙 동작 분류 모듈로 구성되어 있다. 신체 관절 추출 모듈은 키넥트 센서로부터 검출되는 신체 관절 정보 중 골프 클럽의 검출을 위해 손의 좌표를 추출한다. 두 번째 모듈에서는 손의 좌표를 기준으로 허프 직선 변환 알고리즘을 사용하여 골프 클럽과 골프 클럽의 헤드를 검출한다. 마지막으로 인식 오류를 줄이고 동작별 인식 성능을 향상시키기 위해 퍼지 시스템을 적용하여 골프 스윙 동작을 분류하였다. 실시간 골프 스윙 영상에 대해 제안한 방법의 성능 평가를 시행하였고 제안한 방법은 평균 85.2%의 골프 스윙 동작 분류 신뢰도를 보여줌을 확인하였다.

• 대한안전경영과학회지
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• 제15권2호
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• pp.55-61
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• 2013

For years, many studies have mainly been investigated in a complicated human motion analysis. Recently, many motion analysis equipments have been studied and developed. Therefore, the more complex human movement analyses are possible, we have enabled us to perform more and more complicated human movement analyses. A Three-dimensional(3D) motion analysis on of the several methods is a useful tool for analyzing the human motion analysis. The purpose of this study was to develop the 3D human motion analysis using a kalman filter algorithm and a gyro sensor. The algorithm and sensor were used to human motion analysis with high-speed motion capture. In this study, the developed system will be adapted to facilitate golf swing analysis. Using the developed system, golfers and coaches who do not have advanced biomechanical knowledge can easily be used to their golf swing analysis. Future study is necessary for more practical and efficient area such as other sports industries, 3D game industries, rehabilitation training, etc..

• 비파괴검사학회지
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• 제31권5호
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• pp.472-478
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• 2011

본 연구의 목적은 소프트 골프 용구가 인체에 미치는 역학적 효과를 분석하는 것이다. 이를 위해 골프 스윙 동작을 캡처하여 스윙 모델을 생성하였고 시뮬레이션을 통해 손목, 팔꿈치, 어깨, 허리 관절의 토크를 도출하였다. 총 5명이 실험에 참여하였고 아연 합금 헤드의 소프트 골프 클럽과 기존 아이언 7번 클럽을 사용하였으며, 클럽당 5번씩 스윙을 수행하였다. 3대의 포지션 센서, 적외선 발광마커와 힘판을 사용하여 골프 스윙 동작을 캡처하였다. 인체 모델 생성 및 동역학 해석 프로그램을 통해 스윙 모델을 생성하여 시뮬레이션 하였고 관절의 토크를 도출하였다. 결과로 소프트 골프 클럽을 이용한 스윙에서 손목 관절 토크는 기존 골프 클럽을 이용한 스윙의 48.83 % 수준이며, 팔꿈치는 61.10 %, 어깨는 74.74 %, 허리는 102.46 %이다. 따라서 소프트 골프 클럽을 이용하여 스윙할 때, 기존 골프 클럽을 이용할 때보다 작은 힘으로 스윙 동작을 수행할 수 있기 때문에 관절에 부하가 적을 것이며, 관절 부상의 감소에 기여할 것이다.

• 동력기계공학회지
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• 제12권6호
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• pp.50-55
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• 2008

In general, the swing motion of the crane is controlled and suppressed by activating the trolley motion. In many papers reported by us, we suggested a new type of anti-sway control system of the crane. In the proposed control system, a small auxiliary mass(moving-mass) is installed on the spreader and the swing motion is controlled by moving the auxiliary mass. The actuator reaction against the auxiliary mass applies inertial control forces to the container in order to reduce the swing motion in the desired manner. Futhermore the measuring systems based on image sensor have been proposed also. To obtain the robustness for our control system, $H_{\infty}$ based control techniques and other approach have been applied to suppress swing motion. As well known, the robust control technologies based on $H_{\infty}$ control need complicated and difficult process. In the result, the obtained closed-loop system becomes to high order system which may give us many difficulties to apply it to the real plants. Therefore, we introduce an easy approach which is based on LQ control theory. In this approach, we introduce the frequency dependent weighting matrices which give the system filters to shape frequency characteristics of the controlled system and guarantee the control performance.

• 제어로봇시스템학회논문지
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• 제21권1호
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• pp.40-45
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• 2015

In this paper, we present an algorithm for the analysis of poses while playing table-tennis using action recognition. We use Kinect as the 3D sensor and 3D skeleton data provided by Kinect for further processing. We adopt a spherical coordinate system and feature selected using k-means clustering. We automatically detect the starting and ending frame and discriminate the action of table-tennis into two groups of forehand and backhand swing. Each swing is modeled using HMM(Hidden Markov Model) and we used a dataset composed of 200 sequences from two players. We can discriminate two types of table tennis swing in real-time. Also, it can provide analysis according to similarities found in good poses.