• Journal of Institute of Control, Robotics and Systems
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• v.10 no.7
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• pp.634-642
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• 2004

Unlike actual vehicles, a vehicle driving simulator is limited in kinematic workspace and bounded on dynamic characteristics. So it is difficult to simulate dynamic motions of a multi-body vehicle model. In order to overcome these problems, a washout algorithm which controls the workspace of the simulator within the kinematic limitation is needed. However, a classical washout algorithm contains several problems such as generation of wrong sensation of motions by filters in tilt coordination, requirement of trial and error method in selecting the proper cut-off frequencies, difficulty in returning the simulator to its origin using only high pass filters and etc. This paper proposes a new tilt coordination method as an algorithm which gives more accurate sensations to drivers. In order to reduce time for returning the simulator to its origin, a new washout algorithm that the proposed algorithm selectively onset mode from high pass filters and return mode from error functions is proposed. As a result of this study, the results of the proposed algorithm are compared with the results of classical washout algorithm through the human perception models. Also, the performance of the suggested algorithm is evaluated by using human perception and sensibility of some drivers through experiments.

• Journal of Mechanical Science and Technology
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• v.19 no.spc1
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• pp.272-282
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• 2005

A vehicle driving simulator is a virtual reality device which makes a man feel as if he drove an actual vehicle. Unlike actual vehicles, the simulator has limited kinematical workspace and bounded dynamic characteristics. So it is difficult to simulate dynamic motions of a multi-body vehicle model. In order to overcome these problems, a washout algorithm which controls the workspace of the simulator within the kinematical limitation is needed. However, a classical washout algorithm contains several problems such as generation of wrong sensation of motions by filters in tilt coordination, requirement of trial and error method in selecting the proper cut-off frequencies and difficulty in returning the simulator to its origin using only high pass filters. This paper proposes a washout algorithm with new tilt coordination method which gives more accurate sensations to drivers. To reduce the time in returning the simulator to its origin, an algorithm that applies selectively onset mode from high pass filters and return mode from error functions is proposed. As a result of this study, the results of the proposed algorithm are compared with the results of classical washout algorithm through the human perception models. Also, the performance of the suggested algorithm is evaluated by using human perception and sensibility of some drivers through experiments.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.18 no.2
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• pp.16-22
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• 2010

This paper proposes the real-time moving object tracking system UAV using color information. Case of object tracking, it have studied to recognizing the moving object or moving multiple objects on the fixed camera. And it has recognized the object in the complex background environment. But, this paper implements the moving object tracking system using the pan/tilt function of the camera after the object's region extraction. To do this tracking system, firstly, it detects the moving object of RGB/HSI color model and obtains the object coordination in acquired image using the compact boundary box. Secondly, the camera origin coordination aligns to object's top&left coordination in compact boundary box. And it tracks the moving object using the pan/tilt function of camera. It is implemented by the Labview 8.6 and NI Vision Builder AI of National Instrument co. It shows the good performance of camera trace in laboratory environment.

• Journal of Mechanical Science and Technology
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• v.17 no.2
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• pp.221-229
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• 2003

In the virtual environment, reality can be enhanced by offering the motion based on a motion simulator in harmony with visual and auditory modalities. In this research the Stewart-Gough-platform-based motion simulator has been developed. Implementation of vehicle dynamics is necessary in the motion simulator for realistic sense of motion, so bicycle dynamics is adopted in this research. In order to compensate for the limited range of the motion simulator compared with the real vehicle motion, washout algorithm composed of high-pass filter, low-pass filter and tilt coordination is usually employed. Generally, the washout algorithm is used with fixed parameters. In this research a new approach is proposed to tune the filter parameters based on fuzzy logic in real-time. The cutoff frequencies of the filters are adjusted according to the workspace margins and driving conditions. It is shown that the washout filter with the fuzzy-based parameters presents better performance than that with the fixed ones.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.20 no.4
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• pp.366-374
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• 2009

ITU has considered the 3,400$\sim$4,200 MHz band, which is allocated worldwide on a primary basis to the FSS, as a candidate band for future development of IMT system. In this band, this paper presents the results of the sharing studies performed between FSS and IMT systems through the theoretical and simulation analysis on the interference from multiple IMT base stations into a receiving FSS earth station considering the interference mitigation techniques such as antenna tilt angle and 3 sectors on the IMT base station. By using the long-term and short-term interference threshold, the coordination areas for the FSS earth station are provided to share frequency in 3,400$\sim$4,200 MHz band between FSS earth station and multiple IMT base stations in future.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.5 s.98
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• pp.19-28
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• 1999

In this study, a real-time simulation system and a washout algorithm for an excavator have been developed for a driving simulator with six degrees of freedom. The excavator model consisting of a boom. bucket, upper frame, lower frame and four wheels, has total 11 degrees of freedom. The suggested washout algorithm consists of high and low pass filters with second order. The high pass filters cut off low frequency of the motion cues limited by platform motion. The cut off frequency for the tilt coordination are suggested for a realistic regeneration of excavator motion.

• Korean Journal of Applied Biomechanics
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• v.21 no.2
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• pp.223-230
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• 2011

The purpose of this study was to analysis the effect of form and hardness of outsoles on the motion of the lower extremity joints and on foot pressure during gait. The subjects were 15 women(mean age, $48.5{\pm}2.4$ years), who had no serious musculoskeletal, coordination, balance or joint/ligament problems within 1 year prior to the study. The pelvic tilt, joint angles at the lower extremities and the vertical ground reaction force(GRF) were compared during gait with 3 types of shoes (A, B, C) by using one-way repeated ANOVA(p<.05). During gait, the peak tilt angle and the range of motion(ROM) of the ankle and knee joints were found to be significantly different among the 3 types of shoes. The type C shoes showed a significantly lower mean second maximum vertical GRF than types A and B. The curved outsoles of type C shoes, which had a form and hardness different from those of A and B, was designed strategically for walking shoes to provide stability to the Additionally, type C induced the dispersion of eccentric pressure and made the center of pressure roll over to the center line of the foot.

• Korean Journal of Applied Biomechanics
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• v.17 no.1
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• pp.111-119
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• 2007

The purpose of this study was to investigate muscle activity and gait pattern in lower limb depending on the outsole of heel rockers. Fifteen healthy men volunteered for this experiment. Each subject performed totally three trails with two pairs of different heel rocker shoes and a pair of normal running shoes at speed of 1.33m/s for 1 minute during walking on a treadmill. Kinematic data gathered in 100Hz was recorded and analyzed by using the 3D motion capture system to measure the trunk tilt and joint angle of the right lower limb. And the lower extremity muscle activities were simultaneously recorded in 1000Hz and assessed by using EMG. The statistical analysis was the one-way ANOVA with the repeated measures to compare among the three kinds of shoes. The level of statistical significance for all tests was 0.05. Joint angle of lower limb was showed statistically significant different in MST(hip joint), LHS(ankle joint), and RTO(knee and ankle joint). Muscle activity of rectus femoris and biceps femoris was statistically increased in both heel rocker shoes during gait cycle on treadmill. The maximum peak time of tibialis anterior in the negative heel rocker showed the delay of approximately 23.8%time than normal shoes. Gait pattern variability of the negative heel rocker was increased in the first half of the stance phase and the variability of the positive heel rocker was increased in the terminal stance phase. In Conclusion, stability was decreased in between joints of lower limb on positive heel rocker than negative heel rocker. This study found that there were different joint angle, muscle activity, gait pattern and coordinate system of the lower limb in each kind of shoes. These unstability affected the lower extremity and the whole body. A further study has to be continued with study of rehabilitation and exercise for a long-term.

• The Korean Journal of Physiology and Pharmacology
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• v.11 no.3
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• pp.113-119
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• 2007

Developmental disability shows life-long behavioral abnormality with no significant physical malformation. This study was undertaken to develop an animal model for developmental disability by using two-factor approach. Lipopolysaccharide (LPS), a bacterial toxin, and NAN-190, a $5-HT_{1A}$ receptor antagonist, were administered to Sprague-Dawley rats on postnatal day (PND) 5 to induce inflammation and an altered 5-HT system, respectively. Long-term alteration of behavior occurred in the drug-treated groups. The LPS-treated group showed impaired motor coordination in the Rota-rod test. The LPS- treated or both LPS and NAN-190-treated groups showed impaired fore-paw muscle power in the wire maneuver test. These groups also showed decreased white matter volume and increased serotonergic fibers. The LPS and NAN-190-treated group also exhibited neurologic deficit in the placing reaction test and impaired equilibrium function in the tilt table test. The results showed that a variety of altered behaviors can be generated by two factor model, and suggested that combination of important etiologic factors and possible underlying defects is a promising strategy of establishing an animal model for developmental disabilities.