• 제어로봇시스템학회논문지
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• 제17권7호
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• pp.659-667
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• 2011

The study of bipedal robot is towards similar shape and function with human. In this paper, we propose a human-like walking pattern compatible to the flexible foot with toe and heel structure. The new walking pattern for a bipedal robot consists of ZMP, center of mass (CoM), and ankle trajectory and is drawn by considering human kinesiology. First, the ZMP trajectory moves forward without stopping at a point even in the single support phase. The corresponding CoM trajectory to the ZMP one is derived by solving differential equations. As well, a CoM trajectory for the vertical axis is added by following the idea of human motion. The ankle trajectory closely mimics the rotational motion of human ankles during taking off and landing on the ground. The advantages of the proposed walking pattern are demonstrated by showing improved stability, decreased ankle torque, and the longer step length capability. Specifically, it is interesting to know that the vertical CoM motion is able to compensate for the initial transient response.

• 대한의용생체공학회:의공학회지
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• 제15권4호
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• pp.455-464
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• 1994

The intelligent trajectory control method that controls moving direction and average velocity for a prosthetic arm is proposed by pattern recognition and force estimations using EMG signals. Also, we propose the real time trajectory planning method which generates continuous accelleration paths using 3 stage linear filters to minimize the impact to human body induced by arm motions and to reduce the muscle fatigue. We use combination of MLP and fuzzy filter for pattern recognition to estimate the direction of a muscle and Hogan's method for the force estimation. EMG signals are acquired by using a amputation simulator and 2 dimensional joystick motion. The simulation results of proposed prosthetic arm control system using the EMG signals show that the arm is effectively followed the desired trajectory depended on estimated force and direction of muscle movements.

• 전기학회논문지
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• 제65권9호
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• pp.1551-1556
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• 2016

A combined CPG (Central Pattern Generator) based foot trajectory and GP (Genetic Programming) based joint compensation method is presented for the adaptive humanoid walking. The CPG based foot trajectory methods have been successfully applied to basic slops and variable slops with slow rates, but have a limitation for the steep slop terrains. In order to increase an adaptability of humanoid walking for the rough terrains, a GP based joint compensation method is proposed and combined to the CPG (Central Pattern Generator) based foot trajectory method. The experiments using humanoid robot Nao are conducted in an ODE based Webots simulation environmemt to verify a stability of walking for the various aslope terrains. The proposed method is compared to the previous CPG foot trajectory technique and shows better performances especially for the steep varied slopes.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2022년도 추계학술대회
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• pp.147-148
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• 2022

최근 선박 접안 시 사고가 다수 발생함에 따라, 항만 내 선박운항에 대한 안전조치에 대한 필요성이 강조되고 있다. 본 연구는 부산신항만 내 안전조치에 대한 내용을 정량적으로 분석하고자 선박 항적 데이터를 수집하고, 이를 바탕으로 해사인공지능 알고리즘을 적용여 항적패턴을 분석하였다. 그 결과, 부산신항 입출항선박의 변침 지점을 도출하고, 선속·침로의 운용패턴을 제안하였다.

• 한국컴퓨터정보학회논문지
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• 제26권12호
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• pp.133-142
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• 2021

이동 패턴 인식은 사용자 궤적 질의, 사용자 행동 예측, 사용자 위치에 기초한 흥미요소 추천, 사용자 개인 정보 보호 및 지자체 교통 계획과 같은 여러 측면에서 널리 사용된다. 현재 인식 정확도는 응용 요건을 충족할 수 없기 때문에 이동 패턴 인식 연구는 궤적 데이터 연구의 초점이라 할 수 있다. GPS 내비게이션 기술과 지능형 모바일 기기의 대중화로 많은 사용자 모바일 데이터 정보를 얻을 수 있고, 이를 바탕으로 많은 의미 있는 연구가 이루어질 수 있다. 현재의 이동 패턴 연구 방법에서 궤적의 특징 추출은 궤도의 기본 속성(속도, 각도, 가속도 등)으로 제한된다. 본 논문에서 순열 엔트로피는 궤적 분류 연구에 참여하기 위한 궤적의 고유값으로 사용되었으며 시계열의 복잡성을 측정하기 위한 속성으로도 사용되었다. 속도 순열 엔트로피와 각도 순열 엔트로피가 이동 패턴 분류에 참여하기 위한 궤적의 특성으로 사용되었으며, 본 논문에서 사용된 순열 엔트로피를 기반으로 한 속성 분류의 정확도는 81.47%에 달했다.

• 한국통신학회논문지
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• 제38B권11호
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• pp.934-936
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• 2013

A routing scheme for a group of mobile users for wireless ad-hoc networks is presented. The proposed scheme mines social activity patterns from wireless traces, and exploits social user group for efficient data routing among users based on a data publish approach. Simulation results based on real-world wireless traces show that our routing scheme reduces routing cost for a large mobile user group with a factor of 1.8 compared to a baseline counterpart.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2003년도 Proceedings of ACRS 2003 ISRS
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• pp.435-437
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• 2003

This study presents work to utilize RADARSAT SAR image for forecast oil slick trajectory movement. The fractal dimension algorithm used to detect oil slick. The Doppler frequency shift and quasi-linear model was used to simulate a current pattern from RADARSAT image. The Fay’s algorithm of oil slick spreading was developed based on a Doppler frequency shift model. Thus, the study shows that fractal dimension algorithm discriminated the oil slick from the surrounding water features. The quasi-linear model shows that the current pattern can be simulated from single RADARSAT image. The oil slick trajectory model shows that after 48 hrs, the oil slick parcels deposited along the coastal waters.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2492-2497
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• 2003

This paper presents optimal walking trajectory generation for a quadruped robot with genetic-fuzzy algorithm. In order to move a quadruped robot smoothly, both generations of optimal leg trajectory and free walking are required. Generally, making free walking is difficult to realize for a quadruped robot, because the patterned trajectory may interfere in the free walking. In this paper, we suggest the generation method for the leg trajectory satisfied with free walking pattern so as to avoid obstacle and walk smoothly. We generate via points of leg with respect to body motion, and then we use the genetic-fuzzy algorithm to search for the optimal via velocity and acceleration information of legs. All these methods are verified with PC simulation program, and implemented to SERO-V robot.

• 전기학회논문지
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• 제67권5호
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• pp.663-668
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• 2018

A combined CPG (Central Pattern Generator) based foot trajectory and GA (Genetic Algorithm) based joint compensation method is presented for adaptive humanoid walking. In order to increase an adaptability of humanoid walking for rough terrains, the experiment for rolling terrains are introduced. The CPG based foot trajectory method has been successfully applied to basic slops and variable slops, but has a limitation for the rolling terrains. The experiments are conducted in an ODE based Webots simulation environment using humanoid robot Nao to verify a stability of walking for various rolling terrains. The proposed method is compared to the previous CPG foot trajectory technique and shows better performance especially for the cascade rolling terrains.

• 한국항공운항학회지
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• 제22권2호
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• pp.1-8
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• 2014

This paper introduces a new framework of predicting the arrival time of an aircraft by incorporating the probabilistic information of what type of trajectory pattern will be applied by human air traffic controllers. The proposed method is based on identifying the major patterns of vectored trajectories and finding the statistical relationship of those patterns with various traffic complexity factors. The proposed method is applied to the traffic scenarios in real operations to demonstrate its performances.