• Transactions of the Korean Society of Machine Tool Engineers
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• v.12 no.2
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• pp.71-78
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• 2003

This research proposes an implementation method of linearized equations of motion for multibody systems with closed loops. The null space of the constraint Jacobian is first pre-multiplied to the equations of motion to eliminate the Lagrange multiplier and the equations of motion are reduced down to a minimum set of ordinary differential equations. The resulting differential equations are functions of all relative coordinates, velocities, and accelerations. Since the variables are tightly coupled by the position, velocity, and acceleration level coordinates, direct substitution of the relationships among these variables yields very complicated equations to be implemented. As a consequence, the reduced equations of motion are perturbed with respect to the variations of all variables, which are coupled by the constraints. The position velocity and acceleration level constraints are also perturbed to obtain the relationships between the variations of all relative coordinates, velocities, and accelerations and variations of the independent ones. The Perturbed constraint equations are then simultaneously solved for variations of all variables only in terms of the variations of the independent variables. Finally, the relationships between the variations of all variables and these of the independent ones are substituted into the variational equations of motion to obtain the linearized equations of motion only in terms of the independent variables variations.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.8
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• pp.1303-1308
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• 2003

This research proposes an implementation method of linearized equations of motion for multibody systems with closed loops. The null space of the constraint Jacobian is first pre-multiplied to the equations of motion to eliminate the Lagrange multiplier and the equations of motion are reduced down to a minimum set of ordinary differential equations. The resulting differential equations are functions of ail relative coordinates, velocities, and accelerations. Since the coordinates, velocities, and accelerations are tightly coupled by the position, velocity, and acceleration level constraints, direct substitution of the relationships among these variables yields very complicated equations to be implemented. As a consequence, the reduced equations of motion are perturbed with respect to the variations of all coordinates, velocities, and accelerations, which are coupled by the constraints. The position, velocity and acceleration level constraints are also perturbed to obtain the relationships between the variations of all relative coordinates, velocities, and accelerations and variations of the independent ones. The perturbed constraint equations are then simultaneously solved for variations of all coordinates, velocities, and accelerations only in terms of the variations of the independent coordinates, velocities, and accelerations. Finally, the relationships between the variations of all coordinates, velocities, accelerations and these of the independent ones are substituted into the variational equations of motion to obtain the linearized equations of motion only in terms of the independent coordinate, velocity, and acceleration variations.

• Proceedings of the KSME Conference
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• 2004.04a
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• pp.893-898
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• 2004

This research proposes an implementation method of linearized equations of motion for multibody systems with closed loops. The null space of the constraint Jacobian is first pre multiplied to the equations of motion to eliminate the Lagrange multiplier and the equations of motion are reduced down to a minimum set of ordinary differential equations. The resulting differential equations are functions of all relative coordinates, velocities, and accelerations. Since the coordinates, velocities, and accelerations are tightly coupled by the position, velocity, and acceleration level constraints, direct substitution of the relationships among these variables yields very complicated equations to be implemented. As a consequence, the reduced equations of motion are perturbed with respect to the variations of all coordinates, velocities, and accelerations, which are coupled by the constraints. The position, velocity and acceleration level constraints are also perturbed to obtain the relationships between the variations of all relative coordinates, velocities, and accelerations and variations of the independent ones. The perturbed constraint equations are then simultaneously solved for variations of all coordinates, velocities, and accelerations only in terms of the variations of the independent coordinates, velocities, and accelerations. Finally, the relationships between the variations of all coordinates, velocities, accelerations and these of the independent ones are substituted into the variational equations of motion to obtain the linearized equations of motion only in terms of the independent coordinate, velocity, and acceleration variations.

• Structural Engineering and Mechanics
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• v.44 no.5
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• pp.663-680
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• 2012

Previous major earthquakes revealed that most damage of the buried segmented pipelines occurs at the joints of the pipelines. It has been proven that the differential motions between the pipe segments are one of the primary reasons that results in the damage (Zerva et al. 1986, O'Roueke and Liu 1999). This paper studies the combined influences of ground motion spatial variations and local soil conditions on the seismic responses of buried segmented pipelines. The heterogeneous soil deposits surrounding the pipelines are assumed resting on an elastic half-space (base rock). The spatially varying base rock motions are modelled by the filtered Tajimi-Kanai power spectral density function and an empirical coherency loss function. Local site amplification effect is derived based on the one-dimensional wave propagation theory by assuming the base rock motions consist of out-of-plane SH wave or combined in-plane P and SV waves propagating into the site with an assumed incident angle. The differential axial and lateral displacements between the pipeline segments are stochastically formulated in the frequency domain. The influences of ground motion spatial variations, local soil conditions, wave incident angle and stiffness of the joint are investigated in detail. Numerical results show that ground motion spatial variations and local soil conditions can significantly influence the differential displacements between the pipeline segments.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.21 no.12
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• pp.3033-3045
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• 1996

In this paper, we propse an object-oriented coding method in low bit-rate channels using pyramid structure and residual image compensation. In the motion estimation step, global motion is estimated using a set of multiresolution images constructed in a pyramid structure. We split an input image into two regions based on the gradient value. Regions with larte motions obtain observation points at low resolution level to guarantee robustness to noise and to satisfy a motion constraint equation whereas regions with local motions such as eye, and lips get observation points at the original resolution level. Local motion variations and intesity variations of an image reconstructed by the golbal motion are compensated additionally by using the previous residual image component. Finally, the model failure (MF) region is compensated by the pyramid mapping of the previous displaced frame difference (DFD). Computer simulation results show that the proposed method gives better performance that the convnetional one in terms of the peak signal to noise ratio (PSNR), compression ratio (CR), and computational complexity.

• Proceedings of the IEEK Conference
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• 2000.07b
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• pp.823-826
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• 2000

Motion detection is an important step in computer vision and image processing. Traditional motion detection systems are classified into two categories, namely, feature based and gradient based. In feature based motion detection, features in consecutive frames are detected and matched. Gradient based methods assume that the intensity varies linearly and locally. The method, which we propose, is neither feature nor gradient based but uses the electric field theory. The pixels in an image are modeled as point charges and motion is detected by using the variations between the two electric fields produced by the charges corresponding to the two images.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.2 no.2
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• pp.120-133
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• 2008

This paper presents a novel approach for facial motion tracking and facial expression cloning to create a realistic facial animation of a 3D avatar. The exact head pose estimation and facial expression tracking are critical issues that must be solved when developing vision-based computer animation. In this paper, we deal with these two problems. The proposed approach consists of two phases: dynamic head pose estimation and facial expression cloning. The dynamic head pose estimation can robustly estimate a 3D head pose from input video images. Given an initial reference template of a face image and the corresponding 3D head pose, the full head motion is recovered by projecting a cylindrical head model onto the face image. It is possible to recover the head pose regardless of light variations and self-occlusion by updating the template dynamically. In the phase of synthesizing the facial expression, the variations of the major facial feature points of the face images are tracked by using optical flow and the variations are retargeted to the 3D face model. At the same time, we exploit the RBF (Radial Basis Function) to deform the local area of the face model around the major feature points. Consequently, facial expression synthesis is done by directly tracking the variations of the major feature points and indirectly estimating the variations of the regional feature points. From the experiments, we can prove that the proposed vision-based facial expression cloning method automatically estimates the 3D head pose and produces realistic 3D facial expressions in real time.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.5 no.4
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• pp.285-294
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• 1993

An oscillatory motion of natural convection in a two-dimensional square enclosure fitted with a horizontal partition is investigated numerically. The enclosure was composed of the lower hot and the upper cold horizontal walls and the adiabatic vertical walls, and a partition was positioned perpendicularly at the mid-height of one vertical insulated wall. The governing equations are solved by using the finite element method with Galerkin method. The computations were carried out with the variations of the partition length and Rayleigh number based on the temperature difference between two horizontal walls and the enclosure height with water(Pr=4.95). As the results, an oscillatory motion of natural convection has perfectly shown the periodicity with the decrease of Rayleigh number, and the stability was reduced to a chaotic state with the increase of Rayleigh number. The period of oscillation gets shorten with the decrease of the partition length and the increase of Rayleigh number. The frequency of oscillation obtained by the variations of stream function is more similar to the experimental results than that of the average Nusselt number. The stability of oscillation grows worse with the increase of Rayleigh number. The transition Rayleigh number for the chaos is gradually decreased with the increase of the partition length.

• International Journal of Automotive Technology
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• v.2 no.1
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• pp.25-31
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• 2001

It is necessary to understand the combustion process and cycle-by-cycle variation in combustion to improve the engine stability and consequently to improve the fuel economy and exhaust emissions. The pressure related parameters instead of mass fraction burned were compared for the effect of initial combustion pressures on the following combustion and the analysis of cycle-by-cycle variation in combustion for two pen injected SI engines. The correlation between IMEP and pressures at referenced crank angles showed almost the same trends for equivalence ratios, but the different mixture preparations indicated different tendency. The dependency of IMEP on pressure at the referenced crank angles increases as the mixture becomes leaner for both engines. The mixture distribution in the combustion chamber was varied with the coolant temperature and intake valve deactivation due to the evaporation of fuel and air motion. The correlation between pressure related parameters were also compared for the coolant temperatures and air motion.

• Proceedings of the IEEK Conference
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• 2007.07a
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• pp.327-328
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• 2007

A contour shape matching based pixel motion estimation is proposed. The pixel motion information is very useful to compensate the motion artifact generated at the specific gray level contours in the moving image for subfield gray-scale display devices. In this motion estimation method, the gray level boundary contours are extracted from the input image. Then using contour shape matching, the most similar contour in next frame is found, and the contour is divided into segment unit. The pixel motion vector is estimated from the displacement of the each segment in the contour by segment matching. From this method, more precise motion vector can be estimated and this method is more robust to image motion with rotation or from illumination variations.