• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1999년도 하계종합학술대회 논문집
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• pp.631-634
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• 1999

In this work, a new algorithm for canceling MRI artifact in the image plane is presented. In the conventional approach, the motions in the X(readout) direction and Y(the phase encoding) direction are estimated simultaneously. However, the feature of each X and Y directional motion is different. First, we notice that the X directional motion corresponds to a shift of the X directional spectrum of the MRI signal, and the non zero area of the spectrum just corresponds to X axis projected area of the density function. So the motion is estimated by tracing the edges of the spectrum, and the X directional motion is canceled by shifting the spectrum in inverse direction. Next, the Y directional motion is canceled using a new constraint, with which the motion component and the true image component can be separated. This algorithm is shown to be effective by simulations.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1999년도 추계종합학술대회 논문집
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• pp.1075-1078
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• 1999

In this study, a new algorithm for canceling MRI artifacts through the translational motion of image plane is presented. Bloating is often makes problems in a clinical diagnosis. Assuming that the head moves up and down due to breathing, rigid translational motions in only y(phase encoding axis) direction is treated. First, we notice that the x directional motion corresponds to a shift of the x directional spectrum of the MRI signal, and the non zero area of the spectrum just corresponds to x axis projected area of the density function. So the motion is estimated by tracing the edges of the spectrum, and the x directional motion is canceled by shifting the spectrum in inverse direction. Next, the y directional motion is canceled using a new constraint, with which the motion component and the true image component can be separated. Finally, the effectiveness of this algorithm is shown by using a phantom with simulated motions.

• 전자공학회논문지S
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• 제34S권9호
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• pp.77-83
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• 1997

We present a fast adaptive block matching algorithm using variable search area and subsampling to estimate motion vector more exactly. In the presented method, the block is classified into one of three motion categories: zero motion vector block, medium-motion bolck or high-motion block according to mean absolute difference of the block. By the simulation, the computation amount of the presented methoe comparable to three step search algorithm and new three step search algorithm. In the fast image sequence, the PSNR of our algorithm increased more than TSS and NTSS, because our algorithm estimated motion vector more accurately.

• 방송공학회논문지
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• 제12권4호
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• pp.360-372
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• 2007

본 논문에서는 MPEG-4 제10부 규격인 Advanced Video Coding의 제 3 개정 규격 (MPEG-4 Part 10 Amendment 3)으로서 현재 표준화가 진행 중인 Scalable Video Coding (SVC) 규격에 대해 기본 계층에서 예측한 움직임 벡터 정보를 이용하여 향상 계층에서 모드 결정을 고속화하는 방법에 대해 소개한다. 본 논문에서 제안된 방법은 공간 계위성을 갖는 비디오를 부호화하는데 있어서 기본 계층에서 예측한 블록모드 중에서 큰 블록인 $16{\times}16$ 블록에서 움직임 벡터가 (0, 0)일 경우 또는 하위 계층의 정보를 이용하여 얻은 움직임 보상 블록과 향상 계층의 현재 블록의 잔차 신호의 정수변환의 계수가 모두 0인 경우에 대하여 향상 계층에서는 $16{\times}16$ 블록에 대해서만 율-왜곡 최적화를 수행함으로써 향상 계층에서 움직임 모드 결정을 조기에 완료하게 하여 공간 계위성 부호화를 고속화하거나 위 두 경우가 아닌 경우에는 후보 모드의 수를 감소시켜 감소된 모드에 대해서만 율-왜곡 최적화를 수행하는 방법을 제시한다. 이 제안 방법을 이용하였을 경우 향상 계층에의 모드 결정과정을 고속화함으로써 전체 스케일러블 비디오 부호화기의 연산량 및 복잡도를 전체 부호화 소요 시간 대비 최대 72%까지 감소시켰다. 그러나 연산량 감소에 따른 비트율의 증가와 화질 열화는 각각 최대 1.73%와 최대 0.25dB로 무시할 수 있을 정도로 작음을 확인하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.1039-1042
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• 1995

In real time application such as motion control, it is hard to find the application of non-causal filtering due to its need for future position data, even though it shows wide usage in off-line digital signal processing. Recently, some of motion control areas such as learning and repetitive control use non-causal filtering technique in their application. these kinds of zero-lag non-causal filter application are very usful not only to reduce the machine vibration, but also to increase control accuracy with comparatively less work. In this paper, genuine method to implement zero-lag non-causal filter in a CNC is introduced. Also the variation of this implementation for the learning operation is suggested to give the NC better control performance for a specific job. By adopting the new NC architecture call Soft-NC, all these implementions are made possible here, and especially large memory requirement which hinders their usage for many years is no longer barrier in their real world application.

• 로봇학회논문지
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• 제12권2호
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• pp.144-151
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• 2017

An important characteristic of people with partially impaired walking ability, such as incomplete paraplegics, is that they are able to generate voluntary motion of lower-limbs. Therefore, wearable robots for the incomplete paraplegic patients require a different assistance method compared to those of complete paraplegics. First, the wearable robot should be controlled to not resist wearer's motion. Second, it should be able to generate assistive torque accurately when needed. In this paper, a wearable robot, called EROWA, for the incomplete paraplegic patients is introduced. EROWA utilizes compact rotary series elastic actuators (cRSEAs) and a control method called the zero impedance control to reduce the mechanical resistance. An assistive torque trajectory is proposed to assist gait in this paper. The proposed method is verified by simulation and experimental studies.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.959-964
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• 1992

This study treats the method for kinematic modeling of the biped walking robot, for synthesizing various gait trajectories, and for calculating adequate values of the joint torque inside the stable region. To synthesize various and anthropomorphic walking easily, the gait trajectory is specified by a set of ten walking prameters, and the trunk motion equation is derived by the zero moment point and the gait trajectory. By distributing ground reaction force and moment reduced at the zero moment point to the both feet, the joint torque equation can be derived readily, and according to this equation, the joint torque to stable walking can be computed.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1999년도 추계학술대회 논문집 - 한국공작기계학회
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• pp.371-376
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• 1999

Stick-slip friction is present to some degree in almost all actuators and mechanisms and is often responsible for performance limitations. Simulation of stick-slip friction is difficult because of strongly nonlinear behavior in the vicinity of zero velocity. A straightforward method for representing and simulating friction effects is presented. True zero velocity sticking is represented without equation reformulation or the introduction of numerical stiffness problems. Stick-slip motion is investigated experimentally, and the fundamental characteristics of the stick-slip motion are clarified. Based on these experimental results, the characteristics of static in the period of stick and kinetic friction in the period of slip are studied concretely so as to clarify the stick-slip process.

• 대한전기학회논문지:전력기술부문A
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• 제48권8호
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• pp.1022-1030
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• 1999

This paper is concerned with the balancing motion formulation and the control of ZMP (zero moment point) for a biped walking robot with balancing joints. The balancing equation of a biped robot can be modeled as the second order non-homogeneous differential equation, which makes it possible to plan the desired trajectories for various gaits or motions. Also, the balancing motion can be defined easily by solving the differential equation without pre-processing or heuristic procedures. The actual experiments are performed on biped walking robot system IWR-III, developed in our Automatic Control Lab. The system has the structure of three pitches in each leg, and one roll and one prismatic type in balancing joints. The walking simulations and the experimental results on IWR-III are shown using the proposed formula and control algorithm.

• Journal of information and communication convergence engineering
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• 제6권2호
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• pp.146-149
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• 2008

Simulation and signal conditioning on the time domain surface elevation records are conducted to verify the proposed Welch's method in non-directional ocean wave spectrum analysis. These spectrum data are further conditioned to provide wave characteristic that better describe the sea states. Comparison of significant wave height and zero crossing period between the proposed method and a reference toolkit are presented.