• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.214-216
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• 2006

Expressive face and human body gestures are among the main non-verbal communication channels in human-human interaction. Understanding human emotions through body gesture is one of the necessary skills both for humans and also for the computers to interact with their human counterparts. Gesture analysis is consisted of several processes such as detecting of hand, extracting feature, and recognizing emotions. Skin color information for tracking hand gesture is obtained from face detection region. We have revealed relationships between paricular body movements and specific emotions by using HMM(Hidden Markov Model) classifier. Performance evaluation of emotional human body recognition has experimented.

• The KIPS Transactions:PartB
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• v.10B no.6
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• pp.657-664
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• 2003

Reliable tracking of moving humans is essential to motion estimation, video surveillance and human-computer interface. This paper presents a new approach to human motion tracking that combines appearance-based and model-based techniques. Monocular color video is processed at both pixel level and object level. At the pixel level, a Gaussian mixture model is used to train and classily individual pixel colors. At the object level, a 3D human body model projected on a 2D image plane is used to fit the image data. Our method does not use inverse kinematics due to the singularity problem. While many others use stochastic sampling for model-based motion tracking, our method is purely dependent on nonlinear programming. We convert the human motion tracking problem into a nonlinear programming problem. A cost function for parameter optimization is used to estimate the degree of the overlapping between the foreground input image silhouette and a projected 3D model body silhouette. The overlapping is computed using computational geometry by converting a set of pixels from the image domain to a polygon in the real projection plane domain. Our method is used to recognize various human motions. Motion tracking results from video sequences are very encouraging.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.932-935
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• 2005

Three dimensional laser welding technology for light car body is studied. A robot, a seam tracking system and 4kW CW Nd:YAG laser are used for three dimensional robot laser welding system. The Laser system is used 4kW Nd:YAG laser(HL4006D) of Trumpf and the Robot system is used IRB6400R of ABB. The Seam tracking system is SMRT-20LS of ServoRobot. The welding joint of steel plate are butt and lap joint. The 3-D welding for Non-linear Tailored blank is performed after the observation experiments of bead on plate. Finally, the welding process for non-linear tailored blank and front side member is developed.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.156.5-156
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• 2001

Stabilized tracking platform in a missile consisting of a flat planar antenna, pitch/yaw gimbals, gear trains, and current controlled DC drive motors for pitch and yaw gimbal must have a capability to track a target as an inertial sensor in the presence of missile body motion such as maneuvering and vibration. Because of this reason, tracking a target from dynamic platform requires a servo architecture that includes a outer tracking loop(position loop) and inner rate loop that stabilizes the line of sight(LOS). This paper presents a gimbaled platform model including nonlinear phenomena due to viscous and Coulomb friction based on experimental data and torque equilibrium equation, the design concept for the inner tacholoop having P controller structure ...

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.761-765
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• 1997

Our study of rider's postulator stability and tracking control on a unicycle began form the observation of a human riding. The system including unicycle and human operationg his unicycle is a fuzzy intelligent biomechanical model on basis of instinct and intuition search mechanisms. We proposed a robotic unicycle with one wheel and one body as a basic mode and derived equation of motion to this model. Our works is in making out fuzzy look-up table to control robotic unicycle. Fuzzy look-up table were determined for staight line and curve under reasonable inference emulating human's instinct and intuition riding a unicyale. Simulation results show that postulator stability and tracking control on both straight line and curve were successful by using proposed each fuzzy look-up table.

• International Journal of Precision Engineering and Manufacturing
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• v.4 no.6
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• pp.20-28
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• 2003

This paper presents development of a high speed rotating arc sensor system using a microprocessor based controller with tracking function for a complicate curved fillet welding line, The welding tip connected to the torch body is eccentrically positioned from the centerline of the torch, The area during one rotating cycle is divided into 4 regions of front, rear, right and left in welding direction of the torch tip to determine the horizontal deviation between the welding seam and the torch position. The average value at each region is calculated using the regional current values and a low pass filter incorporated with the moving average method is implemented. The effectiveness of the developed system is proven through the experimental results for several kinds of complicate curved fillet welding lines.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.1
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• pp.66-73
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• 2016

An Inertial Measurement Unit (IMU)-based Attitude and Heading Reference System (AHRS) can calculate attitude and heading information with long-term accuracy and stability by combining gyro, accelerometer, and magnetic compass signals. Motivated by this characteristic of the AHRS, this paper presents a Motion-Tracking and Localization (MTL) method for a person or walking robot using multi-AHRSs. Five AHRSs are attached to the two calves, two thighs, and waist of a person/walking robot. Joints, links, and coordinate frames are defined on the body. The outputs of the AHRSs are integrated with link data. In addition, a supporting foot is distinguished from a moving foot. With this information, the locations of the joints on the local coordinate frame are calculated. The experimental results show that the presented MTL method can track the motion of and localize a person/walking robot with long-term accuracy in an infra-less environment.

• Proceedings of the Korea Society for Industrial Systems Conference
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• 2003.11a
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• pp.145-156
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• 2003

This paper for real time object tracking in this treatise detect histogram analysis that is accumulation value of binary conversion density and edge information and body that move by real time use of difference Image techniques and proposed method to object tracking. Firstly, we extract edge that can reduce quantity of data keeping information about form of input image in object detection. Object is extracted by performing difference image and binarization in edge image. Area of detected object is determined by threshold value that divide sum of horizontal accumulation value about binary conversion density by value that add horizontalityㆍverticality maximum accumulation value. Object is tracked by comparing similarity with object that is detected in previous frame and present frame. As experiment result, proposed algorithm could improve the object detection speed, and could track object by real time and could track local movement.

• Journal of the Korea Institute of Military Science and Technology
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• v.13 no.5
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• pp.941-949
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• 2010

The present study investigated the swimming pattern and appendage postures of a copepod species, Calanus sinicus, which prevails in the south-east sea of the Korean peninsula, by employing a digital holographic particle tracking velocimetry(PTV) technique. The results showed that the copepod Calanus sinicus had various swimming patterns such as hover, hop, sink, cruise, and downward cruise. Most frequent pattern was the 'hop and sink'. The average swimming speeds ranged from 1.1 to 45.7 body-lengths/s, and the corresponding flow Reynolds number ranged from $10^0$ to $10^2$.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.10
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• pp.64-74
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• 2007

Because of the size and environment in the shipbuilding process, the portable type robot is required for the automatic seam tracking. For this reason, the structure of laser sensor should be considered in the initial design step and the coordinate transformation between welding robot and laser sensor, which is joint finder, must be identified exactly and the real time tracking algorithm based on these consideration could be developed. In this research, laser displacement sensor in which its structure is laser beam's vertical projection, is developed to recognize the location of weld joint. In practical applications, however, images of weld joints are often degraded because of the surface specularity or spatter. To overcome the problem, the constrained joint finding algorithm is proposed. In the approach of coordinate conversion rule for the visual feedback control among welding torch, robot body and laser sensor is applied by the same reference point method. In the real time seam tracking algorithms we propose constrained sampling method which uses look ahead distance. The RLS(Recursive Least Square) filter is applied to obtain the smooth tracking path from the sensitive edge data. From the experimental results, we could see the possibility that the developed laser sensor with proposed processing algorithm and real time seam tracking method can be used as a welding under the shipbuilding condition.