• Journal of Korea Multimedia Society
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• v.20 no.5
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• pp.731-739
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• 2017

Distributed compressed video sensing (DCVS) is a framework that integrates both compressed sensing and distributed video coding characteristics to achieve a low complexity video sampling. In DCVS schemes, motion estimation & motion compensation is employed at the decoder side, similarly to distributed video coding (DVC), for a low-complex encoder. However, since a simple BCS-SPL algorithm is applied to a residual arising from motion estimation and compensation in conventional MC-BCS-SPL (motion compensated block compressed sensing with smoothed projected Landweber) scheme, the reconstructed visual qualities are severly degraded in Wyner-Ziv (WZ) frames. Furthermore, the scheme takes lots of iteration to reconstruct WZ frames. In this paper, the conventional MC-BCS-SPL algorithm is improved to be operated in more effective way in WZ frames. That is, first, the proposed algorithm calculates a correlation coefficient between two reference key frames and, then, by selecting adaptively the reference frame, the residual reconstruction in pixel domain is performed to the conventional BCS-SPL scheme. Experimental results show that the proposed algorithm achieves significantly better visual qualities than conventional MC-BCS-SPL algorithm, while resulting in the significant reduction of the decoding time.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.34 no.6
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• pp.401-415
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• 2021

Soft robots are promising devices for applications in drug delivery, sensing, and manufacturing. Traditional hard robotics are manufactured with rigid materials and their degrees of motion are constrained by the orientation of the joints. In contrast to rigid counterpart, soft robotics, employing soft and stretchable materials that easily deforms in shape, can realize complex motions (i.e., locomotion, swimming, and grappling) with a simple structure, and easily adapt to dynamic environment. Among them, the magnetic actuators exhibit unique characteristics such as rapid and accurate motion control, biocompatibility, and facile remote controllability, which make them promising candidates for the next-generation soft robots. Especially, the magnetic actuators instantly response to the stimuli, and show no-hysteresis during the recovery process, essential for continuous motion control. Here, we present the state-of-the-art fabrication process of magnetically controllable nano-/micro-composites, magnetically aligning process of the composites, and 1-dimensional/multi-dimensional multimodal motion control for the nextgeneration soft actuators.

• International Journal of Internet, Broadcasting and Communication
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• v.14 no.1
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• pp.129-135
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• 2022

Real human digital models appear more and more frequently in VR/AR application scenarios, in which real-time markerless face capture animation of personalized virtual human faces is an important research topic. The traditional way to achieve personalized real human facial animation requires multiple mature animation staff, and in practice, the complex process and difficult technology may bring obstacles to inexperienced users. This paper proposes a new process to solve this kind of work, which has the advantages of low cost and less time than the traditional production method. For the personalized real human face model obtained by 3D reconstruction technology, first, use R3ds Wrap to topology the model, then use Avatary to make 52 Blend-Shape model files suitable for AR-Kit, and finally realize real-time markerless face capture 3D real human on the UE4 platform facial motion capture, this study makes rational use of the advantages of software and proposes a more efficient workflow for real-time markerless facial motion capture of personalized 3D real human models, The process ideas proposed in this paper can be helpful for other scholars who study this kind of work.

• Journal of the Earthquake Engineering Society of Korea
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• v.28 no.3
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• pp.159-164
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• 2024

Recent earthquakes in Korea, like Gyeongju and Pohang, have highlighted the need for accurate seismic hazard assessment. The lack of substantial ground motion data necessitates stochastic simulation methods, traditionally used with a simplistic point-source assumption. However, as earthquake magnitude increases, the influence of finite faults grows, demanding the adoption of finite faults in simulations for accurate ground motion estimates. We analyzed variations in simulated ground motions with and without the finite fault method for earthquakes with magnitude (Mw) ranging from 5.0 to 7.0, comparing pseudo-spectral acceleration. We also studied how slip distribution and hypocenter location affect simulations for a virtual earthquake that mimics the Gyeongju earthquake with Mw 5.4. Our findings reveal that finite fault effects become significant at magnitudes above Mw 5.8, particularly at high frequencies. Notably, near the hypocenter, the virtual earthquake's ground motion significantly changes using a finite fault model, especially with heterogeneous slip distribution. Therefore, applying finite fault models is crucial for simulating ground motions of large earthquakes (Mw ≥ 5.8 magnitude). Moreover, for accurate simulations of actual earthquakes with complex rupture processes having strong localized slips, incorporating finite faults is essential even for more minor earthquakes.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.10
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• pp.853-858
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• 2016

Cooperation and collaboration with robots are key functions of robotic utility that are currently developing. Thus, robots should be safe and resemble human beings to cope with these needs. In particular, dual-arm robots that mimic human kinetics are becoming the focus of recent industrial robotics research. Their size is similar to the size of a human adult; however, they lack natural, human-like motion. One of the critical reasons for this is the shoulder complex. Most recent dual-arm robots have only 2 degrees of freedoms (DOFs), which significantly limits the workspace and mobility of the shoulders and arms. Therefore, a redundant shoulder complex could be very important in new developments that enable new capabilities. However, constructing a kinematically redundant shoulder complex is difficult because of spatial constraints. Therefore, we propose a novel, redundant shoulder complex for a human-like robot that is driven by flexible wire tendons. This kinematically redundant shoulder complex allows human-like robots to move more naturally because of redundant DOFs. To control the proposed shoulder complex, a hybrid control scheme is used. The positioning precision has also been considered, and the ability of the shoulder complex to perform several human-like motions has been verified.

• Geophysics and Geophysical Exploration
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• v.15 no.2
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• pp.57-65
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• 2012

Various numerical methods in simulation of seismic wave propagation have been developed. Recently an innovative numerical method called as the Spectral Element Method (SEM) has been developed and used in wave propagation in 3-D elastic media. The SEM that easily implements the free surface of topography combines the flexibility of a finite element method with the accuracy of a spectral method. It is generally used a weak formulation of the equation of motion which are solved on a mesh of hexahedral elements based on the Gauss-Lobatto-Legendre integration rule. Variational formulations of velocity-stress motion are newly modified in order to implement ADE-PML (Auxiliary Differential Equation of Perfectly Matched Layer) in wave propagation in 3-D elastic media, because a general weak formulation has a difficulty in adapting CFS (Complex Frequency Shifted) PML (Perfectly Matched Layer). SEM of Velocity-Stress motion having ADE-PML that is very efficient in absorbing waves reflected from finite boundary is verified with simulation of 1-D and 3-D wave propagation.

• KIPS Transactions on Software and Data Engineering
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• v.7 no.4
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• pp.135-144
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• 2018

The domestic pigsty environment is highly vulnerable to the spread of respiratory diseases such as foot-and-mouth disease because of the small space. In order to manage this issue, a variety of studies have been conducted to automatically analyze behavior of individual pigs in a pig pen through a video surveillance system using a camera. Even though it is required to correctly segment touching pigs for tracking each pig in complex situations such as aggressive behavior, detecting the correct boundaries among touching pigs using Kinect's depth information of lower accuracy is a challenging issue. In this paper, we propose a segmentation method using motion information of the touching pigs. In addition, our proposed method can be applied for detecting tracking errors in case of tracking individual pigs in the complex environment. In the experimental results, we confirmed that the touching pigs in a pig farm were separated with the accuracy of 86%, and also confirmed that the tracking errors were detected accurately.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1022-1027
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• 2003

The Motion controllers provide the sophisticated performance and enhanced capabilities we can see in the movements of robotic systems. Several types of motion controllers are available, some based on the kind of overall control system in use. PLC (Programmable Logic Controller)-based motion controllers still predominate. The many peoples use MCU (Micro Controller Unit)-based board level motion controllers and will continue to in the near-term future. These motion controllers control a variety motor system like robotic systems. Generally, They consist of large and complex circuits. PLC-based motion controller consists of high performance PLC, development tool, and application specific software. It can be cause to generate several problems that are large size and space, much cabling, and additional high coasts. MCU-based motion controller consists of memories like ROM and RAM, I/O interface ports, and decoder in order to operate MCU. Additionally, it needs DPRAM to communicate with host PC, counter to get position information of motor by using encoder signal, additional circuits to control servo, and application specific software to generate a various velocity profiles. It can be causes to generate several problems that are overall system complexity, large size and space, much cabling, large power consumption and additional high costs. Also, it needs much times to calculate velocity profile because of generating by software method and don't generate various velocity profiles like arbitrary velocity profile. Therefore, It is hard to generate expected various velocity profiles. And further, to embed real-time OS (Operating System) is considered for more reliable motion control. In this paper, the structure of chip-based precision motion controller is proposed to solve above-mentioned problems of control systems. This proposed motion controller is designed with a FPGA (Field Programmable Gate Arrays) by using the VHDL (Very high speed integrated circuit Hardware Description Language) and Handel-C that is program language for deign hardware. This motion controller consists of Velocity Profile Generator (VPG) part to generate expected various velocity profiles, PCI Interface part to communicate with host PC, Feedback Counter part to get position information by using encoder signal, Clock Generator to generate expected various clock signal, Controller part to control position of motor with generated velocity profile and position information, and Data Converter part to convert and transmit compatible data to D/A converter.

• The Journal of Information Technology
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• v.7 no.2
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• pp.93-104
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• 2004

Sports scene is characterized by large amount of global motion due to pan and zoom of camera motion, and includes many small objects moving independently. Some short period of sports games is thrilling to televiewers, and important to producers. At the same time that kinds of scenes exhibit exceptionally dynamic motions and it is very difficult to analyze the motions with conventional algorithms. In this thesis, several algorithms are proposed for global motion analysis on these dynamic scenes. It is shown that proposed algorithms worked well for motion compensation and panorama synthesis. When cascading the inter frame motions, accumulated errors are unavoidable. In order to minimize these errors, interpolation method of motion vectors is introduced. Affined transform or perspective projection transform is regarded as a square matrix, which can be factorized into small amount of motion vectors. To solve factorization problem, we preposed the adaptation of Newton Raphson method into vector and matrix form, which is also computationally efficient. Combining multi frame motion estimation and the corresponding interpolation in hierarchical manner enhancement algorithm of motion parameters is proposed, which is suitable for motion compensation and panorama synthesis. The proposed algorithms are suitable for special effect rendering for broadcast system, video indexing, tracking in complex scenes, and other fields requiring global motion estimation.

• The Journal of Internal Korean Medicine
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• v.41 no.2
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• pp.122-131
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• 2020

Background: This study aimed to determine the effects of complex Korean medicine treatments on a patient suffering from tetraplegia caused by spinal cord injury. Case Summary: A 64-year-old female patient diagnosed with tetraplegia was treated using acupuncture, electroacupuncture, pharmacopuncture, knee joint motion style treatment (MST), and herbal medicine. Clinical symptoms were measured using the numeric rating scale (NRS) and manual muscle test (MMT). After 67 days of treatment, the NRS score for lower back pain and knee pain decreased from 7 to 3. For the shoulder joint the MMT grade improved from 3+/4+(Rt./Lt.) to 4/5-; in the hip joint, it improved from 3-/3+ to 4/4+. No side effects were observed from the treatments used in this case report. Conclusion: The complex Korean Medicine treatments appeared to be effective in recovering muscle strength and reducing pain in patients with tetraplegia caused by spinal cord injury.