• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.806-811
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• 2005

The robot to search and rescue is used in narrow space where human cannot approach. In case of this robot, it can overcome obstacles such as wrecks or stairs etc. Also, this robot can do various locomotion for each object. In this reason, an articulated robot has advantages comparing with one module robot. However, the existing articulated robot has limits to overcome vertical passages. For expanding contacted territory of robot, a novel mechanism is demanded. In this paper, the novel mechanism of articulated mobile robot is designed for moving level ground and vertical passages. This paper proposes to change wheel alignment. The robot needs two important motions for passing vertical passages like pipe. One is a motion to press wheels at wall for not falling into gravity direction. The other is a motion that wheels contact a vertical direction of wall's tangential direction for reducing loss of force. The mechanism of the robot focused that two motions can be acted to use just one motor. Length of each link of robot is optimized that wheels contact a vertical direction of wall's tangential direction through kinematic modeling of each link. The force of pressing wall of robot is calculated through dynamic modeling. This robot composes four modules. This mechanism is confirmed by dynamic simulation using ADAMS program. The articulated mobile robot is elaborated based on the results of kinematic modeling and dynamic simulation.

• Journal of the Korean Society of Costume
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• v.53 no.1
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• pp.1-15
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• 2003

This study as one of a series of systematic studies about dancing costumes will compare the costumes of the middle age with their normal style of dress. In brief, this study wants people to know about middle a9e dancing costumes and understand the culture in the middle ages. It was found that people's everyday clothes in the middle age such as Surcot. Surcot-ouvert, Pourpoint, Houppelande were used as dancing costumes. They were, however. changed from the public's clothes which were tight and long. Rather than wearing costume over others. dancers wore costumes which had slits on skirt or sleeves to increase motion. With the Wild Man of the Wood's which only nobles used for their dancing costumes. costumers highlighted the beauty of human body There were various costume materials used in the middle ages like silk. cotton fabrics, linen or brocade. These materials were used for Surcot and Pourpoint as dancing costumes. The naturalness of nature or geometric patterns also was expressed on the costumes. Further about those patterns, because the development of stained glass, vivid colors were used especially red, light green, blue etc. As for the hair styles used, dancers let their hair down and put a jeweled crown over their hair. In summation. dancers wore the same clothes that normal People did, but the costumes were different depending on social status and gender. The costumes of ordinary people's were based upon ordinary clothes that moved and emphasized the dynamic motion. On the other side, the court dancers' costumes were very fancy. symbolizing a measurement of nobles' from wealth and authority. as well as an expression of a sense of beauty, The main features of middle ages follows. : To emphasize vitality, there were long slits on the side of skirt. Hair decorations and jewels are more used than in the ancient age's. To hide a dancer's social status. they could use a mask. Wild Man of the Wood's was used for the body makeup. All these features of the dancing costumes must contribute to the progress of the dance in the middle age's.

• Journal of KIISE:Computing Practices and Letters
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• v.8 no.4
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• pp.367-375
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• 2002

Inverse kinematics is a very useful method for control]ing the posture of an articulated body. In most inverse kinematics processes, the major matter of concern is not the posture of an articulated body itself but the position and direction of the end effector. In some applications such as 3D character animations, however, it is more important to generate an overall natural posture for the character rather than place the end effector in the exact position. Indeed, when an animator wants to modify the posture of a human-like 3D character with many physical constraints, he has to undergo considerable trial-and-error to generate a realistic posture for the character. In this paper, the Inductive Inverse Kinematics(IIK) algorithm using a Uniform Posture Map(UPM) is proposed to control the posture of a human-like 3D character. The proposed algorithm quantizes human behaviors without distortion to generate a UPM, and then generates a natural posture by searching the UPM. If necessary, the resulting posture could be compensated with a traditional Cyclic Coordinate Descent (CCD). The proposed method could be applied to produce 3D-character animations based on the key frame method, 3D games and virtual reality.

• Journal of Korea Society of Digital Industry and Information Management
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• v.13 no.1
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• pp.113-123
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• 2017

Virtual reality technology is recognized as a next-generation technology and can create realistic environments like the real world and reproduce sensory experiences. And it is a cutting-edge technology that allows humans to experience the same real-world experience in a virtual world by computing the five senses with computers. Also Virtual reality is a technology that has the advantage of experiencing reality in cyberspace and is applied to content such as movies and games. However, many users who use virtual reality can feel cybersickness. And it especially in virtual reality games. This is an important issue for the virtual reality game industry to be resolved. Main symptoms of cyberscickness include dizziness, headache, and vomiting. Existing motion sickness and symptoms are similar, but the cause of cybersickness is different from traditional sickness. Therefore, this study uses virtual reality games and data from various organizations to determine the causes of cybersickness. Also, it intends to contribute to the development of the virtual reality game industry by presenting methods to supplement these problems.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.4
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• pp.371-376
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• 2007

This paper presents an emotion recognition and its expression system of an intelligent robot like a home robot or a service robot. Emotion recognition method in the robot is used by a facial image. We use a motion and a position of many facial features. apply a tracking algorithm to recognize a moving user in the mobile robot and eliminate a skin color of a hand and a background without a facial region by using the facial region detecting algorithm in objecting user image. After normalizer operations are the image enlarge or reduction by distance of the detecting facial region and the image revolution transformation by an angel of a face, the mobile robot can object the facial image of a fixing size. And materialize a multi feature selection algorithm to enable robot to recognize an emotion of user. In this paper, used a multi layer perceptron of Artificial Neural Network(ANN) as a pattern recognition art, and a Back Propagation(BP) algorithm as a learning algorithm. Emotion of user that robot recognized is expressed as a graphic LCD. At this time, change two coordinates as the number of times of emotion expressed in ANN, and change a parameter of facial elements(eyes, eyebrows, mouth) as the change of two coordinates. By materializing the system, expressed the complex emotion of human as the avatar of LCD.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2009.01a
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• pp.808-811
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• 2009

Robovie-R2 [1], developed by ATR, is a 110cm high, 60kg weight, two wheel drive, human like robot. It has two arms with dynamic fingers. It also has a position sensitive detector sensor and two cameras as eyes on his head for recognizing his surrounding environment. Recent years, we have carried out a project to integrate new functions into Robovie-R2 so as to make it possible to be used in a dining room in healthcare center for helping serving meal for elderly. As a new function, we have developed software system for adaptive movement control of Robovie-R2 that is primary important since a robot that cannot autonomously control its movement would be a dangerous object to the people in dining room. We used the cameras on Robovie-R2's head to catch environment images, applied our original algorithm for recognizing obstacles such as furniture or people, so as to control Roboie-R2's movement. In this paper, we will focus our algorithm and its results.

• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.293-299
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• 2016

In this article art performing applications of industrial dual-arm robots are introduced. It was real collaboration among robot researchers and artist. Artist designed the performance to use dual-arm robot. Robot researchers collaborated with artist by providing robotic constraints and configuring robot motion. Two art performances were configured with two industrial dual-arm robots. In both performance robots carry objects to be used as moving screens. Both performances rely on the high power and high precision of robots. In addition human-like appearance make those performances be familiar to public.

• Korean Institute of Interior Design Journal
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• v.16 no.3 s.62
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• pp.30-37
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• 2007

This research is to find out the characteristics and significance of the plastic experiments with colored planes in Theo van Doesburg's works. Based on the analysis, the following results have been obtained. First, Thea van Doesburg's plastic experiments with colored planes started from the paintings in 1916-1918. series and series were made of the ion of still life or human motion. These paintings were intended to make effects of rhythm, acceleration and simultaneity. Second, he colored the outer and inner architectural surface with primary colors. The expression of visual. rhythm on the color design for De Vonk, Districts Housing Projects VIII & IX in Spangen, Multi-Housing in Oosterstraat, Friesian Housing, Landbouw Winter School, and University Hall in Amsterdam embodied the concept of painting-in-architecture. Third, the field of these experiments were extended into the architectural space. As a results, $H\hat{o}tel$ Particulier and Maison d'Artiste was shown on the Architectural Exhibition in Paris in 1923. The colored planes were used as a construction material. They generated the dynamic space in architecture. Fourth, through the pictorial works like Architectural Analysis, Contra-Composition, Simultaneous Composition or Simultaneous Contra-Composition, Tesseract and Aubette Cinema-Dancing Hall, he created the concepts of simultaneous integration including nature and the environments as well as space-time in the architecture.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.10
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• pp.1006-1013
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• 2011

In this paper, we propose an optimal posture control law for an unmanned bicycle by deriving linear bicycle model from fully nonlinear differential equations. We calculate each equilibrium point of a bicycle under any given turning radius and angular speed of rear wheel. There is only one equilibrium point when a bicycle goes straight, while there are a lot of equilibrium points in case of turning. We present an optimal equilibrium point which makes the leaning input minimum when a bicycle is turning. As human riders give rolling torque by moving center of gravity of a body, many previous studies use a movable mass to move center of gravity like humans do. Instead we propose a propeller as a new leaning input which generates rolling torque. The propeller thrust input makes bicycle model simpler and removes input magnitude constraint unlike a movable mass. The proposed controller can hold optimal equilibrium points using both steering input and leaning input. The simulation results on linear control for circular motion are demonstrated to show the validity of the proposed approach.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.6
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• pp.376-382
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• 2005

In this paper, practical biped humanoid robot is presented, designed, and modeled by fuzzy system. The humanoid robot is a popular research area in robotics because of the high adaptability of a walking robot in an unstructured environment. But owing to the lots of circumstances which have to be taken into account it is difficult to generate stable and natural walking motion in various environments. As a significant criterion for the stability of the walk, ZMP (zero moment point) has been used. If the ZMP during walking can be measured, it is possible for a biped humanoid robot to realize stable walking by a control method that makes use of the measured ZMP. In this study, measuring the ZMP trajectories in real time situations throughout the whole walking phase on the flat floor and slope are conducted. And the obtained ZMP data are modeled by fuzzy system to explain empirical laws of the humanoid robot. By the simulation results, the fuzzy system can be effectively used to model practical humanoid robot and the acquired trajectories will be applied to the humanoid robot for the human-like walking motions.