• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.332-336
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• 1992

We describe about the graphic simulation system which supports the determination of efficient multi-robot motions during cooperation. For the construction of the simulation software for multi-robot motions, two problems are presented. First problem is that all the robot motions must be determinded using both the desired object motions and the holonomic constraints with the object. To find the robot motions combined with the various object motion path, the robot motions are derived from the desired object path instead of a master robot path. Therefore robot motions can be easily modifiable with the various object motions. This type of motion determination is different from that of the master-slaves method using the master robot motions. The other is that the developments of robot application softwares need a heavy cost when the participated robots or the tasks given to the robots are changed. Based on object-oriented programming paradigm, we present useful software objects describing robot application programming environment. The object-oriented programming paradigm increases the software reusability, reliability, and extensibility, and also provides the structual concepts to cope with the various demands of robot application programming.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 1996.06b
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• pp.45-49
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• 1996

This paper describes algorithms for the method to generate motions automatically. There are many efforts to generate motions with assistance from computers. But almost of these are methods for generating motions from scratch using computers - generally called "Computer Generated Animation". We propose a method called "Computer Aided Animation" which is a tool to help in animator generating motions. Many motions in cartoonized animation are included with impossible motions for human. Animation makes these motions based on knowledge of experimental techniques. The method in this paper works like a filter in the field of image processing. We call this method "Motion Filter". Motion Filter accepts captured motions from motion capture system and translate these motions to emphasized-cartoonized-motions.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1629-1632
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• 2003

A technique is presented for generating a compound human motion from its primitive motions obtained by a motion capture system. Some human fundamental motions are modeled in a 3-D way and registered as primitive motions. Because the factorization method is used for the motion capture, calibration of video cameras and connection of the motion in the direction of time is both unnecessary. Employing these motions, various compound human motions are generated by connecting the motions after having applied rotation and parallel transformation to them. Linear interpolation is done at the discontinuous boundary between primitive motions and smooth connection is achieved. Experimental results show satisfactory performance of the proposed technique. The technique may contribute to producing various complicated human motions without much effort using a strict motion capture system.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.17 no.8
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• pp.856-866
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• 1992

In this paper, the graphic simulation system Is presented which supports the determination of efficient multi-robot motions during cooperation. For the construction of the simulation software for multi robot motions, two problems are described. First problem is that all the robot motions must be determined using both the desired object motions and the holonomic constraints with the object. To find the robot motions combined with the various object motion path, the robot motions are derived from the desired object path instead of a master robot path. There ore, robot motions can be easily modifiable with #he various object motions. This type of motion determination Is different from that of the master-slaves method using the master robot motions.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2003.03a
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• pp.69-76
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• 2003

Near-field ground motions exhibit special characteristics that are different from ordinary far-field ground motions. This paper first briefly examines the characteristics of near-field ground motions associated with fault directivity and fling-step effects. Then evaluation of near-field ground motions by inelatstic response spectrum analysis is performed and analyzed. As a result, ductility demand in near-field ground motions is larger in hanging wall than in foot wall in long period regions. Also in long period regions ductility demand in soil site is larger than that in rock site.

• ETRI Journal
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• v.35 no.6
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• pp.1029-1037
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• 2013

This paper introduces a novel and fast synthesizing method for 3D motions of quadrupedal animals that uses only a small set of motion capture data. Unlike human motions, animal motions are relatively difficult to capture. Also, it is a challenge to synthesize continuously changing animal motions in real time because animals have various gait types according to their speed. The algorithm proposed herein, however, is able to synthesize continuously varying motions with proper limb configuration by using only one single cyclic animal motion per gait type based on the biologically driven Froude number. During the synthesis process, each gait type is automatically determined by its speed parameter, and the transition motions, which have not been entered as input, are synthesized accordingly by the optimized asynchronous motion blending technique. At the start time, given the user's control input, the motion path and spinal joints for turning are adjusted first and then the motion is stitched at any speed with proper transition motions to synthesize a long stream of motions.

• Korean Journal of Computational Design and Engineering
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• v.16 no.3
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• pp.227-235
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• 2011

Ship handling simulator should have capabilities of calculating ship motions (heave, pitch, and roll) at given sea state and displaying the calculated motions through a real-time 3D visualization system. Motion solver of a ship handling simulator generally calculates those motions in addition to position for an own ship, a main simulation target, but provides only position information for traffic ships. Therefore, it is required to simulate real-time traffic ship and buoy motions coupled with ocean waves in a ship handling simulator for the realistic visualization. In the paper, the authors propose a simple dynamics model by which ship and buoy motions are calculated with the input data of wave height and discuss a method for the implementation of a ship and buoy motions calculation module.

• Honam Mathematical Journal
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• v.45 no.2
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• pp.198-214
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• 2023

In the present paper, we investigate homothetic motions determined by quaternions, which is a general form of our previous paper [20]. We introduce a transition between homothetic motions in 3D and 4D Euclidean and Lorentzian spaces. In other words, we give a new method that works as a handy tool for obtaining Lorentzian homothetic motions from Euclidean homothetic motions. Moreover, some remarkable properties of homothetic motions, which are given in former studies on this subject, are also examined by dual transformations. Then, we present applications and visualize them with 3D-plots. Finally, we investigate homothetic motions in dual spaces because of the importance in many fields related to kinematics.

• Korean Journal of Mathematics
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• v.23 no.4
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• pp.521-536
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• 2015

We investigate the nonlinear motions of discrete loaded cable with different periodic forcing. We present the numerical evidence of the nonlinear motions of the cable by solving initial value problems and obtaining the motions after a long time. There appeared to be various types of nonlinear oscillations over a wide range of frequencies and amplitudes for the periodic forcing term.

• Journal of Korean Institute of Industrial Engineers
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• v.38 no.2
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• pp.133-143
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• 2012

The study on social robots has been actively conducted in the robot research community. In the area of robot design, however, there are few studies regarding robot motions that are one of the methods for interaction between humans and robots. This is a preliminary study to find preferred human motions that can be applied to social robots. We conducted a two-phased empirical study about preferred human motions. In the first phase, four representative human motions, such as 'greeting', 'I don't know', 'positive answer', and 'giving', were captured through 28 body makers and video recording. 10 young and 6 elderly Singaporeans participated in the motion capture process. In the second phase, the communication efficiency, emotion, and satisfaction of the human motions recorded in the first phase were measured by a questionnaire and 31 young Koreans, 35 young Singaporeans participated to investigate cultural differences. We drew the conclusion that motions used in the same culture are efficient in communication and also give friendliness and satisfaction. In addition, regardless of user's culture, young people's motions and female motions were preferred in terms of communication efficiency, emotional aspect, satisfaction.