• Transactions of the Korean Society of Automotive Engineers
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• v.5 no.1
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• pp.154-161
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• 1997

This paper presents the method to eliminate the constraint reaction in the Lagrange multiplier form equation of motion by using a generalized coordinate driveder from the velocity constraint equation. This method introduces a matrix method by considering the m dimensional space spanned by the rows of the constraint jacobian matrix. The orthogonal vectors defining the constraint manifold are projected to null vectors by the tangential vectors defined on the constraint manifold. Therefore the orthogonal projection matrix is defined by the tangential vectors. For correcting the generalized position coordinate, the optimization problem is formulated. And this correction process is analyzed by the quasi Newton method. Finally this method is verified through 3 dimensional vehicle model.

• Journal of The Korean Astronomical Society
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• v.38 no.2
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• pp.237-240
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• 2005

We present images of L1551 IRS5 at angular resolutions as high as ${\~}$30 mas, corresponding to a spatial resolution of ${\~}$5 AU, made at 7 mm with the VLA. Previously known to be a binary protostellar system, we show that L1551 IRS5 is likely a triple protostellar system. The primary and secondary components have a projected separation of ${\~}$46 AU, whereas the tertiary component has a projected separation of ${\~}$11 AU from the primary component. The circumstellar dust disks of the primary and secondary components have dimensions of ${\~}$15 AU, whereas that of the tertiary component has a dimension of ${\~}$10 AU. Their major axes are closely, but not perfectly, aligned with each other, as well as the major axis of the surrounding flattened, rotating, and contracting molecular condensation (pseudodisk). Furthermore, the orbital motion of the primary and secondary components is in the same direction as the rotational motion of this pseudodisk. We suggest that all three protostellar components formed as a result of the fragmentation of the central region of the molecular pseudo disk. The primary and secondary components, but apparently not the tertiary component, each exhibits a bipolar ionized jet that is centered on and which emergers perpendicular to its associated dust disk. Neither jets are resolved along their base, implying that they are driven within a radial distance of ${\~}$2.5 AU from their central protostars. Finally, we show evidence for what may be dusty matter streams feeding the two main protostellar components.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2002.10a
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• pp.142-148
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• 2002

Autonomous underwater vehicles (AUVs) are unmanned underwater vessels to investigate sea environments, oceanography and deep-sea resources autonomously. Docking systems are required to increase the capability of the AUVs to recharge the batteries and to transmit data in real time for specific underwater works, such as repeated jobs at sea bed. This paper presents a visual servo control system for an AUV to dock into an underwater station with a camera mounted at the nose center of the AUV. To make the visual servo control system, this paper derives an optical flow model of a camera, where the projected motions of the image plane are described with the rotational and translational velocities of the AUV. This paper combines the optical flow equation of the camera with the AUVs equation of motion, and derives a state equation for the visual servoing AUV. This paper proposes a discrete-time MIMO controller minimizing a cost function. The control inputs of the AUV are automatically generated with the projected target position on the CCD plane of the camera and with the AUVs motion. To demonstrate the effectiveness of the modeling and the control law of the visual servoing AUV, simulations on docking the AUV to a target station are performed with the 6-dof nonlinear equations of REMUS AUV and a CCD camera.

• Journal of the Korea Computer Graphics Society
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• v.27 no.5
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• pp.55-61
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• 2021

The character motion control based on physics simulation using reinforcement learning continue to being carried out. In order to solve a problem using reinforcement learning, the network structure, hyperparameter, state, action and reward must be properly set according to the problem. In many studies, various combinations of states, action and rewards have been defined and successfully applied to problems. Since there are various combinations in defining state, action and reward, many studies are conducted to analyze the effect of each element to find the optimal combination that improves learning performance. In this work, we analyzed the effect on reinforcement learning performance according to the state representation, which has not been so far. First we defined three coordinate systems: root attached frame, root aligned frame, and projected aligned frame. and then we analyze the effect of state representation by three coordinate systems on reinforcement learning. Second, we analyzed how it affects learning performance when various combinations of joint positions and angles for state.

• Journal of Mechanical Science and Technology
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• v.15 no.3
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• pp.300-308
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• 2001

Tracking of moving objects within video streams is a complex and time-consuming process. Large number of moving objects increases the time for computation of tracking the moving objects. Because of large computations, there are real-time processing problems in tracking of moving objects. Also, the change of environment causes errors in estimation of tracking information. In this paper, we present a new method for tracking of moving objects using optical flow motion analysis. Optical flow represents an important family of visual information processing techniques in computer vision. Segmenting an optical flow field into coherent motion groups and estimating each underlying motion are very challenging tasks when the optical flow field is projected from a scene of several moving objects independently. The problem is further complicated if the optical flow data are noisy and partially incorrect. Optical flow estimation based on regulation method is an iterative method, which is very sensitive to the noisy data. So we used the Combinatorial Hough Transform (CHT) and Voting Accumulation for finding the optimal constraint lines. To decrease the operation time, we used logical operations. Optical flow vectors of moving objects are extracted, and the moving information of objects is computed from the extracted optical flow vectors. The simulation results on the noisy test images show that the proposed method finds better flow vectors and more correctly estimates the moving information of objects in the real time video streams.

• Korean Journal of Applied Biomechanics
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• v.16 no.4
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• pp.61-71
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• 2006

The purpose of this study was to compare kinematic characteristics on the limbs at 3 different walking speed during the energy and the normal walking. Eight subjects performed energy walking and normal walking at the slow speed(65 beats/min), the normal speed(115beats/min), the fast speed(160 beats/min). The 3-d angle was calculated by vector projected with least squares solution with three-dimensional cinematography(Motion Analysis corporation). The range of motion was calculated on the trunk, shoulder, elbow, hip, knee joint. The results showed that stride length was no difference of the two walking pattern. The duration of support phase was also no difference of the two walking pattern. The range of motion of shoulder joint significantly increased in the sagittal and frontal planes, and the range of motion of elbow joint significantly increased as the energy walking. The range of motion of hip joint had no significant difference in the any planes in changing of walking speed. But the most remarkable difference of the two walking patterns revealed at the trunk. The range of flexion/extension angle had significant increasing $2.36^{\circ}$ at normal speed, and the range of the right/left flexion angle had significant increasing below $4^{\circ}$ at the 3 walking speed, and The range of rotation angle had significant increasing $7.35^{\circ}$, $9.22^{\circ}$, respectively at the normal and slow speed. But there was no significant difference of range of motion at the hip and knee joints between energy walking and normal walking.

• The Bulletin of The Korean Astronomical Society
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• v.35 no.2
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• pp.84.1-84.1
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• 2010

Globular clusters (GCs) are known to be one of the oldest objects in the Milky Way. Therefore the dynamical informations of GCs are very important to understand the formation and evolution of our Galaxy. Motion of GCs in the halo of Galaxy can be traced by radial velocities of individual stars and proper motions of GCs. Measuring the radial velocities of stars in GCs has been challenging for decades because the brightness of stars (even for the brightest stars) in GCs are too faint (V>14) to measure the radial velocities. The available large telescopes (D>4m) enable us to observe the spectra of stars in the red giant branch of GCs, and it is now more plausible to measure the radial velocities of stars in GCs. On the contrary it is still very difficult to measure the sky-projected two-dimensional motion of GCs in Galaxy even with the large telescopes because the distance to GCs is quite large (~10kpc) compared to the spatial resolution of present-day large ground-based telescopes. Instruments on-board Hubble Space Telescope are ideal to study the proper motion of GCs thanks to their extremely high spatial resolution (~0.05arcsec). We report a study of proper motion of NGC 104, one of the most metal-rich Milky Way GCs, based-on archival images of NGC 104 observed using HST/ACS. Using the stars in Small Magellanic Cloud as reference coordinate, we are able to measure the proper motions of individual stars in NGC 104 with a high precision. We discuss the internal dynamics of stars in NGC 104 by comparing proper motion results based-on shorter (<1yr) and longer (~7yrs) time durations.

• Journal of the Institute of Electronics and Information Engineers
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• v.49 no.11
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• pp.47-55
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• 2012

In this paper, we propose a method to reconstruct accurate 3D shape object by using multi-view images which are disturbed by motion blur. In multi-view deblurring, more precise PSF estimation can be done by using the geometric relationship between multi-view images. The proposed method first estimates initial 2D PSFs from individual input images. Then 3D PSF candidates are projected on the input images one by one to find the best one which are mostly consistent with the initial 2D PSFs. 3D PSF consists with direction and density and it represents the 3D trajectory of object motion. 야to restore 3D shape by using multi-view images computes the similarity map and estimates the position of 3D point. The estimated 3D PSF is again projected to input images and they replaces the intial 2D PSFs which are finally used in image deblurring. Experimental result shows that the quality of image deblurring and 3D reconstruction improves significantly compared with the result when the input images are independently deblurred.

• Journal of Korean Ophthalmic Optics Society
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• v.15 no.3
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• pp.241-245
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• 2010

Purpose: In this work we suggested a grating chart of vision test which could be used to measure the sense of distance and motion of object. Methods: A couple of gratings with periodic structure were fabricated. Through a lens the grating images showing geometrical shapes were projected on a vision test chart in order to form a new grating chart of vision test. In rotating and translating the gratings the examinee perceived the variation of position of gratings by the variation of the sense of distance and motion. Results: The results of the sense of distance and motion measured in rotating and translating the gratings showed the average errors of ~2.98% and ~1.73% at $\theta=15^{\circ}$ respectively compared to calculated values. Conclusions: The grating chart of vision test suggested in this work can be used as a new test chart that lets an examinee perceive a sense of distance and motion of object.

• Journal of Broadcast Engineering
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• v.9 no.2
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• pp.119-130
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• 2004

We have developed a prototype super-high-definition (SHD) digital cinema distribution system that can store, transmit, and display eight-million-pixel motion pictures that have the image quality of a 35-mm film movie. The system contains a movie server, a real-time decoder, and an SHB projector. Using a Gigabit Ethernet link and TCP/IP, the server transmits JPEG2000 compressed motion picture data streams to the decoder at transmission speeds as high as 300 Mbps. The received data streams are decompressed by the decoder, and then projected onto a screen via the projector. By using an enlarged TCP window, multiple TCP streams, and a shaping function to control the data transmission quantity, we achieved real-time streaming of SHD movie data at about 300 Mbps between Chicago and Los Angeles, a distance of more than 3000 km. We also improved the decoder performance to show movies with Image qualities of 450 Mbps or higher. Since UDP is more suitable than TCP for fast long-distance streaming, we have developed an SHD digital cinema UDP relay system, in which UDP is used for transmission over a fast long-distance network. By using four pairs of server-side-proxy and decoder-side-proxy, 450-Mbps movie data streams could be transmitted.