• Journal of Korean Institute of Industrial Engineers
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• v.26 no.1
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• pp.73-80
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• 2000

To determine the exact direction and location of the human joint in motion is crucial in developing a more accurate human model and producing a more fitting artificial joint. There have been several reports on the biomechanical analysis of the joint to determine the anatomy and movement of joints. However, all the previous researches were made in vitro study, that is, they investigated the passive movement of the joint from cadavers and the suggested location of the joint axis was difficult to make practical applications due to the lack of the direction of joint axis. Also, in many biomechanical models, each joint axis is assumed to lie horizontally or vertically to the adjacent links. Such an assumption causes inherent inaccuracy. In this study, the direction and location of the transverse elbow axis was obtained with respect to the global coordinate system whose origin is on the lateral epicondyle of the humerus. The suggested result based on the global coordinate system lying on the external landmark will be helpful to understand the information of the axis and to make an application. From the experiments conducted for five subjects, the direction and location of the elbow transverse joint was determined for each subject by the helical axis method. A statistical validation was also performed to confirm the result. Finally, the result was applied to develop a simple elbow model which is a part of the kinematic arm model. The simple elbow movement model was developed to validate the significance of the result and the kinematic arm model was able to describe the geometry of any complex linkage system. As a result, the errors incurred from the proposed model were significantly reduced when compared to the ones from the previous approach.

• The Journal of Korea Robotics Society
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• v.9 no.1
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• pp.20-27
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• 2014

In this paper, an exact reshaping method for the motor dynamics of a flexible-joint robot is proposed using an integral manifold approach. Obtaining the exact model for both motor-side and link-side dynamics of a flexible-joint robot is difficult due to its under-actuated nature and complex dynamics. Despite the simple structure of the motor-side dynamics, they are difficult to model accurately for a flexible-joint robot due to motor disturbances, especially when speed reducers such as harmonic drives are installed. An integral manifold feedback control (IMFC) is proposed to reshape the motor dynamics. Based on the integral manifold approach, it is theoretically proved that the IMFC reshapes motor dynamics exactly even with bounded disturbances such as motor friction. The performance of the proposed IMFC is verified experimentally using a single degree-of-freedom flexible-joint robot under gravity conditions.

• Journal of KSNVE
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• v.4 no.2
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• pp.155-161
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• 1994

The dynamic behavior of a complex mechanical structure can be identified by dividing the structure into a series of smaller structure, called sub- structure and by studying the dynamic characteristics of these components. Generally, the dynamic characteristics of mechanical structure are strongly affected by the properties of joint parameters. In this paper, to identify the dynamic characteristics of mechanical structure, and experimental identification method in which directrly measured frequency response function(FRF) is used is considered. The method does not use the procedure of complex matrix calculation but use that of real matrix calculation. To confirm this method, computer simulation is performed by using frequency response function mixed with noise, and the experimental study is performed about the simple structure. The dynamic characteristics of joint parameters and identified more accurately than in using the prcedure of complex matrix calculation.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.22 no.6
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• pp.1195-1209
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• 1997

This paper presents a new morphological spatio-temporal segmentation algorithm. The algorithm incorporates luminance and motion information simultaneously, and uses morphological tools such as morphological filtersand watershed algorithm. The procedure toward complete segmentation consists of three steps:joint marker extraction, boundary decision, and motion-based region fusion. First, the joint marker extraction identifies the presence of homogeneours regions in both motion and luminance, where a simple joint marker extraction technique is proposed. Second, the spatio-temporal boundaries are decided by the watershed algorithm. For this purposek, a new joint similarity measure is proposed. Finally, an elimination ofredundant regions is done using motion-based region function. By incorporating spatial and temporal information simultaneously, we can obtain visually meaningful segmentation results. Simulation results demonstratesthe efficiency of the proposed method.

• Advances in robotics research
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• v.2 no.2
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• pp.129-140
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• 2018

With the increasing demand for the development of human pose estimation, such as human-computer interaction and human activity recognition, there have been numerous approaches to detect the 2D poses of people in images more efficiently. Despite many years of human pose estimation research, the estimation of human poses with images remains difficult to produce satisfactory results. In this study, we propose a robust 2D human body pose estimation method using an RGB camera sensor. Our pose estimation method is efficient and cost-effective since the use of RGB camera sensor is economically beneficial compared to more commonly used high-priced sensors. For the estimation of upper-body joint positions, semantic segmentation with a fully convolutional network was exploited. From acquired RGB images, joint heatmaps accurately estimate the coordinates of the location of each joint. The network architecture was designed to learn and detect the locations of joints via the sequential prediction processing method. Our proposed method was tested and validated for efficient estimation of the human upper-body pose. The obtained results reveal the potential of a simple RGB camera sensor for human pose estimation applications.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.47 no.3
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• pp.87-95
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• 2010

Portable multi-media products which can service the highest audio-quality by using lossless audio codec has been released and the international lossless codecs, MPEG-4 audio lossless coding(ALS) and MPEG-4 scalable lossless coding(SLS), were standardized by MPEG in 2006. The simple profile of MPEG-4 ALS, it supports up to stereo, was defined by MPEG in 2009. The lossless audio codec should have low-complexity in stereo to be widely used in portable multi-media products. But the previous researches of MPEG-4 ALS have focused on an improvement of compression ratio, a complexity reduction in multi-channels coding, and a selection of linear prediction coefficients(LPCs) order. In this paper, the complexity and compression ratio of MPEG-4 ALS encoder is analyzed in simple profile of MPEG-4 ALS, the method to reduce a complexity of MPEG-4 ALS encoder is proposed. Based on an analysis of complexity of MPEG-4 ALS encoder, the complexity of short-term prediction filter of MPEG-4 ALS encoder is reduced by using the low-complexity filter that is proposed in previous research to reduce the complexity of MPEG-4 ALS decoder. Also, we propose a joint coding decision method, it reduces the complexity and keeps the compression ratio of MPEG-4 ALS encoder. In proposed method, the operation of joint coding is decided based on the relation between cross-correlation of residual and compression ratio of joint coding. The performance of MPEG-4 ALS encoder that has the method and low-complexity filter is evaluated by using the MPEG-4 ALS conformance test file and normal music files. The complexity of MPEG-4 ALS encoder is reduced by about 24% by comparing with MPEG-4 ALS reference encoder, while the compression ratio by the proposed method is comparable to MPEG-4 ALS reference encoder.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.141-146
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• 1992

Joint probabilistic data association filter(JPDAF) for multi-target tracking was developed for real-time implementation, while it abandoned an algorithm for track initiation. In this paper, we propose three features for track initiation that can be adapted to the JPDA filter. In addition, with the proposed approaches, the performance of track maintenance is evaluated in the case of tracks being near. To eliminate the abundant false tracks, we exploit the simple method using the state error covariances. Simulations are performed to demonstrate the efficiency of the proposed approaches.

• Journal of the Korean Operations Research and Management Science Society
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• v.10 no.2
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• pp.38-44
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• 1985

Systems reliability can be improved by using redundancy and/or developing more reliable components. This papaer considers a joint optimization of both alternatives for a series system. It is shown that the n-stage optimization problem can be decomposed into n single stage subproblem. Each subproblem is further transformed into a univariate optimization problem for which a simple and efficient solution method is developed.

• Structural Engineering and Mechanics
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• v.3 no.2
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• pp.135-144
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• 1995

Since structural systems may fail in any one of several failure modes, computation of system reliability is always difficult. A method using numerical quadrature for computing structural system reliability with either one or more than one failure mode is presented in this paper. Statistically correlated safety margin equations are transformed into a group of uncorrelated variables and the joint density function of these uncorrelated variables can be generated by using the Maximum Entropy Method. Structural system reliability is then obtained by integrating the joint density function with the transformed safety domain enclosed within a set of linear equations. The Gaussian numerical integration method is introduced in order to improve computational accuracy. This method can be used to evaluate structural system reliability for Gaussian or non-Gaussian variables with either linear or nonlinear safety boundaries. It is also valid for implicit safety margins such as computer programs. Both the theory and the examples show that this method is simple in concept and easy to implement.

• Proceedings of the Korean Geotechical Society Conference
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• 2009.09a
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• pp.441-448
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• 2009

In this study, the joint part of non-welding composite pile is investigated by a three dimensional finite element analysis. Special attention is given to the overall stress distribution under lateral, axial and tensional load conditions. Through comparisons with allowable stress of materials, a simple method is proposed to estimate the ultimate load condition of joint part. The appropriate design method is suggested and highlighted through the numerical analysis.