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칼만예측기의 ZMP 상태추정을 통한 이족로봇의 균형제어기법
김상범(SangBum Park),한영준(Youngjun Han) 한국지능시스템학회 2006 한국지능시스템학회논문지 Vol.16 No.5
본 논문은 칼만필터를 이용한 ZMP의 다음 상태 예측을 통한 새로운 이족로봇의 균형제어기법을 제안한다. 일반적으로 이족로봇의 동역학 모델은 3D-LIPM(3D-Linear Inverted Pendulum Mode)에 의해 수학적으로 근사화되지만, 이는 로봇의 동역학적 특성을 완벽하게 표현할 수 없다. 이족로봇의 안정성은 ZMP(Zero Moment Point) 위치가 안정영역에 존재하는 경우에 안정성이 보장된다. 그리고 로봇 구조와 그 모델 사이의 내재된 오차는 로봇의 안정성에 영향을 끼칠 수 있다. 그러므로 본 논문에서 제안하는 균형제어기법은 내부 오차를 줄일 수 있으며, 적절한 로봇의 제어가 가능하다. 제안된 균형제어기법의 실험은 다양한 상황을 포함한 가상의 공간상에서 모의실험되었다. This paper proposes a novel balance control scheme of a biped robot to predict the next position of ZMP using Kalman Filter. The mathematical model of the biped robot is generally approximated by 3D-LIPM(3D-Linear Inverted Pendulum Mode), but it cannot completely express the robot's dynamics. The stability of the biped robot depends on whether the ZMP(Zero Moment Point) position is in the stability region or out of. And the internal error between the robot mechanism and its model could affect the stability of a robot. Therefore, the proposed balance control not reduces the internal error, but also timely generates the proper control. The experiment of the proposed balance control is simulated on the virtual workspace where the biped robot may encounter with various difficulties.
환경 변화에 강인한 차선 검출 로직을 위한 영상 개선 알고리즘
박상범(Sangbum Park),서성진(Sungjin Seo),조준범(Junbeom Cho) 한국자동차공학회 2010 한국자동차공학회 학술대회 및 전시회 Vol.2010 No.11
We proposed the image enhancement algorithm for the robust lane detection technique. There are many noises such as text, temporary lane under construction, skid mark and so on. Especially lane mark on the road has few characteristic features such as linearity or connectivity to isolate from background in the image. Therefore, it is too difficult detecting lane mark in each image frame. In this paper, we used luminance, chrominance and reflectance features for lane detection. There are three kinds of lane on the road : white, yellow, blue. We are using color enhancement filter to determine lane region in the image. The yellow and blue lane has significantly bigger value in the chrominance region. When the color enhancement filter is acting on the blue lane, blue value is bigger than other values in the color domain with constant rate and yellow lane is detected with similar way. The reflectance feature on the lane is detected using homomorphic filter. The homomorphic filter is widely used in the image enhancement field, so we apply this filter as preprocessing filter of many filters in this method. Finally, we compared our proposed method for lane detection with other methods such as intensity transformation, histogram modeling.
Signature 기반의 겹쳐진 원형 물체 검출 및 인식 기법
박상범(SangBum Park),한헌수(Hernsoo Hahn),한영준(Youngjoon Han) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.1
This paper proposes a new algorithm for detecting and recognizing overlapped objects among a stack of arbitrarily located objects using a signature representation scheme. The proposed algorithm consists of two processes of detecting overlap of objects and of determining the boundary between overlapping objects. To determine overlap of objects, in the first step, the edge image of object region is extracted and those areas in the object region are considered as the object areas if an area is surrounded by a closed edge. For each object, its signature image is constructed by measuring the distances of those edge points from the center of the object, along the angle axis, which are located at every angle with reference to the center of the object. When an object is not overlapped, its features which consist of the positions and angles of outstanding points in the signature are searched in the database to find its corresponding model. When an object is overlapped, its features are partially matched with those object models among which the best matching model is selected as the corresponding model. The boundary among the overlapping objects is determined by projecting the signature to the original image. The performance of the proposed algorithm has been tested with the task of picking the top or non-overlapped object from a stack of arbitrarily located objects. In the experiment, a recognition rate of 98% has been achieved.
Differences in the Control of Anticipation Timing Response by Spatio-temporal Constraints
Seok-Hwan LEE(Seok-Hwan LEE),Sangbum PARK(Sangbum PARK) 한국스포츠과학회 2023 스포츠과학연구(JSAS) Vol.7 No.2
Purpose: The purpose of this study was to investigate differences in the control process to satisfy spatial and temporal constraints imposed upon the anticipation timing response by analyzing the effect of spatio-temporal accuracy demands on eye movements, response accuracy, and the coupling of eye and hand movements. Research design, data, and methodology: 12 right-handed male subjects participated in the experiment and performed anticipation timing responses toward a stimulus moving at three velocities (0.53m/s, 0.66m/s, 0.88m/s) in two task constraint conditions (temporal constraint, spatial constraint). During the response, response accuracy and eye movement patterns were measured from which timing and radial errors, the latency of saccade, fixation duration of the point of gaze (POG), distance between the POG and stimulus, and spatio-temporal coupling of the POG and hand were calculated. Results: The timing and radial errors increased with increasing stimulus velocity, and the spatio-temporal constraints led to larger timing errors than the temporal constraints. The latency of saccade and the temporal coupling of eye and hand decreased with increasing stimulus velocity and were shorter and longer respectively in the spatio-temporal constraint condition than in the temporal constraint condition. The fixation duration of the POG also decreased with increasing stimulus velocity, but no difference was shown between task constraint conditions. The distance between the POG and stimulus increased with increasing stimulus velocity and was longer in the temporal constraint condition compared to the spatio-temporal constraint condition. The spatial coupling of eye and hand was larger with the velocity 0.88m/s than those in other velocity conditions. Conclusions: These results suggest that differences in eye movement patterns and spatio-temporal couplings of stimulus, eye and hand by task constraints are closely related with the accuracy of anticipation timing responses, and the spatial constraints imposed may decrease the temporal accuracy of response by increasing the complexity of perception-action coupling.
You Joo SHIN(You Joo SHIN),Duk Chan JANG(Duk Chan JANG),Sangbum PARK(Sangbum PARK) 한국스포츠과학회 2023 스포츠과학연구(JSAS) Vol.7 No.2
Purpose: The purpose of this study was to investigate the possibility of modified swing to prevent shoulder injury by analyzing differences in the muscle activation patterns of upper limb by the swing method in wheelchair badminton players. Research design, data, and methodology: 10 wheelchair badminton players participated in the experiment as subjects and performed 10 high clears and 10 smashes in both traditional and modified swing methods toward a shuttlecock hung at the height of racket impact point. For each trial, activation patterns of biceps brachii, triceps brachii, anterior deltoid, and posterior deltoid were measured from the upper limb participating in the swing from which the duration, peak, and root mean square (RMS) of electromyography (EMG) activities from swing initiation to shuttle impact were calculated. The maximum swing velocity of the smash and the distance of the high clear were also measured with both methods to compare differences in the swing velocity and shuttle hit distance. Results: Differences in the EMG peak and RMS of the anterior deltoid by swing methods were shown to differ by the skill type, being higher in the traditional swing method than the modified during only the high clear. The EMG peak and RMS, and the duration of the posterior deltoid were higher and longer with the traditional swing method than the modified during both the smash and high clear. The intensities of the biceps brachii and triceps brachii activities measured during the smash and high clear were higher in the traditional swing method than the modified, and the biceps brachii and triceps activity durations during the high clear were shorter in the modified swing method than the traditional. The maximum swing velocity of the smash was faster with the traditional swing method than the modified, while the distance of the high clear did not differ significantly. Conclusions: These results suggest that the modified swing can be an effective performance method for preventing shoulder injuries without undue loss of impact power in wheelchair badminton players by reducing excessive loads imposed on the shoulder and allowing the optimal use of the elbow extension.