• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1764-1769
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• 1991

Recently, dexterous mechanical hands have become of interest in the field of robotics. In this paper, a new symbolic C-Y notation is proposed for the kinematic modeling, and we solve the kinematics of a simplified model of POSTECH Hand 1, which is a 5 fingered, 20 degrees of freedom anthropomorphic hand. POSTECH Hand I is designed to have distinctive kinematic structure and the kinematic analysis of the hand is carried out using C-Y notation. To prove the feasibility of C-Y notation, D-H notation is also applied to the POSTECH Hand 1. In the inverse kinematic analysis, we neglect the fingertip geometry and assume the point contact with 3 degrees of freedom constraints. The configurations which optimize manipulability index[2] was obtained based on the simulation experiments on the SUN-4 graphic workstation using SUNPhigs graphic software.

• Proceedings of the KIEE Conference
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• 2002.06a
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• pp.67-71
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• 2002

In this paper, we propose a new deformable model based on non-linear elasticity, anisotropic behavior and the finite element method and developed the high-speed controller for haptic control. The proposed controller is based on the PCI/FPGA technology, which can calculate the real position and transmit the force data to device rapidly, The haptic system is composed of 6DOF force display device, high-speed controller and HIR library for 3D graphic deformation algorithm & haptic rendering algorithm. The developed system will be used on constructing the dynamical virtual environment. we demonstrate the relevance of this approach for the real-time simulating deformations of elastic objects. To show the efficiency of our system, we designed simulation program of force-reflecting, As the result of the experiment, we found that the controller has much higher resolution than some other controllers.

• Proceedings of the Korean Institute of Interior Design Conference
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• 2008.05a
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• pp.179-183
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• 2008

A variety of design processes from 2D graphic to 3D models are meeting improved consumers' confidence of modern clients. However, the current design methods are limited to meet consumers' needs and express a design concept what a designer wants to show. Therefore the study here tries a test of hybrid space simulation combined with previous models and digital media technology, which can be used for multiple contents. The study can contribute to suggesting virtual space simulation that can help clients' spatial understanding in this media era and deliver emotional language of designers as well by utilizing the strong point of multi-sensible media.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1651-1654
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• 2003

The process equipment for handling high level radioactive materials, such as spent nuclear fuel, is operated within a sealed facility, called a hot cell, due to high radioactivity. Thus, this equipment should be maintained and repaired by remotely operated manipulator. In this study, to carry out the sale and effective maintenance of the process equipment installed in the hot cell by a servo type manipulator, a collision free motion planning method of the manipulator using virtual prototyping technology is suggested. To do this, the parts are modelled in 3-D graphics, assembled, and kinematics are assigned and the virtual workcell is implemented in the graphical environment which is the same as the real environment. The method proposed in this paper is to find the optimal path of the manipulator using the function of the collision detection in the graphic simulator. The proposed path planning method and this graphic simulator of manipulator can be effectively used in designing of the maintenance processes for the hot cell equipment and enhancing the reliability of the spent fuel management.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.12 no.3
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• pp.581-589
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• 2008

The goal of a simulator is to provide for the testing of new technologies and to facilitate the eventual transfer of these technologies to the applications. In the Development Step, Simulation can provide a cost effective alternative to expensive and hazardous field testing. In this paper, a 3D simulator is developed to test UUV navigation system bated on RVC model. The simulation system consists of a environment manager, objects and a 3D viewer. Objects are modeling all physical elements such as map, obstacle and UUV which reside in a underwater environment. Those objects are created and initialized by environment manager. The environment manager plays the role of intermediator which allows created objects to interact with each other, and transmits information on the objects to 3D viewer. The 3D viewer analyzes the received information and visualizes 3D graphic by using OpenGL primitives.

• Journal of the Korean Institute of Telematics and Electronics D
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• v.35D no.12
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• pp.59-67
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• 1998

In this paper, a rigorous three-dimensional Monte Carlo approach to simulate the sputter yield as a function of the incident ion energy and the incident angle as well as the atomic ejection distribution of the target is presented. The sputter yield of the target atom (Cu, Al) has been calculated for the different species of the incident atoms with the incident energy range of 10 eV ~ 100 KeV, which coincides with the previously reported experimental results. According to the simulation results, the calculated sputter yield tends to increase with the amount of the energy of the incident atoms. Our simulation revealed that the maximum sputter yield can be obtained for the incident atom with 10 KeV for the heavy ion, while the maximum sputter yield for the light ion is for the incident atoms with an energy less than 1 KeV. The sputter yield increases with angle of incidence and seems to have the maximum value at 68$^{\circ}$. For angular distributions of the sputtered particle, the atoms in the direction normal to the surface increase with angle of incidence. Furthermore, we has conducted the parallel computation on CRAY T3E supercomputer and built a GUI(Graphic User Interface) system running the sputter simulator.

• Journal of the Korean Institute of Telematics and Electronics D
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• v.36D no.2
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• pp.41-47
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• 1999

In this paper, we report 3D-simulations of a plasma etching process by employing cell-removal algorithm takes into account the mask shadow effect os well as spillover errors. The developed simulator haas an input interface to take not only an analytic form but a Monte Carlo distribution of the ions. The graphic user interface(GUI) was also built into the simulator for UNIX environment. To demonstrate the capability of 3D-SURFILER(SURface proFILER), we have simulated for a typical contact hole structure with 36,000($30{\times}40{\times}30$) cells, which takes about 20 minutes with 10 Mbytes memory on sun ultra sparc 1. as an exemplary case, we calculated the etch profile during the reactive ion etching(RIE) of a contact hole wherein the aspect ratio is 1.57. Furthermore, we also simulated the dependence of a damage parameter and the evolution of topography as a function of the chamber pressure and the incident ion flux.

• Journal of Korea Game Society
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• v.8 no.2
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• pp.57-68
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• 2008

Texture Mapping is a technique for adding realism to an image in 3D graphics Chip. Bilinear filtering mode of this technique needs accesses of 4 texels to process one pixel. In this paper we analyzed the access pattern of texture, and proposed the high performance texture cache which can access 4 texels simultaneously. We evaluated using simulation results of 3D game(Quake 3, Unreal Tournament 2004). Simulation results show that proposed texture cache has high performance on the case where physical size is less then or equal 8KBytes.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.8
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• pp.792-797
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• 2009

This paper presents the evaluation of PID and fuzzy control logic for the lateral position control of a moving web in roll-to-roll (R2R) printed electronics. In addition, we report the implementation of computer simulation software that enables us to develop the control logic in a graphic user interface and to test the controller performance in 3D dynamic environment. A mathematical model of the web dynamics is described first to explain the lateral motion of a moving web. Based on the model, PID and fuzzy controllers are designed, and embedded in the simulation software. Under the simulation conditions for fabricating RFID antenna by R2R printing, the results indicate that the fuzzy controller shows a better performance and can be more suitable for R2R multi-layer printed electronics.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1527-1530
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• 1996

Telerobot system is being developed for the application to nuclear power plants by Korea Atomic Energy Research Institute. Human-machine interaction and interface are very important elements of telerobotic systems. The main purpose of this study is developing a control system based on 3-D graphic techniques for the easy user interface and realistic visual I information supply. This system possesses the abilities for (1) virtual work, environment modelling and simulation, (2) kinematic animation include redundant behavior (3) interfacing with a real robot system, (4) transformation between real and virtual mode within the same graphics system. This system is especially focused on enhancing the overall efficiency and reliably of nozzle dam installation task inside water chamber of steam generator in nuclear power plant.