• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.928-931
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• 1996

It is necessary to develop the simulator for the test of stability and torque before the walking experiment of biped robot, because a robot may be damaged in an actual experiment. This thesis deals with the development of three-dimensional simulator for improving efficiency and safety during development and experimentation. The simulator is composed of three parts-solving dynamics, rendering pictures and communicating with the robot. In the first part, the D-H parameter and parameter of links can be loaded from the file and edited in the program. The results are obtained by using the Newton-Euler method and are stored in the file. Through the above process, the proper length of link and driving force can be found by using simulator before designing the robot. The second part is organized so that the user can easily see a specific value or a portion he wants by setting viewing parameters interactively. A robot is also shown as a shaded rendering picture in this part. In the last part, the simulator sends each desired angle of joints to the robot controller and each real angle of joints is taken from the controller and passed to the second part. The safety of the experiment is improved by driving the robot after checking whether the robot can be actuatable or not and whether the ZMP is located within the sole of the foot or not for a specific gait. The state of the robot can be easily grasped by showing the shaded rendering picture which displays the position of the ZMP, the driving force and the shape of robot.

• Journal of Astronomy and Space Sciences
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• 제26권1호
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• pp.47-58
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• 2009

In this study, a Hardware-In-the-Loop (HIL) simulator using thrusters is developed to validate the spacecraft attitude system. To control the attitude of the simulator, eight cold gas thrusters are aligned with roll, pitch and yaw axis. Also linear actuators are applied to the HIL simulator for automatic mass balancing to compensate the center of mass offset from the center of rotation. The HIL simulator consists of an embedded computer (Onboard PC) for simulator system control, a wireless adapter for wireless network, a rate gyro sensor to measure 3-axis attitude of the simulator, an inclinometer to measure horizontal attitude, and a battery set to supply power for the simulator independently. For the performance test of the HIL simulator, a bang-bang controller and Pulse-Width Pulse-Frequency (PWPF) modulator are evaluated successfully. The maneuver of 68 deg. in yaw axis is tested for the comparison of the both controllers. The settling time of the bang -bang controller is faster than that of the PWPF modulator by six seconds in the experiment. The required fuel of the PWPF modulator is used as much as 51% of bang-bang controller in the experiment. Overall, the HIL simulator is appropriately developed to validate the control algorithms using thrusters.

• 한국운동역학회지
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• 제24권3호
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• pp.189-199
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• 2014

The purpose of this study was to compare pflugbogen's biomechanical characteristics between on the ski simulator and snowed ski slope to develop interactive ski simulator. Nine ski instructors(sex: male, age: $29.6{\pm}5.4yrs$, height: $176.0{\pm}5.6cm$, body mass: $76.0{\pm}14.0kg$) belong to Korean Ski Instructors Association participated in this research. 24 Infrared cameras for snowed ski slope experiment and 13 infrared camera for ski simulator experiment were installed near by path of pflugbogen. The participants did pflugbogen on the snowed ski slope and the ski simulator both. During the experiment, the participants weared motion capture suit with infrared reflective makers on it, and plantar pressure sensors in ski boots, so that ski motion and plantar pressure data were collected together. Displacement of COG(center of gravity) movements, trunk flexion/extension angle, adduction/abduction angle, and plantar pressure data were significantly different between on the simulator and ski slope. However, percentage of time of COG movement in the phases during medial/lateral and anterior/posterior movement were not significantly different. Findings indicate that the difference between two groups occurred because the ski simulator's drive mechanism is different from ski motion on the slope. In order to develop the ski simulator more interactively for pflugbogen, the ski simulator's drive mechanism need to be reflected 3D motion data of pflugbogen on the slope that were purposed in this research.

• 에너지공학
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• 제11권2호
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• pp.130-135
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• 2002

바이패스 공조시스템은 냉각코일과 가열코일의 공기통과여부에 따라 크게 외기바이패스, 혼합공기 바이패스와 순환공기 바이패스 공조시스템으로 구분할 수 있다. 이 중에서 순환공기 바이패스 공조시스템은 다른 두 방식과 달리 공조되지 않은 외기가 시스템 내부로 직접 유입되지 않으므로 실내온습도 조절면에서 가장 효율적인 시스템이다. 먼저, 수치계산을 통하여 부하변동에 따른 순환공기 바이패스 공조시스템과 단일덕트 정풍량공조시스템의 실내온습도 구현능력을 비교, 평가하였다. 또한 제안 시스템의 성능분석을 위해 실물실험동을 건립하여 그 실험결과를 수치계산결과와 비교하였다. 실험을 통하여 실현열비가 0.7(현열부하만 변동)인 경우, 실내 최대현열부하에 대한 부분부하시의 실내 현열부하의 비(DSL; Design Sensible Load)가 70% 이내에서는 수치계산, simulator 실험 모두 실내상대습도는 ASHRAE STANDARD 62-1999에서 지정하는 60% 이하로 유지됨을 알 수 있었다. 결론적으로, 바이패스 공조시스템은 실내의 온습도를 정해진 범위의 부하변동내에서는 바이패스 댐퍼의 조작만으로 쾌적한 상태로 유지시킬 수 있으며, 환기회수가 많은 장손의 경우, 순환공기 바이패스에 의해 양질의 실내공기질(IAQ; Indoor Air qualify)을 확보할 수 있다.

• 산업경영시스템학회지
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• 제26권1호
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• pp.22-29
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• 2003

The study was to evaluate psychological and physiological changes of simulator sickness in the controlled condition of driving a car (1 hr. at speed of 60 km/h) in a graphic simulator. Simulator sickness was measured and analyzed every 5 min using both subjective responses(i.e., Simulator Sickness Questionnaire) and Physiological signals(EEG, HRV, Skin Temperature, GSR). The results showed that there was significant differences in subjective response 10 min after the main experiment. From 10 min after the driving, the level of subjective simulator sickness increased significantly, relative one of the rest condition. There also was significant differences in physiological responses between the rest and the 5 min after from the start of driving : for EEG, $\delta$ and $\theta$ at Fz area increased, while $\alpha$ decreased; the averaged R-R interval and skin temperature decreased; LF/HF and GSR increased. The results indicated that simulator sickness was induced by activation of the autonomic nerves and inactivation of the central nerves.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1273-1275
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• 1996

Moisture measurements of s intering materials were performed using the simulator which can simulate various conditions taking place at the belt-conveyor of sintering process. The moisture sensor used in this experiment is NIR moisture meter(JE-330, KETT Electric Lab.). Using the simulator, we measured the moisture contents of sintering materials at different conditions. We found that the moisture content decreased as the rotation speed increased and the size of the sintering materials became smaller.

• 한국산업정보학회논문지
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• 제12권5호
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• pp.120-132
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• 2007

본 연구는 Openwave WAP Simulator를 이용하여 WML과 WMLScript의 구현 방법을 소개하고자 함에 그 목적이 있다. 이를 위해서 본 연구에서는 WAP시스템의 구조와 WAP 브라우저의 중류 및 WAP 콘텐츠 개발 방법에 대한 기존 연구들을 살펴본 후 Openwave Phone Simulator는 물론 Oponwave WAP Simulator, Openwave HTTP Simulator, Nokia Mobile Internet Toolkit을 이용하여 이를 구현하였다. 현재 WMLScript의 구현을 위한 제 설치과정과 복잡한 절차들에 대한 연구는 다소 희소한 편이라 본 연구에서는 이러한 제 과정을 순서대로 소개하여 WMLScript를 이용한 모바일 응용프로그램의 개발과 실험을 보다 쉽게 하고자 한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.168.3-168
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• 2001

The purpose of this paper is to find the relations between the virtual reality created by the ship´s bridge simulator (simulator) at Radar Navigation Experiment and Research Facility in Kobe University of Mercantile Marine (KUMM) and the observer´s response to it. In short, we analyze the observer´s heart rate variability (R-R interval) in navigational condition seasick impression by simulator occurred, and present the R-R Interval and the stress of observer with SNS and PNS calculated by STFT. In this experiment, rolling of the ship was simulated and presented to the observer. Rolling was simulated only visually not physically or mechanically while the balancing movement and heart beat of the observer were measured and processed to produce the measures for body response to the artificially created visual environment. The results show that even a ...

• 한국원자력학회:학술대회논문집
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• 한국원자력학회 1995년도 추계학술발표회논문집(1)
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• pp.117-122
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• 1995

An Integrated Test Facility(ITF) is a human factors experimental environment to evaluate an advanced man machine interface(MMI) design. The ITF includes a human machine simulator(HMS) comprised of a nuclear power plant function simulator, man-machine interface, experiment control station for the experiment control and design, human behavioural data measurement system, and data analysis and experiment evaluation supporting system(DAEXESS). The most important features of ITF is to secure the flexibility and expandibility of Man Machine Interlace(MMI) design to change easily the environment of experiments to accomplish the experiment's objects In this paper, we describe a development scope and characteristics of the ITF such as, hardware and software development scope and characteristics, system thermohydraulic modelling characteristics, and experiment station characteristics for the experiment variables design and control, to be used as an experiment environment for the evaluation of VDU-based control room.

• 한국추진공학회지
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• 제14권2호
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• pp.39-45
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• 2010

차량이나 항공기를 개발하는데 있어서 성능과 내구성에 대한 실험은 필수 과정이지만, 이를 위해서는 많은 개발 비용과 시간이 소요되므로 그 대체 방법으로 시뮬레이터를 이용한 실험이 보편화 되고 있다. 특히 노면의 경우 시뮬레이터에 사용할 변위 데이터를 정량화하기 어렵기 때문에 가속도계를 이용하여 노면 데이터를 습득하는 것이 일반적이다. 본 연구에서는 가속도계를 이용하여 습득한 가속도 신호를 변위 신호로 변환하기 위한 소프트웨어를 개발하여 시뮬레이터에 사용되는 변위신호를 생성하였고 이를 토대로 4축 시뮬레이터를 이용한 실험을 통하여 그 타당성을 검증하였다.