• 한국해양공학회:학술대회논문집
• /
• 한국해양공학회 2006년 창립20주년기념 정기학술대회 및 국제워크샵
• /
• pp.396-402
• /
• 2006

An efficient spline boundary element scheme is newly developed for water wave scattering of an incident wave train on a submerged breakwater. Validation of the present scheme is accomplished through the numerical experiments for various cases, by comparing the numerical results with theories vailable in the literature. Very accurate reflection and transmission coefficients for thin horizontal breakwater are obtained. It is observed that the reflection coefficient for the rectangular breakwater is significantly affected by the thickness. Horizontal and vertical forces on the breakwater for various thicknesses were also investigated.

• 대한조선학회논문집
• /
• 제48권1호
• /
• pp.23-32
• /
• 2011

Numerical analysis of hydrodynamic performance of a movable submerged breakwater was carried out as an eco-friendly marine structure for coastal and harbor protection. Using boundary elements method with two-dimensional frequency-domain reflection and transmission coefficients and wave forces acting on the submerged flat plate were calculated with various submerged depths and respective motion allowable modes. The movable breakwater was found to be more efficient in wave-blocking than the fixed structure. Variation of reflection coefficients was significantly influenced by vertical motion of the body.

• 전력전자학회논문지
• /
• 제4권5호
• /
• pp.455-461
• /
• 1999

본 논문에서는 가상환경 내의 물체로부터 역감을 얻을 수 있는 3자유도 힘 반향 장치를 제안한다. 이 시스템은 디바이스와 가상환경의 모델과 힘 반향 렌더링 알고리즘 등으로 구성되었다. 평행링크 메커니즘과 와이어에 의한 토크전달 그리고 임피던스 제어가 가능한 제어기를 사용해 3자유도 힘 반향 역감장치(Force-reflecting device)를 설계하였다. 위치 함수만으로 계산되는 힘 반향동작은 God-Object 알고리즘을 사용했다. 3차원 가상물체와 시험 제작한 역감장치(Force-reflecting device)를 인터페이스 실험을 통해 3차원 가상물체와 접촉과 비접촉 그리고 푸쉬 버튼을 만지는 느낌을 검출하였다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2002년도 ICCAS
• /
• pp.65.6-65
• /
• 2002

In teleoperation robotic system such as hydraulically actuated robotic excavator for dangerous area, the maneuverability and convenience is the most important part. Particularly the force information is important in dealing with digging and leveling operation in the tole-operated excavator. Excavators are also subject to a wide variation of soil-tool interaction forces. This paper proposes a new force reflecting joystick using pneumatic motor and a new algorithm for selecting force-reflecting gain in a velocity-force type bi lateral teleoperation system. The master system is electrical joystick with the same structure of that of real excavator. Particularly Pneumatic motor is used newly in...

• 한국HCI학회:학술대회논문집
• /
• 한국HCI학회 2006년도 학술대회 1부
• /
• pp.871-877
• /
• 2006

물체의 반사(specular reflection)는 물체의 재질 및 기하학적 모양을 표현하는데 있어 매우중요한 요소이다. 사진품질의 사실적 렌더링에서는 기존의 국소 반사 모델을 사용하여 좋은 결과를 얻을 수 있지만, 사용자의 주관이 중시되는 비사실적 렌더링(non-photorealistic rendering)에서는 사용자가 원하는 반사 효과를 표현할 수 있어야 한다. 텍스처는 사용자가 직관적으로 원하는 반사 효과를 표현할 수 있는 수단이며, 이를 모델에 투영하면 원하는 반사효과를 얻을 수 있다. 이 때 사용자는 텍스처가 투영될 위치와 크기, 방향을 직접 키프레임으로 정해 줄 수 있다. 그러나 모든 반사 효과를 사용자가 직접 정해준다는 것은 번거로운 일이며, 실시간 응용분야에는 적용할 수 없다. 본 논문에서는 국소반사모델(local reflection model)과 주곡률(principal curvature) 해석을 통해 반사효과의 위치, 방향, 크기를 결정하기 위한 텍스처 투영기의 새로운 설정 방법을 제시한다. 광원과 시점 정보를 사용하여 투영기의 위치를 정하고 물체의 주방향(principal direction)과 곡률반지름(radius of curvature)을 이용하여 투영기의 방향과 투영 피라미드의 크기를 정한다 텍스처 투영기의 단순한 이동, 회전을 통하여 반사 영역의 이동, 회전 및 확대/축소가 가능하다. 본 논문에서 제시한 방법은 DirectX 9.0c와 프로그래이 가능한 셰이더 2.0을 사용하여 GeForce FX 7800 그래픽 카드에 구현되었다. 본 논문의 연구 결과는 게임과 같은 실시간 응용분야에 사용될 수 있으며, 실험 결과에 의하면 수천 개의 다면체 모델에 대한 렌더링을 실시간에 수행할 수 있다.

• Nuclear Engineering and Technology
• /
• 제54권11호
• /
• pp.4022-4029
• /
• 2022

We investigated the possibility of using graphene for control of hydrogen isotopes by exploring adsorption, reflection, and penetration of hydrogen isotopes on graphene using molecular dynamics. Reflection is the dominant interaction when hydrogen isotopes have low incident energy. Adsorption rates increase with increasing incident energy until 5 eV is reached. After 5 eV, adsorption rates decrease as incident energy increases. At incident energies greater than 5 eV, adsorption rates increase with the number of graphene layers. At low incident energies (<1 eV), no isotopic effects on interactions are observed since the predominant interaction is derived from the force of π electrons. Between 1 eV and 50 eV, heavier isotopes exhibit higher adsorption rates and lower reflection rates than lighter isotopes, due to the greater momentum of heavier isotopes. Adsorption rates are consistently higher when the incident angle of the impacting atoms is smaller between 0.5 eV and 5 eV. At higher energies (>5 eV), larger incident angles lead to higher reflection and lower penetration rates. At high incident energies (>5 eV), crumpled graphene has higher adsorption and lower penetration rates than wrinkled or unwrinkled graphene. The results obtained in this research study will be used to develop novel nanomaterials that can be employed for tritium control.

• 로봇학회논문지
• /
• 제12권1호
• /
• pp.1-10
• /
• 2017

For dismantling heavy structure under special environment in radioactivity, there are many problems which should be tele-operated and feedback a cutting force for cutting a thick structure such as concrete. When operator dismantles a thick heavy concrete structure, it is in sufficient to judge whether robot is contacting or not with environment by using only vision information. To overcome this problem, force feedback and impedance model based bilateral control are introduced. The sliding mode control with sliding perturbation observer (SMCSPO) based bilateral control is applied and surveyed to a single rod hydraulic cylinder in this paper. The sliding mode control is used for robustness against a disturbance. The sliding perturbation observer is used for estimation of a reaction force such as cutting force. The bilateral control is executed using the information of reaction force estimated by SMCSPO. The contribution of this paper is that the estimation method and bilateral control of the single rod hydraulic cylinder are introduced and discussed by experiment.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2006년도 추계학술대회논문집
• /
• pp.422-427
• /
• 2006

This paper presents force-feedback control performance of a haptic device in virtual environment of minimally invasive surgery(MIS). As a first step, based on an electrorheological(ER) fluid and spherical geometry, a new type of master device is developed and integrated with a virtual environment of MIS such as a surgical tool and human organ. The virtual object is then mathematically formulated by adopting the shape retaining chain linked(S-Chain) model. After evaluating reflection force, computational time, and compatibility with real time control, the virtual environment of MIS is formulated by interactivity with the ER haptic device in real space. Tracking control performances for virtual force trajectory are presented in time domain, and theirtrackingerrorsareevaluated.

• 한국소음진동공학회논문집
• /
• 제16권12호
• /
• pp.1286-1293
• /
• 2006

This paper presents force-feedback control performance of a haptic device in virtual environment of minimally invasive surgery(MIS). As a first step, based on an electrorheological (ER) fluid and spherical geometry, a new type of master device is developed and integrated with a virtual environment of MIS such as a surgical tool and human organ. The virtual object is then mathematically formulated by adopting the shape retaining chain linked(S-chain) model. After evaluating reflection force, computational time, and compatibility with real time control, the virtual environment of MIS is formulated by interactivity with the ER haptic device in real space. Tracking control performances for virtual force trajectory are presented in time domain.

• 대한전기학회논문지:시스템및제어부문D
• /
• 제49권10호
• /
• pp.572-581
• /
• 2000

When the manipulator consisting of high ratio gear reducers at its joints is used as the slave manipulator in teleoperated systems, its dynamic characteristics is much slower than that of the master manipulator and it is likely to encounter the saturation in the input magnitude. The control input saturation generates an windup phenomenon that the system stability and position tracking performance of the slave manipulator are to be deteriorated. This paper proposes an force reflecting control scheme and its design method which compensates the control input saturation with absolute stability. The proposed scheme is shown to give a stable force reflection while compensating for control input saturation effectively.