• Journal of Institute of Control, Robotics and Systems
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• v.6 no.3
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• pp.298-308
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• 2000

In this paper a new two-arm cooperative assembly(or insertion) algorithm is proposed. As a force-guided control method for the cooperative assembly the adaptive accommodation controller is adopted since it does not require any complicated contact state analysis nor depends of the geometrical complexity of the assembly parts. Also the RMRC(resolved motion rate control) method using a relative jacobian is used to solve inverse kinematics for two manipulators. By using the relative jacobian the two cooperative redundant manipulators can be formed as a new single redundant manipulator. Two arms can perform a variety of insertion tasks by using a relative motion between their end effectors. A force/torque sensing model using an approximated penetration depth calculation a, is developed and used to compute a contact force/torque in the graphic assembly simulation . By using the adaptive accommodation controller and the force/torque sensing model both planar and a spatial cooperative assembly tasks have been successfully executed in the graphic simulation. Finally through a cooperative assembly task experiment using a humanoid robot CENTAUR which inserts a spatially bent pin into a hole its feasibility and applicability of the proposed algorithm verified.

• 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 Society for Precision Engineering
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• v.21 no.2
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• pp.43-51
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• 2004

In this paper, the element combination algorithm for designing an arbitrary type of the automatic transmissions is proposed. The powertrain simulation software using this algorithm is then developed. The deliveries of the angular velocities and torques are only considered for the motion characteristics of the automatic transmissions. The effects of the vibration and noise are not considered. The automatic transmission is defined by the basic elements, i.e., planetary gear set, clutch, brake, shaft, general gear, and inertia. The transmission system is defined by the combination of these elements. The element combination matrices automatically generate the equations of motion for each shift. The self error-correcting algorithm is also developed to verify the element combination algorithm. This automotive powertrain simulation/design software with user-friendly graphic user interface has two main modules. The first module, the automatic powerflow generation module, mainly consists of the automatic powerflow and component generation algorithms. This paper covers the theory and application for the first module. The second module deals with the automatic system generation algorithm and will be discussed in the second paper.

• Journal of the Korea Computer Industry Society
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• v.6 no.2
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• pp.331-336
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• 2005

The closed movement produced vertically on the position of a motor is a notation movement produced by a notation force , while the horizontal movement can be shown by the coriolis force and the transverse force of realizing that the closed movement of the closed system is to be rotation motion. The notation movement is a vertical closed movement and by searching the equation which becomes an equation model, after comparing the simulation data from the equation model with data of a real device to use it into the computer simulation model, the additional variable elements were decided. As the result, the energy imbalance element is added as a variable about load which is relevant to friction coefficient and pole of a motor in the gravitational field. The simulation can be applied as a real physical law of the graphic game and haptic program.

• The KIPS Transactions:PartB
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• v.10B no.7
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• pp.785-794
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• 2003

Computer simulation of natural phenomena has been inclined to graphic processing for visual reality. This negligence of cosmic causalities in their occurrence and natural laws in their development should lead to limited degree of immersion to the users. We attempt to develop a logical framework for authentic simulation of diverse, unpredictable occurrence and development of natural phenomena (such as solar radiation and wind) based on their associated inherent laws and principles. To this end we structure the relevant objects organized in an ontology and propose a data management method. Then we describe our simulation method for the natural phenomena as delimited in phases and present modeling techniques for qualitative changes of physical objects due to their factors' values beyond normal ranges.

• Proceedings of the KIEE Conference
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• 2001.11c
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• pp.284-287
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• 2001

In this paper, we designed and implemented a precise pulse motor control chip that generates the parabolic speed pattern. This chip can control step motor[1], DC servo[2] and AC servo motors at high speed and precisely. It can reduce the mechanical vibration to the minimum at the change point of a degree of acceleration. Because the parabolic speed pattern has the continuous acceleration change. In this paper, we present the pulse generation algorithm and the parabolic pattern speed generation. We verify these algorithm using visual C++. We designed this chip with VHDL(Very High Speed Integrated Circuit Hardware Description Language) and executed a logic simulation and synthesis using Synopsys synthesis tool. We executed the pre-layout simulation and post-layout simulation with Verilog-XL simulation tool. This chip was produced with 100 pins, PQFP package by 0.35 um CMOS process and implemented by completely digital logic. We developed the hardware test board and test program using visual C++. We verify the performance of this chip by driving the servo motor and the function by GUI(Graphic User Interface) environment.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.1053-1056
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• 2008

An application of CSG (Constructive Solid Geometry) modeling technique in Machining Simulation is introduced in this paper. The current CSG model is based on z-buffer CSG Rendering Algorithm. In order to build a CSG model, frame buffers of VGA (Video Graphic Accelerator) should be used in term of color buffer, depth buffer, and stencil buffer. In addition to using CSG model in machine simulation Stock and Cutter Swept Surface (CSS) should be solid. Method to create a solid Cuboid stock and Ball-end mill CSS are included in the present paper. Boolean operations are used to produce the after-cut part, especially the Difference operation between Stock and CSS as the cutter remove materials form stock. Finally, a small program called MaSim which simulates one simple cut using this method was created.

• KIEAE Journal
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• v.13 no.1
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• pp.109-123
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• 2013

The study is to probe a technical alternative to enhance the reliability and accuracy of the results of various landscape simulations. This study to present technical criteria that are necessary in each stage of target site analysis, picture taking, and computer synthesis and, through these to present supplementary plans to enhance the reliability and accuracy of landscape simulations. In order to derive more practical and empirical results in terms of the reliability of the results of landscape simulations, examples that actually passed landscape review were selected. With regard to study process, an analysis was made first to analyze the landscape report data of designs that passed the review to analyze their characteristics, to be followed by an integrated analysis of problems that were revealed in various landscape simulations. Important factors that affect directly the work of landscape simulations such as the specification of camera lenses that were used in picture taking, distance, and angle. Design the work was carried out using Auto CAD, 3DS Max, and Photoshop program in the same way as in actual design. For verification of their accuracy and reliability, the results were entrusted to experts who have implemented similar jobs. To seduce differences from those too landscape simulations that conduct trial experiment of the virtual space that are to be created in the future with accurate numerical values.

• The Journal of the Convergence on Culture Technology
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• v.10 no.3
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• pp.861-864
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• 2024

The self-driving roller conveyor system, which transports target products by controlling multiple rollers with a motor, is a logistics system suitable for branching and joining logistics and controlling the alignment of target products, and its utilization is increasing, especially in the food manufacturing process. In this paper, we build a simulation environment using Unity software based on 3D graphic modeling of a self-driving roller conveyor system. In a situation where target products are supplied irregularly in terms of time, a method is proposed that can align products to maintain constant spacing by controlling the rollers. Simulation results show that effective alignment of products is possible by controlling the motor that drives the roller based on sensor data of the product position.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.11a
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• pp.749-753
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• 2007

The purpose of this study is to design of a linear feeder using a multi body dynamic program, and to analyze a dynamic motion of the feeder that can transport small mechanical parts uniformly. In order to establish the analysis model of the linear feeder, each parts of the feeder are divided into two types which the rigid and flexible body. For the dynamic simulation, RecurDyn, which is a commercial multi-body dynamic package, is used. We also consider the design parameters for optimal dynamic motion such as centroid, stiffness, and mass of the feeder system. In order to analyze the dynamic motion of a linear feeder, the displacements of the feeder are measured by several accelerometers when it is in an operating condition. After the signal data from the accelerometers are captured in the time domain, the dynamic motion in the space is visualized by using graphic computer software.