• Journal of Korean Port Research
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• 제5권2호
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• pp.39-63
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• 1991

A PC-based ship maneuvering simulator was developed which was configured in a high performance IBM PC compatible i486 and i286 computer with a TMS 340 graphic signal processor and 10 MBPS Ethernet Cards. A real-time ship maneuvering simulation program was developed which includes computer generated imagery (CGI) for bird's eye view type and perspective view type. The simulator H/W was designed and manufactured and S/W for interface of various navigation equipments was made Especially, programs for output, analysis, and assessment of simulations results were developed. Communications between PC's are made by using Ethernet bus type LAN system. Simulations could be performed under various environments (current, wind, wave etc.) using data base of harbors and ships. This system can be used for various purposes such as crew's training, harbor and waterway design, and assessment of ship maneuverability in harbor.

• Journal of the Korean Institute of Telematics and Electronics
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• 제23권3호
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• pp.345-350
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• 1986

This paper deseribes the design of a vector-coordinate rotation processor and the apporoximate evaluations of sine and consine based upon the use of residue number systems. The proposed algorithm results in a considerable improvement of computational speed as compared to the CORDIC algorithm. According to the results of computer simulation, the mean error of sine and cosine is 0.0025, and the mean error of coorcinate rotation arithmatic is 0.65. The proposed processor has the efficiency for the design and fabrication of integrated circuits, because it consists of an array of identical lookup tables.

• Journal of the Korean Society for Precision Engineering
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• 제14권4호
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• pp.126-135
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• 1997

A sensorless motion planner which succeeds in grasping a polygonal part firmly into a desired orientation has been developed through the dynamic analysis. The analytical results on the impact process with friction are used for modeling the contact motionduring the parallel-jaw grasp operation, which is com- posed of the pushing and the squeezing process. The developed planner succeeds in grasping a part into a specified orientation in the face of uncertainties of initial position and orientation of the part, motion direction of the finger, and the physical parameters such as the coefficients of friction and restitution. The motion planner has been fully implemented into a viable package on the computer system, and verified experimentally. The motion of parts is recorded using a high-speed video camera, and then compared to the results of the planner and the graphic simulation results that illustrate the simulated motion of the grasp operation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1354-1358
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• 2003

The process equipment for handling high level radioactive materials like spent fuels is operated in a hot cell, due to high radioactivity. Thus, this equipment should be maintained and repaired optimally by a remotely operated manipulator. The master-slave manipulators(MSM) are widely used as a remote handling device in the hot cell. The equipment in the hot cell should be optimally placed within the workspace of the wall-mounted slave manipulator for the maintenance operation. But, because of the complexity in the hot cell, there would be some parts of the equipment that are not reached by the MSM. In this study, the maintenance process for these parts of the equipment is developed using virtual prototyping technology. To analyze the workspace of the maintenance device in the hot cell and to develop the maintenance processes for the process equipment, the virtual mock-up of the hot cell for the spent fuel handling process is implemented using IGRIP. For the implementation of the virtual mock-up, the parts of the equipment and maintenance devices such as the MSM and servo manipulator are modeled and assembled in 3-D graphics, and the appropriate kinematics are assigned. Also, the virtual workcell of the spent fuel management process is implemented in the graphical environment, which is the same as the real environment. Using this mock-up, the workspace of the manipulators in the hot cell and the operator's view through the wall-mounted lead glass are analyzed. Also, for the dedicated maintenance operation, the analyses for the detailed area of the end effectors in accordance with the slave manipulator's position and orientation are carried out. The parts of the equipment that are located outside of the MSM's workspace are specified and the maintenance process of the parts using the servo manipulator that is mounted in the hot cell is proposed. To monitor the process in the hot cell remotely, the virtual display system by a virtual camera in the virtual work cell is also proposed. And the graphic simulation using a virtual mock-up is performed to verify the proposed maintenance process. The maintenance process proposed in this study can be effectively used in the real hot cell operation and the implemented virtual mock-up can be used for analyzing the various hot cell operations and enhancing the reliability and safety of the spent fuel management.

• Journal of Astronomy and Space Sciences
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• 제20권4호
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• pp.339-350
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• 2003

Engineering qualification model payload for a communications and broadcasting satellite(CBS) was developed by ETRI from May, 2000 to April, 2003. For. the purpose of functional test and verification of the payload, a real-time hardware-in-the-loop(HITL) CBS simulator(CBSSIM) was also developed. We assumed that the spacecraft platform for the CBSSIM is a geostationary communication satellite using momentum bias three-axis stabilization control technique based on Koreasat. The payload hardware is combined with CBSSIM via Power, Command and Telemetry System(PCTS) of Electrical Ground Support Equipment(EGSE). CBSSIM is connected with PCTS by TCP/IP and the payload is combined with PCTS by MIL-STD-1553B protocol and DC harness. This simulator runs under the PC-based simulation environment with Windows 2000 operating system. The satellite commands from the operators are transferred to the payload or bus subsystem models through the real-time process block in the simulator. Design requirements of the CBSSIM are to operate in real-time and generate telemetry. CBSSIM provides various graphic monitoring interfaces and control functions and supports both pre-launch and after-launch of a communication satellite system. In this paper, the HITL simulator system including CBSSIM, communications payload and PCTS as the medium of interface between CBSSIM and communications payload will be described in aspects of the system architecture, spacecraft models, and simulator operation environment.

• Journal of the Korean Society for Marine Environment & Energy
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• 제11권1호
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• pp.13-23
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• 2008

In coastal region, eutrophication, Do deficit and red tide are frequently occurred by influx of fresh water. When the fresh water containing pollutants is discharged into the sea, the surrounding water is contaminated by dispersion of freshwater flowing into coastal waters. The prediction and analysis about the dispersion process of the discharged fresh water should be conducted. A modeling system using GUI was developed to simulate hydrodynamic flow and fresh water dispersion in coastal waters and to analyze the results efficiently. The modeling module of the system includes a tide model using a finite element method and a fresh water dispersion model using a particle-tracking method. This system was applied to predict the tidal currents and fresh water dispersion in Mokpo coastal zone. To verify accuracy of the hydrodynamic model, the simulation results were compared with observed sea level and time variations of tidal currents showing a good agreement. The fresh water dispersion was verified with observed salinity distribution. The dispersion model also was verified with analytic solutions with advection-diffusion problems in 1-dimensional and 2-dimensional simple domain. The system is operated on GUI environment, to ease the model handling such as inputting data and displaying results. Therefore, anyone can use the system conveniently and observe easily and accurately the simulation results by using graphic functions included in the system. This system can be used widely to decrease the environmental disaster induced by inflow of fresh water into coastal waters.

• The Journal of the Korea Contents Association
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• 제9권12호
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• pp.1-9
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• 2009

A doll created by various materials is a miniature based on human model, and it has been one of components in a puppet show to take some responsibility for human's culture activity. However, demand and supply keeps on the decrease in the puppet show industry, since professional puppeteer has been reduced rapidly, and also it is difficult to initiate into the skill. Therefore, many studies related Robotic Marionette for automation of puppet show have been internationally accompanied, and more efficient structure design and process development are required for better movement and express of puppet with motor based controller. In this research, we suggest the effective way to enable to express the marionette's motion using motion data based on motion capture and 3D graphic program, and through applying of 3D motion data and proposal of simulation process, it will be useful to save time and expenses when the Robotic Marionette System is practically built.

• Proceedings of the KSME Conference
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.372-377
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• 2007

For more than 2,500 years, surgical teaching has been based on the so called "see one, do one, teach one" paradigm, in which the surgical trainee learns by operating on patients under close supervision of peers and superiors. However, higher demands on the quality of patient care and rising malpractice costs have made it increasingly risky to train on patients. Minimally invasive surgery, in particular, has made it more difficult for an instructor to demonstrate the required manual skills. It has been recognized that, similar to flight simulators for pilots, virtual reality (VR) based surgical simulators promise a safer and more comprehensive way to train manual skills of medical personnel in general and surgeons in particular. One of the major challenges in the development of VR-based surgical trainers is the real-time and realistic simulation of interactions between surgical instruments and biological tissues. It involves multi-disciplinary research areas including soft tissue mechanical behavior, tool-tissue contact mechanics, computer haptics, computer graphics and robotics integrated into VR-based training systems. The research described in this paper addresses the problem of characterizing soft tissue properties for medical virtual environments. A system to measure in vivo mechanical properties of soft tissues was designed, and eleven sets of animal experiments were performed to measure in vivo and in vitro biomechanical properties of porcine intra-abdominal organs. Viscoelastic tissue parameters were then extracted by matching finite element model predictions with the empirical data. Finally, the tissue parameters were combined with geometric organ models segmented from the Visible Human Dataset and integrated into a minimally invasive surgical simulation system consisting of haptic interface devices and a graphic display.

• Journal of the Ergonomics Society of Korea
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• 제29권2호
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• pp.203-210
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• 2010

For the development of a better product which fits to the target user population, physical workloads such as reach and visibility are evaluated using digital human simulation in the early stage of product development; however, ergonomic workload assessment mainly relies on visual observation of reach envelopes and view cones generated in a 3D graphic environment. The present study developed a quantitative assessment method of physical workload in a digital environment and applied to the evaluation of a Korean utility helicopter (KUH) cockpit design. The proposed assessment method quantified physical workloads for the target user population by applying a 3-step process and identified design features requiring improvement based on the quantified workload evaluation. The scores of physical workloads were quantified in terms of posture, reach, visibility, and clearance, and 5-point scales were defined for the evaluation measures by referring to existing studies. The postures of digital humanoids for a given task were estimated to have the minimal score of postural workload by finding all feasible postures that satisfy task constraints such as a contact between the tip of the index finger and a target point. The proposed assessment method was applied to evaluate the KUH cockpit design in the preliminary design stage and identified design features requiring improvement. The proposed assessment method can be utilized to ergonomic evaluation of product designs using digital human simulation.

• Journal of the Korean Society of Costume
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• 제54권4호
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• pp.63-74
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• 2004

This study shows that clothes to be just the same as the real thing can be Produced through the third dimension computer graphics, and then presents that not only the area of fashion design can be expanded in the virtual reality field by doing the simulation of the fashion show, but also the information can be made the real time public ownership and the communication can be fulfilled smoothly. In this study, analyzing the third dimension computer graphic programs to be used much at present, Alias Wavefront Company's Maya software which was the most effective in the clothes simulation and the clothes CAD SGS OptiTex 8.7 which went well substitutive for it were used of them. The conclusions of this study that got through the work manufacture are as follows： The first, if the file manufacturing in the clothes CAD by using the computer was stored, the pattern used 3D simulation was available because it could be summoned in 3D software. The second, if the data of DXF form in Maya program was summoned, they could not be applied by Maya Cloth supported in Nurbs only because they were recognized as the DXF＿layer. So the curve along the outer lines of the pattern was drawn and Maya Cloth was applied to be possible to get the natural silhouette of clothes. The third, when the clothes were manufactured by 3D, if the draping character was applied according to the textile special quality, not only the control of textile's thickness, weight, quality feeling, and silhouette was available, but also the clothes were available to graft the special textile materials. The fourth, the natural motion of model was produced by capturing the actual model's walking action In order to produce the fashion show motion and also the dynamic fashion show was available by the angle of camera, the establishment of lighting, and etc. in the final rendering. The clothes manufactured by 3D are available to change the design by changing the materials, or by adding the details, or by utilizing the special materials on clothes. Therefore, the trial and error following at the clothes manufacture can be reduced. But the elevation of the rendering speed, the price down, the strengthening of personal security, and etc. are required.