• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.2
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• pp.649-654
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• 2019

Stable haptic interaction with virtual environments is essential not only for the safety of the user but also for improving the immersion of the user. If the coefficient of a virtual spring is increased, the system becomes unstable. Therefore, the coefficient of the virtual spring is limited. The haptic system with the high-frequency zero-order-hold (HF-ZOH) is proposed to enhance the stability margin of a virtual spring. In this paper, the relationship among the sampling period of HF-ZOH, the coefficient of the physical damper, and the maximum stable margin of the virtual spring is analyzed. The lager the coefficient of the physical damper is, the shorter the sampling period of the HF-ZOH is, the larger the stable region of the virtual spring becomes. If the ratio N is larger than 40, the stable region of the proposed method is about three times to eight times that of the previous method, according to the coefficient of the physical damper. Hence the method enables to improve the user's realism in virtual environments.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.1
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• pp.12-17
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• 2018

In order to enhance the realism of a virtual environment, a method of maximizing the stiffness of the virtual environment model is needed, which maintains the stability of the haptic system. In our previous research, we proposed a haptic system with a first order hold, instead of a zero order hold, and showed that the maximum available stiffness of a virtual spring with the first-order hold is larger than that with the zero-order hold. However, in terms of real system implementation, the zero order hold is a more common and easy method. In this paper, we propose an extrapolation method and a high frequency zero-order-hold output method in order to obtain the stability region using a zero order hold, which is equivalent to the method using the first-order-hold. The simulation results shows that the stability range of the virtual spring becomes almost the same as that of the method using the first order hold when the sampling period of the high frequency zero-order-hold method is decreased. Moreover, the stability range of the proposed method is several times to several tens of times greater than that of the method using the zero order hold only. Therefore, it is expected that the proposed method can enhance the realism of rigid bodies in a virtual environment.

• Journal of Korean Society of Occupational and Environmental Hygiene
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• v.32 no.4
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• pp.381-392
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• 2022

Objectives: Objective of this study is to review briefly exposure characteristics, monitoring instruments and threshold limit values for extremely low frequency-magnetic field (ELF-MF) methods. This study was undertaken through brief literature review. We performed a literature search in PubMed to identify ELF-MF studies conducted in workplaces. Initial search keywords such as 'extremely low frequency-magnetic field (ELF-MF)' and 'electromagnetic fields (EMF)' combined or singly. We limited our review to occupational rather than general nonworkplace environmental exposures. Methods: The contents we reviewed: key industry and occupations generating ELF-MF, several direct-reading instruments monitoring ELF-MF and threshold limit values (TLV) preventing health effects may be caused by the exposure to ELF-MF. Results: The industries related to the generation and supply of electricity, electrolytic installations, welding, and induction heating and more were regarded as high ELF-MF exposure industries. All jobs handling or employed performed in power cable lines, electrical wiring, and electrical equipment are found to be exposed to ELF-MF. Threshold or ceiling limit, 1,000 µT, is established to prevent acute effects of exposure to low-frequency EMFs on the nervous system: the direct stimulation of nerve and muscle tissues and the induction of retinal phosphenes. The International Agency for Research on Cancer (IARC) has classified ELF-MF as possibly carcinogenic to humans chiefly based on epidemiological studies on childhood leukemia. However, a causal relationship between magnetic fields and several types of cancer including childhood leukemia has not been established nor has any other long-term effects. Risk management using precautionary measures, has been initiated by the US and EU to prevent chronic health effects related to ELF-MF exposure in workplaces. Conclusion: This study recommends the implementation of various measures such as theestablishment of occupational exposure limit values for ELF-MF and precautionary principle to prevent potential chronic occupational health effects may be caused by ELF-MF in Korea.