• The Journal of Korea Robotics Society
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• v.4 no.2
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• pp.88-96
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• 2009

In this paper, we present a linear controller for attitude of aircraft. We use a rotational matrix in one approach and a quaternion in the other approach. We also find some interesting mathematical properties concerning a symmetric rotational matrix and we use these properties to analyze the stability of the proposed control law. We find that the quaternion approach is better than rotational matrix approach because there exists no singular region problem in quaternion approach. On the other hand, singular region problem may happens in rotational matrix approach. The controller structure of the quaternion is also very simple compared with the one proposed by using a rotational matrix approach. We make use Matlab Simulink to simulate and illustrate the theoretical claims. The graphic animation program is developed based on Open-GL for the computer simulation of the proposed control algorithm.

• 한국HCI학회:학술대회논문집
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• 2006.02a
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• pp.954-959
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• 2006

Virtual Reality simulation enables immersive 3D experience of a Virtual Environment. A simulation-based VE can be used to map real world phenomena into virtual experience. This research studies on the use of Newton's physics law to demonstrate the effects of forces upon object's falling movement, and their effects towards other fallible objects. A reconfigurable simulation enables users to reconfigure the parameters of the objects involved in the simulation, so that they can see different effects from the different configurations, such as force magnitude and distance between objects. This concept is suitable for a classroom learning of physics law. Preliminary implementation is done on a PC with a joystick for 4DOF movement. The graphics is implemented by SGI OpenGL Performer. A middleware called NAVERLib that consists of Performer's modules for easy XML-based configuration is used for management of visualization, network and devices connection, and where the engine of this domino simulation is attached.

• 한국HCI학회:학술대회논문집
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• 2006.02a
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• pp.753-759
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• 2006

햅틱인터페이스 기술을 이용하면 가상물체의 형태를 만져보고 느껴볼 수 있다. 물체마다 다른 수학적 마찰력 모델을 적용하여 실감있는 마찰력 표현도 가능하다. 그러나 각 물체에 해당하는 마찰력 모델을 선정하는 것과 적절한 마찰계수 등을 반복적 실험을 통하여 알아내는 것은 쉽지 않다. 실제 물체의 마찰력이 알려진 마찰력 모델과 다르다면 수학적 모델로 표현할 수 없는 경우도 있다. 본 논문에서는 신경회로망 학습을 이용하여 마찰력 모델의 선택이나 마찰계수 등을 정하는 과정 없이 실제 물체의 마찰력을 표현하는 방법을 제시하고 있다. 상용 햅틱인터페이스 장치인 PHANToM 2 대를 이용하여 마찰력 획득 시스템을 구성하고 고무판, 종이 등의 물체 표면에서의 속도와 물체에 작용하는 힘을 획득하여 가공한 데이터를 입력 및 출력으로 갖는 신경회로망을 통해 학습시킨 후 OpenGL로 구현한 가상물체에 적용하여 보았다. Force/Torque 센서를 사용하지 못한 일부 문제가 있었으나 예상보다 사실적인 마찰력을 표현할 수 있었다.

• Honam Mathematical Journal
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• v.33 no.1
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• pp.19-25
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• 2011

Let G be the general linear group GL(n,$\mathbb{C}$), $W_0$ the Weyl group of G and W the extended a neWeyl group of G. Then it is well-known that W is a union of the double cosets $W_{0x}W_0$ as x moves over the set of dominant weights of W. It is also known that each double coset $W_{0x}W_0$ contains a unique element $m_x$ of the shortest length. These shortest length elements belong to what are called the canonical left cells. However, it is still an open problem to find the canonical left cell containing a given $m_x$. One of the mai purposes of this paper is to introduce a new approach to attack this question. In particular, we will present a conjecture which explicitly describes the canonical left cells containing an element $m_x$. We will show that our conjecture is true for some specific types of $m_x$.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.716-719
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• 1997

An integrated program of driving simulator has been developed for excavators using the Motif, OpenGL, and C compiler. The developed program not only offers a GUI but also covers graphic algorithms, therefore, the user can easily run the driving simulator whose components include a simplified visual graphics system. Several graphics technique are combined and applied to the simulator program in order to increase the speed of graphical representation, which access computer memories, mix 2D models with 3D ones, and use the basic position detection method. A text format environment file has been utilized for organizing more flexible driving circumstances.

• Proceedings of the IEEK Conference
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• 2005.11a
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• pp.751-754
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• 2005

In this paper, we designed a vertex shader for mobile devices. Proposed Vertex shader is compatible with the OpenGL ARB & DirectX 8.0 Vertex Shader 1.1 and is organized of modified IEEE-754 24 bits float point SIMD architecture. All float point arithmetic unit process 1 cycle operation with 100Mhz frequency more. We made a vertex shader demo system with Xilinx-Virtex II and get synthesis result that confirm 11M gates size at TSMC 0.13um @ 115MHz.

• Proceedings of the IEEK Conference
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• 2005.11a
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• pp.837-840
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• 2005

This paper presents 3D graphics lighting processor based on vector processing using pipeline chaining. The lighting process of 3D graphics rendering contains many arithmetic operations and its complexity is very high. For high throughput, proposed processor uses pipelined functional units. To implement fully pipelined architecture, we have to use many functional units. Hence, the number of functional units is restricted. However, with the restricted number of pipelined functional units, the utilization of the units is reduced and a resource reservation problem is caused. To resolve these problems, the proposed architecture uses vector processing using pipeline chaining. Due to its pipeline chaining based architecture, it can perform 4.09M vertices per 1 second with 100MHz frequency. The proposed 3D graphics lighting processor is compatible with OpenGL ES API and the design is implemented and verified on FPGA.

• Proceedings of the IEEK Conference
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• 2005.11a
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• pp.917-920
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• 2005

This paper presents 3D graphics geometry processor for mobile applications. Geometry stage needs to cope with the large amount of computation. Geometry stage consists of transformation process and lighting process. To deal with computation in geometry stage, the vector processor that is based on pipeline chaining is proposed. The performance of proposed 3D graphics geometry processor is up to 4.3M vertex/sec at 100 MHz. Also, the designed processor is compliant with OpenGL ES that is widely used for standard API of embedded system. The proposed structure can be efficiently used in 3D graphics accelerator for mobile applications.

• Journal of the Korea Society of Computer and Information
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• v.23 no.8
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• pp.17-23
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• 2018

In this paper, we implemented a flight posture simulator that intuitively understands aircraft flight posture and visualizes the principle of motion. The proposed system operates the 6 - axis motion platform according to the change of the navigation information and transmits the flight attitude to the simulator using the gyro sensor. A gyro sensor and an acceleration sensor are used together to analyze the attitude of the aircraft. The reason is that the gyro sensor has a cumulative error in the integration process. And the accelerometer sensor was compensated by using the complementary filter because noise was serious due to short term vibration. Using the compensated sensor information, the motion platform is operated by calculating the angle to be transmitted to the 6-axis motor. And visualization result is implemented using OpenGL. The results of this study can be used as teaching materials for students related to aviation in the future.

• Journal of KIISE:Computer Systems and Theory
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• v.28 no.4
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• pp.181-187
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• 2001

본 논문에서는 3D 텍스쳐 매핑 하드웨어(texture mapping hardware)하에서 OpenGL를 이용하여 빠른 추출(classification) 및 음영처리(shading)를 가능하게 하는 직접 볼륨 렌더링(direct volume rendering) 방법을 제안한다. 추출과정을 위해 lookup table을 통해서 볼륨 데이터의 밀도값(density)으로부터 불투명도(opacity)값을 얻어내고, 법선 벡터 블렌딩(normal blending)방법을 제안하여 볼륨 크기에 상관없이 최종 이미지에서만 음영 처리 연산을 수행한다. 본 논문에서 제시된 볼륨 렌더링의 전과정이 그래픽스 하드웨어(graphics hardware)에서 이뤄지면, 음영처리 연산의 복잡도 감소로 인하여 상호 대화적인 볼륨 렌더링이 가능하다.