• The Journal of Korea Robotics Society
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• v.19 no.1
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• pp.31-38
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• 2024

A mobile manipulator is capable of handling a wide range of workspaces by overcoming the limitations of mobility inherent in existing fixed-base manipulators. To simulate the mobile manipulator, two contact operations should be considered in the physics engines. One of these operations is the grasp stability between the gripper and the object, while the other involves the contact between the wheels of the mobile robot and the ground during driving. However, it is still difficult to choose an appropriate physics engine for simulating these contact operations of the mobile manipulator. In this paper, the performance of physics engines for simulating the mobile manipulator is evaluated. Firstly, the grasp stability of the physics engine is quantitatively evaluated based on the contact force discontinuity. Secondly, when the mobile robot is controlled by open or closed-loop control methods, differences in the path taken by the mobile robot depending on the physics engine are analyzed. To assess the performance of robot simulation, three dynamic simulators-MuJoCo, CoppeliaSim, and IsaacSim-are used along with five physics engines: MuJoCo, Newton, ODE, Bullet, and PhysX.

• Proceedings of the Korea Water Resources Association Conference
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• 2020.06a
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• pp.172-172
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• 2020

In recent years, soil erosion has come to be regarded as an essential environmental problem in human life. Soil erosion causes various on- and off-site problems such as ecosystem destruction, decreased agricultural productivity, increased riverbed deposition, and deterioration of water quality in streams. To solve these problems caused by soil erosion, it is necessary to quantify where, when, how much soil erosion occurs. Empirical erosion models such as the Universal Soil Loss Equation (USLE) family models have been widely used to make spatially distributed soil erosion vulnerability maps. Even if the models detect vulnerable sites relatively well by utilizing big data related to climate, geography, geology, land use, etc. within study domains, they do not adequately describe the physical process of soil erosion on the ground surface caused by rainfall or overland flow. In other words, such models remain powerful tools to distinguish erosion-prone areas at the macro scale but physics-based models are necessary to better analyze soil erosion and deposition and eroded particle transport. In this study, the physics-based Surface Soil Erosion Model (SSEM) was upgraded based on field survey information to produce sediment yield at the watershed scale. The modified model (hereafter MoSE) adopted new algorithms on rainfall kinematic energy and surface flow transport capacity to simulate soil erosion more reliably. For model validation, we applied the model to the Doam dam watershed in Gangwon-do and compared the simulation results with the USLE outputs. The results showed that the revised physics-based soil erosion model provided more improved and reliable simulation results than the USLE in terms of the spatial distribution of soil erosion and deposition.

• Transactions of the KSME C: Technology and Education
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• v.1 no.2
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• pp.205-210
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• 2013

In this research, we have developed a ski-simulation system based on a physics-based simulation model using Newton's second law of motion. Key parameters of the model, which estimates skier's trajectory, speed and acceleration change due to skier's control on ski plate and posture changes, were derived from a field test study performed on real ski slope. Skier's posture and motion were measured by motion capture system composed of 13 high speed IR camera, and skier's control and pressure distribution on ski plate were measured by acceleration and pressure sensors attached on ski plate and ski boots. Developed ski-simulation model analyzes user's full body and center of mass using a depth camera(Microsoft Kinect) device in real time and provides feedback about force, velocity and acceleration for user. As a result, through the development of interactive ski-simulation motion recognition system, we accumulated experience and skills based on physics models for development of sports simulator.

• Journal of Astronomy and Space Sciences
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• v.34 no.2
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• pp.153-159
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• 2017

The Standard Model of particle physics was established after discovery of the Higgs boson. However, little is known about dark matter, which has mass and constitutes approximately five times the number of standard model particles in space. The cross-section of dark matter is much smaller than that of the existing Standard Model, and the range of the predicted mass is wide, from a few eV to several PeV. Therefore, massive amounts of astronomical, accelerator, and simulation data are required to study dark matter, and efficient processing of these data is vital. Computational science, which can combine experiments, theory, and simulation, is thus necessary for dark matter research. A computational science and deep learning-based dark matter research platform is suggested for enhanced coverage and sharing of data. Such an approach can efficiently add to our existing knowledge on the mystery of dark matter.

• Current Optics and Photonics
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• v.1 no.6
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• pp.626-630
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• 2017

GaN-based green light-emitting diode (LED) structures suffer from low internal quantum efficiency (IQE), known as the "green gap" problem. The IQE of LED structures is expected to be improved to some extent by exploiting the Purcell effect. In this study, the Purcell effect on the IQE of green LED structures is investigated numerically using a finite-difference time-domain simulation. The Purcell factor of flip-chip LED structures is found to be more than three times as high as that of epi-up LED structures, which is attributed to the high-reflectance mirror near the active region in the flip-chip LED structures. When the unmodified IQE is 20%, the relative enhancement of IQE can be greater than 50%, without utilizing the surface-plasmon coupling effect. Based on the simulation results, the "green gap" problem of GaN-based green LEDs is expected to be mitigated significantly by optimizing flip-chip LED structures to maximize the Purcell effect.

• 한국전산유체공학회:학술대회논문집
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• 2010.05a
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• pp.517-523
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• 2010

Recently, the rapid evolution of computational fluid dynamics (CFD) has enabled its key role in industries and predictive sciences. From diverse research disciplines, however, are there strong needs for integrated analytical tools for multi-phenomena beyond simple flow simulation. Based on the concurrent simulation of multi-dynamics, multi-phenomena beyond simple flow simulation. Based on the concurrent simulation of multi-dynamics, multi-physics and multi-scale phenomena, the multi-phenomena CFD technology enables us to perform the flow simulation for integrated and complex systems. From the multi-phenomena CFD analysis, the high-precision analytical and predictive capacity can enhance the fast development of industrial technologies. It is also expected to further enhance the applicability of the simulation technique to medical and bio technology, new and renewable energy, nanotechnology, and scientific computing, among others.

• Proceedings of the KSME Conference
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• 2004.04a
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• pp.557-562
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• 2004

For constructing virtual environment it is more natural to model object as deformable body than as rigid body. High accuracy of simulation of model and low-latency computational cost for real-time simulation should be guaranteed. We pre-compute Green function through finite element analysis of deformable body and it is possible to simulate deformation of body in real-time environment using Capacitance Matrix Algorithm. Also, the capacitance matrix algorithm enables to construct the haptic rendering which serves the reaction force through a haptic device. The Newmark scheme is used for the more realistic haptic rendering and dynamic simulation in real-time.

• Proceedings of the Korean Society of Medical Physics Conference
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• 2002.09a
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• pp.282-284
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• 2002

We have developed and used BISS as a radiation detector to verify patient dose and determine the physical characteristics of beams used in Stereotatic Radio Surgery(SRS) and Intensity Modulated Radiation Therapy(IMRT). In order to confirm the function and accuracy of our BISS, we simulate our measurements by BISS under the radiation of 6MV photons from a Varian Clinac 21EX equipped with a 60 leaf pairs MLC. For the simulation based on the Monte Carlo algorithm, which remains the most comprehensive and accurate theoretical method to verify beam profiles, we use the BEAM code. Compared with the measurements by BISS, our simulation of variously shaped phantom measurements show good agreements. Our simulation results can be used as a theoretical standard to compare and confirm measurements by BISS and other dosimeters such as ultramicro cylindrical ionization chamber(UCIC) and radiographic film.

• Nuclear Engineering and Technology
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• v.56 no.2
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• pp.546-551
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• 2024

As an effective methods of plasma heating, neutral beam injection (NBI) systems based on negative hydrogen ion sources will be utilized in future magnetic-confinement nuclear fusion experiments. Because of the collisions between the fast negative ions and the neutral background gas, the positive ions are inevitable created in the acceleration region in the negative NBI system. These positive ions are accelerated back into the ion source and become high energy backstreaming ions. In order to explore the characters of backstreaming ions, the track and power deposition of backstreaming H⁺ beam is estimated using the experimental and simulation methods at NNBI test facility. Results show that the flux of backstreaming positive ions is 1.93 % of that of negative ion extraction from ion source, and the magnet filed in the beam source has an effect on the backstreaming positive ions propagation.

• Journal of the Korean Institute of Telematics and Electronics
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• v.26 no.6
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• pp.63-70
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• 1989

The ion beam extracted from the AuGe liquid metal ion source was implanted into GaAs substrate. The surface composition and the structure of ion implanted samples were investigated by AES, RHEED, SEM and EPMA. The depth profiles measured by AES were compared with the results of Monte Carlo simulation based on the two-body collision. As the results of AuGe ion implantation the preferential sputtering of As were revealed by AES and EPMA, and the outdiffusion of Ga and Ge was investigated by 300$^{circ}C$ annealing. The Au and Ge depth profiles measured by AES agreed with the results of Monte Carlo simulation based on the two-body collision.