• Nuclear Engineering and Technology
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• v.52 no.11
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• pp.2630-2637
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• 2020

The structure design of divertor Multi-Functional Maintenance Platform (MFMP) actuated by hydraulic system for China Fusion Engineering Test Reactor (CFETR) was introduced in this paper. The model of MFMP was established according to maintenance requirements. In this paper, Newton-Euler method and the improved virtual work principle were used, the equivalent driving force of each actuator was obtained through the equivalent Jacobian inverse matrix derived from velocity relationship among the components. The accuracy of the model was verified by ADAMS simulation. The stability control of the heavy-duty components driven by hydraulic cylinders based on Newton-Euler method and improved virtual work principle was established.

• ETRI Journal
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• v.40 no.4
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• pp.531-536
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• 2018

The weighted K-nearest neighbor (WKNN) algorithm is used to reduce positioning accuracy, as it uses a fixed number of neighbors to estimate the position. In this paper, we propose a dynamic threshold location algorithm (DH-KNN) to improve positioning accuracy. The proposed algorithm is designed based on a dynamic threshold to determine the number of neighbors and filter out singular reference points (RPs). We compare its performance with the WKNN and Enhanced K-Nearest Neighbor (EKNN) algorithms in test spaces of networks with dimensions of $20m{\times}20m$, $30m{\times}30m$, $40m{\times}40m$ and $50m{\times}50m$. Simulation results show that the maximum position accuracy of DH-KNN improves by 31.1%, and its maximum position error decreases by 23.5%. The results demonstrate that our proposed method achieves better performance than other well-known algorithms.

• Journal of the Korea Society of Computer and Information
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• v.28 no.12
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• pp.89-96
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• 2023

In this paper, we propose a GPU-based method for real-time processing of dynamic re-meshing required for tearing cloth. Thin shell materials are used in various fields such as physics-based simulation/animation, games, and virtual reality. Tearing the fabric requires dynamically updating the geometry and connectivity, making the process complex and computationally intensive. This process needs to be fast, especially when dealing with interactive content. Most methods perform re-meshing through low-resolution simulations to maintain real-time, or rely on an already segmented pattern, which is not considered dynamic re-meshing, and the quality of the torn pattern is low. In this paper, we propose a new GPU-optimized dynamic re-meshing algorithm that enables real-time processing of high-resolution fabric tears. The method proposed in this paper can be used for virtual surgical simulation and physics-based modeling in games and virtual environments that require real-time, as it allows dynamic re-meshing rather than pre-split meshes.

• 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.

• Ocean Systems Engineering
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• v.5 no.3
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• pp.181-198
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• 2015

An OSV (Offshore Support Vessel) is being used to install a structure which is laid on its deck or an adjacent transport barge by lifting off the structure with its own crane, lifting in the air, crossing splash zone, deeply submerging, and lastly landing it. There are some major considerations during these operations. Especially, when lifting off the structure, if operating conditions such as ocean environmental loads and lifting off velocity are not suitable, the collision can be occurred due to the relative motion between the structure and the OSV or the transport barge. To solve this problem, this study performs the physics-based simulation of the lifting off step while the OSV installs the structure. The simulation includes the calculation of dynamic responses of the OSV and the structure, including the collision detection between the transport barge and the structure. To check the applicability of the physics-based simulation, it is applied to a problem of the lifting off step by varying the ocean environmental loads and the lifting off velocity. As a result, it is confirmed that the operability of the lifting off step are affected by the conditions.

• 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.

• Coupled systems mechanics
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• v.4 no.1
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• pp.67-98
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• 2015

Numerical prediction of dynamic behavior of fully coupled saturated porous media is of great importance in many engineering problems. Specifically, static and dynamic response of soils - porous media with pores filled with fluid, such as air, water, etc. - can only be modeled properly using fully coupled approaches. Modeling and simulation of static and dynamic behavior of soils require significant Verification and Validation (V&V) procedures in order to build credibility and increase confidence in numerical results. By definition, Verification is essentially a mathematics issue and it provides evidence that the model is solved correctly, while Validation, being a physics issue, provides evidence that the right model is solved. This paper focuses on Verification procedure for fully coupled modeling and simulation of porous media. Therefore, a complete Solution Verification suite has been developed consisting of analytical solutions for both static and dynamic problems of porous media, in time domain. Verification for fully coupled modeling and simulation of porous media has been performed through comparison of the numerical solutions with the analytical ones. Modeling and simulation is based on the so called, u-p-U formulation. Of particular interest are numerical dispersion effects which determine the level of numerical accuracy. These effects are investigated in detail, in an effort to suggest a compromise between numerical error and computational cost.

• Journal of the Optical Society of Korea
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• v.20 no.6
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• pp.745-751
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• 2016

A detection algorithm, based on the combined local-global (CLG) optical-flow model and Gaussian pyramid for a moving target appearing against a dynamic background, can compensate for the inadaptability of the classic Horn-Schunck algorithm to illumination changes and reduce the number of needed calculations. Incorporating the hypothesis of gradient conservation into the traditional CLG optical-flow model and combining structure and texture decomposition enable this algorithm to minimize the impact of illumination changes on optical-flow estimates. Further, calculating optical-flow with the Gaussian pyramid by layers and computing optical-flow at other points using an optical-flow iterative with higher gray-level points together reduce the number of calculations required to improve detection efficiency. Finally, this proposed method achieves the detection of a moving target against a dynamic background, according to the background motion vector determined by the displacement and magnitude of the optical-flow. Simulation results indicate that this algorithm, in comparison to the traditional Horn-Schunck optical-flow algorithm, accurately detects a moving target undergoing illumination changes against a dynamic background and simultaneously demonstrates a significant reduction in the number of computations needed to improve detection efficiency.

• Korean Journal of Agricultural Science
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• v.47 no.4
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• pp.963-978
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• 2020

Earthquakes can induce a large number of landslides and cause very serious property damage and human casualties. There are two issues in study on earthquake-induced landslides: (1) slope stability analysis under seismic loading and (2) debris flow run-out analysis. This study aims to review technical studies related to the development and application of earthquake-induced landslide models (seismic slope stability analysis). Moreover, a pilot application of a physics-based slope stability model to Mt. Umyeon, in Seoul, with several earthquake scenarios was conducted to test regional scale seismic landslide mapping. The earthquake-induced landslide simulation model can be categorized into 1) Pseudo-static model, 2) Newmark's dynamic displacement model and 3) stress-strain model. The Pseudo-static model is preferred for producing seismic landslide hazard maps because it is impossible to verify the dynamic model-based simulation results due to lack of earthquake-induced landslide inventory in Korea. Earthquake scenario-based simulation results show that given dry conditions, unstable slopes begin to occur in parts of upper areas due to the 50-year earthquake magnitude; most of the study area becomes unstable when the earthquake frequency is 200 years. On the other hand, when the soil is in a wet state due to heavy rainfall, many areas are unstable even if no earthquake occurs, and when rainfall and 50-year earthquakes occur simultaneously, most areas appear unstable, as in simulation results based on 100-year earthquakes in dry condition.

• Journal of the Korea Institute of Military Science and Technology
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• v.10 no.3
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• pp.181-188
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• 2007

This paper presents a torque control method of a hydraulic actuation system for measuring the dynamic stiffness of missile fin actuators. We propose a new control technique called Dual Dynamic Torque Feedback Control(DDTFC), which improves the stability of the torque control system and enables fast tracking of torque command. The developed control scheme is derived from the physical understanding based on mathematical modelling and analysis. The dynamics of hydraulic torque control servo-system is unravelled via physics-based modelling and nonparametric system identification. In order to verify the effectiveness of the method, the experiment is carried out with a test equipment for measuring the dynamic stiffness. The experiment and simulation results show that DDTFC gives stability improvement.