• International Journal of Contents
• /
• v.4 no.2
• /
• pp.7-12
• /
• 2008

In this paper, we present a real-time physical simulation model of water surfaces with a novel method to represent the water mass flow in full three dimensions. In a physical simulation model, the state of the water surfaces is represented by a set of physical values, including height, velocity, and the gradient. The evolution of the velocity field in previous works is handled by a velocity solver based on the Navier-Stokes equations, which occurs as a result of the unevenness of the velocity propagation. In this paper, we integrate the principle of the mass conservation in a fluid of equilateral density to upgrade the height field from the unevenness, which in mathematical terms can be represented by the divergence operator. Thus the model generates waves induced by horizontal velocity, offering a simulation that puts forces added in all direction into account when calculating the values for height and velocity for the next frame. Other effects such as reflection off the boundaries, and interactions with floating objects are involved in our method. The implementation of our method demonstrates to run with fast speed scalable to real-time rates even for large simulation domains. Therefore, our model is appropriate for a real-time and large scale water surface simulation into which the animator wishes to visualize the global fluid flow as a main emphasis.

• Structural Engineering and Mechanics
• /
• v.62 no.5
• /
• pp.631-642
• /
• 2017

Accurate actuator tracking plays an important role in real-time hybrid simulation (RTHS) to ensure accurate and reliable experimental results. Frequency-domain evaluation index (FEI) interprets actuator tracking into amplitude and phase errors thus providing a promising tool for quantitative assessment of real-time hybrid simulation results. Previous applications of FEI successfully evaluated actuator tracking over the entire duration of the tests. In this study, FEI with moving window technique is explored to provide post-experiment localized actuator tracking assessment. Both moving window with and without overlap are investigated through computational simulations. The challenge is discussed for Fourier Transform to satisfy both time domain and frequency resolution for selected length of moving window. The required data window length for accuracy is shown to depend on the natural frequency and structural nonlinearity as well as the ground motion input for both moving windows with and without overlap. Moving window without overlap shows better computational efficiency and has potential for future online evaluation. Moving window with overlap however requires much more computational efforts and is more suitable for post-experiment evaluation. Existing RTHS data from Network Earthquake Engineering Simulation (NEES) is utilized to further demonstrate the effectiveness of the proposed approaches. It is demonstrated that with proper window size, FEI with moving window techniques enable accurate localized evaluation of actuator tracking for real-time hybrid simulation.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.11 no.5
• /
• pp.897-905
• /
• 2007

In this paper, we present a new framework and synchronization mechanism to effectively support developing real-time communication service by using a real-time object model named TMO (Time-Triggered Message-Triggered Object). Also, we describes the application environment as the DHS(distributed high-precision simulation) to guarantee real-time service message with TMO structure in distributed network systems. The TMO scheme is aimed for enabling a great reduction of the designer's effort in guaranteeing timely real-time communication service capabilities of among distributed multi-nodes systems. Our real-time framework provide the consistent construction and configuration of tine-triggered processing components across heterogeneous distributed object environment more easily. It has been formulated from the beginning with the objective of enabling design-time guaranteeing of timely action. In the real time simulation techniques based on TMO object modeling, we have observed several advantages to the TMO structuring scheme. TMO object modeling has a strong traceability between requirement specification and design.

• Journal of Mechanical Science and Technology
• /
• v.15 no.8
• /
• pp.1090-1096
• /
• 2001

In this paper, new methods for efficiently solving linear acceleration equations of multibody dynamic simulation exploiting sparsity for real-time simulation are presented. The coefficient matrix of the equations tends to have a large number of zero entries according to the relative joint coordinate numbering. By adequate joint coordinate numbering, the matrix has minimum off-diagonal terms and a block pattern of non-zero entries and can be solved efficiently. The proposed methods, using sparse Cholesky method and recursive block mass matrix method, take advantages of both the special structure and the sparsity of the coefficient matrix to reduce computation time. The first method solves the η$\times$η sparse coefficient matrix for the accelerations, where η denotes the number of relative coordinates. In the second method, for vehicle dynamic simulation, simple manipulations bring the original problem of dimension η$\times$η to an equivalent problem of dimension 6$\times$6 to be solved for the accelerations of a vehicle chassis. For vehicle dynamic simulation, the proposed solution methods are proved to be more efficient than the classical approaches using reduced Lagrangian multiplier method. With the methods computation time for real-time vehicle dynamic simulation can be reduced up to 14 per cent compared to the classical approach.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.1048-1051
• /
• 1996

In this paper, we present real-time S/W architecture and techniques such as real-time scheduling, synchronization, and etc. for implementation of a real-time control system for driving multi-motors. Simulation shows feasibility of real-time S/W techniques presented here.

• Proceedings of the IEEK Conference
• /
• 2002.07c
• /
• pp.1843-1846
• /
• 2002

The object-oriented(OO) distributed real- time(RT) programming movement started in 1990’s and is growing rapidly at this turn of the century Distributed real-time simulation is a field in its infancy but it is bounded to receive steadily growing recognition for its importance and wide applicability. The scheme is called the distributed time-triggered simulation scheme which is conceptually simple and easy to use but widely applicable. A new generation object oriented(00) RT programming scheme is called the time-triggered message triggered object(TMO) programming scheme and it is used to make specific illustrations of the issues. The TMO structuring scheme is a general-style components structuring scheme and supports design of all types of component including hard real time 1 objects and non real time objects within one general structure.

• Journal of the Korea Society for Simulation
• /
• v.26 no.3
• /
• pp.13-22
• /
• 2017

This research proposes and applies a pipelining parallel processing technique to enhance the speed of visualizing the results of real-time simulations. Generally, a simulation with real-time visualization consists of three processes: executing a simulation model, transmitting simulation result, and visualizing simulation result. If we have these processes in serial, the latency from simulation to visualization will be very long, which degrades the speed of visualization of data from real-time simulation. Thus, the main purpose of this research is maximizing performance by adapting pipelining parallel processing technique to the real-time simulation visualization. Also we show that performance is improved by adding multi-threading technique to each process. This paper proposes a theoretical performance model and simulation results of the techniques and then we applied this to an air combat simulation model as a case study. As the result, it shows that the performance is greatly enhanced than the original model's execution time.

• Journal of Institute of Control, Robotics and Systems
• /
• v.21 no.3
• /
• pp.187-193
• /
• 2015

When developing a vehicle control system, simulation methods are widely used to validate the whole system in the early development phase. With this regard, the simulator should correctly behave just like the real parts that are not yet implemented while interacting with already implemented parts in real-time. However, most simulators cannot provide functionally and temporally accurate behaviors of the target system. In order to overcome this limitation, this paper proposes a novel real-time simulation technique that can efficiently simulate the temporal behavior as well as the functional behavior of the simulation target system.

• Journal of the Earthquake Engineering Society of Korea
• /
• v.22 no.4
• /
• pp.253-259
• /
• 2018

Structure behaviors resulting from an earthquake are experimentally simulated mainly through a shaking table test. As for large-scale structures, however, size effects over a miniature may make it difficult to assess actual behaviors properly. To address this problem, research on the hybrid simulation is being conducted actively. This method is to implement numerical analysis on framework members that affect the general behavior of the structure dominantly through an actual scale experiment and on the rest parts by applying the substructuring technique. However, existing studies on hybrid simulation focus mainly on Slow experimental methods, which are disadvantageous in that it is unable to assess behaviors close to the actual level if material properties change depending on the speed or the influence of inertial force is significant. The present study aims to establish a Real-time hybrid simulation system capable of excitation based on the actual time history and to verify its performance and applicability. The hybrid simulation system built up in this study utilizes the ATS Compensator system, CR integrator, etc. in order to make the target displacement the same with the measured displacement on the basis of MATLAB/Simulink. The target structure was a 2-span bridge and an RC pier to support it was produced as an experimental model in order for the shaking table test and Slow and Real-time hybrid simulations. Behaviors that result from the earthquake of El Centro were examined, and the results were analyzed comparatively. In comparison with the results of the shaking table test, the Real-time hybrid simulation produced more similar maximum displacement and vibration behaviors than the Slow hybrid simulation. Hence, it is thought that the Real-time hybrid simulation proposed in this study can be utilized usefully in seismic capacity assessment of structural systems such as RC pier that are highly non-linear and time-dependent.

• Smart Structures and Systems
• /
• v.14 no.6
• /
• pp.1055-1079
• /
• 2014

Substructure shake table testing is a class of real-time hybrid simulation (RTHS). It combines shake table tests of substructures with real-time computational simulation of the remaining part of the structure to assess dynamic response of the entire structure. Unlike in the conventional hybrid simulation, substructure shake table testing imposes acceleration compatibilities at substructure boundaries. However, acceleration tracking of shake tables is extremely challenging, and it is not possible to produce perfect acceleration tracking without time delay. If responses of the experimental substructure have high correlation with ground accelerations, response errors are inevitably induced by the erroneous input acceleration. Feeding the erroneous responses into the RTHS procedure will deteriorate the simulation results. This study presents a set of techniques to enable reliable substructure shake table testing. The developed techniques include compensation techniques for errors induced by imperfect input acceleration of shake tables, model-based actuator delay compensation with state observer, and force correction to eliminate process and measurement noises. These techniques are experimentally investigated through RTHS using a uni-axial shake table and three-story steel frame structure at the Johns Hopkins University. The simulation results showed that substructure shake table testing with the developed compensation techniques provides an accurate and reliable means to simulate the dynamic responses of the entire structure under earthquake excitations.