• Title/Summary/Keyword: Rigid Body Information

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Behavior of Flexible Hose Connected to Mother Ship (모함에 연결된 탄성 호스의 거동)

  • Kim, Kun-Woo;Lee, Jae-Wook;Kim, Hyung-Ryul;Yoo, Wan-Suk;An, Deuk-Man
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.35 no.3
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    • pp.235-240
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    • 2011
  • A flexible hose attached to a mother ship experiences various motions that depend on the movement of the mother ship and that of underwater vehicle. Although the motion of the hose is a very important factor that determines how a mother ship should be steered in a real situation, it is difficult to experimentally obtain information about the hose motion. Therefore, we study the motion of the hose analytically. The ANCF(absolute nodal coordinate formulation) was used to model the hose, because this formulation can relax the Euler-Bernoulli theory and the Timoshenko beam theory and allow the deformation of the cross section. The mother ship is assumed to be a rigid body with 6 degrees of freedom. The motion of the hose is predominantly affected by the behavior of the mother ship and by the fluid flow.

Research on Intelligent Game Character through Performance Enhancements of Physics Engine in Computer Games (컴퓨터 게임을 위한 물리 엔진의 성능 향상 및 이를 적용한 지능적인 게임 캐릭터에 관한 연구)

  • Choi Jong-Hwa;Shin Dong-Kyoo;Shin Dong-Il
    • The KIPS Transactions:PartB
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    • v.13B no.1 s.104
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    • pp.15-20
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    • 2006
  • This paper describes research on intelligent game character through performance enhancements of physics engine in computer games. The algorithm that recognizes the physics situation uses momentum back-propagation neural networks. Also, we present an experiment and its results, integration methods that display optimum performance based on the physics situation. In this experiment on integration methods, the Euler method was shown to produce the best results in terms of fps in a simulation environment with collision detection. Simulation with collision detection was shown similar fps for all three methods and the Runge-kutta method was shown the greatest accuracy. In the experiment on physics situation recognition, a physics situation recognition algorithm where the number of input layers (number of physical parameters) and output layers (destruction value for the master car) is fixed has shown the best performance when the number of hidden layers is 3 and the learning count number is 30,000. Since we tested with rigid bodies only, we are currently studying efficient physics situation recognition for soft body objects.

Development of Real-Time Image Processing Algorithm on the Positions of Multi-Object in an Image Plane (한 이미지 평면에서 다물체 위치의 실시간 화상처리 알고리즘 개발)

  • Jang, W.S.;Kim, K.S.;Lee, S.M.
    • Journal of the Korean Society for Nondestructive Testing
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    • v.22 no.5
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    • pp.523-531
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    • 2002
  • This study is concentrated on the development of high speed multi-object image processing algorithm in real time. Recently, the use of vision system is rapidly increasing in inspection and robot's position control. To apply the vision system, it is necessary to transform the physical coordinate of object into the image information acquired by CCD camera. Thus, to use the application of the vision system to the inspection and robot's position control in real time, we have to know the position of object in the image plane. Particularly, in case of rigid body using multi-cue to identify its shape, the each position of multi-cue must be calculated in an image plane at the same time. To solve these problems, the image processing algorithm on the position of multi-cue is developed.

Cooperative control system of the floating cranes for the dual lifting

  • Nam, Mihee;Kim, Jinbeom;Lee, Jaechang;Kim, Daekyung;Lee, Donghyuk;Lee, Jangmyung
    • International Journal of Naval Architecture and Ocean Engineering
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    • v.10 no.1
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    • pp.95-102
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    • 2018
  • This paper proposes a dual lifting and its cooperative control system with two different kinds of floating cranes. The Mega-erection and Giga-erection in the ship building are used to handle heavier and wider blocks and modules as ships and off-shore platforms are enlarged. However, there is no equipment to handle such Tera-blocks. In order to overcome the limit on performance of existing floating cranes, the dual lifting is proposed in this research. In the dual lifting, two floating cranes are well-coordinated to add up the lift capabilities of both cranes without any loss such that virtually a single crane is lifting, maneuvering and unloading. Two main constraints for the dual lifting are as follows: First, two barges of floating cranes should be constrained as a rigid body not to cause a relative motion between two barges and main hooks of the two cranes should be controlled as main hooks of a single crane. In order words, it is necessary to develop the cooperative control of two floating cranes in order to sustain a center of gravity of the module and minimize the tilting angle during the lifting and unloading by the two floating cranes. Two floating cranes are handled as a master-slave system. The master crane is able to gather information about all working conditions and make a decision to control the individual hook speed, which communicates the slave crane by TCP/IP. The developed control system has been embedded in the real floating crane systems and the dual lifting has been demonstrated five times at SHI shipyard in 2015. The moving angles of the lifting module are analyzed and verified to be suitable for hoisting control. It is verified that the dual lifting can be applied for many heavier and wider blocks and modules to shorten the construction time of ships and off-shore platforms.

Solution and Estimate to the Angular Velocity of INS Formed only by Linear Accelerometers

  • Junwei, Wu;Jinfeng, Liu;Yunan, Zhang;Na, Yuan
    • Proceedings of the Korean Institute of Navigation and Port Research Conference
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    • v.1
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    • pp.103-107
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    • 2006
  • At present, most efforts tend to develop a INS which is only based linear accelerometers, because of the low cost micro-machining gyroscopes lack of the accuracy needed for precise navigation application and possible achieving the required levels of precise for micro-machining accelerometer. Although it was known in theory that a minimum of six accelerometers are required for a complete description of a rigid body motion, and any configuration of six accelerometers (except for a "measure zero " set of six-accelerometer schemes) will work. Studies on the feasible configuration of GF-INS indicate that the errors of angular velocity resolved from the six accelerometers scheme are diverged with time or have multi solutions. The angular velocity errors are induced by the biases together with the position vectors of the accelerometers, therefore, in order to treat with the problem just mentioned, researchers have been doing many efforts, such as the extra three accelerometers or the magnetometers may be taken as the reference information, the extended Kalman filter (EKF) involved to make the angular velocity errors bound and be estimated, and so on. In this paper, the typical configurations of GF-INS are introduced; for each type GF-INS described, the solutions to the angular velocity and the specific force are derived and the characteristic is indicated; one of the corresponding extend Kalman filters are introduced to estimate the angular errors; parts of the simulation results are presented to verify the validity of the equations of angular velocity and specific force and the performance of extend Kalman filter.

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GPU-Based Parallel Collision Detection for Deformable Objects (변형 물체를 위한 GPU 기반 병렬 충돌 감지)

  • Sung, Nak-Jun;Kim, Min Sang;Hong, Min;Choi, Yoo-Joo
    • KIPS Transactions on Software and Data Engineering
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    • v.7 no.1
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    • pp.25-32
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    • 2018
  • Due to heavy computational cost, deformable object simulation requires more effective collision detection method than rigid body simulation. However, when the CPU-based collision detection algorithm is purely applied to the GPU environment, the collision detection algorithm and the data structure optimized for the GPU environment are essential because the performance of the GPU can not be used properly. Therefore, we propose a GPU-based parallel collision detection algorithm for mass-spring system which is widely used for deformable object representation in this paper. The proposed method uses a parallel algorithm and data structure to reduce collision detection cost through GPU-based curling algorithm using AABB-Octree structure. In this paper, we prove the effectiveness of the proposed method by comparing the intersection test of all triangle pairs in parallel. The results of experimental tests show that the proposed method improves the performance by about 24% on average. Therefore, it is expected that the proposed method can improve the performance of real-time simulation for deformable objects.

Reconstruction Analysis of Multi-Car Rear-End Collision Accidents: Empirical/Analytical Methods, and Application of Video Event Data Recorder (다중추돌사고의 재구성 해석: 경험적/해석적 방법과 영상사고기록장치 활용)

  • Han, In-Hwan
    • Journal of Korean Society of Transportation
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    • v.30 no.2
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    • pp.127-136
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    • 2012
  • Multi-car rear-end collision accidents have three categories: sequential collision from the rear which is commonly referred to as chain reaction collision, sequential collision from the front, and mixed-order collision. This paper suggests several effective methods of reconstruction analysis for multi-car rear-end collision accidents. First, by incorporating the traditional empirical method which uses vehicle damage caused by brake dive and passenger injuries, with results of theoretical analysis made within mechanics of rigid body, it is made possible for the method to be put to immediate practical use. A methodology to precisely analyze multi-car rear-end collision accidents was suggested using a simulation program simultaneously with a video event data recorder which is starting to be widely used in domestic vehicles. To go beyond the simple intuitive analysis of the video event data recorder, the simulation analysis based on the results of video analysis was executed to acquire various information, so that the causes and responsibility could be clearly stated.

Implementation of Markerless Augmented Reality with Deformable Object Simulation (변형물체 시뮬레이션을 활용한 비 마커기반 증강현실 시스템 구현)

  • Sung, Nak-Jun;Choi, Yoo-Joo;Hong, Min
    • Journal of Internet Computing and Services
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    • v.17 no.4
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    • pp.35-42
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    • 2016
  • Recently many researches have been focused on the use of the markerless augmented reality system using face, foot, and hand of user's body to alleviate many disadvantages of the marker based augmented reality system. In addition, most existing augmented reality systems have been utilized rigid objects since they just desire to insert and to basic interaction with virtual object in the augmented reality system. In this paper, unlike restricted marker based augmented reality system with rigid objects that is based in display, we designed and implemented the markerless augmented reality system using deformable objects to apply various fields for interactive situations with a user. Generally, deformable objects can be implemented with mass-spring modeling and the finite element modeling. Mass-spring model can provide a real time simulation and finite element model can achieve more accurate simulation result in physical and mathematical view. In this paper, the proposed markerless augmented reality system utilize the mass-spring model using tetraheadron structure to provide real-time simulation result. To provide plausible simulated interaction result with deformable objects, the proposed method detects and tracks users hand with Kinect SDK and calculates the external force which is applied to the object on hand based on the position change of hand. Based on these force, 4th order Runge-Kutta Integration is applied to compute the next position of the deformable object. In addition, to prevent the generation of excessive external force by hand movement that can provide the natural behavior of deformable object, we set up the threshold value and applied this value when the hand movement is over this threshold. Each experimental test has been repeated 5 times and we analyzed the experimental result based on the computational cost of simulation. We believe that the proposed markerless augmented reality system with deformable objects can overcome the weakness of traditional marker based augmented reality system with rigid object that are not suitable to apply to other various fields including healthcare and education area.

HISTOLOGICAL CHANGES IN THE ELONGATED BONE AFFECTED BY OSTEODISTRACTION OF THE MANDIBLE IN THE DOG (성견 하악골 절단 후 기계적 골 견인에 의해 형성된 골 신장부에 대한 시기별 조직학적 변화)

  • Baek, Sun-Ho;Ahn, Byoung-Keun;Park, Young-Ju;Park, Hee-Geon;Park, Jun-Woo;Rhee, Gun-Joo;Lee, Yong-Chan;Cho, Byoung-Ouck
    • Journal of the Korean Association of Oral and Maxillofacial Surgeons
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    • v.27 no.5
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    • pp.404-416
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    • 2001
  • Purpose : Traditionally, the treatement of choice has been a bone grafting procedure to increase the length of bone in case of actual length discrepancy. But, bone grafting procedure has many disadvantages, for example, graft resorption, donor site morbidity, and so on. So, many trials have been performed to avert the use of autogenous bone graft via introducing new materials or methods. And, one of those trials has been realized by the development of a technique inducing bone lengthening by osteotomy (or corticotomy) and slow gradual distraction of the osteotomized segments. This new technique of bone lengthening dates back to the early 20th century. But, the majority of information concerning the biology of new bone formation during bone lengthening and technical details of the procedure were produced by extensive clinical and experimental studies performed by Ilizarov, a Russian surgeon. According to Ilizarov, with adequate blood supply, preservation of periosteum, rigid fixation of the osteotomized segments, and proper rate and rhythm of distraction, intramembranous bone rapidly develops within the distraction gap in the limb lengthening procedure. In the limb lengthening, many orthopedic surgeons try to observe the biologic and clinical principles recommended by Ilizarov. In the oral and maxillofacial region, however, not a few studies must be performed to apply this surgical technique in the clinical cases. Besides, the mechanism of bone formation in the distraction gap is not clear, yet. The purpose of this experiment was to scrutinize serially the histological changes in the elongated bone affected by osteodistraction of the mandibular body in an adult canine model. In addition, it was performed to confirm the presence of specific region(s) which was important in the bone formation in the gap through the observation of the expression pattern of osteocalcin and osteonectin with the immunohistochemical examination. Materials and Methods : The experimental and control specimens were obtained from seven adult male mongrel dogs weighing over 20kg. The distractors were custom-made linear extraoral devices and bicortical fixation screws were 2.3mm in diameter, 50mm in total length, 15mm in screw length. The distractors were devised to produce a linear gap of 0.75mm between two bony segments every $360^{\circ}$ turn of the rotation rod of the device. The mandibular body of the right side of each animal was corticotomized perpendicular to the occlusal plane and then two bony segments were separated completely by careful manipulation of the segments with bone forceps. The left side of each animal was left intact. This side was served as control. At sixth day after osteotomy and fixation of the segments were performed, distraction of the segments was commenced with a rate of 1.1mm/day and a rhythm of two/day for ensuing 7 days. The animals were euthanized at the 16th. 29th, and 44th day after the osteotomy. The bony specimens were decalcified, embedded in paraffin, sectioned $5{\mu}m$ thick and stained with H&E. The prepared specimens were examined under the light microscope. And, immunohistochemical examinations using anti-osteocalcin antibody (OC1, Biodesign, USA) and anti-osteonectin antibody (Haematologic Technologies Inc., Essex, VT) to locate the expressions of osteocalcin and osteonectin, respectively, were performed. Results : 1. New bone was observed already at the 16th. day after osteotomy. This suggests that new bone formation in osteodistraction was commenced at an early stage of the regenerative process. But, radiologically and microscopically, bony union was not completed in the distraction gap at the 44th. day after osteotomy. Therefore, rigid fixation must be maintained between the bony fragments till the complete bony union is confirmed clinically rather than one month or so after the completion of distraction.

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A Study on Object Recognition for Safe Operation of Hospital Logistics Robot Based on IoT (IoT 기반의 병원용 물류 로봇의 안전한 운행을 위한 장애물 인식에 관한 연구)

  • Kang, Min-soo;Ihm, Chunhwa;Lee, Jaeyeon;Choi, Eun-Hye;Lee, Sang Kwang
    • The Journal of the Institute of Internet, Broadcasting and Communication
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    • v.17 no.2
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    • pp.141-146
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    • 2017
  • New infectious diseases such as MERS have been in need of many measures such as initial discovery, isolation, and crisis response. In addition, the culture of hospitals is changing, such as the general public 's visiting and Nursing Care Integration Services. However, as the qualifications and regulations of medical personnel in hospitals become rigid, overseas such as linens, wastes movements are replacing possible works with robots. we have developed a hospital logistics robot that can carry out various goods delivery within a hospital, and can move various kinds of objects safely to a desired location. In this thesis, we have studied a hospital logistics robot that can carry out various kinds of goods delivery within the hospital, and can move various kinds of objects such as waste, and linen safely to a desired location. The movement of a robot in a hospital may cause a collision between a person and an object, so that the collision must be prevented. In order to prevent collision, it is necessary to recognize whether or not an object exists in the movement path of the robot. And if there is an object, it should recognize whether it moves or not. In order to recognize human beings and objects, we recognize the person with face/body recognition technology and generate the context awareness of the object using 3D Vision image segmentation technology. We use the generated information to create a map that considers objects and person in the robot moving range. Thus, the robot can be operated safely and efficiently.