• Journal of the Korea Computer Graphics Society
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• v.27 no.3
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• pp.13-23
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• 2021

In this paper, we proposed a framework that generates the trajectory of a single rigid body based on its COM configuration and contact pose. Because we use a smaller input dimension than when we use a full body state, we can improve the learning time for reinforcement learning. Even with a 68% reduction in learning time (approximately two hours), the character trained by our network is more robust to external perturbations tolerating an external force of 1500 N which is about 7.5 times larger than the maximum magnitude from a previous approach. For this framework, we use centroidal dynamics to calculate the next configuration of the COM, and use reinforcement learning for obtaining a policy that gives us parameters for controlling the contact positions and forces.

• Journal of Korea Multimedia Society
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• v.12 no.2
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• pp.323-328
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• 2009

Natural Phenomena are simulated to make computer users feel verisimilitude and be immersed in games or virtual reality. The important factor in simulating fluid such as water or sea using 3D rendering technology in games or virtual reality is real-time interaction and reality. There are many difficulties in simulating fluid models because it is controlled by many equations of each specific situation and many parameter values. In addition, it needs a lot of time in processing physically-based simulation. In this paper, I suggest simplified fluid-surface model in order to represent interaction between rigid body and fluid, and it can make faster simulation by improved processing. Also, I show movement of fluid surface which is come from collision of rigid body caused by reaction of fluid in representing interaction between rigid body and fluid surface. This natural fluid-surface model suggested in this paper is represented realistically in real-time using fluid dynamics veri similarly. And the fluid-surface model will be applicable in games or animation by realizing it for PC environment to interact with this.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.1165-1166
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• 2013

• Structural Engineering and Mechanics
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• v.2 no.4
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• pp.313-326
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• 1994

Some structures under the action of some specific loads can be treated as consisting of rigid and deformable parts. The paper presents a way to include rigid elements into a finite element model accounting for geometrical and material nonlinearities. Lagrange multipliers technique is used to derive equations of motion for the coupled deformable-rigid system. Solution algorithm based on the elimination of the Lagrangian multipliers and dependent kinematic unknowns at the element level is described. A follow-up paper(Rojek and Kleiber 1993) complements the discussion by giving details of the computer implementation and presenting some realistic test examples.

• Structural Engineering and Mechanics
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• v.22 no.3
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• pp.293-310
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• 2006

In seismic prone areas it is possible to meet very different objects (equipment components, on shelf artefacts, simple architectural elements) that can be modelled as a rigid body rocking on a rigid foundation. The interest in their behaviour can have different reasons: seismological, in order to estimate the ground motion intensity, or more strictly mechanical, in order to limit the response severity and to avoid overturning. The behaviour of many rigid bodies subjected to twenty wide ranging acceleration recordings is studied here. The response of the blocks is described using kinematic and energy parameters. A condition under which a so called scale effect is tangible is highlighted. The capacity of the signals to produce overturning is compared to different ground motion parameters, and a good correlation with the Peak Ground Velocity is unveiled.

• Bulletin of the Korean Chemical Society
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• v.13 no.3
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• pp.317-324
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• 1992

Structure and dynamics of $Na^+$ ions are investigated by molecular dynamics simulations of rigid dehydrated zeolite-A at several temperatures using a simple Lennard-Jones potential plus Coulomb potential. A best-fitted set of electrostatic charges is chosen from the results of simulation at 298.15 K and Ewald summation technique is used for the long-ranged character of Coulomb interaction. The calculated x, y, and z coordinates of $Na^+$ ions are in good agreement with the positions determined by X-ray crystallography within statistical errors, their random movings in different types of closed cages are well described by time-correlation functions, and $Na_Ⅰ$ type ions are found to be less diffusive than $Na_Ⅱ$ and $Na_{III}$. At 600.0 K, the unstable $Na_{III}$ type ion pushes down one of nearest $Na_{I}$ ions into the $\beta-cage$ and sits on the stable site Ⅰ, and the captured ion in the $\beta-cage$ wanders over and attacks one of 8 $Na_{I}$ type ions.

• Journal of Drive and Control
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• v.20 no.4
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• pp.9-16
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• 2023

This paper analyzed a drainage tower used to drain water in flooded areas. Multi-body dynamics simulation was used to analyze the dynamic behavior of the drainage tower. Structural analysis, flexible-body dynamic analysis, and rigid body dynamic analysis were done to study the maximum Von-Mises stress of the drainage tower. The results showed that the maximum Von-Mises stress occurs at the turn table, and it decreases when the angle of the boom is increased. Also, the rate of the change of angle affects the maximum stress so that the maximum stress changes more when the angular velocity of the boom increases. Based on the rigid body dynamic analysis and the theoretical analysis results, the centrifugal force from the angular velocity makes the difference in the maximum stress at the turn table because of the difference in their direction. Consequently, it was concluded that the centrifugal force should be considered when designing construction machinerythat can rotate.

• 한국HCI학회:학술대회논문집
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• 2008.02a
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• pp.174-177
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• 2008

In 3D gaming environment, it is important to simulate the physically plausible behaviors of gaming objects in real time. In particular, rigid body dynamics consists in the heart of most game physics. In this paper, we present a constraint-based rigid body simulation method using continuous collision detection as a collision detection method, and LCP formulation as a collision response method. The continuous collision detection method never misses any collisions and thus is able to accurately report the first time of collision as well as its associated colliding features. Moreover, since the number of colliding features is typically low, it also reduces the complexity in the LCP formulation.

• International Journal of Precision Engineering and Manufacturing
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• v.5 no.4
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• pp.50-60
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• 2004

A very flexible beam can be used to model various types of continuous mechanical parts such as cables and wires. In this paper, the dynamic properties of a very flexible beam, included in a multibody system, are analyzed using absolute nodal coordinates formulation, which is based on finite element procedures, and the general continuum mechanics theory to represent the elastic forces. In order to consider the dynamic interaction between a continuous large deformable beam and a rigid multibody system, a combined system equations of motion is derived by adopting absolute nodal coordinates and rigid body coordinates. Using the derived system equation, a computation method for the dynamic stress during flexible multibody simulation is presented based on Euler-Bernoulli beam theory, and its reliability is verified by a commercial program NASTRAN. This method is significant in that the structural and multibody dynamics models can be unified into one numerical system. In addition, to analyze a multibody system including a very flexible beam, formulations for the sliding joint between a very deformable beam and a rigid body are derived using a non-generalized coordinate, which has no inertia or forces associated with it. In particular, a very flexible catenary cable on which a multibody system moves along its length is presented as a numerical example.

• International Journal of Aeronautical and Space Sciences
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• v.6 no.2
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• pp.23-32
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• 2005

An experimental control system is proposed for the attitude control of a simplified 2-DOF helicopter model. The main rotor is a rigid one, and the fuselage is simply supported by a fixed hinge point where the longitudinal motion is decoupled from the lateral one since the translations and the rolling rotation are completely removed. The yaw trim of the helicopter is performed with a tail rotor, by which the azimuthal attitude can be adjusted on the rotatable post in the yaw direction. The robust sliding mode control tracking a given attitude angle is proposed based on the flight dynamics. A pitch damper is inserted for the control of pitching angle while the compensator to reaction torque is used for the control of azimuth angle. Several parameters of the system are selected through experiments. The results shows that the proposed control method effectively counteracts nonlinear perturbations such as main rotor disturbance, undesirable chattering, and high frequency dynamics.