• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1714-1717
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• 1997

A human operator is able to perform some tasks smoothly with force feedvack for the teleoperation or a virtual device in a the virtual environments. This paper describes a virtual force generation method with which operator can feel the interactive force between virtula robot and artificial environments. A virtual force generation algortihm is applied to generate the contact force at the arbitrary point of virtual robot, and the virtual force is displayed to the human operator via a tendon master arm consisted with 3 motors. Some experiments has beencarried out to verify the effectiveness of the force generation algorithm and usefulness of the developed backdrivable master arm.

• Journal of The Korean Society of Integrative Medicine
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• v.10 no.3
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• pp.233-246
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• 2022

Purpose : The study aims to determine the effects of virtual and non-virtual realities in a normal person's mirror walk on gait characteristics. Methods : Twenty male adults (Age: 27.8 ± 5.8 years) participated in the study. Reflection markers were attached to the subjects for motion analysis, and they walked in virtual reality environments with mirrors by wearing goggles that showed them the virtual environments. After walking in virtual environments, the subjects walked in non-virtual environments with mirrors a certain distance away after taking a 5 min break. To prevent the order effect caused by the experiential difference of gait order, the subjects were randomly classified into groups of 10 and the order was differentiated. During each walk, an infrared camera was used to detect motion and the marker positions were saved in real time. Results : Comparison between the virtual and non-virtual reality mirror walks showed that the movable range of the leg joints (ankle, knee, and hip joints), body joints (sacroiliac and atlantoaxial joints), and arm joints (shoulder and wrist joints) significantly differed. Temporal characteristics showed that compared to non-virtual gaits, the virtual gaits were slower and the cycle time and double limb support time of virtual gaits were longer. Furthermore, spacial characteristics showed that compared to non-virtual gaits, virtual gaits had shorter steps and stride lengths and longer stride width and horizontally longer center of movement. Conclusion : The reduction in the joint movement in virtual reality compared to that in non-virtual reality is due to adverse effects on balance and efficiency during walking. Moreover, the spatiotemporal characteristics change based on the gait mechanisms for balance, exhibiting that virtual walks are more demanding than non-virtual walks. However, note that the subject group is a normal group with no abnormalities in gait and balance and it is unclear whether the decrease in performance is due to the environment or fear. Therefore, the effects of the subject group's improvement and fear on the results need to be analyzed in future studies.

• Journal of Korea Multimedia Society
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• v.15 no.12
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• pp.1499-1505
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• 2012

Recently, the distributed processing system for big data has been actively investigated owing to the development of high speed network and storage technologies. In addition, virtual system that can provide efficient use of system resources through the consolidation of servers has been increasingly recognized. But, when we configure distributed processing system for big data in virtual machine environments, many problems occur. In this paper, we did an experiment on the optimization of I/O bandwidth according to the creation and placement of VMs and tasks with composing Hadoop cluster in virtual environments and evaluated the results of an experiment. These results conducted by this paper will be used in the study on the development of Hadoop Scheduler supporting I/O bandwidth balancing in virtual environments.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.8
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• pp.773-780
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• 2015

Navigation in outdoor environments is a fundamental and challenging problem for unmanned ground vehicles. Detecting lane markings or boundaries on the road may be one of the solutions to make navigation easy. However, because of various environments and road conditions, a robust lane detection is difficult. In this paper, we propose a new approach for estimating virtual lanes on a traversable region. Estimating the virtual lanes consist of two steps: (i) we detect virtual road region through road model selection based on traversability at current frame and similarity between the interframe and (ii) we estimate virtual lane using the number of lane on the road and results of previous frame. To improve the detection performance and reduce the searching region of interests, we use a probability map representing the traversability of the outdoor terrain. In addition, by considering both current and previous frame simultaneously, the proposed method estimate more stable virtual lanes. We evaluate the performance of the proposed approach using real data in outdoor environments.

• Proceedings of the Korean Society of Disaster Information Conference
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• 2015.11a
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• pp.294-297
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• 2015

Decommissioning of nuclear facilities should be accomplished by assuring the safety of workers because decommissioning activities of nuclear facilities are under high radioactivity and work difficulty. It is necessary that before decommissioning, the radiation exposure dose of workers has to be evaluated and assessed under the principle of ALARA (as low as reasonably achievable). Furthermore, to improve the proficiency of decommissioning environments, method and system need to be developed. The legacy methods of exposure dose measurement and assessment had the limitations to modify and simulate the exposure dose to workers prior to practical activities because those should be accomplished without changes of working routes under predetermined scenarios. To simulate a lot of decommissioning scenarios, decommissioning environments were designed in virtual reality. To simulate and assess the exposure dose to workers, human model also was designed in virtual environments. These virtual decommissioning environments made it possible to real-time simulate and assess the exposure dose to workers. It can be concluded that this system is able to protect from accidents and enable workers to improve his familiarization about working environments. It is expected that this system can reduce human errors because workers are able to improve the proficiency of hazardous working environments due to virtual training like real decommissioning situations. In the end, the safety during decommissioning of nuclear facilities will be guaranteed under the principle of ALARA.

• Journal of the Ergonomics Society of Korea
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• v.16 no.2
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• pp.101-122
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• 1997

Our recent work on virtual environments and virtual displays is reviewed, including our efforts to establish the Virtual Environment Research, Interactive Technology, And Simulation (VERITAS) facility and our research on spatial hearing. VERITAS is a state-of -the-art multisensory facility, built around the ${CAVE}^{TM}$ technology. High-quality 3D audio is included and haptic interfaces are planned. The facility will support technical and non-technical users working in a wide variety of application areas. Our own research emphasizes the importance of auditory stimulation in virtual environments and complex display systems. Experiments on auditory-aided visual target acquistion, sensory conflict, sound localization in noise, and loxalization of speech stimuli are discussed.

• Korean Journal of Computational Design and Engineering
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• v.9 no.4
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• pp.277-285
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• 2004

In this paper, a 2 DOF haptic yawing joystick for use as the navigation input device in virtual environments is introduced. The haptic yawing joystick has 360° range for yawing motion and ±100° for pitching motion. The device can support weights of up to 26N for χ axis and 10N for axis with 10kHz of sampling rate. The size of the haptic yawing joystick is so small that it can be assembled on armrest of an arm chair and has relatively larger work space than other conventional 2 DOF joysticks. For the haptic yawing joystick, an ellipse navigation algorithm using the user's velocity in the virtual navigation is proposed. The ellipse represents the velocity of the user. According to the velocity of the navigator, the ellipse size is supposed to be changed. Since the path width of navigation environments is limited, the ellipse size is also limited. The ellipse navigation algorithm is tested in 2 dimensional virtual environments. The test results show that the average velocity of the navigation with the algorithm is faster than the average navigation velocity without the algorithm.

• International Journal of Contents
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• v.10 no.3
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• pp.64-72
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• 2014

This study explored the elements that affect team achievements in virtual environments. In this study, consideration was given to the role of group dynamics in facilitating productive interaction. We aspired to reveal the mechanisms of group dynamics and examined how group dynamics affected team achievements in virtual environments. The empirical study was performed with undergraduate students enrolled in an e-learning course. In collaboration with other majors, students executed team projects and managed project issues in forums or chat rooms. The results of the empirical study indicated that leadership, creative friction, and group cohesion (components of group dynamics) had positive relationships with team achievements. The findings confirmed that addressing creative conflict is a method to improve team performance and that leadership is a key factor in project teams.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.14 no.4
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• pp.1520-1542
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• 2020

Traditional software testing typically uses many physical resources to manually build various test environments, resulting in high resource costs and long test time due to limited resources, especially for small enterprises. Cloud computing can provide sufficient low-cost virtual resources to alleviate these problems through the virtualization of physical resources. However, the provision of various test environments and services for implementing software testing rapidly and conveniently based on cloud computing is challenging. This paper proposes a multilayer cloud testing model based on cloud computing and implements a hybrid cloud testing system based on virtual machines (VMs) and networks. This system realizes the automatic and rapid creation of test environments and the remote use of test tools and test services. We conduct experiments on this system and evaluate its applicability in terms of the VM provision time, VM performance and virtual network performance. The experimental results demonstrate that the performance of the VMs and virtual networks is satisfactory and that this system can improve the test efficiency and reduce test costs through rapid virtual resource provision and convenient test services.

• Journal of Korea Game Society
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• v.4 no.3
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• pp.77-84
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• 2004

Game environment, game map and background graphic design is very important elements and factors that support fun, look & feel, immersion and player's acting fields. In this paper we defined elements of game background environment. And then make an investigation and refer to sundry records and books, we described elements of periodic environments, historic environments, natural environments, artificial environments, cultural environments, virtual environments, weather environments. Especially, the study suggests the model of game environment desgin to apply game map and game background graphic design.