• 한국자동차공학회논문집
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• 제17권4호
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• pp.16-23
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• 2009

Driving simulators are useful tools not only to test the components of future cars but also to evaluate the telematics service and HMI (Human-Machine Interface). However driving simulators cannot be implemented to test and evaluate the telematics service system because the GPS (Global Positioning System) which contains basic functional support for the telematics module do not work in the VR (virtual reality) environment. This paper presents a method to implement telematics service to a driving simulator by developing the GPS simulator which is able to emulate GPS satellite signals consist of NMEA-0183 protocol and RS232C communication standards. It is expected that the driving simulator with the GPS simulator can be used to study HMI and human-factor evaluations of the commercial telematics system to realize the HiLES (Human-in-the-Loop Evaluation System).

• 한국철도학회:학술대회논문집
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• 한국철도학회 2007년도 추계학술대회 논문집
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• pp.283-290
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• 2007

A bi-modal tram has been developed to offer an advanced transportation service compared with existing vehicles. The All-Wheel-Steering system is applied to the bi-modal tram to satisfy the required steering performance because the bi-modal tram has extended length and articulated mechanism. An ECU for the steering system is essential to steer wheels on 2nd and 3rd axles by the specific AWS algorithm with the prescribed driving condition. The Hardware-In-the-Loop Simulation(HILS) system is planned for the purpose of evaluating the steering system of the bi-modal tram. There are kinematic links with the hydraulic actuator to steer wheels on each 2nd and 3rd axles and also same steering mechanism as the actual vehicle is in the HILS system. Controlling the movement of hydraulic actuator which reflects the lateral steering reaction force on each wheel is the key to realize the HILS system, but the reaction force is continuously changed according to various driving conditions. Therefore, the simulation through the multi-body dynamics model is used to obtain the required forces.

• 한국의류산업학회지
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• 제11권2호
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• pp.308-314
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• 2009

In creating an avatar, consumers can find out for themselves their own sizes to be entered. Also, putting in a face creation main-page menu option enables clients to make up their faces and match them to their bodies. Through this process when purchasing clothes through the internet consumers can enter their own body sizes and create avatars that are identical to their body shape. The uniqueness of developed prototype is that it creates an avatar similar to one's body shape according to body size inputs and demonstrates visually to customers the on-line comfort test which was only available off-line traditionally. The avatar follows the movement of mouse from left to right which enables 3 dimensional visualization. Through maximizing the visual effect this research focuses on enabling consumers to feel subjective parts as if they are off-line. This study seeks to provide a type of prototype of an online shopping mall that meets the demand of the consumers using the 3D avatar.

• Journal of Mechanical Science and Technology
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• 제18권1호
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• pp.132-144
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• 2004

This paper presents a new method driving multiple robots to their goal position without collision. To consider the movement of the robots in a work area, we adopt the concept of avoidability measure. The avoidability measure figures the degree of how easily a robot can avoid other robots considering the velocity of the robots. To implement the concept to avoid collision among multiple robots, relative distance between the robots is proposed. The relative distance is a virtual distance between robots indicating the threat of collision between the robots. Based on the relative distance, the method calculates repulsive force against a robot from the other robots. Also, attractive force toward the goal position is calculated in terms of the relative distance. These repulsive force and attractive force are added to form the driving force for robot motion. The proposed method is simulated for several cases. The results show that the proposed method steers robots to open space anticipating the approach of other robots. In contrast, since the usual potential field method initiates avoidance motion later than the proposed method, it sometimes fails preventing collision or causes hasty motion to avoid other robots. The proposed method works as a local collision-free motion coordination method in conjunction with higher level of task planning and path planning method for multiple robots to do a collaborative job.

• 한국정밀공학회지
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• 제18권10호
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• pp.45-52
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• 2001

This paper presents a study on the position tracking control of a robot system on the uncertain elastic base. The elastic bathe is a nonholonomic system but it can be changed into holonomic system, which is much easier to analyze, by modeling an elastic base as a virtual robot that has passive joints. Also, Jacobian operators, which represent the overall robot system including base movement, are defined and applied to the changed model. However, because base movements are not known, the exact Jacobian operators can＇t be estimated. The control algorithm proposed is that uses only Jacobians of a real robot as approximate Jacobian operators. Therefore the approximate Jacobian operators compensate the measured errors from external sensors. The proposed control strategy is evaluated by the simulation and experiment of a single-axis robot system on the elastic base.

• 한국소음진동공학회논문집
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• 제16권10호
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• pp.1082-1089
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• 2006

In this study, advanced computational analysis system has been developed in order to investigate flow-induced vibration(FIV) phenomenon for general stator-rotor cascade configurations. Relative movement of the rotor with respect to stator is reflected by modeling Independent two computational domains. Fluid domains are modeled using the unstructured grid system with dynamic moving and local deforming methods. Unsteady, Reynolds-averaged Wavier-stokes equations with one equation Spalart-Allmaras and two-equation SST ${\kappa}-{\varepsilon}$ turbulence models are solved for unsteady flow problems and also relative moving and vibration effects of the rotor cascade are fully considered. A coupled implicit time marching scheme based on the Newmark integration method is used for computing the governing equations of fluid-structure interaction problems. Detailed vibration responses for different flow conditions are presented and then vibration characteristics are physically investigated in the time domain as computational virtual tests.

• 제어로봇시스템학회논문지
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• 제11권5호
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• pp.445-450
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• 2005

In this paper, we suggest an integrated tactile display system that provides kinesthetic force, pressure distribution, vibration and slip/stretch. The system consists of two parts: a 2 DOF force feedback device for kinesthetic display and a tactile feedback device for displaying the normal stimulation to the skin and the skin slip/stretch. Psychophysical experiments measure the effects of fingerpad selection, the direction of finger movements and the texture width on tactile sensitivity. We also investigate the characteristics of lateral finger movement while subjects perceive different textures. From the experimental results, the principal parameters for designing a tactile display are suggested. A tactile display device, using eight piezoelectric bimorphs and a linear actuator, Is implemented and attached to a 2 DOF translational force feedback device to simultaneously simulate the texture and stiffness of the object. As a result, we find out that the capability of the suggested device is sufficient to display physical quantities to display the texture.

• 대한전자공학회논문지SP
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• 제42권4호
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• pp.127-132
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• 2005

가상현실을 이용한 사람의 빠른 움직임을 추출하여 파형으로 나타내는 동작곡선이나 자연계에서 실제로 관측되는 대기 전기변동량과 같은 전자계 신호의 시간 변동량은 매우 복잡하다. 이러한 신호의 관측파형에 대하여 변곡점과 같은 신호의 특징을 정확히 결정하는 것이 중요하다. 잡음이 신호에 중첩될 때 종래의 방법으로는 변곡점의 검출이 어렵다. 본 논문에서는 신호에 잡음이 첨가될 때 웨이브릿 임계치 잡음제거와 정규형 자연관측필터를 적용하여 정확한 변곡점 추출이 가능함을 보인다.

• 인터넷정보학회논문지
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• 제5권2호
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• pp.41-47
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• 2004

최근 움직임 포착 시스템은 애니메이션 연구 분야에 가장 활발하게 적용되고 있다. 움직임 데이터의 포착은 움직임 포착 시스템을 실제 배우의 움직임과 연결하여 이루어진다. 본 연구는 기하학적 평균 필터를 이용하여 움직임 데이터를 편집하는 방법에 대해 다룬다. 포착한 움직임 데이터에 잡음이 끼면 부자연스러운 동작을 생성하기 때문에 동작을 자연스럽게 만들어 내는 중간 과정이 필요한데 기하학적 평균 필터를 이용하여 자연스러운 동작을 생성할 수 있도록 한 것이다. 실험 결과는 기하학적 평균필터가 다양한 공간필터 중에서 움직임 데이터의 잡음을 제거하는데 가장 우수함을 보여준다. 본 연구의 제안 방법은 실시간 애니메이션, 가상현실, 3D 응용분야등에 다양하게 응용 가능하다.

• The Journal of Korean Physical Therapy
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• 제31권2호
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• pp.111-116
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• 2019

Purpose: This study examined the effects of horse riding simulator exercise on the thickness changes in the transverse abdominis in normal adults. Methods: Forty-five healthy adults were recruited and randomized to a horseback riding simulation exercise group (n=15), a sling exercise group (n=15), and a trunk stabilization exercise group (n=15). A horseback riding simulator offers the indoor experience of horseback riding and mimics the rhythmic movement of horseback riding, thereby provided a virtual environment, such as riding a real horse on the front screen. The velocity of the horse riding simulator exercise was regulated within the subject's ability to control the exercise on the horse riding simulator. A sling exercise group performed sling exercise under the inspection of the experimenter. In the trunk stabilization exercise group, the subjects were instructed to perform the exercise accurately and pause the session when pain occurred during the intervention. The subjects in each group carried out the interventions three times per week for six weeks. The thickness of the transverse abdominis was measured using a pressure biofeedback unit and the ultrasound. Results: Significant differences in the thickness of transverse abdominis within the groups were observed between before and after the interventions. On the other hand, there were no differences in the parameters among the groups. Conclusion: Horse riding simulator exercise can be an alternative to trunk stabilization exercise by increasing the thickness of the transverse abdominis in healthy adults.