• 로봇학회논문지
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• 제2권3호
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• pp.255-261
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• 2007

We propose a optimal fusion method for localization of multiple robots utilizing correlation between GPS on each robot in common workspace. Each mobile robot in group collects position data from each odometer and GPS receiver and shares the position data with other robots. Then each robot utilizes position data of other robot for obtaining more precise estimation of own position. Because GPS data errors in common workspace have a close correlation, they contribute to improve localization accuracy of all robots in group. In this paper, we simulate proposed optimal fusion method of odometer and GPS through virtual robots and position data.

• 한국컴퓨터정보학회논문지
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• 제26권5호
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• pp.23-30
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• 2021

본 논문에서는 사용자가 확장현실 환경에서 공동 작업을 수행하는 중에 여러 공간들을 빠르게 탐색하면서 동시에 여러 공간의 존재감을 제공해주는 동시적 공간 멀티 프레젠스 시스템을 제안한다. 제안한 시스템은 사용자를 둘러싸는 사용자에게 보이지 않는 환형 스크린을 생성하여 원격 및 개인 공간들을 배치 및 조작하는 방법들을 제공한다. 사용자는 환형 스크린에 원격 사용자들 및 자신의 개인 작업 공간들을 자유롭게 배치할 수 있다. 사용자에는 환형 스크린에 배치되어 있는 다양한 공간들을 동시에 볼 수 있기 때문에 여러 공간들에 대한 존재감을 동시에 느끼면서 공동 작업을 진행할 수 있으며, 사용자가 원하는 경우에 특정 공간에 완전히 몰입할 수 있다. 또한, 사용자가 개인적으로 작업하는 개인공간역시 환형 스크린을 통해서 배치할 수 있다. 실험 결과 원격 공동 작업에 참여하는 사용자들은 동시에 여러 사용자들의 공간을 볼 수 있으면서 동시적 존재감을 느낄 수 있어서 공간들에 대한 이해도를 높일 수 있었으며 멀티 프레젠스를 사용한 상호작용의 시간을 가장 많이 사용하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.965-968
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• 2004

This paper describes the development of the test path for Eclipse-II, a parallel mechanism motion simulator. Eclipse-II which can be used as a base for general motion simulators, enables unlimited continuous 360-degree spinning in any rotational axes plus finite X, Y, and Z translation motions. The advantage of enabling continuous 360-degree spinning allows various motions for virtual reality. In this paper, the development of the test path to verify the robustness of the Eclipse-II motion simulator is described. The test motions, which satisfy the requirements of test path, are suggested and washout filter enables these motions reproduced in the limited workspace. The trial run is conducted to verify the robustness of the Eclipse-II motion simulator. Additionally the standard data format of virtual reality for Eclipse-II One Man Ride is suggested.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1662-1667
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• 2005

In this paper, analysis, design, control and prototype construction of a wearable wire-driven haptic interface called HapticPen is discussed. This device can be considered as a wire driven parallel mechanism which three wires are attached to a pen-tip. Wire tensions are provided utilizing three DC servo motors which are attached to a solid frame on the user's body. This device is designed as input as well as output device for a wearable PC. User can write letters or figures on a virtual plate in space. Pen-tip trajectory in space is calculated using motor encoders and force feedback resulting from contact between pen and virtual plate is provided for constraining the pen-tip motion onto the virtual plane that can be easily setup by arbitrary non-collinear three points in space. In this paper kinematic model, workspace analysis, application analysis, control and prototype construction of this device are presented. Preliminary experiments on handwriting in space show feasibility of the proposed device in wearable environments.

• 제어로봇시스템학회논문지
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• 제7권2호
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• pp.160-167
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• 2001

This paper presents control and evaluation of a new haptic device with a 6-DOF parallel mechanism for interfacing with virtual reality. This haptic device has low inertial, high bandwidth compactness, and high output force capability mainly due to of base-fixed motors. It has also wider orientation workspace mainly due to a RRR type spherical joint. A control method is presented with gravity compensation and with force feedback by an F/T sensor to compensate for the effects of unmodeled dynamics such as friction and inertia. Also, dynamic performance has been evaluated by experiments. for force characteristics such as maximum applicable force, static-friction force, minimum controllable force, and force bandwidth Virtual wall simulation with the developed haptic device has been demonstrated.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2020년도 추계학술발표대회
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• pp.2-4
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• 2020

최근 데이터 분석을 위한 연구 환경은 고성능 컴퓨팅자원, 대용량 스토리지, 초고속 네트워크 시스템등 IT 기술이 융합된 사이버 인프라 연구 환경을 기반으로 하고 있다. 또한, 실험의 규모가 커지면서 다수의 연구자들이 협업을 통해 공동의 연구결과를 도출하는 집단연구가 증가하고 있다. 본 논문에서는 이러한 환경에서 연구자들이 대용량 실험데이터를 공유·분석할 수 있는 효율적인 스토리지 작업 공간 모델을 제안한다.

• Journal of Computing Science and Engineering
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• 제10권1호
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• pp.32-38
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• 2016

Navigating a large 3D virtual environment using a generic haptic device can be challenging since the haptic device is usually bounded by its own physical workspace. On the other hand, mouse interaction easily handles the situation with a clutching mechanism-simply lifting the mouse and repositioning its location in the physical space. Since the haptic device is used for both input and output at the same time, in many cases, its freedom needs to be limited in order to accommodate such a situation. In this paper, we propose a new mechanism called Z-Clutching for 3D navigation of a virtual environment by using only the haptic device without any interruption or sacrifice in the given degrees of freedom of the device's handle. We define the clutching state which is set by pulling the haptic handle back into space. It acts similarly to lifting the mouse off the desk. In this way, the user naturally feels the haptic feedback based on the depth (z-direction), while manipulating the haptic device and moving the view as desired. We conducted a user study to evaluate the proposed interaction technique, and the results are promising in terms of the usefulness of the proposed mechanism.

• 제어로봇시스템학회논문지
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• 제15권8호
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• pp.823-830
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• 2009

For developing automotive parts and telematics devices the real car test often shows limitation because it needs high cost, much time and has the possibility of the accident. Therefore, a Vehicle Driving Simulator (VDS) instead of the real-car test has been used by some automotive manufactures, research centers, and universities. The VDS is a virtual reality device which makes a human being feel as if one drives a vehicle actually. Unlike actual vehicle, the simulator has limited kinematic workspace and bounded dynamic characteristics. So it is difficult to simulate dynamic motions of a multi-body vehicle model fully. In order to overcome these problems, a washout algorithm which restricts workspace of the simulator within the kinematic limits is needed, and analysis of dynamic characteristics is required also. However, a classical washout algorithm contains several problems such as time delay and generation of wrong motion signal caused by characteristics of filters. Specially, the classical washout algorithm has the simulator sickness when driver hardly turns brakes and accelerates the VDS. In this paper, a new washout algorithm is developed to enhance the motion sensitivity and improve the simulator sickness by using the vehicle tilt signal which is generated in the real time vehicle dynamic model.

• Journal of Mechanical Science and Technology
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• 제19권spc1호
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• pp.272-282
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• 2005

A vehicle driving simulator is a virtual reality device which makes a man feel as if he drove an actual vehicle. Unlike actual vehicles, the simulator has limited kinematical workspace and bounded dynamic characteristics. So it is difficult to simulate dynamic motions of a multi-body vehicle model. In order to overcome these problems, a washout algorithm which controls the workspace of the simulator within the kinematical limitation is needed. However, a classical washout algorithm contains several problems such as generation of wrong sensation of motions by filters in tilt coordination, requirement of trial and error method in selecting the proper cut-off frequencies and difficulty in returning the simulator to its origin using only high pass filters. This paper proposes a washout algorithm with new tilt coordination method which gives more accurate sensations to drivers. To reduce the time in returning the simulator to its origin, an algorithm that applies selectively onset mode from high pass filters and return mode from error functions is proposed. As a result of this study, the results of the proposed algorithm are compared with the results of classical washout algorithm through the human perception models. Also, the performance of the suggested algorithm is evaluated by using human perception and sensibility of some drivers through experiments.

• 한국정보통신학회논문지
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• 제16권3호
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• pp.511-521
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• 2012

JXTA는 개방형 프로토콜로서 인터넷이나 MANET(Mobile Adhoc NETwork)에서 연결된 기기들 사이의 P2P 방식 통신을 가능하게 한다. 본 논문에서는 JXTA를 기반으로 하는 스마트폰 협업 어플리케이션의 개발에 대하여 기술한다. 체계적인 개발을 위하여 P2P 네트워크에서 필요한 핵심 서비스와 협업 서비스가 정의되고, 정의된 서비스를 지원하기 위한 프로토콜이 설계된다. 개발된 어플리케이션은 다양한 가상의 작업공간을 지원하여 스마트폰을 활용한 효과적인 협업 환경을 제공하며, 모바일 네트워크에 의존하지 않고 근거리에 있는 스마트폰 사용자 간에 협업을 지원하기 때문에 재난 지역 등의 다양한 상황에서도 유용하게 사용될 수 있다.