• Journal of the Korean Society for Precision Engineering
• /
• v.34 no.2
• /
• pp.115-123
• /
• 2017

This paper presents the design and the control performance of a novel dynamic compliant-arm support with parallel elastic actuators that was developed to assist with the daily living activities of those whose arms are compromised by muscular disease or the aging process. The parallel elastic-arm support consists of a compliant mechanism with combined passive and active components for human interaction and to reach the user's desired positions. The achievement of these tasks requires impedance control, which can change the virtual stiffness, damping coefficients, and equilibrium points of the system; however, the desired-position tracking by the impedance control is limited when the end-effector weight varies according to the equipping of diverse objects. A prompt algorithm regarding weight calibration and friction compensation is adopted to overcome this problem. A result comparison shows that, by accurately assessing the desired workspace, the proposed algorithm is more effective for the accomplishment of the desired activities.

• Journal of the Korean Society for Precision Engineering
• /
• v.16 no.6
• /
• pp.90-99
• /
• 1999

A vehicle driving simulator is a virtual reality device which a human being feels as if the one drives a vehicle actually. The driving simulator is used effectively for studying interaction of a driver-vehicle and developing vehicle system of a new concept. The driving simulator consists of a vehicle motion bed system, motion controller, visual and audio system, vehicle dynamic analysis system, cockpit system, and etc. In it is paper, the main procedures to develop the driving simulator are classified by five parts. First, a motion bed system and a motion controller, which can track a reference trajectory, are developed. Secondly, a performance evaluation of the motion bed system for the driving simulator is carried out using LVDTs and accelerometers. Thirdly, a washout algorithm to realize a motion of an actual vehicle in the driving simulator is developed. The algorithm changes the motion space of a vehicle into the workspace of the driving simulator. Fourthly, a visual and audio system for feeling higher realization is developed. Finally, an integration system to communicate and monitor between sub systems is developed.

• Journal of Information Technology Services
• /
• v.8 no.1
• /
• pp.193-202
• /
• 2009

Cloud computing emerges as a new computing paradigm which targets reliable and customizable services. The term builds on decades of research in virtual machine, distributed and parallel computing, utility computing, and more recently networking, web service, and software as a service. In this paper, we provide a seamless connection migration of web services. This is useful for cloud computing environment in which many client terminals have mobility. With the wireless internet facility, those mobile users can move place to place during internet communication. Therefore, we provide solutions to the two major problems in current virtualization based migration: communication failure problems and connection re-establishment. Communication channel flushing by zero window notification helps to resolve the communication failure problems and TCP port inheritance prevents connection re-establishment errors during socket reconstruction. Thus, our web service migration facility is now able to preserve open network connections, and even for server sockets. This is a highly transparent approach, in that we did not Introduce additional messages for channel flushing and did not make any modification to the TCP protocol stack. Experimental results show that the overhead due to connection migration of web services is almost negligible when compared with time to take the conventional web service migration.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.16 no.5
• /
• pp.601-607
• /
• 2006

This paper proposes a novel balance control scheme of a biped robot to predict the next position of ZMP using Kalman Filter. The mathematical model of the biped robot is generally approximated by 3D-LIPM(3D-Linear Inverted Pendulum Mode), but it cannot completely express the robot's dynamics. The stability of the biped robot depends on whether the ZMP(Zero Moment Point) position is in the stability region or out of. And the internal error between the robot mechanism and its model could affect the stability of a robot. Therefore, the proposed balance control not reduces the internal error, but also timely generates the proper control. The experiment of the proposed balance control is simulated on the virtual workspace where the biped robot may encounter with various difficulties.

• Journal of the Korea Computer Graphics Society
• /
• v.14 no.4
• /
• pp.35-39
• /
• 2008

A computer supported collaborative system provides with a shared virtual workspace over the Internet where its remote users cooperate in order to achieve their goals by overcoming problems caused by distance and time. VRMMS (Virtual Reality Molecular Modeling System) [1] is a VR based collaborative system where biologists can remotely participate in and exercise molecular modeling tasks such as viewing three dimensional structures of molecular models, confirming results of molecular simulations and providing with feedbacks for the next simulations. Biologists can utilize VRMMS in executing molecular simulations. However, first-time users and beginners need to spend some time for studying and practicing in order to skillfully manipulate molecular models and the system. The best way to resolve the problem is to have a face-to-face session of teaching and learning VRMMS. However, it is not practically recommended in the sense that the users are remotely located. It follows that the learning time could last longer than desired. In this paper, we propose to use Second Life [2] combining with VRMMS for removing the problem. It can be used in building a shared workplace over the Internet where molecular simulations using VRMMS can be exercised, taught, learned and practiced. Through the web, users can collaborate with each other using VRMMS. Their avatars and tools of molecular simulations can be remotely utilized in order to provide with senses of 'being there' to the remote users. The users can discuss, teach and learn over the Internet. The shared workspaces for discussion and education are designed and implemented in Second Life. Since the activities in Second Life and VRMMS are designed to realistic, the system is expected to help users in improving their learning and experimental performances.

• Archives of design research
• /
• v.20 no.3 s.71
• /
• pp.119-128
• /
• 2007

With the development of digital technologies, CAID became an essential part in the industrial design process. Creating photo-realistic images from a virtual scene with 3D models is one of the specialized task for CAID users. This task requires a complex interface of setting the positions and the parameters of camera and lights for optimal rendering results. However, the user interface of existing CAID tools are not simple for designers because the task is mostly accomplished in a parameter setting dialogue window. This research address this interface issues, in particular the issues related to lighting, by developing and evaluating TLS(Tangible Lighting Studio) that uses Augmented Reality and Tangible User Interface. The interface of positioning objects and setting parameters become tangible and distributed in the workspace to support more intuitive rendering task. TLS consists of markers, and physical controller, and a see-through HMD(Head Mounted Display). The user can directly control the lighting parameters in the AR workspace. In the evaluation experiment, TLS provide higher effectiveness, efficiency and user satisfaction compared to existing GUI(Graphic User Interface) method. It is expected that the application of TLS can be expanded to photography education and architecture simulation.

• Archives of design research
• /
• v.18 no.4 s.62
• /
• pp.119-128
• /
• 2005

This paper presents an intuitive 3D modeling interlace based on a field study and prototype development. The process and tools of modeling were observed in workshops of professional design model making, day modeling, wood caning and glass crafting. The Spray Modeling interlace was developed from the observational analysis of the field study. It is a 3D modeling interface which combines particle spraying and day modeling in Virtual or Augmented Reality space. Virtual volume particles are sprayed on frames in Augmented Reality space as day modeling. It adopts a real air spay gun as a tangible interface device which provides coherent sound and air-force feedback. The prototype development and a user study showed that the interface supports new patterns of form development and expression. Control interfaces and requirements of auxiliary devices were found to be improved. This study examines the potential of the new interlace for designers working in 3D virtual and augmented reality. The new spraying interface is also expected to be used as an alternative interface in 3D computer workspace, games, education software and media art.

• 한국HCI학회:학술대회논문집
• /
• 2006.02b
• /
• pp.221-226
• /
• 2006

원격 3차원 디자인 협업 환경이란 원거리에 있는 디자이너들이 3차원 모델을 함께 동시적으로 다루는 협업 환경으로서, 제품 개발 프로세스의 비용과 시간을 단축하는데 매우 중요한 역할을 한다. 그러나 이에 대한 연구는 아직 미비한 실정이며 기존의 연구들도 2차원 데스크탑 환경에 제한된 문제점이 있다. 따라서 본 연구는 새로운 협업 환경의 제안을 통해 지리적으로 떨어진 디자이너들간의 3D 모델에 관한 원활한 협업을 촉진하는 것을 목표로 한다. 본 연구에서 제안한 증강현실 기반의 원격 3차원 디자인 협업 환경은 3D 모델의 공유를 위한 회전 원반(turntable)과 상대의 위치 및 제스처 정보를 제공하는 가상 그림자(virtual shadows)로 구성된다. 동시적으로 회전하는 회전원반은 물리적인 매개체로서 가상물체와 실제 세계를 자연스럽게 연결하는 동시에 상대의 실재감을 높인다. 가상그림자는 가상물체 주위로 보여지는 사람들의 손과 팔의 움직임을 시각화하여 공유하는 것으로, 상대의 위치뿐 아니라 지시, 제스처 등 행동에 대한 인식이 지속적으로 이루어지게 한다. 프로토타입을 제작하고 사용자 평가 실험을 실시하여 3차원 모델을 검토하는 단계에 그 유용성이 있음을 확인하였다. 데스크탑 환경의 모델링 툴에 익숙한 사용자들은 실제 공간에서 가상물체를 조작할 수 있음에 긍정적인 반응을 보였고 회전원반과 가상그림자의 제공은 태스크 수행의 정확도를 높이며 협업을 촉진하는 결과를 보였다. 본 연구는 환경적 제약으로 원활하게 이루어지지 못했던 3D 모델에 관한 원격 협업에 의사소통의 장을 마련하고 이를 촉진시킨다는 점에서 그 의의가 있다. 본 환경에서 제시한 상대방과 협업대상물에 대한 심리적, 물리적 공유 감을 증대시키는 방법들은 3D 모델에 관한 디자인 협업에서 확장되어 다른 원격 협업을 지원하는 데도 적용될 수 있을 것이다.

• Journal of Digital Convergence
• /
• v.10 no.10
• /
• pp.333-338
• /
• 2012

Human resource management is bringing the various changes with the IT technology. In particular, if HRM is non-scientific method such as group management, physical plant, working hours constraints, personal contacts, etc, the current enterprise human resources management(e-HRM) appeared in the individual dimension management, virtual workspace (for example: smart work center, home work, etc.), working time flexibility and elasticity, computer-based statistical data and the scientific method of analysis and management has been a big difference in the sense. Therefore, depending on changes in the environment, companies have introduced a variety of techniques as RFID card, fingerprint time & attendance systems in order to build more efficient and strategic human resource management system. In this paper, time and attendance, access control management system was developed using multi camera for 2D and 3D face recognition technology-based for efficient enterprise human resource management. We had an issue with existing 2D-style face-recognition technology for lighting and the attitude, and got more than 90% recognition rate against the poor readability. In addition, 3D face recognition has computational complexities, so we could improve hybrid video recognition and the speed using 3D and 2D in parallel.

• Journal of the Institute of Electronics Engineers of Korea SP
• /
• v.48 no.4
• /
• pp.49-58
• /
• 2011

Typically, vision-based AR systems operate on the basis of prior knowledge of the environment such as a square marker. The traditional marker-based AR system has a limitation that the marker has to be located in the sensing range. Therefore, there have been considerable research efforts for the techniques known as real-time camera tracking, in which the system attempts to add unknown 3D features to its feature map, and these then provide registration even when the reference map is out of the sensing range. In this paper, we describe a real-time camera tracking framework specifically designed to track a monocular camera in a desktop workspace. Basic idea of the proposed scheme is that a real-time camera tracking is achieved on the basis of a plane tracking algorithm. Also we suggest a method for re-detecting features to maintain registration of virtual objects. The proposed method can cope with the problem that the features cannot be tracked, when they go out of the sensing range. The main advantage of the proposed system are not only low computational cost but also convenient. It can be applicable to an augmented reality system for mobile computing environment.