• Journal of the Ergonomics Society of Korea
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• v.15 no.2
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• pp.165-176
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• 1996

Hand posture and force, which define aspects of the way an object is grasped, are features of robotic manipulation. A means for specifying these grasping "flavors" has been developed that uses an instrumented glove equipped with joint and force sensors. The new grasp specification system is being used at the Pennsylvania State University (Penn State) in a Virtual Reality based Point-and-Direct (VR-PAD) robotics implementation. In the Computer Integrated Manufacturing (CIM) Laboratory at Penn State, hand posture and force data were collected for manipulating bricks and other items that require varying amounts of force at multiple pressure points. The feasibility of measuring desired grasp characteristics was demonstrated for a modified Cyberglove impregnated with FSR (Force Sensitive Resistor) pressure sensors in the fingertips. A joint/force model relating the parameters of finger articulation and pressure to various lifting tasks was validated for the instrumented "wired" glove. Operators using such a modified glove may ultimately be able to configure robot grasping tasks in environments involving hazardous waste remediation, flexible manufactruing, space operations and other flexible robotics applications. In each case, the VR-PAD approach improved the computational and delay problems of real-time multiple- degree-of-freedom force feedback telemanipulation.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.25 no.6
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• pp.12-16
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• 2002

Virtual reality (VR) opened the possibility of moving beyond the 2-D world of conventional desktop systems to an immersive, multi-sensory environment generated by computer graphics. Haptic feedback (Haptics) is now starting to get recognition and use in intensive applications for manipulation, while smell and taste feedback are at the stage of early research. This paper reviews some current works on increased haptic feedback augmentation in virtual reality applications.

• Journal of the Korean Magnetics Society
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• v.6 no.2
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• pp.106-111
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• 1996

Electric machines such as motors which have rmving parts are designed for producing mechanical force or torque. The accurate calculations of electromagnetic force and torque are important in the design these machines. Electromagnetic force calculation method using the results of Finite Element Method(FEM) has been presented variously in 2-D problems. Typically the Maxwell's Stress Tensor method and the method of virtual work are used. The former calculates forces by integrating the surface force densities which can be expressed in terms of Maxwell Stress Tensor(MST), and the latter by differentiating the electromagnetic energy with respect to the virtual dis¬placement of rigid bodies of interest. In the problems including current source, magnetic vector potentials(MVP) have rmstly been used as unknown variables for field analysis by a numerical method; e. g. FEM. This paper, thus, introduces the two both methods using MVP in 3-D case. To verify the usefulness of presented methods, a solenoid model is chosen and analyzed by 3-D and axisymmetric FEM. It is found that the force calculation results are in good agreement for several mesh schemes.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2009.01a
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• pp.803-807
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• 2009

The bobsleigh is a winter sport which use a sled to slide down an ice-covered course. There is a big expectation for having a training environment and being able to train year round. At present, training is very limited due to the season or course facilities. A variety of VR (Virtual Reality) equipment has been developed in recent years, and it is beginning to spread. We have also made our contribution in bobsleigh simulation. The reactive force applied in our bobsleigh simulation is much smaller than that of a real bobsleigh. This paper proposes a method to enhance reactive force of bobsleigh simulation in real time. The reactive force is magnified instantly in the physically-based simulation. The Laplacian filter is applied to the sequence of reactive force, this technique is often used in the field of image processing. The simulation is comprised of four large scale surround screens and a 6-D.O.F. (Degree Of Freedom) motion system. We also conducted an experiment with several motion patterns to evaluate the effectiveness of enhancement. The experimental results proved useful in some cases.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.46 no.4
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• pp.209-217
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• 2023

In this study, the evaluation items related to the effectiveness evaluation of the LVC (Live, Virtual, Constructive) training system of the Air Force were derived and the weights of each item were analyzed. The LVC training system evaluation items for AHP (Analytic Hierarchy Process) analysis were divided into three layers, and according to the level, 3 items were derived at level 1, 11 items at level 2, and 33 items at level 3. For weight analysis of evaluation items, an AHP-based pairwise comparison questionnaire was conducted for Air Force experts related to the LVC training system. As a result of the survey, related items such as (1) Achievement of education and training goals (53.8%), (1.2) Large-scale mission and operational performance (25.5%), and (1.2.1) Teamwork among training participants (19.4%) was highly rated. Also, it was confirmed that the weights of evaluation items were not different for each expert group, that is, the priority for importance was evaluated in the same order between the policy department and the working department. Through these analysis results, it will be possible to use them as evaluation criteria for new LVC-related projects of the Air Force and selection of introduction systems.

• Journal of the Korea Society for Simulation
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• v.22 no.1
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• pp.53-61
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• 2013

The purpose of this paper is to examine how the humans learn and perceive the weight of objects corresponding to visual information in virtual environment. We conducted two kinds of load-on-tasks with two virtual objects that have same weight but different visual cues; have same visual cues but changed weight by trails. We found that the subject could not generate appropriate force for the smaller and changed weight objects in the beginning of the trials. the discrepancy between the expected weight and actual force consequences sue to visually invoked size and previous experience made subjects perceive the small object were heavier. one the other hand, after the tasks were repeated, the subject responded the weights were the same or very similar when the mismatch between the expected weight and the actual weight became vanished. this means that the sensorimotor feedback influences the anticipatory control scheme and weight perception aggressively in virtual environment.

• Journal of the Korea Society for Simulation
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• v.28 no.2
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• pp.169-177
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• 2019

LVC(Live-Virtual-Constructive) training system is drawing attention due to changes in battlefield situation and the development of advanced information and communication technologies. The ROKAF(Republic of Korea Air Force) plans to construct LVC training system capable of scientific training. This paper analyzes the results of V-C interoperability test with three fighter simulators as virtual systems and a theater-level wargame model as a constructive system. The F-15K, KF-16, and FA-50 fighter simulators, which have different interoperable methods, were converted into a standard for simulation interoperability. Using the integrated field environment simulator, the fighter simulators established a mutually interoperable environment. In addition, the Changgong model, which is the representative training model of the Air Force, was converted to the standard for simulation interoperability, and the integrated model was implemented with optimized interoperability performance. Throughput experiments, It was confirmed that the fighter simulators and the war game model of the ROKAF could be interoperable with each other. The results of this study are expected to be a good reference for the future study of the ROKAF LVC training system.

• 한국HCI학회:학술대회논문집
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• 2006.02a
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• pp.203-209
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• 2006

햅틱 렌더링이 발전함에 따라서 촉감을 통하여 사용자에게 전달하려고 하는 가상 물체의 성질도 다양해 지고 있다. 이 논문은 균일하지 않은 강도(Stiffness)를 가지는 가상 물체를 기존의 페널티 기반 알고리즘(Penalty-based algorithms)을 사용하여 렌더링하는 경우 물체 표면의 모양(Topography)이 사용된 모델과 달리 왜곡되어 인지되는 현상을 해결하기 위한 햅틱 렌더링 알고리즘에 관한 연구를 보고한다. 첫 번째로 저자의 선행 연구인 힘 유지 가설(Force Constancy Hypothesis) - 사용자가 물체 표면의 모양을 획득하기 위해 물체를 만질 때 일정한 크기의 접촉 힘을 유지한다 - 을 소개한다. 다음으로 힘 유지 가설에 기반한 물체의 모양 및 강도를 왜곡 없이 정확하게 렌더링하는 알고리즘을 제안하고 폴리곤 모델에 적용하는 방법을 설명한다. 마지막으로 실험을 통하여 개발된 알고리즘의 성능을 입증한다.

• Proceedings of the Korea Society for Simulation Conference
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• 2001.10a
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• pp.288-294
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• 2001

Present CAM technology cannot provide important physical property such as cutting farce and machined surface. Thus, the selection of cutting conditions still depends on the experience of an expert or on the machining data handbook in spite of the developed CAM technology. This paper presents an advanced methodology to help the worker to determine optimum cutting condition for CHC machining that excludes the need for expertise of machining data handbook. The virtual machining system presented in this paper can simulate the real machining states such as cutting farce and machined surface error. And virtual machining system can schedule feed rate to adjust the cutting force to the reference force.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.31 no.9
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• pp.960-966
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• 2007

High-efficient machining, which means to machine a part in the least amount of time, is the most effective tool to improve productivity. In this study, a new feed optimization method based on virtual manufacturing was proposed to realize the high-efficient machining in turning process through the cutting power regulation. The cutting area was evaluated by using the Boolean intersection operation between the cutting tool and workpiece. And the cutting force and power were predicted from the cutting parameters such as feed, depth of cut, spindle speed, specific cutting force, and so on. Especially, the reliability of the proposed optimization method was validated by comparing the predicted and measured cutting forces. The simulation results showed that the proposed optimization method could effectively enhance the productivity in turning process.