• Journal of Mechanical Science and Technology
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• v.19 no.9
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• pp.1720-1730
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• 2005

Automatic guided vehicle in the factory has an important role to advance the flexible manufacturing system. In this paper, we propose a novel object-transportation control algorithm of cooperative AGV systems to apply decentralized control to multiple AGV systems. Each AGV system is under nonholonomic constraints and conveys a common object-transportation in a horizontal plain. Moreover it is shown that cooperative robot systems ensure stability and the velocities of augmented systems convergence to a scaled multiple of each desired velocity field for cooperative AGV systems. Finally, the application of proposed virtual passivity-based decentralized control algorithm via system augmentation is applied to trace a circle. Finally, the simulation and experimental results for the object-transportation by two AGV systems illustrates the validity of the proposed virtual-passivity decentralized control algorithm.

• Journal of Mechanical Science and Technology
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• v.17 no.12
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• pp.1876-1885
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• 2003

The artificial potential field (APF) methods provide simple and efficient motion planners for practical purposes. However, these methods have a local minimum problem, which can trap an object before reaching its goal. The local minimum problem is sometimes inevitable when an object moves in unknown environments, because the object cannot predict local minima before it detects obstacles forming the local minima. The avoidance of local minima has been an active research topic in the potential field based path planing. In this study, we propose a new concept using a virtual obstacle to escape local minima that occur in local path planning. A virtual obstacle is located around local minima to repel an object from local minima. We also propose the discrete modeling method for the modeling of arbitrary shaped objects used in this approach. This modeling method is adaptable for real-time path planning because it is reliable and provides lower complexity.

• The Journal of Korea Robotics Society
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• v.2 no.3
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• pp.212-220
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• 2007

This paper proposes a method of avoiding obstacles and tracking a moving object continuously and simultaneously by using new concepts of virtual tow point and fuzzy danger factor for differential wheeled mobile robots. Since differential wheeled mobile robot has smaller degree of freedom to control and are non-holonomic systems, there exist multiple solutions (trajectories) to control and reach a target position. The paper proposes 'fuzzy danger factor' for obstacles avoidance, 'virtual tow point' to solve non-holonomic object tracking control problem for unique solution and three kinds of fuzzy logic controller. The fuzzy logic controller is policy decision controller with fuzzy danger factor to decide which controller's result is more valuable when the mobile robot is tracking a moving object with obstacles to be avoided.

• Journal of the Korea Computer Graphics Society
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• v.9 no.1
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• pp.19-27
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• 2003

Most interaction schemes in virtual environment are indirect in one way or another. ln particular, without a haptic device (which introduces its own problems due to its cumbersomeness), users must rely on visual (or/and aural) feedback, and can not directly appreciate the 3Dness of the interaction object even with stereoscopy. This causes a drop in object presence because people are used to, for instance, observing objects in one's hand, rotating and manipulating them with physical contact. To alleviate this problem, this paper proposes a hand-held cubic screen, named TangibleScreen, on which the appearance of the target interaction object is projected. We choose the Relief Texture Mapping as the rendering method to correctly generate the viewer dependent textures to be projected on the non-planar surfaces of the TangibleScreen.

• Journal of Korea Multimedia Society
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• v.11 no.2
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• pp.228-236
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• 2008

Recently augmented reality technology has been researched to view the virtual shape of buildings before construction or cultural heritages under recovery. Those researches used special devices or markers that are not applicable in long distanced outdoor environment. Also the server had to compute a lot of transformations for the location changes of virtual objects. This paper proposed a mobile augmented reality system that uses GPS and accelerometer sensors in order to compute the virtual object's locations without using markers. The server determines the position and orientation by comparing the GPS data obtained from the client with the predefined 3D object informations in the server. If the server sends the virtual object informations such as the position, orientation and matching information, then the client matches the virtual object on the screen of mobile camera phone. In addition, the client computes the transformations of location change detected by the accelerometer derived from the user's movement without additional connection to the server.

• IEIE Transactions on Smart Processing and Computing
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• v.3 no.2
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• pp.88-95
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• 2014

This paper proposes a novel desktop virtual reality system. Based on the position of the user's face, the proposed system selects the most appropriate image of an object from a set of photographs taken at various angles, and simply "pastes" it onto the display at the appropriate location and scale. Using this system, the users can intuitively feel the presence of the object.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.5 no.6
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• pp.1110-1115
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• 2001

Virtual Reality technology is divided two parts Panorama technology to embody VR on space and Object technology to embody VR of things. About Object VR technology until present, they provided a cube access way, then observer can see object up, down, left, right side and zoom-in, zoom-out, but there is a fact that up-and-down expression is distorted or shows shortcoming that is not expressed by limited situation of manufacture way in Panorama VR's expression. Therefore, in this research, we examine the shortcoming that do not become top-and-bottom expression through basic concept of Panorama and Panorama VR manufacture process and do to propose cube type of new data format that permit up-and-down expression as a real world and compose Panorama VR space.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2001.10a
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• pp.177-180
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• 2001

Virtual Reality technology is divided two parts Panorama technology to imbody VR on space and Object technology to embody VR of things. About Object VR technology until present, they provided a cube access way, then observer can see object up, down, left, right side and zoom-in, zoom-out, but there is a fact that up-and-down expression is distorted or shows shortcoming that is not expressed by limited situation of manufacture way in Panorama VR's expression. Therefore, in this research, we examine the shortcoming that do not become top-and-bottom expression through basic concept of Panorama and Panorama VR manufacture process and do to propose cube type of new data format that permit up-and-down expression as a real world and compose Panorama VR space.

• Proceedings of the Korea Society for Simulation Conference
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• 2000.11a
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• pp.174-179
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• 2000

Proposed in the paper is a V-FMS (Virtual Flexible Manufacturing System) model to be used as a prototyping tool for FMS design. The proposed V-FMS framework follows an object-oriented modeling (OOM) paradigm and is based on a set of user requirements for FMS prototyping. The V-FMS model consists of four types of object: virtual device, transfer handler, state manager and flow controller. A virtual device model, which corresponds to a static model in OOM, consists of two parts, shell and core, for reusability. A transfer handler corresponds to a functional model of OOM and it stores low level device commands required to perform job flow operations between giving and taking devices. The state manager and the flow controller constitute a dynamic model of OOM. The proposed V-FMS model has been implemented for a couple of linear type FMS-lines

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.5
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• pp.309-314
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• 2004

In the established virtual-reality system, although it is possible to transact a faculty of sensation and graphic in a single PC, virtual object forcibly treated with rigid body for the reason of the huge amount of calculation, and the number of polygon is restricted. Furthermore, there is some difficulty in the financial aspect and a program field, because the existing virtual-reality system needs at least two workstations or super computers. In this study, the new force-reflecting algorithm called as "Proxy" and a finite element method of Hyperion are applied to this system in order to transact in real-time. Consequently, though the number of polygon, which brings about an obstacle is increased in the real-time graphic transaction, this system makes it possible to transact in the real-time, not being influenced by the size of the virtual object.