• Structural Engineering and Mechanics
• /
• 제37권1호
• /
• pp.79-93
• /
• 2011

A simple mechanical model is proposed to demonstrate qualitatively the pancake progressive collapse of multi-storey structures. The impact between two collapsed storeys is simulated using a simple algorithm that builds on virtual mass-spring-damper system. To analyze various collapse modes, columns and beams are considered separately. Parametric studies show that the process of progressive collapse involves a large number of complex mechanisms. However, the proposed model provides a simple numerical tool to assess the overall behavior of collapse arising from a few initiating causes. Unique features, such as beam-to-beam connection failure criterion, and beam-to-column connection failure criterion are incorporated into the program. Besides, the criterion of local failure of structural members can also be easily incorporated into the proposed model.

• 한국자동차공학회논문집
• /
• 제21권2호
• /
• pp.26-36
• /
• 2013

Purpose of this study is to develop virtual components and environment for developing a controller of an Active Air Suspension System in laboratory that slough off existing development environment using real vehicle test. This paper presents an air spring modeling and analysis of air suspension system for a commercial vehicle. Preferentially, It was performed vehicle test for pneumatic system and an air spring for characteristic analysis of system. Each component of an air spring suspension system was developed through emulations and modeling of system for pressure and height sensors in the basis on test results in SILS environment. Non-linear characteristics of air spring are accounted for using the measured data. Also, pressure and volume relations for vehicle hight control is considered. After performance verification of virtual model was performed, we developed virtual environment based on HILS for an Active Air Suspension System. We studied estimation and verification technology for control algorithm that developed.

• 한국지반공학회논문집
• /
• 제38권9호
• /
• pp.5-17
• /
• 2022

최근, 잔교식 말뚝 구조물의 응답스펙트럼해석 시 지반-말뚝 상호작용을 모사하기 위해 가상고정점(virtual fixed point) 및 탄성지반스프링(elastic soil spring) 방법에 관한 몇몇 연구가 수행되어 왔다. 그러나, 가상고정점 방법 및 탄성지반스프링 방법의 경우 지진 가속도 크기에 따라 변하는 지반 스프링 강성을 적절히 고려할 수 없으며, 현재까지 이를 고려한 잔교식 말뚝 구조물의 응답스펙트럼해석에 관한 연구는 부족한 실정이다. 그러므로 본 연구에서는 지진 가속도 크기에 따라 변하는 지반 스프링 강성을 고려하여 응답스펙트럼해석을 수행하였으며, 기존에 제시된 가상고정점 및 탄성지반스프링 방법과의 비교를 통해 잔교식 말뚝 구조물의 동적 거동을 평가하였다. 실험 및 해석을 비교한 결과, 가상고정점 모델의 경우 모멘트 차이가 최대 117% 발생하였고, Terzaghi(1955) 탄성지반스프링 모델의 경우 모멘트 차이가 최대 21% 발생하였다. 반면, API(2000) p-y 곡선을 바탕으로 지진 가속도 크기에 따라 변하는 지반 스프링 강성을 고려하여 응답스펙트럼해석을 수행하는 경우 실험 및 해석의 모멘트 차이가 최대 4% 미만으로 도출되어 실험모델의 응답을 가장 적절히 모사하는 것으로 나타났다.

• 제어로봇시스템학회논문지
• /
• 제20권4호
• /
• pp.389-394
• /
• 2014

This paper presents the effect of a reflective force computed from a first-order-hold method on the stability of a haptic system. A haptic system is composed of a haptic device with a mass and a damper, a virtual spring, a sampler and a sample-and-hold. The boundary condition of the maximum virtual stiffness is analytically derived by using the Routh-Hurwitz criterion and the condition shows that the maximum virtual stiffness is proportional to the square root of the mass and the damper of a haptic device and also is inversely proportional to the sampling time to the power of three over two. The effectiveness of the derived condition is evaluated by the simulation. When the reflective forces are computed by using the first-order-hold method, the maximum available stiffness to guarantee the stability is increased several hundred times as large as when the zero-order-hold method is applied.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• 제14권4호
• /
• pp.1738-1756
• /
• 2020

To improve the accuracy and realism of the virtual surgical simulation system, this paper proposes an optimized mass-spring model with shape restoration ability based on volume conservation to simulate soft tissue deformation. The proposed method constructs a soft tissue surface model that adopts a new flexion spring for resisting bending and incorporates it into the mass-spring model (MSM) to restore the original shape. Then, we employ the particle swarm optimization algorithm to achieve the optimal solution of the model parameters. Besides, the volume conservation constraint is applied to the position-based dynamics (PBD) approach to maintain the volume of the deformable object for constructing the soft tissue volumetric model base on tetrahedrons. Finally, we built a simulation system on the PHANTOM OMNI force tactile interaction device to realize the deformation simulation of the virtual liver. Experimental results show that the proposed model has a good shape restoration ability and incompressibility, which can enhance the deformation accuracy and interactive realism.

• 센서학회지
• /
• 제31권4호
• /
• pp.260-265
• /
• 2022

In this study, we establish hyper-elastic haptic feedback in a virtual environment using finite element analysis techniques and develop a Force Torque (FT) sensor utilization method for application in tele-operation environments. In general, regarding haptic feedback data, in a tele-operation environment, the user is provided with feedback according to the measured force data when the model is inserted through an FT sensor. Conversely, in a virtual environment, the press-fitting model can be expressed through the spring-damper system rather than an FT sensor to provide feedback. However, unlike rigid and the elastic bodies, the hyper-elastic body represented by a spring-damper system in a virtual environment is a simple impedance model using stiffness and damping coefficients; it is limited in terms of providing actual feedback. Thus, in this study, haptic feedback was implemented using the data obtained from POD-RBF analysis results during hyper-elastic press-fitting experiments. The haptic feedback mechanism developed in this study was verified by comparing the FT sensor feedback data measured and calculated through hyper-elastic press-fitting experiments with spring-damper feedback data. Subsequently, the POD-RBF analysis feedback was compared and evaluated against the feedback mechanism of each environment through the test subject, and the similarities between the POD-RBF analysis feedback and FT sensor data feedback were verified.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• 제5권3호
• /
• pp.246-252
• /
• 2005

Intelligent Space is a space where many sensors and intelligent devices are distributed. Mobile robots exist in this space as physical agents, which provide human with services. To realize this, human and mobile robots have to approach each other as much as possible. Moreover, it is necessary for them to perform interactions naturally. It is desirable for a mobile robot to carry out human affinitive movement. In this research, a mobile robot is controlled by the Intelligent Space through its resources. The mobile robot is controlled to follow walking human as stably and precisely as possible. In order to follow a human, control law is derived from the assumption that a human and a mobile robot are connected with a virtual spring model. Input velocity to a mobile robot is generated on the basis of the elastic force from the virtual spring in this model. And its performance is verified by the computer simulation and the experiment.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2004년도 추계학술대회 논문집
• /
• pp.768-773
• /
• 2004

Developed in this paper a mass-spring engine to represent and manipulate deformable objects. The deformable object model is a basic technology in the ‘Tangible Space Initiative’. The mass-spring model consists of structural, shear and bending springs. Various forces like external, friction, gravity, spring, and damping forces are considered and collision with planes and spheres are treated. When a sphere collide mass-spring model, mass-spring engine calculates external force to interface mass-spring model. A prototype system is implemented in C on an MS windows machine.

• 한국컴퓨터그래픽스학회논문지
• /
• 제18권2호
• /
• pp.55-62
• /
• 2012

본 논문에서는 GPU의 정점 셰이더에서 각 정점별 질량-스프링 모의 실험을 수행하여, 매우 빠른 속도로 피부의 2차 변형을 표현하는 새로운 방법을 제안한다. 3차원 캐릭터의 각 피부 정점에 대해, 길이가 0인 스프링으로 가상 정점을 연결하고, 캐릭터 동작에 따라서 피부 정점의 위치 및 속도가 변화하면, 질량-스프링 모의 실험을 통해 렌더링 될 가상 정점의 위치를 GPU의 정점 셰이더를 사용하여 병렬적으로 계산한다. 본 논문에서 제시하는 방법을 통해 피부의 재질 특성을 반영하는 2차 변형을 매우 빠르게 표현할 수 있으며, 각 피부 정점에 제안한 방법을 동적으로 적용하면 전통적인 2차원 애니메이션에서 관찰되는 수축-팽창(squash-and-stretch), 추종(follow-through)과 같은 효과도 매우 빠른 연산시간에 효과적으로 표현할 수 있다. 따라서 본 논문의 결과는 게임과 같은 실시간 응용분야에서 가상 캐릭터의 피부 변형을 표현하는데 효과적으로 사용될 수 있다.

• 소성∙가공
• /
• 제11권3호
• /
• pp.238-245
• /
• 2002

The spring back taking place after the coiling process of steam generator tube leads to the dimensional inaccuracy. In order to reduce the spring back, tension force was applied to the one end of the tube during forming. In this work, parametric study using FEM was performed to find the appropriate magnitude of tension force. The force that induces minimum spring back was found by simultaneously taking account if spring back amount, cross-sectional ovality, and thickness of the tube wall after deformation. In addition, stress relieving by heat treatment was also simulated as an alternative to the former method. The latter was found to be more effective under the given constraints.