• 한국산학기술학회논문지
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• 제19권1호
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• pp.12-17
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• 2018

가상환경에 대한 현실감을 증강시키기 위해서는 햅틱 시스템의 안정성을 유지하면서 가상환경 모델의 강성을 최대한 크게 할 수 있는 방법이 필요하다. 이에 기존 연구에서 영차홀드 대신 일차홀드를 적용하는 방법이 제시되었고, 영차홀드를 이용할 때보다 가상 스프링의 안정성 영역을 더 크게 확보할 수 있음을 시뮬레이션을 통해 제시했다. 그렇지만 실제로 시스템을 구현하는 측면에서 보면, 영차홀드가 일반적이고 손쉬운 방법이다. 이에 본 논문에서는 영차홀드를 사용하지만, 일차홀드와 동등한 안정성 영역을 확보하기 위한 방법으로 외삽법과 고주파 영차홀드 출력 방법을 제안한다. 제안된 방법에 대한 시뮬레이션을 통해 고주파 영차홀드의 샘플링 주기가 작아질수록 가상 스프링의 안정성 영역이 일차홀드를 적용한 경우와 거의 같아짐을 보였고, 기존 연구에서 제시된 영차홀드만을 적용한 경우보다는 수 배에서 수십 배 안정성 영역이 더 커질수 있음을 보였다. 따라서 제안된 방법을 통해 가상 환경 속 강체에 대한 현실감을 증강시킬 수 있을 것으로 기대된다.

• 한국주거학회:학술대회논문집
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• 한국주거학회 2000년도 학술발표대회논문집
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• pp.159-165
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• 2000

The purpose of this study is to develop a virtual office design in a 3D digital environment which involves a consideration of what people do and need in a virtual workplace and then translating that into a virtual environment for collaborative design. Areas in a virtual design office are defined according to different uses or activities in a physical office. The workplace includes a hall and information desk, working area, a conference room, a library, an entertainment room and a management room. It is important to define areas considering shared territory and personal territory. Communication and collaboration amonge designers are provided over the World Wide Web.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 D
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• pp.2510-2512
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• 2002

In this paper, we investigated 2-DOF haptic device and the method of virtual environment modeling for virtual reality. We designed an modified five bar link system to improve the performance. The haptic control system is composed of calculating kinematics and statics, controlling actuator, and describing the virtual environment. Using this system, we realized the virtual spring model and the freely falling ball model.

• 로봇학회논문지
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• 제8권3호
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• pp.186-196
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• 2013

Since its introduction (e.g., [4, 6]), virtual coupling technique has been de facto way to connect a haptic device with a virtual proxy for haptic rendering and control. However, because of the single dependence on spring-damper feedback action, this virtual coupling suffers from the degraded transparency particularly during contact tasks when large device/proxy-forces are involved. In this paper, we propose a novel virtual coupling technique, which, by utilizing passive decomposition, reduces device-proxy position deviation even during the contact tasks while also scaling down (or up) the apparent inertia of the coordinated device-proxy. By doing so, we can significantly improve transparency between multiple degree of freedom (possibly nonlinear) haptic device and virtual proxy. In other to use passive decomposition, disturbance observer of [3] is adopted to estimate human force with some dead-zone modification to avoid "winding-up" force estimation in the presence of device torque saturation. Some preliminary experimental results are also given to illustrate efficacy of the proposed technique.

• 한국주거학회:학술대회논문집
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• 한국주거학회 2008년도 춘계학술발표대회 논문집
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• pp.349-353
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• 2008

With the development of the internet and the spread of 'digital home', the communities in cyber space have been especially revitalized since the information-oriented society. Apartment houses provided networks that are well equipped with internet websites, which build up the houses as a virtual space unit. This study attempted to conducted the questionnaire research for apartment occupants in order to investigate their recognition of and participation in the virtual community and demand for the classified contents The results are as follows. 1) First of all, some easy-access programs are necessary to be groped while aggressive promotional strategies for virtual community that create interests of residents are required to make progress to increase the participation for virtual community 2) 'Gender', 'the form of ownership' and 'level of using the Internet' show significant differences in the case of 'needs in the like-minded people's association', the participation of residents that is induced by both online and offline can cause positive effects on community activity 3) Needs in community enrichment are generally high so that various contents development related to those are necessary. 4) Effects of virtual community on the residential community are on the whole affirmative.

• 동력기계공학회지
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• 제13권2호
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• pp.71-82
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• 2009

This paper presents a real-time haptic rendering method for a realistic force feedback in a remote environment with varying communication time-delay. The remote environment is assumed as a virtual environment based on a computer graphics, for example, on-line shopping mall, internet game and cyber-education. The properties of a virtual object such as stiffness and viscosity are assumed to be unknown because they are changed according to the contact position and/or a penetrated depth into the object. The DARMAX model based output estimator is proposed to trace the correct impedance of the virtual object in real-time. The output estimator is developed on the input-output relationship. It can trace the varying impedance in real-time by virtue of P-matrix resetting algorithm. And the estimator can trace the correct impedance by using a white noise that prevents the biased input-output information. Realistic output forces are generated in real-time, by using the inputs and the estimated impedance, even though the communication time delay and the impedance of the virtual object are unknown and changed. The generated forces trace the analytical forces computed from the virtual model of the remote environment. Performance is demonstrated by experiments with a 1-dof haptic device and a spring-damper-based virtual model.

• 한국마린엔지니어링학회:학술대회논문집
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• 한국마린엔지니어링학회 2001년도 추계학술대회 논문집(Proceeding of the KOSME 2001 Autumn Annual Meeting)
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• pp.21-27
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• 2001

Springs are widely utilized in machine element. To find out stiffness of frustum-shaped coil spring, the space beam theory using the finite element method is adopted in this paper In three dimensional space, a space frame element is a straight bar of uniform cross section which is capable of resisting axial forces, bending moments about two principal axes in the plane of its cross section and twisting moment about its centroidal axis. The corresponding displacement degrees of freedom are twelve. To find out load vector of coil spring subjected to distributed compression, principle of virtual work is adapted The displacements of nodal points due to small increment of force are calculated by the finite element method and the calculated nodal displacements are added to coordinates of nodal points. The new stiffness matrix of the system using the new coordinates of nodal points is adopted to calculate the another increments of nodal displacements, that is, the step by step method is used in this paper. The results of the finite element method are fairly well agreed with those of various experiments. Using MATLAB program developed in this paper, spring constants and stresses can be predicted by input of few factors.

• 한국산업융합학회 논문집
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• 제20권5호
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• pp.419-424
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• 2017

The purpose of this study is to develop a virtual testbed capable of predicting the functional performance of a linear electromagnetic actuator for a high voltage relay in order to reduce its development costs and time. The virtual testbed is defined by a multiphysics coupling approach in order to consider the complex interactions of multi-domains such as the solenoid model of electromagnets, the mass-spring-damper model of mechanical systems, the electric circuit model for an external control unit, and the thermal model for predicting temperature variations. The performances of the existing high voltage relay were estimated by the virtual testbed, and then the effectiveness and validation of the proposed testbed were discussed in comparison with the experimental test results. This study showed that the virtual testbed can be applied in design, optimization, and investigation of high voltage relays.

• 한국농공학회논문집
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• 제54권3호
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• pp.81-89
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• 2012

This paper presents a set of controlled simulated statical and engineering mechanical experiments accessible via the virtual world environment (VWE) and virtual physics lab S/W. Online courses of the university offering courses and/or programs online are growing and the number of students want education in ways which fit their personal places, e-learning is becoming more important and ubiquitous each year. In this study, first of all, question is rather 'How do we execute the learning effectiveness of e-learning courses?' than 'Why does they need e-learnig or VW-learning?'. In particular, is it possible to effectively teach mechanical engineering courses online? The answer was 'No'. So, there is little research on many of these questions. And another important question is 'Is e-learning cost effective?'. For the answer, This research provided that an instructional design model is used to 'How to think and apply the Newtonian forces' in the virtual physics lab S/W. Collected data from student are administered in the spring semester when students studied 'Introduction to Bio-resources and Systems Engineering'. Results show that a cadre of students can take highly interactively physical properties of mechanical engineering in the virtual laboratory environment. Those show that VWE is greater than that of a similar real world presentation or experimental lab, since most of students are delighted to modify and retry modeling works in the VWE.

• 한국산업융합학회 논문집
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• 제18권2호
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• pp.99-109
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• 2015

This study proposes a new approach to analyze the impedance and the elasticity of a serial chain of spring-damper system, areal-time collision-free trajectory generation algorithm is proposed. The reference points on a trajectory connected by the spring-damper system have a mechanism for self-position adjustment to solve a collision problem by the impedance, and the local adjustment of each reference point is propagated through the elasticity to a real robot at the end of the spring-damper system. As a result, the overall trajectory consisting of the reference points becomes free of collision with environmental obstacles and efficient having the shortest distance as possible. In this process,, the reference points connected by the spring-damper system take role of virtual robot as global guidance for a real robot, and a cooperative is carried out by the system of robots. A control technology is proposed to implement for mobile robot.