• KSII Transactions on Internet and Information Systems (TIIS)
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• v.14 no.2
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• pp.671-686
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• 2020

Due to the long training time and high training cost of traditional surgical training methods, the emerging virtual surgical training method has gradually replaced it as the mainstream. However, the virtual surgical system suffers from poor authenticity and high computational cost problems. For overcoming the deficiency of these problems, we propose an optimized model for the local compression deformation of soft tissue. This model uses a simulated annealing algorithm to optimize the parameters of the soft tissue model to improve the authenticity of the simulation. Meanwhile, although the soft tissue deformation is divided into local deformation region and non-deformation region, our proposed model only needs to calculate and update the deformation region, which can improve the simulation real-time performance. Besides, we define a compensation strategy for the "superelastic" effect which often occurs with the mass-spring model. To verify the validity of the model, we carry out a compression simulation experiment of abdomen and human foot and compare it with other models. The experimental results indicate the proposed model is realistic and effective in soft tissue compression simulation, and it outperforms other models in accuracy and real-time performance.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.7
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• pp.663-671
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• 2008

This paper presents a real-time haptic rendering method for multi-contact interaction with virtual environments. Haptic systems often employ physics-based deformation models such as finite-element models and mass-spring models which demand heavy computational overhead. The haptic system can be designed to have two sampling times, T and JT, for the haptic loop and the graphic loop, respectively. A multi-rate output-estimation with an exponential forgetting factor is proposed to implement real-time haptic rendering for the haptic systems with two sampling rates. The computational burden of the output-estimation increases rapidly as the number of contact points increases. To reduce the computation of the estimation, the multi-rate output-estimation with reduced parameters is developed in this paper. Performance of the new output-estimation with reduced parameters is compared with the original output-estimation with full parameters and an exponential forgetting factor. Estimated outputs are computed from the estimated input-output model at a high rate, and trace the analytical outputs computed from the deformation model. The performance is demonstrated by simulation with a linear tensor-mass model.

• Journal of the Ergonomics Society of Korea
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• v.29 no.4
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• pp.585-593
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• 2010

Recently, we designed an interactive virtual space for the multi-purpose hall in Songdo Future City, located in Incheon, Korea. The goal of the design is to make a virtual space that is flexible and can be adjusted thanks to its unfixed seats in order to accommodate different and unspecified audience sizes. Virtual images are interactively adjusted according to the distance, position and size of audiences, information about which is detected by 9 photo sensors. To increase the sense of immersion, intensity and reality, we utilized the technology of scent display that can create appropriate scents to match the images on the screen. The intensity and persistence of scents were determined by the size, distance and position of audiences. The virtual image contains background images and reactive images. The background images repeatedly project images of spring, summer, autumn and winter. The reactive images consist of small portraits or pictures or icons that define or characterize the season types, and these are added to the background image according to the distance, position and size of the audiences.

• The Journal of Korea Robotics Society
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• v.3 no.4
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• pp.315-322
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• 2008

A new soft finger mechanism using a spring as a backbone is proposed in this work. It is a 4 DOF mechanism that consists of a spring and 3 cylinders, which behave like joints with 3 up-and-down rotations and 1 left-and-right rotation. To control each joint, cylinders have small holes in their cross-sectional areas, and wires of different length are penetrated into these holes. We can control each joint by pulling the corresponding wire. The forward kinematics is solved by using the geometry of mechanism. And the relationship (Jacobian) between the linear velocity of the wires and the joint angular rate is obtained. A virtual simulator is developed to test the validity of the kinematic model. In the experiment, first, the position control is conducted by tracking a given trajectory. Second, to verify the flexibility and safety, we show that the soft finger deflects in a safe manner, in spite of the collision with environment.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.12
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• pp.1942-1949
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• 2004

SLA(Scanned Linear Array) is a portable display unit for implementing next-generation virtual realities, utilizes a design that light generated by a line of LEDs is reflected from the rapidly oscillating mirror to generate a raster display. Reaction forces generated by the motions of the mirror and counter-balance mass cancel each other at the device base, reducing vibration. Metal leaf springs have been extensively applied in such portable units. Magnetic springs have been developed and adopted that can replace the metal spring and can avoid many disadvantages of metal springs. We model and analyze the dynamics of the structure with magnetic springs and present the simulation and experimental analysis results, which can be utilized for identifying and eliminating possible problem sources in removing shaking forces and moments, and oscillating the mirror at the required amplitude and frequency. Finally, we present the improved novel magnetic actuator model which can be applied in portable display units.

• Journal of the korean Society of Automotive Engineers
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• v.12 no.2
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• pp.29-42
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• 1990

Three dimensional frame structures with such nonlinearities as large displacements, medium rotations, plastic hinges and local defects are efficiently analyzed by introducing the nonlinear rotational spring. Formulations are based on the incremental updated Lagrangian descriptions and the virtual work principle, Axial displacement and twisted angle in beam elements are interpolated linearly, while bending displacements are approximated by the Hermite polynomials. The modified are length method is used as a solution method. The moment-angle of rotation relationship obtained analytically or experimentally can be easily incorporated into the solution procedure. Several examples tested show that the present method can be used efficiently in analyzing nonlinear frame structures with plastic hinges or local defect.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.6 s.177
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• pp.1499-1512
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• 2000

The dynamic explicit finite element method and the static implicit finite element method are applied effectively to analyze total auto-body panel stamping processes, which include the forming stage , the trimming stage and the spring-back stage.\The explicit time integration method has better merits in the forming stage including highly complicated three-dimensional contact conditions. On the contrary, the implicit time integration method is better for analyzing spring-back since the complicated contact conditions are removed and the computing time to get the final static state is short. In this work, brief descriptions of the formulation and the factor study are presented. Further, the simulated results for the total auto-body panel stamping processes are shown and discussed. The formability and the weld line movement in stamping with Tailor Welded Blanks were investigated through QTR-OTR-FRT.

• Proceedings of the KSME Conference
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• 2001.06a
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• pp.945-950
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• 2001

Vacuum interrupters that is used in various switchgear components such as circuit breakers, distribution switches, contactors, etc. spreads the arc uniformly over the surface of the contacts. The electrode of vacuum interrupters is used sintered Cu-Cr material satisfied with good electrical and mechanical characteristics. Because the closing velocity is 1-3m/s, the deformation of the material of electrodes depends on the strain rate and the dynamic behavior of the sintered Cu-Cr material is a key to investigate the impact characteristics of the electrodes. The dynamic response of the material at the high strain-rate is obtained from the split Hopkinson pressure bar test using cylinder type specimens. Experimental results from both quasi-static and dynamic compressive tests with the split Hopkinson pressure bar apparatus are interpolated to construct the Johnson-Cook equation as the constitutive relation that should be applied to simulation of the dynamic behavior of electrodes. To evaluate impact characteristic of a vacuum interrupter, simulation is carried out with five parameters such as initial velocity, added mass of a movable electrode, wipe spring constant, initial offset of a wipe spring and virtual fixed spring constant.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.24 no.1
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• pp.33-41
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• 2011

This study presents modeling technologies applicable to an unbonded post-tension system using a finite element software package. In this study, both direct modeling method and multiple spring method were used. The direct modeling method adopts tube-to-tube contact elements to represent the physical feature of a post-tension system. The multiple spring method uses virtual tendons attached to the real tendons using a number of rigid axial springs that freely rotate at the ends. Both modeling technologies provide accurate predictions. However, only the multiple spring method provides numerically stable and reliable responses with a consideration of concrete tension stiffening effects. Therefore, the multiple spring method turned out to be a generally applicable modeling technology for the unbonded post-tension system. Comparisons were made for the analytical and experimental results for the verification of the selected method, and parameter studies were carried out to confirm the appropriateness of the modeling assumptions and parameters adopted in the analysis.

• Proceeding of Spring/Autumn Annual Conference of KHA
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• 2000.11b
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• pp.189-195
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• 2000

The purpose of this study is to provide a basis for creating virtual community based on Cyber house. Cyber house is a digital architecture which enables multifarious lives based on the self, neighbor, new information. This study presents a process of Cyber house model and suggests scenarios of Cyber house application. Cyber house model has been developed by using SCOL but there were a few problems to design Cyber house. Since Java3D has flexibility to create Cyber house without limitation, even though it is very difficult to develope, it may well suited to make Cyber house. .Therefore Cyber house has to be developed as an instrument which provides various function rather than simple 3 dimensional digital house. Cyber house has a lot of potential and contribute to the Quality of lives.