• The Journal of Korea Robotics Society
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• v.8 no.3
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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.

• Journal of Information Technology Applications and Management
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• v.14 no.2
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• pp.11-26
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• 2007

In this paper we suggest a context-driven configuration model of virtual businesses to form a business network model consisting of role-based, interaction-centered business partners. The model makes use of the subcontext concept which explicitly represents actors and interactions in virtual business (VB) context. We separate actors who have capacities on tasks in a specific kind of role and actor subcontext which models requirements in specific interaction subcontext. Three kinds of actors are defined in virtual service chains, service user, service provider, and external service supporter. Interaction subcontext models a service exchange process between two actor subcontexts with consideration of context dependencies like task and quality dependencies. Each subcontext may be modeled in the form of a situation network which consists of a finite set of situation nodes and transitions. A specific situation is given in a corresponding context network of actors and interactions. It is illustrated with a simple example.

• Electronics and Telecommunications Trends
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• v.32 no.5
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• pp.117-126
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• 2017

With the advances of high-performance, lightweight hardware components and control software, unmanned aerial vehicles (UAVs) have expanded in terms of use, not only for military applications but also for civilian applications. To complete their task at a remote location, UAVs are generally equipped with a camera, and various sensors and types of hardware devices can be attached according to the particular task. When UAVs capture video images and transmit them into the user's interface, augmented reality (AR) and virtual reality (VR) technologies as a user interface may have advantages in controlling the UAV. In this paper, we review AR and VR applications for UAVs and discuss their future directions.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1527-1530
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• 1996

Telerobot system is being developed for the application to nuclear power plants by Korea Atomic Energy Research Institute. Human-machine interaction and interface are very important elements of telerobotic systems. The main purpose of this study is developing a control system based on 3-D graphic techniques for the easy user interface and realistic visual I information supply. This system possesses the abilities for (1) virtual work, environment modelling and simulation, (2) kinematic animation include redundant behavior (3) interfacing with a real robot system, (4) transformation between real and virtual mode within the same graphics system. This system is especially focused on enhancing the overall efficiency and reliably of nozzle dam installation task inside water chamber of steam generator in nuclear power plant.

• Journal of the Korea Safety Management & Science
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• v.1 no.1
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• pp.69-77
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• 1999

One of the objectives of any task design is to provide a safe and helpful workplace for the employees. The safety and health module may include means for confronting the design with safety and health regulations and standards as well as tools for obstacles and collisions detection (such as error models and simulators), Virtual Reality is a leading edge technology which has only very recently become available on platforms and at prices accessible to the majority of simulation engineers. The design of an automated manufacturing system is a complicated, multidisciplinary task that requires involvement of several specialists. In this paper, a design procedure that facilitates the safety and ergonomic considerations of an automated manufacturing system are described. The procedure consists of the following major steps. Data collection and analysis of the data, creation of a three-dimensional simulation model of the work environment, simulation for safety analysis and risk assessment, development of safety solutions, selection of the preferred solutions, implementation of the selected solutions, reporting, and training. When improving the safety of an existing system the three-dimensional simulation model helps the designer to perceive the work from operators point of view objectively and safely without the exposure to hazards of the actual system.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2000.05a
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• pp.283-287
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• 2000

The Internet is becoming an abstract system from which we can get every kind of project and to which we can entrust every kind of project. That is, Internet can be considered both as an infinite scale of task pool and infinite scale of TM (Task Module) pool, which surely provides the necessary and sufficient condition for dwelling of the virtual life. n we could build up the proper ecosystem composed of the virtual life, It would be possible to implement the system as a life. The life system thus obtained provides us some decisive advantages, which is not available by the reduction paradigm. In this Paper, we presented an ecosystem based on Internet which will be followed by the discussion of its meaning in terms of usefulness.

• Journal of Korea Multimedia Society
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• v.3 no.3
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• pp.320-332
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• 2000

Web consists of the grand virtual system which is made of all connected computers network. We can solve the huge problem which requires high quality in cost performance and powerful computing power to use a numerous idle state system on internet as process it parallel. However, we have to consider heterogeneous computing resources, accessibility, and reliability to carry out parallel system on global environment, not network but whole Internet. In this paper, We the WebImg system which has the power of web computing, and show the flexible task allocation strategy in heterogeneous hosts. Also, we evaluate its performance, moreover the proposed task allocation strategy supplies fault tolerance by controlling host situation at any time.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.10 no.4
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• pp.1501-1518
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• 2016

This paper presents an effective management of VM (Virtual Machine) for heterogeneous cloud using Common Deployment Model (CDM) brokering mechanism. The effective utilization of VM is achieved by means of task scheduling with VM placement technique. The placements of VM for the physical machine are analyzed with respect to execution time of the task. The idle time of the VMis utilized productively in order to improve the performance. The VMs are also scheduled to maintain the state of the current VM after the task completion. CDM based algorithm maintains two directories namely Active Directory (AD) and Passive Directory (PD). These directories maintain VM with proper configuration mapping of the physical machines to perform two operations namely VM migration and VM roll back. VM migration operation is performed from AD to PD whereas VM roll back operation is performed from PD to AD. The main objectives of the proposed algorithm is to manage the VM's idle time effectively and to maximize the utilization of resources at the data center. The VM placement and VM scheduling algorithms are analyzed in various dimensions of the cloud and the results are compared with iCanCloud model.

• Korean Journal of Computational Design and Engineering
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• v.13 no.6
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• pp.429-439
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• 2008

With a remote operated manipulator system, the situation at a remote site can be rendered through remote visualized image to the operator. Then the operator can quickly realize situations and control the slave manipulator by operating a master input device based on the information of the virtual image. In this study, the remote operator visual support system (ROVSS) was developed for viewing support of a remote operator to perform the remote task effectively. A visual support model based on virtual environment was also inserted and used to fulfill the need of this study. The framework for the system was created by Windows API based on PC and the library of 3D graphic simulation tool such as ENVISION. To realize this system, an operation test environment for a limited operating site was constructed by using experimental robot operation. A 3D virtual environment was designed to provide accurate information about the rotation of robot manipulator, the location and distance of operation tool through the real time synchronization. In order to show the efficiency of the visual support, we conducted the experiments by four methods such as the direct view, the camera view, the virtual view and camera view plus virtual view. The experimental results show that the method of camera view plus virtual view has about 30% more efficiency than the method of camera view.

• Journal of KIISE:Computer Systems and Theory
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• v.35 no.5
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• pp.187-198
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• 2008

This paper develops a framework for efficient resource management within the grid service environment. Resource management is the core element of the grid service; therefore, GridRMF(Grid Resource Management Framework) is modeled and developed in order to respond to such variable characteristics of resources as accordingly as possible. GridRMF uses the participation level of grid resource as a basis of its hierarchical management. This hierarchical management divides managing domains into two parts: VMS(Virtual Organization Management System) for virtual organization management and RMS(Resource Management System) for metadata management. VMS mediates resources according to optimal virtual organization selection mechanism, and responds to malfunctions of the virtual organization by LRM(Local Resource Manager) automatic recovery mechanism. RMS, on the other hand, responds to load balance and fault by applying resource status monitoring information into adaptive performance-based task allocation algorithm.