• Journal of the Korea Society of Computer and Information
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• v.11 no.3
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• pp.31-39
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• 2006

This paper presents a novel approach to real-time recognition of 3D environment and objects for various applications such as intelligent robots, intelligent vehicles, intelligent buildings,..etc. First, we establish the three fundamental principles that humans use for recognizing and interacting with the environment. These principles have led to the development of an integrated approach to real-time 3D recognition and modeling, as follows: 1) It starts with a rapid but approximate characterization of the geometric configuration of workspace by identifying global plane features. 2) It quickly recognizes known objects in environment and replaces them by their models in database based on 3D registration. 3) It models the geometric details the geometric details on the fly adaptively to the need of the given task based on a multi-resolution octree representation. SIFT features with their 3D position data, referred to here as stereo-sis SIFT, are used extensively, together with point clouds, for fast extraction of global plane features, for fast recognition of objects, for fast registration of scenes, as well as for overcoming incomplete and noisy nature of point clouds.

• Journal of the Korea Society for Simulation
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• v.28 no.2
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• pp.107-117
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• 2019

Because shipbuilding is single-product production with limited resources, production management technology is essential to manage the resources effectively and maximize the productivity of ship-process. Therefore, many shipbuilding companies are conducting research on ship production plan and process considering various constraints in the field by applying modeling and simulation. However, it is difficult to provide accurate production plan on sudden schedule and process changes, and to understand the interconnectivity between the processes that produce blocks in existing research. In addition, there are many differences between the production planning and field planning because detailed processes and quantity of blocks can not be considered. In this research, we propose the integrated process-based modeling method considering process-operation sequences, BOM(Bill of materials) and resource constraints of all the scheduled blocks in the indoor system. Through the integrated process-based model, it is easy for the user to grasp the assembly relationship, workspace and preliminary relationship of assembly process between the blocks in indoor system. Also, it is possible to obtain the overall production plan that maximizes resource efficiency without the separate simulation and resource modeling procedures because resource balancing that considers the amount of resource quantity shared in the indoor system is carried out.

• Journal of the Korea Computer Graphics Society
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• v.14 no.4
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• pp.35-39
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• 2008

A computer supported collaborative system provides with a shared virtual workspace over the Internet where its remote users cooperate in order to achieve their goals by overcoming problems caused by distance and time. VRMMS (Virtual Reality Molecular Modeling System) [1] is a VR based collaborative system where biologists can remotely participate in and exercise molecular modeling tasks such as viewing three dimensional structures of molecular models, confirming results of molecular simulations and providing with feedbacks for the next simulations. Biologists can utilize VRMMS in executing molecular simulations. However, first-time users and beginners need to spend some time for studying and practicing in order to skillfully manipulate molecular models and the system. The best way to resolve the problem is to have a face-to-face session of teaching and learning VRMMS. However, it is not practically recommended in the sense that the users are remotely located. It follows that the learning time could last longer than desired. In this paper, we propose to use Second Life [2] combining with VRMMS for removing the problem. It can be used in building a shared workplace over the Internet where molecular simulations using VRMMS can be exercised, taught, learned and practiced. Through the web, users can collaborate with each other using VRMMS. Their avatars and tools of molecular simulations can be remotely utilized in order to provide with senses of 'being there' to the remote users. The users can discuss, teach and learn over the Internet. The shared workspaces for discussion and education are designed and implemented in Second Life. Since the activities in Second Life and VRMMS are designed to realistic, the system is expected to help users in improving their learning and experimental performances.

• Proceedings of the Korean Radioactive Waste Society Conference
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• 2003.11a
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• pp.388-394
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• 2003

To handle the high level radioactive materials such a spent fuel, the master-slave manipulators (MSM) are widely used as a remote handling device in nuclear facilities such as the hot cell with sealed and shielded space. In this paper, the Digital Mockup which simulates the remote operation of the Advanced Conditioning Process(ACP) is developed. Also, the workspace and the motion of the slave manipulator, as well as, the remote operation task should be analyzed. The process equipment of ACP and Maintenance/Handling Device are drawn in 3D CAD models using IGRIP. Modeling device of manipulator is assigned with various mobile attributes such as a relative position, kinematics constraints, and a range of mobility, The 3D graphic simulator using the external input device of space ball displays the movement of manipulator. To connect the external input device to the graphic simulator, the interface program of external input device with 6 DOF is deigned using the Low Level Tele-operation Interface(LLTI). The experimental result shows that the developed simulation system gives much-improved human interface characteristics and shows satisfactory response characteristics in terms of synchronization speed. This should be useful for the development of work's education system in the virtual environment.

• Journal of Korea Game Society
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• v.4 no.3
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• pp.11-20
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• 2004

Virtual reality that we have seen from the movies in 80's and 90's is hawing near based on the rapid progress of science together with a computer technology. Various virtual reality system developments (such as VRML, HMD FishTank, Wall Type, CAVE Type, and so on) and the advancement of those systems make for the embodiment of virtual reality that gives more sense of the real. Virtual reality is so immersive that makes people feel like they are in that environment and enable them to manipulate without experiencing the environment at first hand that is hard to experience in reality. Virtual reality can be applied to the spheres, such as education, high-level programming, remote control, surface exploration of the remote satellite, analysis of exploration data, scientific visualization, and so on. For some connote examples, there are training of a tank and an aeroplane operation, fumiture layout design, surgical operation practice, game, and so on. In these virtual reality systems, the actual operation of the human participant and virtual workspace are connected each other to the hardware that stimulates the five senses adequately to lend the sense of the immersion. There are still long way to go, however, before long it will be possible to have the same feeling in the virtual reality as human being can have by further study and effort. In this thesis, the basic definition, the general idea, and the kind of virtual reality were discussed. Especially, CAVE typed in reality that is highly immersive was analyzed in definition, and then the method of VR programming and modeling in the virtual reality system were suggested by showing the restoration process of Kyongbok Palace (as the content of the original form of the culture) that was made by KISTI(Korea Institute of Science and Technology Information) in 2003 through design process in virtual reality system. Through these processes, utilization of the immersive virtual reality system was discussed and how to take advantage of this CAVE typed virtual reality system at the moment was studied. In closing the problems that had been exposed in the process of the restoration of the cultural property were described and the utilization plan of the virtual reality system was suggested.