• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.59 no.3
• /
• pp.645-650
• /
• 2010

In this paper we present the Bimodal-tram simulator using the PXI embedded real-time controllers. The Bimodal-tram is developed in KRRI (Korea Railroad Research Institute). The vehicle can be automatically operated by navigation control system (NCS). For the automatic driving, the vehicle lanes will be marked with permanent magnets that are placed in the ground. The vehicle is controlled by NCS. NCS governs the manual mode and automatic mode driving. The simulator is designed by an identical conception with the real control condition. The dynamic motion of vehicle is simulated by the nonlinear dynamic model. The control computer calculates the control values. The signal interface is linked by CAN communication. The simulation is processed by real-time base. The test driver can see the graphic motion of vehicle and can operate the steering wheel, gas and brake pedal to control direction and velocity of vehicle during the simulation. At present, the simulator is only operated by manual mode. The automatic mode will be linked after the control algorithm is finished. We will use the simulator to develop the control algorithm in the automatic mode. This paper shows the simulator designed for Bimodal-tram using real-time based controller. The results of the test using the simulator are presented and discussed.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.20 no.5
• /
• pp.1486-1497
• /
• 1996

The problem of determining the 3-demensional motion of any two rough bodies after a collision involves some rather long analysis and yet in some points it differs essentially from the corresponding problem in tdwo dimensions. We consider a special problem where two rough ellipsolids moving in any manner collide, and analyze the three dimensional impact process with Coulomb friction and Poisson's hypothesis. The differential equations that describe that process of the impact induce a flow in the tangent velocity space, the flow patterns characterize the possible impact cases. By using the graphic method in impulse space and numerical integration thchnique, we analyzed the impact process inall the possible cases and presented the algorithm for determining the post-impact motion. The principles could be applied to the general problem in three dimensions. We verified the effectiveness of the analysis results by simulating the numerous significant examples.

• Journal of the Semiconductor & Display Technology
• /
• v.8 no.4
• /
• pp.77-82
• /
• 2009

In robot operation, a motor with multi-degree of freedom motion control and an encoder for motor control are needed. To perform precise motion, location, and velocity control, the operation of motor and encoder with superior performance is important. In this paper, we studied performance evaluation system that can evaluate the performance of motor and encoder. The performance of motor and encoder can be evaluated in terms of disconnection check, signal variation count, and U, V, W signal check. Disconnection check verifies signal connection between a motor and an encoder, signal variation check verifies A, B signal by counting the number of signal A, B when a motor revolves, and U, V, W signal check verifies operating direction of a motor. The result is shown at graphic LCD integrated in system, and can be checked in PC with PC communication.

• Journal of the Institute of Convergence Signal Processing
• /
• v.5 no.1
• /
• pp.46-52
• /
• 2004

In this paper, we introduce a case study of developing a miniature humanoid robot which has 16 degrees of freedom, 42 cm heights, and 1.5kg weights. For easy implimentation, the integrated RC-servo motors are adopted as actuators and a digital camera is equipped on its head. So, it can transmit vision data to a remote host computer via wireless modem. The robot can perform staircase walking as well as straight walking and turning to any direction. The user-interface program running on the host computer contains a robot graphic simulator and a motion editor which are used to generate and verify the robot's walking motion. The experimental results show that the robot has various walking capability including straight walking, turning, and stairs walking.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.17 no.8
• /
• pp.856-866
• /
• 1992

In this paper, the graphic simulation system Is presented which supports the determination of efficient multi-robot motions during cooperation. For the construction of the simulation software for multi robot motions, two problems are described. First problem is that all the robot motions must be determined using both the desired object motions and the holonomic constraints with the object. To find the robot motions combined with the various object motion path, the robot motions are derived from the desired object path instead of a master robot path. There ore, robot motions can be easily modifiable with #he various object motions. This type of motion determination Is different from that of the master-slaves method using the master robot motions.

• Smart Structures and Systems
• /
• v.31 no.4
• /
• pp.409-419
• /
• 2023

Structural integrity can be accessed from dynamic deformations of structures. Moreover, dynamic deformations can be acquired from non-contact sensors such as video cameras. Kanade-Lucas-Tomasi (KLT) algorithm is one of the commonly used methods for motion tracking. However, averaging throughout the extracted features would induce bias in the measurement. In addition, pixel-wise measurements can be converted to physical units through camera intrinsic. Still, the depth information is unreachable without prior knowledge of the space information. The assigned homogeneous coordinates would then mismatch manually selected feature points, resulting in measurement errors during coordinate transformation. In this study, a two-stage optimization method for video-based measurements is proposed. The manually selected feature points are first optimized by minimizing the errors compared with the homogeneous coordinate. Then, the optimized points are utilized for the KLT algorithm to extract displacements through inverse projection. Two additional criteria are employed to eliminate outliers from KLT, resulting in more reliable displacement responses. The second-stage optimization subsequently fine-tunes the geometry of the selected coordinates. The optimization process also considers the number of interpolation points at different depths of an image to reduce the effect of out-of-plane motions. As a result, the proposed method is numerically investigated by using a truss bridge as a physics-based graphic model (PBGM) to extract high-accuracy displacements from recorded videos under various capturing angles and structural conditions.

• Journal of the Korea Computer Graphics Society
• /
• v.2 no.1
• /
• pp.48-60
• /
• 1996

This paper present a new technique for doing realistic computer animation. The method is based on forward dynamic simulation and nonlinear problem solving (parameter optimization) technique. Objects are modelled physically and simulated faithfully while satisfying kinematic and geometric constraints. This forward dynamic simulation gives us very realistic motions especially for non-voluntary motions. Then we extend simulation technique to do animation using parameter optimization. The basic idea is to add motion control over the entire animation. The motion control is finding optimal solutions while satisfying user's animation goals. We provide two different animation technique; one is for rigid body without joint actuators and the other is for rigid body with linear joint actuators. To achieve motion control, we convert single simulation to single nonliner function evaluation while either setting initial conditions as variables for the function or allocating control variables in terms of time. This method is presented with two animation examples: dice-magic and human stand-up.

• Journal of Biosystems Engineering
• /
• v.39 no.4
• /
• pp.389-399
• /
• 2014

Purpose: This study was aimed at developing a tractor-driving simulator for the safety training of agricultural tractor operators. Methods: The developed simulator consists of five principal components: mock operator control devices, a data acquisition and processing device, a motion platform, a visual system that displays a computer model of the tractor, a motion platform, and a virtual environment. The control devices of a real tractor cabin were successfully converted into mock operator control devices in which sensors were used for relevant measurements. A 3D computer model of the tractor was also implemented using 3ds Max, tractor dynamics, and the physics of Unity 3D. The visual system consisted of two graphic cards and four monitors for the simultaneous display of the four different sides of a 3D object to the operator. The motion platform was designed with two rotational degrees of freedom to reduce cost, and inverse kinematics was used to calculate the required motor positions and to rotate the platform. The generated virtual environment consisted of roads, traffic signals, buildings, rice paddies, and fields. Results: The effectiveness of the simulator was evaluated by a performance test survey administered to 128 agricultural machinery instructors, 116 of whom considered the simulator as having potential for improving safety training. Conclusions: From the study results, it is concluded that the developed simulator can be effectively used for the safety training of agricultural tractor operators.

• Journal of the Korea Society of Computer and Information
• /
• v.21 no.10
• /
• pp.21-28
• /
• 2016

The aim of this research is to analyze Perceived Usefulness(PU) and Perceived Ease of Use(PEOU) based on Technology Acceptance Model in , and how viewing experiences and knowledge of motion graphics have an impact on attitude toward using and behavioral intention to use. Both usability for learning and usability for appreciation in terms of PU have significant correlations with the degree of satisfaction and immersion, and behavioral intention to use. On the other hand, PEOU has an influence on degree of exhibition satisfaction and immersion, and onto behavioral intention to use with the exception of intention to revisiting . Unlike PU or PEOU, previous viewing experiences do not have correlation with attitude toward using and behavioral intention to use. Only previous knowledge of motion graphics has a correlation with degree of satisfaction and immersion, and behavioral intention to use. As the influence on PU and PEOU's attitude toward using and and behavioral intention to use has been verified, our findings show that two variables of TAM enable the prediction of user's technology acceptance on digital exhibitions and as a result prove the suitability for TAM as an evaluation model for digital exhibition of remediating the originals. This study offers a fresh understanding of the importance of motion graphic effects which influence attitude toward using and behavioral intention to use from the perspective of curating methodology.

• The Journal of the Korea Contents Association
• /
• v.8 no.8
• /
• pp.244-252
• /
• 2008

This research differentiate the technique of Jungkwon-jirugi, one of the basic movements of Taekwondo, into two movements stop-jirugi and push-jirugi and gives analysis of the impulse, acceleration and velocity in the point of motor control. For this, we tried graphic analysis using an acceleration sensor and high speed camera which was made from USA in 2005 and took pictures at 250 frames per second. We reached the following conclusions. First, the acceleration wave of push-jirugi was a period longer than stop-jirugi, meaning that the push-jirugi motion asserts force for a longer time. Second, the acceleration and velocity graph shows that the highest velocity occurs on the point when the acceleration begins to decrease right after reaching its maximum. Third, according to the image analysis using the high speed camera, we could find out that the shoulder is pushed a little even in the stop-jirugi motion.