• Proceedings of the Korean Society for Emotion and Sensibility Conference
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• 2002.05a
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• pp.244-250
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• 2002

현재 대부분의 시뮬레이터는 6개의 축으로 대상체의 운동자유도를 모사하는 모션 시스템을 사용하고 있다. 본 연구개발에서 개발되어지고 있는 시뮬레이터는 일반적인 Stewart 형식이 아닌 운동 대상체의 운동자유도를 짐발(Gimbal)형으로 재현하고자 하였다 이를 위해 실시간 스케줄러와 H/W 입출력 및 통신 드라이버에 대한 개발을 수행하였고, 시뮬레이션에 적합한 정확도와 실시간성을 유지하도록 롤러코스터 상에서 이루어지는 차량운동을 모델링 하였다. 또한 인간감성의 절용을 고려한 짐발형 모션 시스템의 운동 재현을 위해 워시아웃(Washout) 알고리즘을 개발하였다. 특히, 짐발형 모션 시스템은 그 연구 사례를 찾기 힘든 것으로 운동 모사성의 객관적 검증과 탑승자에 대한 시뮬레이터의 영향을 평가하기 위해 감성평가를 실시하였다. 감성평가를 위해 평가지에 의한 주관적 평가 방법과 탑승자의 생리신호를 측정하는 객관적 평가방법을 사용하였다.

• International Journal of Automotive Technology
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• v.7 no.2
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• pp.187-193
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• 2006

When emergency evasion during running is required, a driver sometimes causes a vehicle to drift, that is, a condition in which the rear wheels skid due to rapid steering. Under such conditions, the vehicle enters a very unstable state and often becomes uncontrollable. An unstable state of the vehicle induced by rapid steering was simulated and the effect of differential steering assistance was examined. Results indicate that, in emergency evasion while cornering and during which the vehicle begins to drift, unstable behavior like spins can be avoided by differential steering assistance and both the stability and control of the vehicle is improved remarkably. In addition, reduction of overshoot during spin evasion by the differential steering assistance has been shown to enable the vehicle to return to a state of stability in a short time in emergency evasion during straight-line running. Moreover, the effectiveness of differential steering assistance during emergency evasion was confirmed using a driving simulator.

• Proceedings of the Korean Society for Emotion and Sensibility Conference
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• 2002.11a
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• pp.255-261
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• 2002

본 연구개발에서 개발되어지고 있는 시뮬레이터는 롤러코스터를 모사 대상체로 하였고, 일반적인 Stewart 형식이 아닌 운동 대상체의 운동자유도를 짐발(Gimbal)형으로 재현하고자 하였다. 이를 위해 실시간 스케쥴러와 H/W 입출력 및 통신 드라이버에 대한 개발을 수행하였고, 시뮬레이션에 적합한 정확도와 실시간성을 유지하도록 롤러코스터 상에서 이루어지는 차량운동을 모델링 하였다. 또한 인간감성의 적용을 고려한 짐발형 모션 시스템의 운동 재현을 위해 워시아웃(Washout) 알고리즘을 개발하였다. 특히, 짐발형 모션 시스템의 운동 모사성을 객관적으로 검증하고 탑승자에 대한 시뮬레이터의 영향을 평가하기 위해 감성평가를 실시하였다. 감성평가를 위해 평가지에 의한 주관적 평가 방법과 탑승자의 생리신호를 측정하는 객관적 평가방법을 사용하였으며, 감성평가를 통한 결과치를 이용하여 워시아웃 알고리즘을 개선하였다.

• Korean Journal of Computational Design and Engineering
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• v.7 no.1
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• pp.18-26
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• 2002

The suggested modular projection system can have flexible arrangements of screens. Modular and continuous arrangements of the display system enable us to modify the screen configuration easily, so that the system can be used in various applications. The image of each screen is calculated automatically by using window projection and the tracked position of the viewer. This system also uses the off-axis stereoscopic projection for the seamless stereoscopic edge blending of multiple connections of screens. The system has been successfully tested for the general navigation model and the CAU driving simulator with motion platform.

• Journal of the Korean Institute of Navigation
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• v.18 no.2
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• pp.69-81
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• 1994

Studies on the ship's automatic navigation & berthing control have been continued by way of solving the ship's mathematical model, but the results of such studies have not reached to our satisfactory level due to its non-linear characteristics at low speed. In this paper, the authors propose a new berthing control system which can evaluate as closely as cap-tain's decision-making by using the FNN(Fuzzy Neural Network) controller which can simulate captain's knowledge. This berthing controller consists of the navigation subsystem FNN controller and the berthing subsystem FNN controller. The learning data are drawn from Ship Handling Simulator (NavSim NMS-90 MK Ⅲ) and represent the ship motion characteristics internally. According to learning procedure, both FNN controllers can tune membership functions and identify fuzzy control rules automatically. The verified results show the FNN controllers effective to incorporate captain's knowledge and experience of berthing.

• Proceedings of the KIEE Conference
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• 1998.11b
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• pp.546-548
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• 1998

This paper deals with ZMP trajectory generation in multi step walking of IWR-III(Inha Walking Robot) Biped Walking Robot. Biped walking is realized by combining 6-types of pre-defined steps and the actual ZMP can be used as a stability index of a robot. For the good tracking of actual ZMP, desired ZMP trajectory is generated during the whole walking time not for each step. Trajectory generation is performed considering velocities and accelerations of given via points using 5-th order polynomial interpolation method. As a result, balancing joints have a more smooth and continuous motion and actual ZMP has a better tracking ability. Numerical simulator is done by MATLAB to guarantee the walking of a robot satisfying the ZMP stability.

• Proceedings of the Korea Society for Simulation Conference
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• 2005.05a
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• pp.93-99
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• 2005

가상현실 시뮬레이터는 교육과 지식의 전달을 위한 도구로 발전하고 있으며, 과학교육 및 문화체험을 위한 첨단과학전시시스템의 수요가 증가하고 있다. 동역학적 계산을 기반으로 하는 기존의 가상현실 시뮬레이터는 컨텐츠의 변경이 어려운 단점이 있으며, 효과적인 지식전달 및 흥미 유발을 위해서는 운동감뿐만 아니라 다감각을 동원한 체감 시스템이 필요하다. 본 연구에서는 체감형 전시 시스템에 적합한 운동감 생성 방법과, 다감각 동원 가상현실효과 시스템을 설계하고 통합하였다. 제안된 방법은 영상의 시점변화를 기반으로 한 운동감 생성과, 미리 저장된 모션 라이브러리를 이용한 운동감 효과를 동시에 적용할 수 있으며, 관객의 상호작용에 의한 운동감 효과를 쉽게 추가할 수 있다. 관객의 다양한 감각을 이용한 가상현실 효과를 위하여 체감형 전시 시스템에 적합한 다양한 다감각 효과의 적용 방안을 모색하고, 효율적인 다감각 효과를 선정하여 실제 시스템에 적용하였다. 이를 통하여 체감형 전시를 위한 가상현실 효과 시스템의 기본 구조를 정립하였다.

• Journal of the Korea Institute of Military Science and Technology
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• v.8 no.3 s.22
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• pp.56-63
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• 2005

The radome boresight error degrades the microwave seeker ability and the missile guidance performance. It increases the miss distance, also. This paper propose a method of radome boresight error measurement and compensation. The compensation method consist of radome analysis and radome compensation. In the radome analysis stage, we can know that the electromagnetic characteristics distorted by radome. In the compensation stage, the look-up table is built and used for compensation. The test uses a FMS(Flight motion simulator) and adjusts the FMS setup error for more accuracy. The result shows that not using an elaborate radome measurement equipment, the radome boresight error is well compensated easily.

• Journal of the Korea Institute of Military Science and Technology
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• v.15 no.4
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• pp.410-416
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• 2012

In recent years, unmanned underwater vehicles(UUVs) have emerged as viable technical solution for conducting underwater search, surveillance, and clearance operations in support of mine countermeasure missions(MCMs) because of her autonomy and long time endurance capability. It is necessary for UUV for MCM system design to define system specification from various configuration alternatives. This paper introduces a simulation model for mine countermeasure mission effectiveness analysis and presents some simulation results under various tide conditions for validation of the proposed simulation model.

• Journal of Magnetics
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• v.21 no.4
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• pp.503-508
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• 2016

The roll- and pitch-induced eddy currents create a magnetic field that contributes to the total magnetic signature of naval vessels. The magnetic signature is of concern, as it exposes the ship to the threat of modern influence mines. It is estimated that the eddy current is the second most important source contributing to a ship's underwater magnetic field following the ferromagnetic effect. In the present paper, the finite element (FE) method is used to predict the eddy current signature of a real ship. The FE model is validated using the measurements of the Canadian research vessel CFAV QUEST at the Earth's Field Simulator (EFS) in Schirnau, Germany. Modeling and validation of the eddy current magnetic signature for a real ship represents a novelty in the field. It is shown that the characteristics of this signature depend on frequency. Based on these results, a ship's degaussing system could be improved to cancel both the ferromagnetic and the eddy current contribution to the magnetic signature simultaneously, reducing the susceptibility to sea mines.