• The Journal of Korea Robotics Society
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• v.16 no.3
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• pp.260-269
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• 2021

To verify performance or conduct experiments using actual robots, a lot of costs are needed such as robot hardware, experimental space, and time. Therefore, a simulation environment is an essential tool in robotics research. In this paper, we develop the HUMIC simulator using ROS and Gazebo. HUMIC is a humanoid robot, which is developed by HCIR Lab., for human-robot interaction and an upper body of HUMIC is similar to humans with a head, body, waist, arms, and hands. The Gazebo is an open-source three-dimensional robot simulator that provides the ability to simulate robots accurately and efficiently along with simulated indoor and outdoor environments. We develop a GUI for users to easily simulate and manipulate the HUMIC simulator. Moreover, we open the developed HUMIC simulator and GUI for other robotics researchers to use. We test the developed HUMIC simulator for object detection and reinforcement learning-based navigation tasks successfully. As a further study, we plan to develop robot behavior intelligence based on reinforcement learning algorithms using the developed simulator, and then apply it to the real robot.

• The Journal of the Korea institute of electronic communication sciences
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• v.15 no.3
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• pp.533-542
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• 2020

In this study, we developed a PC - based motorcycle simulator based on the development technology of the virtual patrol motorcycle training system. In order to get the impression that the motorcycle simulator is operating in a realistic way, it is important to have a reliable signal transmission and operation feeling between the driver and the simulator. In order to achieve this, we developed a system that can apply the sub-systems of the actual vehicle to the motorcycle simulator in order to generate the same operation feeling as the actual vehicle. Based on these results, We have developed a method for generating a feedback queue. Vehicle dynamics simulates real-time vehicle motion by receiving input from a steering wheel, accelerating / decelerating pedal, etc. operated by a driver on a vehicle simulator and transmitting the result to a visual and acoustic system, It is the central element of the simulator to generate. I want to summarize the main requirements of simulation dynamics.

• Korean Journal of Applied Biomechanics
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• v.24 no.3
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• pp.189-199
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• 2014

The purpose of this study was to compare pflugbogen's biomechanical characteristics between on the ski simulator and snowed ski slope to develop interactive ski simulator. Nine ski instructors(sex: male, age: $29.6{\pm}5.4yrs$, height: $176.0{\pm}5.6cm$, body mass: $76.0{\pm}14.0kg$) belong to Korean Ski Instructors Association participated in this research. 24 Infrared cameras for snowed ski slope experiment and 13 infrared camera for ski simulator experiment were installed near by path of pflugbogen. The participants did pflugbogen on the snowed ski slope and the ski simulator both. During the experiment, the participants weared motion capture suit with infrared reflective makers on it, and plantar pressure sensors in ski boots, so that ski motion and plantar pressure data were collected together. Displacement of COG(center of gravity) movements, trunk flexion/extension angle, adduction/abduction angle, and plantar pressure data were significantly different between on the simulator and ski slope. However, percentage of time of COG movement in the phases during medial/lateral and anterior/posterior movement were not significantly different. Findings indicate that the difference between two groups occurred because the ski simulator's drive mechanism is different from ski motion on the slope. In order to develop the ski simulator more interactively for pflugbogen, the ski simulator's drive mechanism need to be reflected 3D motion data of pflugbogen on the slope that were purposed in this research.

• Journal of the Korea Institute of Military Science and Technology
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• v.18 no.1
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• pp.46-54
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• 2015

Wargame simulators are widely used in the field of defence modeling and simulation. Because of increasing importance of communication effects on the warfare, the war game simulator is also required to reflect communication effects. One way to satisfy the requirement is the interoperation simulation between war game simulator and communication effect simulators. This paper shows the application of interoperation simulation between war game and communication effect simulators using HLA(High-Level Architecture)/RTI(RunTime Infrastructure). The war game simulator mainly deal with the engagement of troops and the troops communicate each other at the mission execution level. In the other hand, The communication effect simulator perform communication actions between the troops in the engineering level. Using the interoperation simulation, we can reflect the communication effects on the war game simulation. We show various applications of the interoperation simulation with the point of the war game and communication effect simulator. with a case study, we explain the interoperation simulation improves the reality and fidelity of the war game simulator and how the interoperation simulation can be applied to developing doctrines and real communication system.

• Progress in Superconductivity and Cryogenics
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• v.11 no.1
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• pp.49-54
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• 2009

This paper presents the numerical simulation results on the moving type electrodynamic suspension (EDS) simulator and static type EDS simulator using high-Tc superconducting (HTS) levitation magnet. The levitation force of the EDS system is formed by the reaction between the moving magnet and the fixed ground conductor. The possible two ways to simulate the EDS system were simulated in this paper by using finite element method (FEM). The first way was the moving type simulator which consists of the fixed HTS magnet and the moving ground conductor. The second way was the static type simulator which consists of the fixed magnet, the fixed ground conductor and the ac current supply system. To verify the characteristics of high speed EDS system with the moving type simulator heavy, large and fast moving ground conductor is needed. The static type simulator can get the characteristics of the high speed EDS system by applying equivalent ac current to velocity, therefore it does not need large moving part. The static type EDS simulator, which can consist of an HTS magnet, the fixed ground conductor(s), an AC power supply and the measuring devices, also test the effect of the shape of the ground conductor easily. The plate type ground conductor made stronger levitation force than ring type ground conductor. Although the outer diameter 335 mm ring type ground conductor (Ring3) was larger than the outer diameter 235 mm ground conductor (Ring2), the levitation force by Ring2 was stronger than that by Ring3. From the calculation results on this paper, the consideration of the magnetic flux distribution according to the levitation height should be included in the process of the ground conductor design.

• Nuclear Engineering and Technology
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• v.56 no.3
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• pp.880-885
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• 2024

For Safety Assisted Engineering works, real-time simulators have emerged as a mandatory tool among all the key actors involved in the nuclear industry (utilities, designers and safety authorities). EDF, Electricité de France, as the leading worldwide nuclear power plant operator, has a crucial need for efficient and updated simulation tools for training, operating and safety analysis support. This paper will present the work performed at EDF/DT to develop a new generation of engineering simulator to fulfil these tasks. The project is called SiRENE, which is the acronym of Re-hosted Engineering Simulator in French. The project has been economically challenging. Therefore, to benefit from existing tools and experience, the SiRENE project combines: - A part of the process issued from the operating fleet training full-scope simulator. - An improvement of the simulator prediction reliability with the integration of High-Fidelity models, used in Safety Analysis. These High-Fidelity models address Nuclear Steam Supply System code, with CATHARE thermal-hydraulics system code and neutronics, with COCCINELLE code. - And taking advantage of the last generation and improvements of instructor station. The intensive and challenging uses of the new SiRENE engineering simulator are also discussed. The SiRENE simulator has to address different topics such as verification and validation of operating procedures, identification of safety paths, tests of I&C developments or modifications, tests on hydraulics system components (pump, valve etc.), support studies for Probabilistic Safety Analysis (PSA). etc. It also emerges that SiRENE simulator is a valuable tool for self-training of the newcomers in EDF nuclear engineering centers. As a modifiable tool and thanks to a skillful team managing the SiRENE project, specific and adapted modifications can be taken into account very quickly, in order to provide the best answers for our users' specific issues. Finally, the SiRENE simulator, and the associated configurations, has been distributed among the different engineering centers at EDF (DT in Lyon, DIPDE in Marseille and CNEPE in Tours). This distribution highlights a strong synergy and complementarity of the different engineering institutes at EDF, working together for a safer and a more profitable operating fleet.

• Science of Emotion and Sensibility
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• v.6 no.3
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• pp.13-20
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• 2003

In an experimental study, we assessed human sensibility in terms of psychophysiological response according to change of speeds (40, 70, 100km/h) in a driving simulator and application of motion fitters (washout filter, non-washout later) in a roller coaster simulator. For the driving and roller coaster simulators, a group of 12 healthy men in their twenties and a group of 8 healthy men in their twenties, respectively, participated. Participants each completed a simulator sickness questionnaire (SSQ), a subjective assessment of sensations of pleasantness, tension, and arousal, and perception of speed. Physiological signals were measured by 1/f fluctuation of EEG (electroencephalogram), ECG (electrocardiogram), and GSR (galvanic skin response). These were measured pre-to-post under the experimental conditions for each simulator. Subjective pleasantness, tension, arousal, and perception of speed and physiological responses indicating a feeling of pleasantness by 1/f fluctuation were higher for the roller coaster simulator than those measured for low speed driving in the driving simulator. The mean frequency of alpha band (8-l3㎐) in EEG increased with exposure to the driving simulator relative to that for the roller coaster simulator. Heart rate variability and GSR were significantly changed between pre- and post- under each condition in the driving and roller coaster simulators. The data suggest that subjective sensibility was elevated according to gain of speed and variety of simulator motion, and physiological responses were activated with increased speed.

• Journal of Biomedical Engineering Research
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• v.24 no.4
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• pp.363-367
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• 2003

Contact area and pressure are important factors which directly influence a life of knee implants. Since implant's mechanical functions should be experimentally evaluated for clinical use, many studies using a knee simulator and a pressure sensor system have been conducted. However it has not been reported that the contact pressure's distribution of a knee implant motion was estimated in real-time during a gate cycle. Therefore. the objective of this study was to analyze the contact pressure distribution for the motion of a joint using the knee simulator and I-scan sensor system. For this purpose, we developed a force-controlled dynamic knee simulator to evaluate the mechanical performance of artificial knee joint. This simulator includes a function of a soft tissue and has a 4-degree-of-freedom to represent an axial compressive load and a flexion angle. As axial compressive force and a flexion angle of the femoral component can be controlled by PC program. The pressure is also measured from I-scan system and simulator to visualize the pressure distribution on the joint contact surfaces under loading condition during walking cycle. The compressive loading curve was the major cause for the contact pressure distribution and its center move in a cycle as to a flexion angie. In conclusion, this system can be used to evaluate to the geometric interaction of femoral and tibial design due to a measured mechanical function such as a contact pressure, contact area and a motion of a loading center.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.6
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• pp.951-958
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• 2008

This paper describes development of hardware simulator for the PMSG wind power system, which was designed considering wind characteristic, blade characteristic and blade inertia compensation. The simulator consists of three major parts, such as wind turbine model using induction motor, PMSG generator, converter-inverter set. and control system. The turbine simulator generates torque and speed signals for a specific wind turbine with respect to given wind speed. This torque and speed signals are scaled down to fit the input of 2kW PMSG. The PMSG-side converter operates to track the maximum power point, and the grid-side inverter controls the active and reactive power supplied to the grid. The operational feasibility was verified by computer simulations with PSCAD/EMTDC, and the implementation feasibility was confirmed through experimental works with a hardware set-up.

• Transactions of The Korea Fluid Power Systems Society
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• v.3 no.3
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• pp.14-19
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• 2006

Recently, the cylinder of the excavator is applied in the various environment. So, we need the development of the simulator for the excavator. The simulator has the effects of the decrease of the cost and improvement of the cylinder's performance. In this paper, we design the simulator for the excavator and makes an analysis of the dynamics and structure. The simulator was applied to the excavator's models of 10ton, 20ton and 30ton because we built the data base of a real excavator's cylinder of information in the experiment. And we used the FEM analysis for the comparative study on the characteristics.