• 한국산업정보학회논문지
• /
• 제26권4호
• /
• pp.11-18
• /
• 2021

강화 학습을 통한 실내 자율주행을 위해 가상 환경과 실제 환경에서 학습을 병행하는 방법을 제안한다. 실제 환경에서만 학습을 진행했을 경우 80시간 정도의 소요 시간이 필요하지만, 실제 환경과 가상 환경을 병행하며 학습을 진행했을 경우 50시간의 소요 시간이 필요하다. 가상 환경과 실제 환경에서 학습을 병행하면서 빠른 학습으로 다양한 실험을 거쳐 최적화된 파라미터를 얻을 수 있는 이점이 있다. 실내복도 이미지를 이용하여 가상 환경을 구성한 후 데스크톱으로 선행학습을 진행하였고 실제 환경에서의 학습은 Jetson Xavier를 기반으로 다양한 센서와 연결하여 학습을 진행하였다. 또한, 실내복도 환경의 반복되는 텍스처에 따른 정확도 문제를 해결하기 위해 복도 벽의 아랫선을 강조하는 특징점 검출을 학습하여 복도 벽 객체를 판단하고 정확도를 높일 수 있었다. 학습을 진행할수록 실험 차량은 실내복도 환경에서 복도 중앙을 기준으로 주행하며 평균 70회의 조향명령을 통해 움직인다.

• 문화기술의 융합
• /
• 제4권4호
• /
• pp.309-316
• /
• 2018

본 연구에서는 실제와 같은 가상발표환경을 구현하여 실전에서 자신감 있게 발표할 수 있도록 도와주기 위한 3D 가상현실기반의 발표훈련시스템을 제안한다. 제안시스템은 발표자의 음성과 행동을 실시간으로 분석하여 가상공간의 청중들에게 반영되게 함으로서 사실감 있고 몰입도 높은 발표 및 면접 환경을 제공하였다. 발표자는 6DOF Tracking이 되는 HMD와 VR Controller를 착용하고 Kinect를 이용하여 가상공간 속에서의 시점 변화 및 인터랙션을 줄 수 있으며 가상공간은 사용자가 설정한 다양한 환경으로 변경이 가능하도록 하였다. 발표자는 가상공간 속에 별도로 제공되는 뷰에 표시된 프리젠테이션 파일 및 스크립트를 보며 내용 숙지 및 발표 숙달 연습을 하게 된다.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2004년도 추계학술대회 논문집
• /
• pp.989-992
• /
• 2004

In general, it is known that walking stability of a quadruped is determined by its COG(Center of Gravity). In this paper, in order to know whether our virtual quadruped robot is applicable to the real quadruped robot, we simulated our virtual model using the data from the real robot‘s walking. We were able to evaluate the stride of quadruped based on direct and inverse kinematics and compared the stride of the simulation with real robot’s it. During the simulation we calculated the COG of the virtual model and evaluated the walking stability of real model.

• 한국방송∙미디어공학회:학술대회논문집
• /
• 한국방송공학회 2009년도 IWAIT
• /
• pp.834-837
• /
• 2009

Augmented Reality (AR) is a useful technology for various industrial systems. This paper suggests a new playground system which uses markerless AR technology. We developed a virtual playground system that can learn physics and kinematics from the physical play of people. The virtual playground is a space in which real scenes and CG are mixed. As for the CG objects, physics of the real world is used. This is realized by a physics engine. Therefore it is necessary to analyze information from cameras, so that CG reflects the real world. Various games options are possible using real world images and physics simulation in the virtual playground. We think that the system is effective for education. Because CG behaves according to physics simulation, users can learn physics and kinematics from the system. We think that the system can take its place in the field of education through entertainment.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
• /
• pp.354-357
• /
• 1996

Virtual Manufacturing System(VMS) is an integrated computer based model which has physical, logical schema and behavior of real manufacturing system. In this paper, an integrated scheduling system is developed to simulate and control a Virtual Factory. A workflow model is constructed to define and analyze the structure of a VMS. On-line dynamic dispatching system is developed using MultiPass algorithm and scheduling system considering dynamic CAPP is carried out. Integrated scheduling system developed in this paper reduces the discrepancies between virtual model and real manufacturing system, and control of real shop floor is possible.

• 한국시뮬레이션학회:학술대회논문집
• /
• 한국시뮬레이션학회 1998년도 The Korea Society for Simulation 98 춘계학술대회 논문집
• /
• pp.101-105
• /
• 1998

A large system predictor, which can perform prediction of sales trend in a huge number of distribution centers, is presented using neural predictive model. There are 20,000 number of distribution centers, and each distribution center need to forecast future demand in order to establish a reasonable inventory policy. Therefore, the number of forecasting models corresponds to the number of distribution centers, which is not possible to estimate that kind of huge number of accurate models in ERP (Enterprise Resource Planning)module. Multilayer neural net as universal approximation is employed for fitting the prediction model. In order to improve prediction accuracy, a sequential simulation procedure is performed to get appropriate network structure and also to improve forecasting accuracy. The proposed simulation procedure includes neural structure identification and virtual predictive model generation. The predictive model generation consists of generating virtual signals and estimating predictive model. The virtual predictive model plays a key role in tuning the real model by absorbing the real model errors. The complement approach, based on real and virtual model, could forecast the future demands of various distribution centers.

• 한국실내디자인학회:학술대회논문집
• /
• 한국실내디자인학회 2004년도 추계학술발표대회 논문집
• /
• pp.80-83
• /
• 2004

It is impossible to do real verification on design spaces before their completions due to the characteristics of building and interior space designs. So, in designing spaces, designers should reflect their real experiences in their lives into their design works. 3D games where GPU and other kinds of advanced technologies have bee applied first show their leads in technologies have bee applied first show their leads in technologies about 5 years than VRML. Those games which are produced reflecting real environment as it is could be regarded as the most excellent tool in their completeness level of physical environment due to their characteristics. This means that if 3D game engines employing GPU are used effectively they could be used as a presentation tool for virtual spaces. This study studies the expressions of virtual constructions through 3D game engines employing GPU, not in VRML-based virtual spaces on Webs but in immersion-type virtual spaces.

• 한국게임학회 논문지
• /
• 제21권1호
• /
• pp.91-98
• /
• 2021

본 논문은 뇌파를 이용하여 가상현실의 오브젝트와 실제 환경의 오브젝트를 동시 컨트롤하는 시스템에 대해 제안한다. 뇌파를 측정하여 사용자의 집중도를 파악하고 이를 수치화하여 가상과 현실의 오브젝트를 상승 혹은 하강시키는 시스템을 제안한다. 설계에 대한 테스트를 위해 웹 기반의 가상현실 시스템을 구현하였고 라즈베리파이를 이용하여 임베디드 시스템을 구현하였다. 뇌파를 이용하여 가상의 물체와 현실의 물체의 컨트롤이 가능한 것을 확인하였다. 이를 활용한 다양한 콘텐츠의 개발이 가능하다는 결과를 도출하였다.

• 한국자동차공학회논문집
• /
• 제8권4호
• /
• pp.158-168
• /
• 2000

Vehicle driving simulators can provide engineers with benefits on the development and modification of vehicle models. One of the most important factors to realistic simulations is the fidelity given by a motion system and a real-time visual image generation system. Virtual reality technology has been widely used to achieve high fidelity. In this paper the virtual environment including a visual system like a head-mounted display is developed for a vehicle driving simulator system by employing the virtual reality technique. virtual vehicle and environment models are constructed using the object-oriented analysis and design approach. Accordint to the object model a three dimensional graphic model is developed with CAD tools such as Rhino and Pro/E. For the real-time image generation the optimized IRIS Performer 3D graphics library is embedded with the multi-thread methodology. Compared with the single loop apprach the proposed methodology yields an acceptable image generation speed 20 frames/sec for the simulator.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2005년도 춘계학술대회 논문집
• /
• pp.960-964
• /
• 2005

Digital Virtual Manufacturing is a technology to facilitate effective product developments and agile productions by digital models representing the physical and logical schema and the behavior of real manufacturing systems including products, process, manufacturing resources and plants. A digital virtual factory as a well-designed and integrated environment is essential for successful applications of this technology. In this research, we constructed a sophisticated digital virtual factory of the shipbuilding company's section steel shop by 3-D CAD and virtual manufacturing simulation. This digital virtual factory can be applied for diverse engineering activities in design, manufacturing and control of the real factory.