• 융복합기술연구소 논문집
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• 제6권2호
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• pp.15-20
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• 2016

This paper presents the effects of a virtual mass on the stability boundary of a virtual spring in the haptic system. A haptic system consists of a haptic device, a sampler, a virtual rigid body and zero-order-hold. The virtual rigid body is modeled as a virtual spring and a virtual mass. According to the virtual mass and the sampling time, the stability boundary of the virtual spring is analyzed through the simulation. As the virtual mass increases, the value of the virtual spring to guarantee the stability gradually increases and then decreases after reaching the maximum value. These simulation results show that the addition of the virtual mass enables to expand the stability boundary of the virtual spring.

• 융복합기술연구소 논문집
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• 제3권2호
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• pp.23-29
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• 2013

When a human operator interacts with a virtual wall that is modeled as a virtual spring model, the lager the stiffness of the virtual spring is, the more realistic the operator feels that the virtual wall is. In the previous studies, it is shown that the maximum available stiffness of a virtual spring to guarantee the stability can be increased when the first-order-hold method is applied, however the effects of a human impedance on the stability are not considered. This paper presents the effects of a human impedance on stability of haptic system with a virtual spring and a first-order-hold (FOH) method. The human impedance model is modeled as a linear second-order system model. The relations between the maximum available stiffness of a virtual spring and the human impedance such as a mass, a damping and a stiffness are analyzed through the MATLAB simulation. It is shown that the maximum available stiffness is proportional to the square root of the human mass or damping respectively.

• 융복합기술연구소 논문집
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• 제10권1호
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• pp.41-45
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• 2020

This paper presents the effects of a virtual mass on the stability boundary of a virtual spring in the haptic system with first-order-hold. The virtual rigid body is modeled as a virtual spring and a virtual mass. When first-order-hold is applied, we analyze the stability boundary of the virtual spring through the simulation according to the virtual mass and the sampling time. As the virtual mass increases, the stability boundary of the virtual spring gradually increases and then decreases after reaching the maximum value. The results are compared with the stability boundary in the haptic system with zero-order-hold. When a virtual mass is small, the stability boundary of a virtual spring in the system with first-order-hold is larger than that in the system with zero-order-hold.

• 융복합기술연구소 논문집
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• 제7권2호
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• pp.25-30
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• 2017

This paper presents the effects of a virtual mass with a low-pass filter on the stability boundary of a virtual spring in the haptic system. In general, a haptic system consists of a haptic device, a sampler, a virtual impedance model and zero-order-hold. The virtual impedance is modeled as a virtual spring and a virtual mass. However the high-frequency noise due to the sampling time and the quantization error of sampled data may be generated when an acceleration is measured to compute the inertia force of the virtual mass. So a low-pass filter is needed to prevent the unstable behavior due to the high-frequency noise. A finite impulse response (FIR) filter is added to the measurement process of the acceleration and the effects on the haptic stability are simulated. According to the virtual mass with the FIR filter and the sampling time, the stability boundary of the virtual spring is analyzed through the simulation. The maximum available stiffness to guarantee the stable behavior is reduced, but simulation results still show that the stability boundary of the haptic system with the virtual mass is larger than that of the haptic system without the virtual mass.

• Structural Engineering and Mechanics
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• 제37권1호
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• pp.79-93
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• 2011

A simple mechanical model is proposed to demonstrate qualitatively the pancake progressive collapse of multi-storey structures. The impact between two collapsed storeys is simulated using a simple algorithm that builds on virtual mass-spring-damper system. To analyze various collapse modes, columns and beams are considered separately. Parametric studies show that the process of progressive collapse involves a large number of complex mechanisms. However, the proposed model provides a simple numerical tool to assess the overall behavior of collapse arising from a few initiating causes. Unique features, such as beam-to-beam connection failure criterion, and beam-to-column connection failure criterion are incorporated into the program. Besides, the criterion of local failure of structural members can also be easily incorporated into the proposed model.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제14권4호
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• pp.1738-1756
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• 2020

To improve the accuracy and realism of the virtual surgical simulation system, this paper proposes an optimized mass-spring model with shape restoration ability based on volume conservation to simulate soft tissue deformation. The proposed method constructs a soft tissue surface model that adopts a new flexion spring for resisting bending and incorporates it into the mass-spring model (MSM) to restore the original shape. Then, we employ the particle swarm optimization algorithm to achieve the optimal solution of the model parameters. Besides, the volume conservation constraint is applied to the position-based dynamics (PBD) approach to maintain the volume of the deformable object for constructing the soft tissue volumetric model base on tetrahedrons. Finally, we built a simulation system on the PHANTOM OMNI force tactile interaction device to realize the deformation simulation of the virtual liver. Experimental results show that the proposed model has a good shape restoration ability and incompressibility, which can enhance the deformation accuracy and interactive realism.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.768-773
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• 2004

Developed in this paper a mass-spring engine to represent and manipulate deformable objects. The deformable object model is a basic technology in the ‘Tangible Space Initiative’. The mass-spring model consists of structural, shear and bending springs. Various forces like external, friction, gravity, spring, and damping forces are considered and collision with planes and spheres are treated. When a sphere collide mass-spring model, mass-spring engine calculates external force to interface mass-spring model. A prototype system is implemented in C on an MS windows machine.

• 센서학회지
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• 제31권4호
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• pp.260-265
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• 2022

In this study, we establish hyper-elastic haptic feedback in a virtual environment using finite element analysis techniques and develop a Force Torque (FT) sensor utilization method for application in tele-operation environments. In general, regarding haptic feedback data, in a tele-operation environment, the user is provided with feedback according to the measured force data when the model is inserted through an FT sensor. Conversely, in a virtual environment, the press-fitting model can be expressed through the spring-damper system rather than an FT sensor to provide feedback. However, unlike rigid and the elastic bodies, the hyper-elastic body represented by a spring-damper system in a virtual environment is a simple impedance model using stiffness and damping coefficients; it is limited in terms of providing actual feedback. Thus, in this study, haptic feedback was implemented using the data obtained from POD-RBF analysis results during hyper-elastic press-fitting experiments. The haptic feedback mechanism developed in this study was verified by comparing the FT sensor feedback data measured and calculated through hyper-elastic press-fitting experiments with spring-damper feedback data. Subsequently, the POD-RBF analysis feedback was compared and evaluated against the feedback mechanism of each environment through the test subject, and the similarities between the POD-RBF analysis feedback and FT sensor data feedback were verified.

• 한국지반공학회논문집
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• 제38권9호
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• pp.5-17
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• 2022

최근, 잔교식 말뚝 구조물의 응답스펙트럼해석 시 지반-말뚝 상호작용을 모사하기 위해 가상고정점(virtual fixed point) 및 탄성지반스프링(elastic soil spring) 방법에 관한 몇몇 연구가 수행되어 왔다. 그러나, 가상고정점 방법 및 탄성지반스프링 방법의 경우 지진 가속도 크기에 따라 변하는 지반 스프링 강성을 적절히 고려할 수 없으며, 현재까지 이를 고려한 잔교식 말뚝 구조물의 응답스펙트럼해석에 관한 연구는 부족한 실정이다. 그러므로 본 연구에서는 지진 가속도 크기에 따라 변하는 지반 스프링 강성을 고려하여 응답스펙트럼해석을 수행하였으며, 기존에 제시된 가상고정점 및 탄성지반스프링 방법과의 비교를 통해 잔교식 말뚝 구조물의 동적 거동을 평가하였다. 실험 및 해석을 비교한 결과, 가상고정점 모델의 경우 모멘트 차이가 최대 117% 발생하였고, Terzaghi(1955) 탄성지반스프링 모델의 경우 모멘트 차이가 최대 21% 발생하였다. 반면, API(2000) p-y 곡선을 바탕으로 지진 가속도 크기에 따라 변하는 지반 스프링 강성을 고려하여 응답스펙트럼해석을 수행하는 경우 실험 및 해석의 모멘트 차이가 최대 4% 미만으로 도출되어 실험모델의 응답을 가장 적절히 모사하는 것으로 나타났다.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제5권3호
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• pp.246-252
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• 2005

Intelligent Space is a space where many sensors and intelligent devices are distributed. Mobile robots exist in this space as physical agents, which provide human with services. To realize this, human and mobile robots have to approach each other as much as possible. Moreover, it is necessary for them to perform interactions naturally. It is desirable for a mobile robot to carry out human affinitive movement. In this research, a mobile robot is controlled by the Intelligent Space through its resources. The mobile robot is controlled to follow walking human as stably and precisely as possible. In order to follow a human, control law is derived from the assumption that a human and a mobile robot are connected with a virtual spring model. Input velocity to a mobile robot is generated on the basis of the elastic force from the virtual spring in this model. And its performance is verified by the computer simulation and the experiment.