• 한국정밀공학회지
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• 제15권12호
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• pp.180-187
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• 1998

The stability and theoretical performance limits of the feedback controlled force reflecting haptic manipulator have been discussed. All the virtual environment which interact physically with the haptic system have its own stable performance limit. Three different realization of the interfaces have been compared using the driving point admittance. The haptic system which is separated from the human hand or finger is superior to its stable interaction provided that there is a means to apply a direct damping between the haptic manipulator and the human finger Electro-magnetic force is used for its digital implementation of the simple separated type haptic device. The stable limits of a virtual wall is calculated and experimental results show that there is performance limits in this implementation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.51.4-51
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• 2002

$\textbullet$ A noval haptic mouse system is developed for human computer interface. $\textbullet$ Five bar mechanism is adapted for 2 dof force feedback with virtual environment. $\textbullet$ Double prismatic joint type mechanism is adapted to reflect 1 dof grabbing force feedback. $\textbullet$ Cable driven mechansim is used for actuation to reduce backlash and endow backdrivability. $\textbullet$ Virtual wall perception experiment is conducted to obtain force specification for haptic mouse. $\textbullet$ Average mouse workspace is measured using magnetic position tracker.

• 한국멀티미디어학회논문지
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• 제12권2호
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• pp.281-289
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• 2009

본 논문에서는 공간 스케치에 일반적으로 나타나는 깊이 입력 오차를 줄이는 효과적인 공간 입력을 구현하기 위해 깊이 값 인지를 도와주는 한 면 혹은 두 면의 가상 음향 반향판을 통한 새로운 상호작용 기술을 소개하고, 다양한 실험을 통해 음향 반향판을 가진 가상의 벽이 현실적인 가상 개념 디자인을 위한 효과적인 피드백으로 사용된 것을 보여 준다. 제안된 아이디어를 이용하여 깊이 값이 일정한 평면에서는 한 면 가상 음향 반향판의 피드백을 이용하여 모델과의 일치도를 약 35% 높일 수 있었고, 기울어진 평면에서는 두면 반향을 이용하여 한 면에 비해 악 4%의 일치도를 증가시킬 수 있었으며, 곡면 꽃병에서는 약 15%의 일치도를 증가시킬 수 있었다.

• Structural Engineering and Mechanics
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• 제66권6호
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• pp.713-727
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• 2018

Thin-walled mental tubes under lateral crushing are desirable and reliable energy absorbers against impact or blast loads. However, the early formations of plastic hinges in the thin cylindrical wall limit the energy absorption performance. This study investigates the energy absorption performance of a simple, light and efficient energy absorber called the ring stiffened tube. Due to the increase of section modulus of tube wall and the restraining effect of the T-stiffener flange, key energy absorption parameters (peak crushing force, energy absorption and specific energy absorption) have been significantly improved against the empty tube. Its potential application in the offshore blast wall design has also been investigated. It is proposed to replace the blast wall endplates at the supports with the energy absorption devices that are made up of the ring stiffened tubes and springs. An analytical model based on beam vibration theory and virtual work theory, in which the boundary conditions at each support are simplified as a translational spring and a rotational spring, has been developed to evaluate the blast mitigation effect of the proposed design scheme. Finite element method has been applied to validate the analytical model. Comparisons of key design criterions such as panel deflection and energy absorption against the traditional design demonstrate the effectiveness of the proposed design in blast alleviation.

• Nuclear Engineering and Technology
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• 제55권1호
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• pp.190-200
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• 2023

As the field of application of in-situ gamma spectroscopy is diversified, proficiency is required for consistent and accurate analysis. In this study, a program was developed to virtually create gamma energy spectra of artificial nuclides, which are difficult to obtain through actual measurements, for training. The virtual spectrum was created by synthesizing the spectra of the background radiation obtained through actual measurement and the theoretical spectra of the artificial radionuclides obtained by a Monte Carlo simulation. Since the theoretical spectrum can only be obtained for a given geometrical structure, representative major geometries for in-situ measurement (ground surface, concrete wall, radioactive waste drum) and the detectors (HPGe, NaI(Tl), LaBr₃(Ce)) were predetermined. Generated virtual spectra were verified in terms of validity and harmonization by gamma spectrometry and energy calibration. As a result, it was confirmed that the energy calibration results including the peaks of the measured spectrum and the peaks of the theoretical spectrum showed differences of less than 1 keV from the actual energies, and that the calculated radioactivity showed a difference within 20% from the actual inputted radioactivity. The verified data were assembled into a database and a program that can generate a virtual spectrum of desired condition was developed.

• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2006년도 학술대회 1부
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• pp.449-454
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• 2006

최근 PC 클러스터를 이용한 초고해상도 영상표현 시스템(예: PowerWall$^{TM}$) 혹은 몰입형 가상환경 표현시스템 (예: CAVE$^{TM}$, RealityCenters$^{TM}$) 등과 같은 멀티프로젝션 디스플레이 시스템은 산업, 군사, 과학, 의학 등에 널리 활용되고 있다. 하지만, 이와 같은 멀티프로젝션 디스플레이 시스템은 다수의 PC 클러스터와 프로젝터의 연결에 의해 구성이 되기 때문에 그 제어 방법은 각각의 PC 및 프로젝터의 프로그램과 동작을 반복적으로 실행하여야 한다. 이에 PC 클러스터 및 프로젝터의 직관적인 제어가 가능하고 일괄적으로 운용할 수 있는 환경이 필요하다. 본 연구에서는 멀티프로젝션 디스플레이 시스템의 PC 클러스터 및 프로젝터의 제어와 운용에 관한 것으로, PC 클러스터에 필요한 응용프로그램 일괄실행, 일괄 power 처리와 프로젝터에 필요한 일시중지(Mute), 입력소스선택, 일괄 power on/off 수행 등에 관한 효과적인 인터페이스의 구현 및 제어 방법을 제시하고자 한다.

• 제어로봇시스템학회논문지
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• 제7권2호
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• pp.160-167
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• 2001

This paper presents control and evaluation of a new haptic device with a 6-DOF parallel mechanism for interfacing with virtual reality. This haptic device has low inertial, high bandwidth compactness, and high output force capability mainly due to of base-fixed motors. It has also wider orientation workspace mainly due to a RRR type spherical joint. A control method is presented with gravity compensation and with force feedback by an F/T sensor to compensate for the effects of unmodeled dynamics such as friction and inertia. Also, dynamic performance has been evaluated by experiments. for force characteristics such as maximum applicable force, static-friction force, minimum controllable force, and force bandwidth Virtual wall simulation with the developed haptic device has been demonstrated.

• Earthquakes and Structures
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• 제19권6호
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• pp.459-469
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• 2020

An external prestressed steel-bar truss unit was developed as a new strengthening technology to enhance the seismic performance of an in-plane masonry wall structure while taking advantage of the benefits of a prestressed system. The presented method consists of six steel bars: two prestressed vertical bars to introduce a prestressing force on the masonry wall, two diagonal bars to resist shear deformation, and two horizontal bars to maintain the configuration. To evaluate the effects of this new technique, four full-scale specimens, including a control specimen, were tested under combined loadings that included constant-gravity axial loads and cyclic lateral loads. The experimental results were analyzed in terms of the shear strength, initial stiffness, dissipated energy, and strain history. The efficiency of the external prestressed steel-bar truss unit was validated. In particular, a retrofitted specimen with an axial load level of 0.024 exhibited a more stable post behavior and higher energy dissipation than a control specimen with an observed complete sliding failure. The four vertical bars of the adjacent retrofitting units created a virtual column, and their strain values did not change until they reached the peak shear strength. The shear capacity of the masonry wall structure with external prestressed steel-bar truss units could be predicted using the model suggested by Yang et al.

• 제어로봇시스템학회논문지
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• 제8권9호
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• pp.788-794
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• 2002

To improve surgical result of total hip arthroplasty (THA), there has been some approaches using a robotic milling system, which can make a precise cavity in the femur. Usually, to carve a femur, the surgical robot is controlled by a pre-programmed tool-path regardless of a surgeon's experience and Judgment. This paper presents a control method of a surgical robot for THA, which can be used as an advanced surgical tool. With a master/slave combined surgical robot, surgeon can directly control the motion and velocity of a surgical robot. The master/slave-combined robot is controlled to display a specific admittance for a surgeon's force to the surgical robot velocity. To prevent the over-carving of a femur, virtual hard wall is displayed on the surgical boundary. To evaluate the proposed control method of the master/slave-combined surgical robot, 2-DOF master/slave-combined manipulator is used in experiment.

• 로봇학회논문지
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• 제15권4호
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• pp.323-329
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• 2020

This paper presents a control algorithm for a wearable walking aid robot for subjects with paraplegia after stroke. After a stroke, a slow, asymmetrical and unstable gait pattern is observed in a number of patients. In many cases, one leg can move in a relatively normal pattern, while the other leg is dysfunctional due to paralysis. We have adopted the so-called assist-as-needed control that encourages the patient to walk as much as possible while the robot assists as necessary to create the gait motion of the paralyzed leg. A virtual wall was implemented for the assist-as-needed control. A position based admittance controller was applied in the swing phase to follow human intentions for both the normal and paralyzed legs. A position controller was applied in the stance phase for both legs. A power controller was applied to obtain stable performance in that the output power of the system was delimited during the sample interval. In order to verify the proposed control algorithm, we performed a simulation with 1-DOF leg models. The preliminary results have shown that the control algorithm can follow human intentions during the swing phase by providing as much assistance as needed. In addition, the virtual wall effectively guided the paralyzed leg with stable force display.