• 대한기계학회논문집A
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• 제25권5호
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• pp.891-898
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• 2001

This paper develops a master manipulator which can reflect a force from a slave manipulator effectively. It many have a big workspace, can represent a human operators manipulation perfectly, and is composed of a position control part, an orientation control part and an end effector control part. This paper also develops a graphic simulator using the Visual C++ and OpenGL in the Window operating system. It can be used to make a virtual slave manipulator and set a virtual working environment, and provide a visual information from a desired view point. A virtual teleoperation system is developed by connecting the developed master manipulator to the graphic simulator using an interfacing hardware bilaterally. It is used for performing a virtual object exploration experiment. In the experiment, two virtual objects are used. They are virtual wall and virtual hexahedron which have 0.7N/mm and 2.2 N/mm stiffness respectively. The experiments are performed under six different working conditions. The experiment results will show the effectiveness of the reflected force from the slave manipulator for improving the efficiency and stability of the teleoperation task.

• 한국방사성폐기물학회:학술대회논문집
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• 한국방사성폐기물학회 2003년도 가을 학술논문집
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• pp.431-437
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• 2003

본 연구에서는 공정운전에 필요한 물질 및 운전중 고장에 의한 유지보수를 위한 부품 등을 운반하고 취급 할 경우에 발생 할 수 있는 여러 문제점을 사전에 그래픽 시뮬레이터를 이용하여 검토하고, 공정운전의 핵심물질인 사용후핵연료 분말을 핫셀에 비산 시키지 않고 안전하게 운반 취급하는 방안과 취급에 필요한 장치를 도출하였다. 공정장치 및 유지보수 장비의 사전 검증은 일반적으로 실제 규모의 Mockup을 이용하지만 비용 및 시간적인 측면에서 제약을 받는 본 과제에서는 그래픽 시뮬레이션 기술을 활용하였다. 본 연구를 통하여 분석된 결과는 핫셀에 설치되는 실증장치의 설계에 반영하여 실증시험을 수행하면서 검증 할 예정이다.

• 감성과학
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• 제3권1호
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• pp.7-16
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• 2000

본 연구에서는 화상 시뮬레이터 상에서 저속 (40km/h) 주행과 고속 (160km/h) 주행으로 지루감 및 긴장감을 유발시킨 후, 100%의 Jasmine abs와 Lavender oil france (KIMEX Co. Ltd)의 향 자극이 지루함 및 긴장감의 증감에 미치는 영향을 알아보고자 한다. 건강과 피험자 10명을 대상으로 심전도, 피부온도, 맥파의 자율신경계 반응을 측정하였다. 또한 각 실험 전후에 Simulator Sickness를 측정하여 Simulator Sickness가 실험 결과에 미치는 영향을 분석하였다. 지루한 저속 주행 시 향자극이 없을 때에 비해 각 향을 제시하였을 때 각성 효과가 발생하여 교감 신경계가 활성화됨을 자율신경계 반응으로 관찰할 수 있었다. 그러나 두 가지 향에 따라 큰 차이는 발생하지 않았다. 본 연구로부터 일정하고 느린 주행으로 유발되는 신체의 이완 현상 또는 졸리움 현상이 향 자극에 의해 감소되는 경향을 자율 신경계의 반응을 통해 관찰할 수 있었다. 고속 주행 시에는 향을 제시하지 않았을 때보다 두 가지 향을 제시하였을 때 긴장감이 모두 이완되는 경향을 나타내었다. 따라서 고속 주행으로 유발되는 신체의 긴장감이 향 자극으로 인해 감소된다는 사실을 자율신경계의 반응을 통해 관찰할 수 있었다. 그러므로 본 연구로부터 지루한 저속 주행으로 유발된 신체의 이완감과 고속 주행으로 유발된 신체의 긴장감은 각 향 자극에 의해 이완감의 감소와 긴장감의 감소를 유발하였다는 사실을 관찰할 수 있었고, 두 향의 차이는 관찰할 수 없었다.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.1559-1563
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• 2007

This paper presents a virtual machine design simulation program. Kinematics of various mechanisms can be modeled with 3 dimensional geometry and actuators. CAD data for any machine component can be easily imported in STL format. Machine components are assembled with kinematic joints simply by drag and drop function in virtual graphic simulator. Interference and collision of any component with other components can be identified during the motion simulation. Graphic user interface program is developed using Microsoft Direct X code. A precision micro stage system is demonstrated with the proposed virtual machine design simulator.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2009년도 정보 및 제어 심포지움 논문집
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• pp.156-158
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• 2009

A graphic simulator is efficient to see what will happen to the target robot. But it is not exactly same as the real world. Because there are so many physical laws to be concerned. In this paper, we propose a simulator with physics engine to create motions for quadruped robot. It is not only to show more real simulations but also to be more efficient for teaching motions to quadruped robot. To solve the quadruped robot's dynamics or inverse kinematics, It takes much times and hard effort. Using physics engine make it easy to setup motions without calculating inverse kinematics or dynamics.

• 품질경영학회지
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• 제25권4호
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• pp.168-184
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• 1997

The primary objective of this paper is to develop an interactive computer graphic aided decision su, pp.rt system for the design of inspection plans for complex production systems. This research first develops a computer simulator, called Simulator for Inspection Systems(SIS), in order to represent the production system as a network model. The simulator elicits fundamental information about the system from the decision maker(DM) in an interactive manner. A decision su, pp.rt system is then proposed by combining SIS and Compromise Programming. The system simulates a set of possible inspection strategies implicitly, observes all the important measurements about the inspection system, and employs the compromise programming a, pp.oach to help the DM determine the best compromising allocation of inspection effort considering his/her preferences. Finally, the performance of the proposed system is evaluated using two test cases. The pros and cons of the system are also discussed.

• 수산해양기술연구
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• 제32권3호
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• pp.321-328
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• 1996

This paper presents a robot simulator which can automatically generate a smooth collision free path. This simulator has the characterstisc of the object - oriented programming which is coded in Borland C+ +. Using General Inverse Algorithm, the inverse kinematics solutions of any kind of robots can be found generally. This simulator also uses Bezier Functions for the description of a smooth collision - free path. In addition, GUI(Graphic User Interface)technique is employed for user's convenience.

• 로봇학회논문지
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• 제5권3호
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• pp.209-215
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• 2010

This paper presents a graphic user interface system consisting of graphic simulator and remote control system for a building cleaning robot. It provides a tool of convenient 3D graphical map construction for real world. The 3D map is reconstructed from existing 2D building CAD data with DXF format by using OpenGL graphic API. Through this system, graphic display of robot's status information, remote control and cleaning scheduling can be done for a building cleaning robot. This proposed system is expected to give efficient way of graphic simulation and remote monitoring and control system for a building cleaning robot.

• 한국방사성폐기물학회:학술대회논문집
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• 한국방사성폐기물학회 2005년도 Proceedings of The 6th korea-china joint workshop on nuclear waste management
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• pp.60-75
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• 2005

The remote operation of the Advanced Spent Fuel Conditioning Process (ACP) is analyzed by using the 3D graphic simulation tools. The ACP equipment operates in intense radiation fields as well as in a high temperature. Thus, the equipment should be designed in consideration of the remote handling and maintenance. As well as suitable remote handling and maintenance method needs to be provided. To provide such remote operation technology, we developed the graphic simulator which provides the capability of verifying the remote operability of the ACP without fabrication of the process equipment. In other words, by applying virtual reality to the remote maintenance operation, a remote operation task can be simulated in a computer, not in a real environment. In this way the graphic simulator can substantially reduce the design cost of the remote operation process and the equipment. Also it can provide new operation concept that is more reliable, easier to implement, and easier to understand.

• 디지털산업정보학회논문지
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• 제8권1호
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• pp.1-7
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• 2012

In this paper Vehicle driving simulator have been used in the development and modification of models. A real-time simulation system and washout algorithm for an excavator have been developed for a driving simulator with six degrees of freedom. An interesting question, "how the 6 DOF Driving Simulator can be controlled optimally for the various tasks?" is not easy to be answered. This paper presents the hardware and software developed for a driving simulator of construction vehicle. A simulator can reduce cost and time a variety of driving simulations in the laboratory. Using its 6 DOF Simulator can move in various modes, and perform dexterous tasks. Driving simulators have begun to proliferate in the automotive industry and the associated research community. This effort involves the real-time dynamic of wheel-type excavator the design and manufacturing of the Stewart platform an integrated control system of the platform and three-dimensional graphic modeling of the driving environments.