• Proceedings of the Korea Information Processing Society Conference
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• 2011.04a
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• pp.547-550
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• 2011

The purpose of this paper is to verify and validate the maintenance tasks of the construction of a nuclear facility using a digital mock-up and simulation technology instead of a physical mock-up. Prior to the construction of a nuclear facility, a remote simulator that provides the opportunity to produce a complete digital mock-up of the PRIDE (Pyroprocess Integrated Inactive DEmonstration Facility) region and its remote handling equipment, including operations and maintenance procedures has been developed. In this paper, the system architecture and graphic user interface of a remote simulator that coincides with the extraordinary nature of a nuclear fuel cycle facility is introduced. In order to analyze the remote accessibility of a remote manipulator, virtual prototyping that was performed it by using haptic device of external input devices under a 3D full-scale digital mock-up is explained.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.107-109
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• 2004

In this paper, authors propose the sensor fusion system that can recognize multiple 3D objects from 2D projection images and tactile information. The proposed system focuses on improving recognition performance of 3D object. Unlike the conventional object recognition system that uses image sensor alone, the proposed method uses tactual sensors in addition to visual sensor. Neural network is used to fuse these informations. Tactual signals are obtained from the reaction force by the pressure sensors at the fingertips when unknown objects are grasped by four-fingered robot hand. The experiment evaluates the recognition rate and the number of teaming iterations of various objects. The merits of the proposed systems are not only the high performance of the learning ability but also the reliability of the system with tactual information for recognizing various objects even though visual information has a defect. The experimental results show that the proposed system can improve recognition rate and reduce learning time. These results verify the effectiveness of the proposed sensor fusion system as recognition scheme of 3D object.

• Science of Emotion and Sensibility
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• v.5 no.4
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• pp.77-84
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• 2002

In this paper, we propose the NAVER, a general framework for multipurpose virtual environments, and introduce the case study of evaluating car prototypes using cave-like systems. As a framework to implement variant applications in virtual environment, NAVER is extensible, reconfigurable and scalable. NAVER consists of several external modules (Render Server, Control Server and Device Server), which communicate each other to share states and user-provided data and to perform their own functions. NAVER supports its own scripting language based on XML which allows a user to define variant interactions between objects in virtual environments as well as describe the scenario of an application. We used NAVER to implement the system for evaluating car prototyes in a CAVE-like virtual environment system. The CAVE-like virtual environment system at KIST consists three side screens and a floor screen (each of them is a square with side of 2.2m), four CRT projectors displays stereoscopic images to the screens, a haptic armmaster, and a 5.1 channel sound system. The system can provide a sense of reality by displaying auditory and tactile senses as well as visual images at the same time. We evaluate car prototypes in a CAVE-like system in which a user can observe, touch and manipulate the virtual installation of car interior.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2753-2758
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• 2003

Tactile sensation is essential for many manipulation and exploration tasks not only in a real environment but also in a virtual environment. In this paper, we discuss a conceptual design of an integrated tactile display system. The system comprises two parts: a 2 DOF force feedback device for kinesthetic display and a tactile feedback device for displaying the normal stimulation to skin and the skin slip/stretch. Psychophysical experiments measure the effects of fingerpad selection, the direction of finger movements and the texture width on tactile sensitivity. We also investigate characteristics of lateral finger movement while subjects perceive different textures. From the experimental results, the principal parameters for designing a tactile display are suggested. A tactile display device is implemented using eight piezoelectric bimorphs and a linear actuator, and is attached to a 2 DOF translational force feedback device to simultaneously simulate texture and stiffness of the object.

• IEMEK Journal of Embedded Systems and Applications
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• v.3 no.4
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• pp.244-250
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• 2008

This paper describes the design and implementation of an unmanned ground vehicle (UGV) and also estimates how well autonomous navigation and remote control of UGV can be performed through the optimized arbitration of several sensor data, which are acquired from vision, obstacle detection, positioning system, etc. For the autonomous navigation, lane detection and tracing, global positioning, and obstacle avoidance are necessarily required. In addition, for the remote control, two types of experimental environments are established. One is to use a commercial racing wheel module, and the other is to use a haptic device that is useful for a user application based on virtual reality. Experimental results show that autonomous navigation and remote control of the designed UGV can be achieved with more effectiveness and accuracy using the proper arbitration of sensor data and navigation plan.

• Proceedings of the KIPE Conference
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• 2000.07a
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• pp.729-734
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• 2000

This paper proposes virtual-magnetic system by a force-reflecting interface to drive a ultrasonic motors(USMs) To approach virtual magnet in graphic the 6 dDOF force-reflecting interfaces provides force feedback to users as if I is magnetic-force, So users can feel real magnet Effectively to display the magnetic-force we need the interface with specific characteristics such as low inertia almost zero friction and very high stiffness As an actuator for the interface the USMs have many good advantage satisfied these conditions over conventional servo motors. To estimate capability of this virtual-magnetic system we did an experiment of magnetism based on coulomb's law when Coulmb's low apply this experiment it is vey conformable to real magnet

• Proceedings of the IEEK Conference
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• 2008.06a
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• pp.865-866
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• 2008

Despite the effort for affording hearing handicapped persons facility for living, the investigation of assistive devices which recognize the out of sight circumstance has been studied insignificantly. In this paper, a novel acoustic-aware system is suggested to forward the sudden noise occured by the appearance of a new context to a hearing-impaired persons.

• Proceedings of the KIPE Conference
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• 1998.07a
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• pp.116-122
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• 1998

This Paper presents some of challenges of creating feedback force, through manipulation of master manipulator, allowing the user to feel objects within a virtual environment. A sense of touch for the virtual environment. A sense of touch for the virtual environments was generated by a virtual compliance control method. In theis system data communication between the master and slave, we used TCP protocol. In the experiments. A position error between the master and slave arm was about $13.56^{\circ}$ in case that the master and slave arm had not compliance properties of the virtual object, while they have the its properties the position error reduced by $2.43^{\circ}$.

• Proceedings of the Korea Information Processing Society Conference
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• 2002.11a
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• pp.809-812
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• 2002

가상 현실이나 게임 제작 분야에서는 체감에 의한 실재감을 실시간으로 처리하는 것이 요구되고 있다. 체감 효과를 표현하기 위한 일반직인 형태는 PhanTom에서 사용 가능한 햅틱 라이브러리를 사용하지만, 처리 속도의 문제 때문에 대화형 시스템(interactive system)에는 그 사용의 한계를 가진다. 본 논문에서는 햅틱 렌더링의 근본적인 문제인 실시간 렌더링 문제를 극복하기 위한 비선형 보간에 의한 근사 방법을 제안한다. 제안하는 방법은 하이브리드 접근 방식으로, 캐릭터에 작용하는 동역학적 움직임을 햅틱 효과 생성을 위하여 기하학적으로 재구성함으로써 체감효과 생성에 필요한 시간을 최소화 할 수 있다. 본 논문의 결과로는 캐릭터의 빈번한 제어에서 발생되는 체감 효과를 빠르게 생성할 수 있음을 보이며, 안정적이면서 그럴 듯한 효과를 생성할 수 있음을 보인다.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.82.2-82
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• 2001

In this paper, when we design and implement an internet-based teleoperation control, some important points that should be considered (e.g., transmission characteristics, time delay prediction and transmission protocol are inspected and simulated. First, we will investigate data transmission characteristics at the Internet, and build a model for the transmission delay and packet loss through the characteristics of that effect. And then, we inspect how to predict transmission delay, and examine transmission protocols which are proper for the control-oriented Internet protocol. Finally, we apply it to a force-reflective teleoperation control system that consists of a six d.o.f haptic interface and a five d.o.f manipulator via the Internet.