• The Journal of Korea Robotics Society
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• v.19 no.1
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• pp.31-38
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• 2024

A mobile manipulator is capable of handling a wide range of workspaces by overcoming the limitations of mobility inherent in existing fixed-base manipulators. To simulate the mobile manipulator, two contact operations should be considered in the physics engines. One of these operations is the grasp stability between the gripper and the object, while the other involves the contact between the wheels of the mobile robot and the ground during driving. However, it is still difficult to choose an appropriate physics engine for simulating these contact operations of the mobile manipulator. In this paper, the performance of physics engines for simulating the mobile manipulator is evaluated. Firstly, the grasp stability of the physics engine is quantitatively evaluated based on the contact force discontinuity. Secondly, when the mobile robot is controlled by open or closed-loop control methods, differences in the path taken by the mobile robot depending on the physics engine are analyzed. To assess the performance of robot simulation, three dynamic simulators-MuJoCo, CoppeliaSim, and IsaacSim-are used along with five physics engines: MuJoCo, Newton, ODE, Bullet, and PhysX.

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.48 no.12
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• pp.8-14
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• 2011

The optimal geometry of the gate field plate in AlGaN/GaN-on-Si HEMT has been proposed using two-dimensional device simulation to achieve a high breakdown voltage for a given gate-to-drain distance. It was found that the breakdown voltage was drastically enhanced due to the reduced electric field at the gate corner when a gate field plate was employed. The electric field distribution at the gate corner and the field plate edge was investigated as functions of field plate length and insulator thickness. According to the simulation results, the electric field at the gate corner can be successfully reduced even with the field plate length of 1 ${\mu}m$. On the other hand, when the field plate length is too long, the distance between field plate and drain electrode is reduced below a critical level, which eventually lowers the breakdown voltage. The highest breakdown voltage was achieved with the field plate length of 1 ${\mu}m$. According to the simulation results varying the $SiN_x$ film thickness for the fixed field plate length of 1 ${\mu}m$, the optimum thickness range of the $SiN_x$ film was 200 - 300 nm where the electric field strength at the field plate edge counterbalances that of the gate corner.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.48 no.11
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• pp.44-52
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• 2011

In this article, we present a QoS-guaranteed IP mobility management scheme of Internet service for fast moving vehicles with multiple wireless network interfaces. The idea of the proposed mechanism consists of two things. One is that new wireless connections are established to available wireless channels whenever the measured data rate at the vehicle equipped with mobile gateway drops below to the required data rate of the user requirement. The other is that parallel distribution packet tunnels between an access router and the mobile gateway are dynamically constructed using multiple wireless network interfaces in order to guarantee the required data rate during the mobile gateway's movement. By doing these methods, the required data rate of the mobile gateway can be preserved while eliminating the possible delay and packet loss during handover operation, thus resulting in the guaranteed QoS. The architecture of the IETF standard HMIPv6 has been extended to realize the proposed scheme, and detailed algorithms for the extension of HMIPv6 has been designed. Finally, simulation has been done for performance evaluation, and the simulation results show that the proposed mechanism demonstrates guaranteed QoS during the handover with regard to the handover delay, packet loss and throughput.

• Journal of the Korea Society for Simulation
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• v.31 no.3
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• pp.55-61
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• 2022

Currently police and fire departments use a Network/Wifi/GPS based emergency location positioning system established by mobile carriers to directly link with the device of the people who request the rescue to accurately position the expected location in the call area. However in the case of mountain rescue it is difficult to rescue the victim in golden time because the location of the search area cannot be limited when the victim is located in a radio shadow area of the mountain or the device power is off and this situation become worse if victim fail to report 911 by himself due to the injury. In this paper, we are expected to solve the previous problem by propose the mobile telecommunication forensic simulator consist of time series of cell information, human mobility model which include some general and specific features (age, gender, behavioral characteristics of victim, etc.) and intelligent infer system. The results of analysis appear in heatmap of polygons on the map based on the probability of the expected location information of the victim. With this technology we are expected to contribute to rapid and accurate lifesaving by reducing the search area of rescue team.

• Journal of Aerospace System Engineering
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• v.16 no.3
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• pp.23-34
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• 2022

Cities around the world are increasing their demand for Urban Air Mobility (UAM) aircraft due to traffic congestion with population concentration. Aircraft with various shapes depending on fixed-wing and propulsion systems, are being prepared for commercialization. Airworthiness certification is required as it is a manned transportation vehicle that flies in the city center and transports people on board. UAM aircraft are vulnerable to lightning and HIRF environments due to the increasing use of composite materials, the use of electric motors, and use of electronic equipment. Currently, the development of certification technology, guidelines, and requirements in lightning and HIRF environments for UAM aircraft is incomplete. In this study, the certification procedures for lightning and HIRF indirect impacts of rotorcraft shown in AC 20-136B and AC 20-158A issued by the Federal Aviation Administration (FAA), were verified and applied to the computerized simulation of UAM aircraft. The impact of lightning and HIRF on ducted fan UAM aircraft was analyzed through computerized simulation, and the basis for establishing practical guidelines for certification of UAM aircraft to be operated in the future is presented.

• Journal of the Korean Society of Marine Environment & Safety
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• v.29 no.6
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• pp.688-696
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• 2023

In the present study, free roll decay and resistance performances of fishing vessels were evaluated with the combinations and variations of in the parameters of appendages which are attached to improve motion performance of fishing vessels. Computational Ffluid Ddynamics was used to perform free roll decay and resistance analysis. The roll period and decay coefficient were derived by the variations in the combination and dimensions of the primary appendages of the bilge keel and the under keel. It was observed thatThe variations of in the length of the under keel did not significantly impact to the roll damping coefficient. Conversely, for the bilge keel, an increase in the length and angle resulted in an increase in the roll damping coefficient. Comparison of resistance performance was additionally assessed among the selected hulls with the appendages and bare hull. The resistance of the hull with the appendages was higher than that of the bare hull due owing to the changes of in the pressure on the surface of the hull and trim angle. Throughout the present study, the impact of appendage parameter and arrangement on the free roll decay and resistance performance of fishing vessels were was assessed,. which This will be beneficial for the application of appendages to fishing vessels.

• The Journal of the Korea Contents Association
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• v.9 no.8
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• pp.198-207
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• 2009

Recently, it was possible to represent the realistic clothes in the cloth simulation along with growth of 3D computer animation such as visual contents. In addition, because of the development of H/W(Hardware) and S/W(Software), the accessibility and participation are growing. However, in order to make the image of high quality of 3D animation, the optimized production pipeline was need. In this paper, in order to overcome the limitation of exiting 3D computer animation production pipeline, we propose the optimized production pipeline of the cloth simulation. Our production pipeline makes the optimization arrangement in consideration of the mobility in order to supplement the related structure limit toward each part of the existing pipeline. Moreover, by utilizing the dummy cloth the association nature with the animation part is solved and a performance is improved. The proposal pipeline actually introduced to the animation production. And then we can improve the performance production time and production manpower consumption. Consequently, our pipeline is guaranteed an optimized work by emphasizing a connection in the direct image production.

• International Journal of Highway Engineering
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• v.14 no.3
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• pp.163-171
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• 2012

Demand Responsive Transit (DRT) services are becoming necessary as part of not only alternative transportation means for elderly and mobility impaired passengers, but also sustainable and flexible transportation options in urban area due to the development of communication technologies and Location Based Services (LBS). It is difficult to investigate the system performance regarding vehicle operational schemes and vehicle routing algorithms due to the lack of commercial software to support door-to-door vehicle simulation for larger area. This study proposes a simulation framework to evaluate innovative and flexible transit systems focusing on various vehicle routing algorithms, which describes data-type requirements for simulating door-to-door service on demand. A simulation framework is applied to compare two vehicle dispatch algorithms, Nearest Vehicle Dispatch (NVD) and Insertion Heuristic (IH) for real-time shared-taxi service in Seoul. System productivity and efficiency of the shared-taxi service are investigated, comparing to the conventional taxi system.

• Journal of the Korea Society for Simulation
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• v.20 no.1
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• pp.19-28
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• 2011

The safety applications based on the IEEE 802.11p, periodically transmit the safety-related information to all surrounding vehicles with high reliability and a strict timeline. However, due to the high vehicle mobility, dynamic network topology and limited network resource, the fixed beacon scheduling scheme excess delay and packet loss due to the channel contention and network congestion. With this motivation, we propose a novel beacon scheduling algorithm referred to as spatial-aware(SA) beacon scheduling based on the spatial context information, dynamically rescheduling the beaconing rate like a TDMA channel access scheme. The proposed SA beacon scheduling algorithm was evaluated using different highway traffic scenarios with both a realistic channel model and 802.11p model in our simulation. The simulation results showed that the performance of our proposed algorithm was better than the fixed scheduling in terms of throughput, channel access delay, and channel load. Also, our proposed algorithm is satisfy the requirements of vehicular safety application.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.5
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• pp.1020-1030
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• 2016

This paper propose an improving relay node selection method for node-to-node connectivity. This concern with the mobility and analysis of deployed for masking operation using highest connectivity node. The major of Delay Tolerant Network (DTN) routing protocols make use of simple forwarding approach to transmit the message depend on the node's mobility. In this cases, the selection of the irrelevant mobile node induced the delay and packet delivery loss caused by limiting buffer size and computational power of node. Also the proposed algorithm provides the node connectivity considering the mobility and direction select the highest connectivity node from neighbor node using masking operation. From the simulation results, the proposed algorithm compared the packet delivery ratio with PROPHET and Epidemic. The proposed Enhanced Prediction-based Context-awareness Matrix(EPCM) algorithm shows an advantage packet delivery ratio even with selecting relay node according to mobility and direction.