• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.26 no.1
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• pp.20-29
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• 2017

Motion synchronization between developed real and virtual robots for object recognition and target tracking is introduced. ASUS's XTION PRO Live is implemented as a sensor and configured to recognize walls and obstacles, and perceive objects. In order to create virtual reality, Unity 3D is adopted to be associated with the real robot, and the virtual object is controlled by using an input device. A Bluetooth serial communication module is used for wireless communication between the PC and the real robot. The motion information of a virtual object controlled by the user is sent to the robot. Then, the robot moves in the same way as the virtual object according to the motion information. Through motion synchronization, two scenarios, which map the real space and current object information with virtual objects and space, were demonstrated, yielding good agreement between the two spaces.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.8
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• pp.1586-1591
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• 2011

This paper considers synchronization problem of a complex dynamical network. For the problem, the virtual target node is chosen as one of nodes in the complex network and only one connection is needed between an isolate target node and virtual target node not any more connections. Moreover, our synchronization scheme does not need additional conditions and information of coupling matrix comparing with existing works. Based on Lyapunov stability theory, a design criterion for a novel adaptive feedback controller for the synchronization between the isolate target node and another nodes of the complex network is proposed. Finally, the proposed method is applied to a numerical example in order to show the effectiveness of our results.

• Journal of Korea Multimedia Society
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• v.8 no.3
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• pp.389-397
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• 2005

In this paper, we study the synchronization method of animated simulations and VRs for on-line virtual reality education system. To build the data of animated simulations and synchronization modules of VRML content, the media-synchronizing technology, HTML + TIME and scripts are used. The VRML control module ismade into Java applet using the Java EAI provided for the web and the interface for VRML contents. To control the animation of VRML contents, the node information is extracted, and an animation production template capable of controlling animation in inter-connection with VRML content is made. With evaluation of the animation control performance, processing speed, synchronization performance between media in the system built, more improved results are obtained. We would like to suggest a education system with easy system construction and various multi-medium applicability by realizing HTML + TIME media synchronization and VRML web 3D virtual reality creation techniques, and animated images and 3D animation controls according to time using Java through this study.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.3
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• pp.248-255
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• 2013

This paper proposes the architecture of the RILS (Robot-in-the-Loop-Simulation) consisting of the robot, the virtual robot, and the avatar robot which is the type of virtual robots operating according to the robot status and behavior. And the synchronization algorithm for mobilization part of the avatar robot is suggested, which reduces the difference between behaviors of the robot and those of the avatar robot. This difference occurs due to the environmental and mechanical mismatches between the robot and avatar robot. In order to reduce this difference in robots behaviors, the synchronization algorithm controls the avatar robot based on the data observed from the robot's behavior. The proposed architecture and the synchronization algorithm are validated from some simulation results.

• Journal of KIISE:Computer Systems and Theory
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• v.33 no.12
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• pp.867-879
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• 2006

This paper concerns fast and time accurate HW/SW cosimulation for MPSoC(Multi-Processor System-on-chip) architecture where multiple software and/or hardware components exist. It is becoming more and more common to use MPSoC architecture to design complex embedded systems. In cosimulation of such architecture, as the number of the component simulators participating in the cosimulation increases, the time synchronization overhead among simulators increases, thereby resulting in low overall cosimulation performance. Although SystemC cosimulation frameworks show high cosimulation performance, it is in inverse proportion to the number of simulators. In this paper, we extend the novel technique, called virtual synchronization, which boosts cosimulation speed by reducing time synchronization overhead: (1) SystemC simulation is supported seamlessly in the virtual synchronization framework without requiring the modification on SystemC kernel (2) Parallel execution of component simulators with virtual synchronization is supported. We compared the performance and accuracy of the proposed parallel SystemC cosimulation framework with MaxSim, a well-known commercial SystemC cosimulation framework, and the proposed one showed 11 times faster performance for H.263 decoder example, while the accuracy was maintained below 5%.

• Journal of Digital Convergence
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• v.17 no.1
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• pp.203-208
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• 2019

In this paper, we propose a real-time virtual model synchronization algorithm using object feature detection. The proposed algorithm may be useful to synchronize between real objects and their corresponding virtual models through object feature search in two-dimensional images. It consists of an algorithm to classify objects with colors individually, and an algorithm to analyze the orientation of objects with angles. We can synchronize the motion of the real object with the virtual model by providing the environment of moving the virtual object through the hand without specific controllers. The future research will include the algorithm to synchronize real object with unspecified shapes, colors, and directions to the corresponding virtual object.

• Journal of Positioning, Navigation, and Timing
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• v.10 no.4
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• pp.387-393
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• 2021

This paper proposes a system to synchronize the time of computers over an unmanned aerial vehicle (UAV) network. With the proposed system, the UAVs can perform missions that require precise relative time. Also, data collected by UAVs can be fused precisely with synchronized time. In the system, to synchronize the time of all computers over the UAV network, two-step synchronization is performed. In the first step, the mission computers of the UAVs are synchronized through the server of the system. After the first step, the mission computers measure time offset between the time of the mission computers and the flight computers. The offset values are delivered to the server. In the second step, virtual time is determined by the server from the collected time offset. The measured offset is compensated by moving the synchronized time of mission computers to the reasonable virtual time. Since only the time of mission computers are controlled, any flight computers that use micro air vehicle link (MAVLink) protocol can be synchronized in the proposed system.

• The Journal of Korea Robotics Society
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• v.12 no.2
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• pp.184-193
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• 2017

This work shows how to create an algorithm and implementation for motion and image matching between a vehicle simulator and Unity 3D based virtual object. The motion information of the virtual vehicle is transmitted to the real simulator via a RS232 communication protocol, and the motion is controlled based on the inverse kinematics solution of the platform adopting rotary-type six actuators driving system. Wash-out filters to implement the effective motion of the motion platform are adopted, and thereby reduce the dizziness and increase the realistic sense of motion. Furthermore, the simulator system is successfully designed aiming to reducing size and cost with adaptation of rotary-type six actuators, real driving environment via VR (Virtual Reality), and control schemes which employ a synchronization between 6 motors and 3rd order motion profiles. By providing relatively big sense of motion particularly in impact and straight motions mainly causing simulator sickness, dizziness is remarkably reduced, thereby enhancing the sense of realistic motion.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.35 no.5B
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• pp.762-770
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• 2010

The researches about energy efficieny of wireless sensor MAC protocol is an issue in present days. Therefore, MAC and routing protocols for reducing energy consumption at sensor nodes is needed. In this study, a low-power MAC protocol for sensor network is proposed, which in based on X-MAC by exploiting virtual synchronization. The virtual synchronization technique lets senders postpone packet transmission until receivers' wake-up time, so that senders transmit only one or two short preambles. Using NS-2, a proposed MAC protocol improve the energy efficiency by 10% compared with the X-MAC protocol.

• Journal of Korea Multimedia Society
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• v.9 no.2
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• pp.208-214
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• 2006

Participants of a NVE(networked virtual environment) may have different hardwares and network environments, and to guarantee the fairness, messages of participants should be synchronized. A solution for the synchronization problem is to wait for a certain amount of time until the server processes the message. It is not easy to determine a suitable waiting period because of the trade-off between the fairness and the responsiveness. In this paper we propose a method to decide a waiting period by considering only the participants with small network delays and perform experiments for the performance evaluation. Experiments show that the proposed method leads to significant improvement of responsiveness, while retaining fairness.