• Journal of Theoretical and Applied Mechanics
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• v.1 no.1
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• pp.97-109
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• 1995

In this paper, a finite viscoelastic continuum model for rubber and its finite element analysis are presented. This finite viscoelatic model based on continuum mechanics is an extended model of Johnson and Wuigley's 1-D model. In this extended model, continuum based kinematic measures are rigorously defied and by using this kinematic measures, elastic stage law and flow rule are introduced. In kinematics, three configuration are introduced. In kinematics, three configuration are introduced. They are reference, current and virtual visco configurations. In elastic state law, it is assumed that at a certain time, there exists an elastic potential which describes the recoverable elastic energy. From this elastic potential, elastic state law is derived. The proposed flow rule is based on phenomenological observation. The flow rule gives precise relaxation response. In finite element approximation, mixed Lagrangian description is used, where total and similar method of updated Lagrangian descriptions are used together. This approach reduces the numerical job and gives simple nonlinear syatem of equations. To satisfy the incompressible condition, penalty-type modified Mooney-Rivlin energy function is adopted. By this method nearly incompressible condition is obtain the virtual visco configuration. For verification, uniaxial stretch tests are simulated for various stretch rates. The simulated results show good agreement with experiments. As a practical experiments. As a preactical example, pressurized rubber plate is simulated. The result shows finite viscoelastic effects clearly.

• Proceedings of the ESK Conference
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• 1996.04a
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• pp.253-258
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• 1996

Virtual reality environment system is expected to be used as a new user interface tool oweing to its high immersiveness and high interactivity. To use VR interface effectively, we should identify the characteristics of the three-dimensional control tasks as if we did in two-dimensional graphic user interface environments. As a first step, we validated Fitts'law for the three-dimensional pointing tasks with the two input devices, Spaceball and Spacemouse. Different from the two-dimensional control tasks, VR pointing tasks needed inclusion of a new variable, size of the moving object, to Fitts'law. The modified

• Korean Journal of Computational Design and Engineering
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• v.20 no.3
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• pp.298-311
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• 2015

Nowadays, automatic digging operation of an excavator is a big challenge due to the complexity of digging environment, the hardness of soil and buried obstacles into the ground. In order to achieve the maximum soil bucket volume, this paper introduces a novel engineering model that was developed as a virtual excavator in the design phase. Through this model, the designs of mechanical and control systems for autonomous excavator are executed and modified easily before developing in real testbed. Based on a concept of an autonomous excavation, a mechanical system of excavator was first designed in SOLIDWORKS, and a soil model also was modeled by finite-element analysis in ANSYS, both modeled models were then exported to ADAMS environment to investigate the digging behavior through virtual simulation. An intelligent control strategy was generated in MATLAB/Simulink to control the excavator operation. The simulation results were demonstrated by effectiveness of the proposed excavator robot in testing scenarios with many soil types and obstacles.

• Journal of Mechanical Science and Technology
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• v.17 no.11
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• pp.1616-1627
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• 2003

This paper describes a mini linear optical pickup actuator. To reduce the size, inner yokes are designed to guide the mover and outer yokes of permanent magnets are removed. Magnetic circuit method is used to determine the thrust force. Virtual path method is proposed to analyze the open magnetic circuit analysis. The magnetic circuit of the proposed actuator can be a closed circuit due to the virtual path model of the outer magnetic flux. The validity of virtual path method is evaluated by comparing to the FEM analysis. Structural vibration is investigated using FEM and the design of the mover is modified to improve the vibration characteristic. Dynamic characteristic experiments shows that the performance of the proposed actuator is enough to be used as a coarse and fine seeking actuator simultaneously and the thrust force margin for loading a focusing actuator is guaranteed.

• Journal of KIISE:Software and Applications
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• v.36 no.3
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• pp.217-225
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• 2009

In case of sketching a conceptual model in 3D space, it's not easy for designer to recognize the depth cue accurately and to draw a model correctly in short time. In this paper, multi-strokes based sketch is adopted not only to reduce the error of input point but to substantiate the shape o) the conceptual design effectively. The designer can see the drawing result immediately after stroking some curves. The shape can also be modified by stroking curves repeatedly and be confirmed the modified shape in real time. However, the multi-strokes based sketch needs to manage the great amount of input data. Therefore, the drawing space is divided into the limited spatial cubical grids and the movable infernal vertex in each spatial grid is implemented and used to define the surface by the multi-strokes. We implemented the spatial sketching system which allows the concept designer's intention to 3D model data efficiently.

• Korean Journal of Computational Design and Engineering
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• v.14 no.6
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• pp.374-381
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• 2009

To meet the soaring demand recently, South Korea big shipbuilders are examining two things. One is new investment in plant and equipment. The other is replacement of production resources. Considering plant & equipment investment and replacement of production resources, even if actual production ability would be enough, the real output could be affected by limitation of logistics with lack of analysis. As we set up big shipyard in virtual space, we could perform actual production by using confirm production plan in virtual space. We've analyzed the load of block stock, load of road and load of transporter for logistics effects are followed by production increase. This research is to determine the possible problems of those analyzed results and to present the resolution using the current layout. And then modified yard layout, we reanalyzed previous three logistics effects. This simulation model could help administrator to make rational decision for changing yard layout.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.111-116
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• 1998

In this study, we try to coincide virtual robot system in an OLP(off-line programming) with actual robot system even though kinematic differences between them are made. The virtual robot in the OLP may be modeled according to kinematics of the actual robot system. However, it is a complicated problem to find exactly all kinematic parameters of actual robot and environment. In this paper, an automated calibration method is proposed In order to find some kinematical parameters which are necessary for the modeling of a robot and environment in the OLP. It is applicable to SCARA robot for assembly task. In this method, a well-marked worktable of environment Is regarded as reference coordinate frame. The robot detects some marks on the worktable through sensors attached to the end-effector. The necessary parameters are calculated from the data of the robot joint variables when the robot detects the mark. The model in the OLP is modified by the parameters.

• Journal of The Korean Astronomical Society
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• v.46 no.2
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• pp.93-96
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• 2013

Modified Newtonian Dynamics (MOND) is a possible solution for the missing mass problem in galactic dynamics; its predictions are in good agreement with observations in the limit of weak accelerations. However, MOND does not derive from a physical mechanism and does not make predictions on the transitional regime from Newtonian to modified dynamics; rather, empirical transition functions have to be constructed from the boundary conditions and comparisons with observations. I compare the formalism of classical MOND to the scaling law derived from a toy model of gravity based on virtual massive gravitons (the "graviton picture") which I proposed recently. I conclude that MOND naturally derives from the "graviton picture" at least for the case of non-relativistic, highly symmetric dynamical systems. This suggests that-to first order-the "graviton picture" indeed provides a valid candidate for the physical mechanism behind MOND and gravity on galactic scales in general.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 1996.04a
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• pp.141-146
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• 1996

Hand posture and force, which define aspects of the way an object is grasped, are features of robotics manipulation. A means for specifying these grasping "flavors" has been developed that uses an instrumented glove equipped with joint and force sensors. The new grasp specification system is being used at the Pennsylvania State University (Penn State) in a Virtual Reality based Point-and-Direct(VR-PAD) robotics implementation. In the Computer Integrated Manufacturing (CIM) Laboratory at Penn State, hand posture and force data were collected for manipulating bricks and other items that require varying amounts of force at multiple pressure points. The feasibility of measuring desired grasp characteristics was demonstrated for a modified Cyberglove impregnated with FSR (Force Sensitive Resistor) pressure sensors in the fingertips. A joint/force model relating the parameters of finger articulation and pressure to various lifting tasks was validated for the instrumented "wired" glove. Operators using such a modified glove may ultimately be able to configure robot grasping tasks in environments involving hazardous waste remediation, flexible manufacturing, space operations and other flexible robotics applications. In each case, the VR-PAD approach improved the computational and delay problems of real-time multiple-degree-of-freedom force feedback telemanipulation.ck telemanipulation.

• Journal of the Ergonomics Society of Korea
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• v.15 no.2
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• pp.165-176
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• 1996

Hand posture and force, which define aspects of the way an object is grasped, are features of robotic manipulation. A means for specifying these grasping "flavors" has been developed that uses an instrumented glove equipped with joint and force sensors. The new grasp specification system is being used at the Pennsylvania State University (Penn State) in a Virtual Reality based Point-and-Direct (VR-PAD) robotics implementation. In the Computer Integrated Manufacturing (CIM) Laboratory at Penn State, hand posture and force data were collected for manipulating bricks and other items that require varying amounts of force at multiple pressure points. The feasibility of measuring desired grasp characteristics was demonstrated for a modified Cyberglove impregnated with FSR (Force Sensitive Resistor) pressure sensors in the fingertips. A joint/force model relating the parameters of finger articulation and pressure to various lifting tasks was validated for the instrumented "wired" glove. Operators using such a modified glove may ultimately be able to configure robot grasping tasks in environments involving hazardous waste remediation, flexible manufactruing, space operations and other flexible robotics applications. In each case, the VR-PAD approach improved the computational and delay problems of real-time multiple- degree-of-freedom force feedback telemanipulation.