• Journal of KIISE:Computer Systems and Theory
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• v.28 no.12
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• pp.620-631
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• 2001

In interactive environments including computer games and virtual reality applications, we have increased need for interactive control of articulated body motions. Recently, physically based methods including constrained dynamics techniques are introduced to this area, in order to produce more realistic animation sequences. However, they are hard to achieve real-time control of articulated bodies, due to their heavy computations. In this paper, we present a procedural method for interactive animation of articulated bodies. In our method, each object of the constrained body is first moved according to their physical properties and external forces, without considering any constraints. Then, the locations of objects are adjusted to satisfy given constraints. Through adapting this two-stage approach, we have avoided the solving of large linear systems of equations, to finally achieve the interactive animation of articulated bodies. We also present a few example sequences of animations, which are interactively generated on PC platforms. This method can be easily applied to character animations in virtual environments.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.38 no.10
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• pp.845-851
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• 2014

Dielectrophoresis (DEP) is defined as the motion of suspended particles in solvent resulting from polarization forces induced by an inhomogeneous electric field. DEP has been utilized for various biological applications such as trapping, sorting, separation of cells, viruses, nanoparticles. However, the analysis of DEP trapping has mostly employed the period-averaged ponderomotive forces while the dynamic features of DEP trapping have not been attracted because the target object is relatively large. Such approach is not appropriate for the nanoscale analysis in which the size of object is considerably small. In this study, we thoroughly investigate the dynamic response of trapping to various system parameters and its influence on the trapping stability. The effects of particle conductivity on its motion are also focused.

• The Journal of the Korea Contents Association
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• v.7 no.3
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• pp.68-78
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• 2007

In a virtual aquarium, the behavior of fish objects is the most important factor in respect of visual effects. In addition to the individual behavior of fish object, the interactions between objects due to their attributes, can improve the dynamics and reality of the virtual world. In this paper, we analyze the principal habits of fish objects such as the vitality, the range of movement, the maximum depth of water they can live, and the cycle of eating. Then, we suggest a method for simulating the stable marine ecosystem with controlling the behaviors, the interaction with other species, the average span of life, and all that sort of thing based on the result of analysis. Because we can freely modify the behavior of fish object by altering the values of attributes, it can be utilized in the dynamic virtual aquarium, the 3D aquarium screen saver, and the virtual fish game, and so on.

• Journal of Advanced Navigation Technology
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• v.25 no.6
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• pp.441-449
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• 2021

With advances in autonomous vehicles, there is a growing demand for more accurate position estimation. Especially, this is a case for a moving robot for the indoor operation which necessitates the higher accuracy in position estimation when the robot is required to execute the task at a predestined location. Thus, a method for improving the position estimation which is applicable to both the fixed and the moving object is proposed. The proposed method exploits the initial position estimation from Bluetooth beacon signals as observation signals. Then, it estimates the gravitational acceleration applied to each axis in an inertial frame coordinate through computing roll and pitch angles and combining them with magnetometer measurements to compute yaw angle. Finally, it refines the control inputs for an object with motion dynamics by computing acceleration on each axis, which is used for improving the performance of Kalman filter. The experimental assessment of the proposed algorithm shows that it improves the position estimation accuracy in comparison to a conventional Kalman filter in terms of average error distance at both the fixed and moving states.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.3
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• pp.233-239
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• 2013

This paper presents the analysis and control of the position of the COG (Center of Gravity) for a two-wheel balancing robot. The two-wheel balancing robot is required to maintain balance by driving two wheels only. Since the robot is not exactly symmetrical and its dynamics is changing with respect to moving parts, robust balancing control is difficult. Balancing performance becomes difficult when two arms hold a heavy object since the center of gravity is shifted out of the wheel axis. Novel design of a sliding waist mechanism allows the robot to react against the shift of the COG by moving the whole upper body to compensate for the imbalance of the mass as a counter balancer. To relocate the COG position accurately, the COG is analyzed by force data measured from two force sensors. Then the sliding COG mechanism is utilized to control the sliding waist position. Experimental studies are conducted to confirm the proposed design and method.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.2
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• pp.80-88
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• 2000

This paper presents a method to optimize the bump steer characteristics (the change of toe angle with vertical wheel travel) with respect to hard points in the double wishbone front suspension of the four-wheel-drive vehicle using the design of experiment, multibody dynamics simulation, and optimum design program. Front and rear suspensions are modeled as the interconnection of rigid bodies by kinematic joints and force elements using DADS. The design variables with respect to the kinematic characteristics are obtained through the experimental design sensitivity analysis. An object function is defined as the area of absolute differences between the desired and experimental toe angle. By the design of experiment and regression analysis, the regression model function of bump steer characteristics is extracted. The design variables that make the toe angle optimized are selected using the optimum design program DOT. The lane change simulations and tests of the full vehicle models are implemented to evaluate the improvement of vehicle handling performances by the optimization of front bump steer characteristics. The results of the lane change simulations show that the vehicle with optimized bump steer has the weaker understeer tendency than the vehicle with initial bump steer.

• The KSFM Journal of Fluid Machinery
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• v.8 no.3 s.30
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• pp.33-41
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• 2005

The optimum condition is defined as one that best suits the purpose of flocculation; the number of small particles should decrease, while that of large particles should increase. The object of this research was to develop a new impeller and substitute for conventional flocculators. The flow characteristics of turbines and hydrofoil type flocculators in turbulent fluids were observed using a standard $k-{\epsilon}$ Model and a computational fluid dynamics (CFD) simulation program-FLUENT. The experiments were performed to compare PBT(Pitched Blade Turbine) flocculator with twisted hydrofoil type flocculators for velocity distribution, and floe formation at conventional water treatment plants in Korea. As a result of the CED solution, twisted hydrofoil types are similar to hydrofoil flocculators for flow characteristics without regard to the twisted angle, On the other hand, it was established that turbine flocculators are greater than hydrofoil flocculators with flow unevenness and dead zone formation. Twisted hydrofoil type-II (Angle $15{\sim}20^{\circ}$) is the most proper impeller for water flocculation from this point of view with a decreasing the dead zone, maintaining of the equivalent energy distribution and a drawing up of the sedimentation substance from the bottom of the flocculation basin.

• Korean Institute of Interior Design Journal
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• v.14 no.5 s.52
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• pp.89-97
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• 2005

The purpose of this study is to analyze the interior characteristics of Philips Exeter Academy library by Louis I. Kahn. Kahn's main thoughts of 'what it wants to be ' and 'how it was done' play a important role in this research because these statements act as a clue to understand this library. 'What it wants to be' means the essence and existence of architecture and 'how it was done' shows the tectonic of architecture and construction process to enhance its presence. Most of his works inform that Kahn had consistently applied his thoughts into design process. The thoughts of the essence of library leads Kahn to configurate 3 layers of interior space. The emphasis of tectonic expression is also the characteristics of interior in that structure is the logical part of whole building system rather than concealing object for the exterior of buildings. In Exeter library, interior characteristics are summarized as 3 layers of interior configuration, the order in dynamics, the visualization of construction process, and the relationship between structure and space.

• Journal of the Korean Society of Propulsion Engineers
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• v.11 no.4
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• pp.26-37
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• 2007

A virtual engine test based on "Numerical test cell" can extremely reduce the time and cost for the development of a hardware by coupling multidisciplinary analysis. This paper introduces the development activities of full engine simulation programs in U.S.A. and Europe, with the their related techniques(the engineering models, the simulation environment and high performance computing) based on the NPSS(Numerical Propulsion System Simulation). NASA Glenn research conte. leads the development efforts of NPSS by assembling the current codes and improving their Auctions. VIVACE(Value Improvement through a Virtual Aeronautical Collaborative Enterprise), a consortium of universities, research centers and companies in Europe, is developing the PROOSIS(PRopulsion Object Oriented Simulation Software). The capability for the domestic development is also estimated by surveying the current status.

• Wind and Structures
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• v.24 no.5
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• pp.447-464
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• 2017

The flutter instability is one of the most important themes need to be carefully investigated in the design of long-span bridges. This study takes the central-slotted ideal thin flat plate as an object, and examines the characteristics of unsteady surface pressures of stationary and vibrating cross sections based on computational fluid dynamics (CFD) simulations. The flutter derivatives are extracted from the surface pressure distribution and the critical flutter wind speed of a long span suspension bridge is then calculated. The influences of angle of attack and the slot ratio on the flutter performance of central-slotted plate are investigated. The results show that the critical flutter wind speed reduces with increase in angle of attack. At lower angles of attack where the plate shows the characteristics of a streamlined cross-section, the existence of central slot can improve the critical flutter wind speed. On the other hand, at larger angles of attack, where the plate becomes a bluff body, the existence of central slot further reduces the flutter performance.