• 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 IKEEE
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• v.26 no.2
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• pp.150-159
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• 2022

In this paper, we propose a physics simulation for augmented reality (AR) billiards content. The characteristics of the physics simulation for the proposed AR billiards content are as follows. First, physical equations are derived by calculating the force and moment of inertia applied to the billiards ball to realize the motion of the billiards ball similar to the real one in the AR environment. Then, we determine the velocity and angular velocity of the virtual billiards ball associated with the rotation of the virtual billiards ball with respect to the impact point. Second, using some vectors such as incidnet vector, normal vector, reflection vector, the trajectory of the virtual billiards ball would be implement. these equations are applied to AR environment so that AR billiards content could be implement. This physics simulation allows users to feel like the real world using a virtual pool table and induce them to interact with the real environment. As a result of the experiment, the accuracy range between the path of the real billiards ball and the path of the virtual billiards ball was calculated to be 97.75% to 99.11%. Therefore, it was determined that the performance of the physics simulation for the AR billiards content proposed in this paper performs similarly to the path of the real billiards ball.

• Proceedings of the Materials Research Society of Korea Conference
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• 1998.08a
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• pp.40.2-40
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• 1998

• Vacuum Magazine
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• v.1 no.2
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• pp.9-18
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• 2014

In this article, we present a brief explanation of simulation for magnetic confined fusion plasma. Devices for nuclear fusion experiment become large, complex, and expensive these days, so the simulation can be a valuable tool for understanding and expecting the fusion plasma physics. Research areas presented here are plasma equilibrium and instability, turbulence study, heating and current driving, boundary and divertor area plasma physics, and integrated operation scenario study. Traditionally, many foreign codes have been used because those are verified and stable, however our own MHD and gyrokinetic codes with better performance are under developing recently. While researchers have devoted their effort to make and use a simulation code in individual areas, many ones also endeavor to integrate the simulation codes in different areas for thorough understanding of fusion plasma physics.

• Progress in Superconductivity and Cryogenics
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• v.23 no.1
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• pp.1-6
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• 2021

Thermoacoustic oscillations (TAOs) could be often observed in liquid helium cryogenic system especially in half-open tubes. These tubes have closed warm end (300K) and open cold end (usually 4.4K). This phenomenon significantly induces additional heat load to cryogenic system and other undesirable effects. This work focuses on using computational fluid dynamics (CFD) method to study TAOs in liquid helium. The calculated physical model, numerical scheme and algorithm, and wall boundary conditions were introduced. The simulation results of onset process of thermoacoustic oscillations were presented and analyzed. In addition, other important characteristics including phase relation and frequency were studied. Moreover, comparisons between experiments and the CFD simulations were made, which demonstrated thevalidity of CFD simulation. CFD simulation can give us a better understanding of onset mechanism of TAOs and nonlinear characteristics in liquid helium cryogenic system.

• Journal of the Optical Society of Korea
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• v.12 no.1
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• pp.25-30
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• 2008

The optical performances of 15-inch edge-lit backlight were simulated by using a Monte Carlo ray-tracing technique. The backlight model was built by combining a wedge-type light guide plate, a diffuser sheet, a tubular fluorescent lamp with a lamp reflector, and two crossed prism sheets. Angular distributions of the luminance on each optical component obtained from simulation were consistent with those obtained from experiments on a real 15-inch backlight. The constructed backlight model was used to evaluate the optical performances of a micro-pyramid film. It was found that the on-axis luminance gain on the pyramid film is higher than that on one prism film but much lower than that on the two crossed prism films. These results suggest that a reliable simulation model can be used to develop new hybrid films and to optimize the optical structure of edge-lit backlight in order to reduce the developmental period.

• Journal of Magnetics
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• v.13 no.4
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• pp.120-123
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• 2008

Magnetization ringing following domain wall collision on a ferromagnetic nanowire has been investigated by micromagnetic simulation. Suppressed magnetization ringing is observed with the introduction of a small ribbon to the nanowire. Magnetization ringing has been analyzed in a frequency space by a fast Fourier transform. With the introduction of a small ribbon and/or taping of the wire, the amplitude of ringing is reduced with a shifted frequency peak.

• Proceedings of the Korean Society of Medical Physics Conference
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• 2002.09a
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• pp.282-284
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• 2002

We have developed and used BISS as a radiation detector to verify patient dose and determine the physical characteristics of beams used in Stereotatic Radio Surgery(SRS) and Intensity Modulated Radiation Therapy(IMRT). In order to confirm the function and accuracy of our BISS, we simulate our measurements by BISS under the radiation of 6MV photons from a Varian Clinac 21EX equipped with a 60 leaf pairs MLC. For the simulation based on the Monte Carlo algorithm, which remains the most comprehensive and accurate theoretical method to verify beam profiles, we use the BEAM code. Compared with the measurements by BISS, our simulation of variously shaped phantom measurements show good agreements. Our simulation results can be used as a theoretical standard to compare and confirm measurements by BISS and other dosimeters such as ultramicro cylindrical ionization chamber(UCIC) and radiographic film.

• Proceedings of the IEEK Conference
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• 2000.06b
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• pp.314-317
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• 2000

In order to analyze the characteristics of complicated TFT-LCD (Thin Film Transistor-Liquid Crystal Display) circuits, it is indispensible to use simulation programs. In this study, we present a systematic method of extracting the input parameters of poly-Si TFT for Spice simulation. This method is applied to two different types of poly-Si TFTs fabricated in our group with good results. Among the Spice simulators, Pspice has the graphic user interface feature making the composition of complicated circuits easier. We added successfully a poly-Si TFT model on the Pspice simulator, which would contribute to efficient simulations of poly-Si TFT-LCD pixels and arrays.

• Proceedings of the Korean Magnestics Society Conference
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• 2007.05a
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• pp.118.2-118.2
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• 2007