• Journal of Sensor Science and Technology
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• v.31 no.4
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• pp.260-265
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• 2022

In this study, we establish hyper-elastic haptic feedback in a virtual environment using finite element analysis techniques and develop a Force Torque (FT) sensor utilization method for application in tele-operation environments. In general, regarding haptic feedback data, in a tele-operation environment, the user is provided with feedback according to the measured force data when the model is inserted through an FT sensor. Conversely, in a virtual environment, the press-fitting model can be expressed through the spring-damper system rather than an FT sensor to provide feedback. However, unlike rigid and the elastic bodies, the hyper-elastic body represented by a spring-damper system in a virtual environment is a simple impedance model using stiffness and damping coefficients; it is limited in terms of providing actual feedback. Thus, in this study, haptic feedback was implemented using the data obtained from POD-RBF analysis results during hyper-elastic press-fitting experiments. The haptic feedback mechanism developed in this study was verified by comparing the FT sensor feedback data measured and calculated through hyper-elastic press-fitting experiments with spring-damper feedback data. Subsequently, the POD-RBF analysis feedback was compared and evaluated against the feedback mechanism of each environment through the test subject, and the similarities between the POD-RBF analysis feedback and FT sensor data feedback were verified.

• Journal of the Korean Society for Precision Engineering
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• v.32 no.7
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• pp.643-651
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• 2015

Multi-axis magnetic and accelerometer sensor are widely used in consumer product such as smart phones. The vector output of multi-axis sensors have errors on each axis such as offset error, scale error, non-orthogonality. These errors cause many problems on the performance of the applications. In this paper, we designed the effective inline compensation algorithm for calibrating of 3 axis sensors using ellipsoid for mass production of multi-axis sensors. The outputs with those kinds of errors can be modeled by ellipsoid, and the proposed algorithm makes sequential mappings of the virtual ellipsoid to perfect sphere which is calibrated function of the sensor on three-dimensional space. The proposed calibrating process composed of four main stages and is very straightforward and effective. In addition, another imperfection of the sensor such as the drift from temperature can be easily inserted in each mapping stage. Numerical simulation and experimental results shows great performance of the proposed compensation algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.5
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• pp.505-511
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• 2011

In this paper, we have developed an automatic velocity control system of a small-sized commercial treadmill (belt length of 1.2 m and width of 0.5 m) which is widely used at home and health centers. The control objective is to automatically adjust the treadmill velocity so that the subject's position is maintained within the track when the subject walks at a variable velocity. The subject's position with respect to a reference point is measured by a low-cost sonar sensor located on the back of the subject. Based on an encoder sensor measurement at the treadmill motor, a state feedback control algorithm with Kalman filter was implemented to determine the velocity of the treadmill. In order to reduce the unnatural inertia force felt by the subject, a predefined acceleration limit was applied, which generated smooth velocity trajectories. The experimental results demonstrate the effectiveness of the proposed method in providing successful velocity changes in response to variable velocity walking without causing significant inertia force to the subject. In the pilot study with three subjects, users could change their walking velocity easily and naturally with small deviations during slow, medium, and fast walking. The proposed automatic velocity control algorithm can potentially be applied to any locomotion interface in an economical way without having to use sophisticated and expensive sensors and larger treadmills.

• Journal of Urban Science
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• v.13 no.1
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• pp.33-42
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• 2024

In recent years, drones are expanding their use as highly efficient smart support equipment in all industries, including military as well as urban engineering planning and design, construction, In particular, the advancement of drones and GNSS(global navigational satellite system) positioning services, the high efficiency of visible color image RGB sensors, and various selective convergence between thermal infrared sensors and lidar scanning visibility sensors are becoming a key source of spatial information acquisition in the field of construction information modeling(BIM) and 3D digital twin modeling. This study seeks to improve the efficiency of field and office works in drone aerial photography in 3D modeling of urban facilities. For these, after acquiring the 3D location of the drone aerial photography point in two positioning modes, standard GNSS surveying and GNSS RTK precise positioning, the 3D productions were reproduced through the SfM(structure from motion) image analysis process, and the accuracy and efficiency of the work process were compared and considered. As a result of the study, when GNSS RTK precision positioning (VRS ; virtual reference service) is applied during outdoor filming, it was possible to reproduce and demonstrate the effectiveness of the digital twin modeling within the allowable range by omitting the GNSS surveying for additional ground control points and geo-tagging for the real-world model conversion of 3D image analysis results in image processing.

• Journal of Korean Society for Quality Management
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• v.48 no.1
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• pp.13-27
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• 2020

Purpose: The purpose of this study is to present a recoil measurement and analysis of K2 rifle for the development of a virtual reality marksmanship training in the Republic of Korea Army. Methods: For the recoil measurement, a test-bed is built by a barrel that has exact dimensions of K2 rifle and three piezoelectric pressure sensors mounted on the barrel. Data of over 200 rounds of 5.56mm M193 and K100 bullets are collected and analyzed from live fire experiments. For the recoil analysis, both the free recoil method and the gas exhaust aftereffect method are used to calculate a recoil velocity, momentum and kinetic energy of K2 rifle by applying the law of conservation of momentum. In addition, a new method is proposed that uses the third law of motion and the chamber pressure model for the recoil measurement Results: The results show how different between the previous and proposed methods with respect to M193 and K100 bullets of K2 rifle. In M193, the free recoil method demonstrates 1.113, 4.197, and 2.335, the gas exhaust aftereffect method computes 1.698, 6.407, and 5.441, and the proposed method calculates 0.990, 3.734, and 1.848 in recoil velocity, momentum and kinetic energy, respectively. In K100, the free recoil method demonstrates 1.190, 4.487, and 2.669, the gas exhaust aftereffect method computes 1.776, 6.699, and 5.949, and the proposed method calculates 1.060, 3.998, and 2.119 in recoil velocity, momentum and kinetic energy, respectively. Conclusion: This study implements live fire experiments to provide recoil velocity, momentum, and kinetic energy of K2 rifle using both M193 and K100 bullets. For the development of the army virtual reality marksmanship, the results in this paper would be useful to design and produce a gun and/or a rifle of virtual reality.

• Journal of Internet Computing and Services
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• v.17 no.6
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• pp.41-51
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• 2016

The appearance of 3D-Touch interface provided the basis of a new interaction method between the users and the mob ile interface. However, only a few smartphones provide 3D-Touch features, and most of the 2D-Touch devices does not provide any means of applying the 3D-Touch interactions. This results in different user experiences between the two interaction methods. Thus, this research proposes the Virtual Force Touch method, which allows the users to utilize the 3D-Touch Interface on 2D-Touch based smart devices. This paper propose the suitable virtual force touch mechanism that is possible to realize users' inputs by calculating and analysis the force touch area of users' finger. This proposal is designed on customized smartphone device which has 2D-Touch sensors.

• Journal of the Korea Fashion and Costume Design Association
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• v.23 no.3
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• pp.11-21
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• 2021

Virtual reality is currently mainly used in games, but is starting to be applied as a variety of media fields, such as broadcasting and film. Virtual reality provides more fun than reality, and can provide new experiences in areas that cannot be experienced in reality due to the constraints of time, space, and environment. In particular, as the social non-contact arena has increased due to COVID-19, it is being applied to education, health, and medical industries. The contents are further expanding into design and military fields. Therefore, the purpose of this study was to observe the change in distribution of load and pressure felt by the body in the flying state while wearing a short pants harness, which are mainly used in the game and entertainment industry. In the experiment, the average pressure in the flying state was measured by attaching a pressure sensor to the back and front of a human mannequin. As a result, it was confirmed that the load concentrated on the waist in the flying state was 44 N, with a pressure of 1353 kPa. The pressure distribution was concentrated in front of the center of gravity, and was measured was at 98% by the pressure sensors, with an average pressure value of approximately 15 kPa, and a pressure value of approximately 12 kPa at the back, which was measured at 67% by the pressure sensor. The results of the load and pressure distribution measurement are presented as fundamental data to improve the wearability and comfort of harnesses in the future, and are compared to actual measured pressure values by analyzing the clothing pressure in flight through virtual wear of harnesses through the CLO 3D program.

• The Transactions of the Korean Institute of Power Electronics
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• v.18 no.1
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• pp.10-17
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• 2013

In this paper, a new active damping method of LCL filter without capacitor voltage sensors is proposed for 3 phase PWM Inverter. Normally, L filter or LCL filter is used as an output filter of grid connected PWM inverter. An LCL filter has more excellent performance than L filter to reduce harmonic current, so the small inductance value can be used. However, the resonance problem in LCL filter is happen due to the zero impedance by the addition of LC branch. To solve the resonance problem, the various active damping method has been proposed so far. Generally, the virtual resistor active damping methods is required to additional hardware sensors for measurement of capacitor voltage and current. In this paper, the new active damping method is proposed without any capacitor voltage or current sensors. In the proposed method, the resonance component of the capacitor voltage of LCL filter can be observed by a simple MRAS(Model Reference Adaptive System) observer without additional hardware sensors, and this component is suppressed by feedforward compensation. The validity of the proposed method is proven by simulation and experiment on the 3-phase PWM inverter system.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1344-1347
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• 1996

A general procedure for motion capture and mimic system has been delineated. Utilizing sensors operated in the magnetic fields, complex and optimized movements are easily digitized to analyze and follow. Design concepts of the system are modular, open, and user friendly to ensure the overall system performance. The system consists of motion capture, visualization, plan, mimic and GUI modules. This procedure is currently being implemented on a virtual cyber cube.

• The Journal of Korean Institute of Next Generation Computing
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• v.14 no.6
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• pp.66-74
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• 2018

Recently, there has been active studies on hand gesture recognition to increase immersion and provide user-friendly interaction in a virtual reality environment. However, most studies require specialized sensors or equipment, or show low recognition rates. This paper proposes a hand gesture recognition method using Deep Learning technology without separate sensors or equipment other than camera to recognize static and dynamic hand gestures. First, a series of hand gesture input images are converted into high-frequency images, then each of the hand gestures RGB images and their high-frequency images is learned through the DenseNet three-dimensional Convolutional Neural Network. Experimental results on 6 static hand gestures and 9 dynamic hand gestures showed an average of 92.6% recognition rate and increased 4.6% compared to previous DenseNet. The 3D defense game was implemented to verify the results of our study, and an average speed of 30 ms of gesture recognition was found to be available as a real-time user interface for virtual reality applications.