• Transactions of the Korean Society of Machine Tool Engineers
• /
• v.16 no.5
• /
• pp.211-217
• /
• 2007

A nano-imprinting stage has been widely used in various fields of nanotechnology. In this study, an analysis method of a nano-imprinting stage machine using FEM and flexible multi-body kinematics and dynamics has been presented. We have developed a virtual imprinting machine to evaluate the prototype design in the early design stage. The simulation using CAE for the imprinting machine is not only to analyze static and dynamic characteristics of the machine but also to determine design parameters of the components for the imprinting machine, such as dimensions and specifications of actuators and sensors. Structural components as the upper plate, the rotator, the shaft and the translator have been modeled with finite elements to analyze flexibility effects during the precision stage motion. In this paper flexible multi-body dynamic simulation is executed to support robust design of the precision stage mechanism. In addition, we made the 4-axis stage model to compare the dynamic behavior with that of 3-axis stage model.

• Journal of the Korean Society of Safety
• /
• v.28 no.4
• /
• pp.19-25
• /
• 2013

For safe remote control, information on remote environment has to be delivered to operator realistically, and there have been numerous research efforts on this respect. Among them, haptic technology can significantly enhance safety and overall effectiveness of remote operation by delivering various kinds of information on virtual or real environment to operator. In this study, remote control based on haptic feedback is applied to control of mobile robot moving according to the command from operator avoiding collision with environmental obstacles and maintaining safe distance from them using ultrasonic sensors. Specifically, a remote feedback control structure for mobile robot is proposed. The controller is based on the inner feedback loop that directly utilizes information on distance to obstacles, and the outer feedback loop that the operator directly commands using the haptic device on which the computed reaction force based on the distance information is acting. Effectiveness of the proposed remote control scheme using double feedback loops is verified through a series of experiments on mobile robot.

• Journal of the Korean Society for Precision Engineering
• /
• v.18 no.10
• /
• pp.45-52
• /
• 2001

This paper presents a study on the position tracking control of a robot system on the uncertain elastic base. The elastic bathe is a nonholonomic system but it can be changed into holonomic system, which is much easier to analyze, by modeling an elastic base as a virtual robot that has passive joints. Also, Jacobian operators, which represent the overall robot system including base movement, are defined and applied to the changed model. However, because base movements are not known, the exact Jacobian operators can＇t be estimated. The control algorithm proposed is that uses only Jacobians of a real robot as approximate Jacobian operators. Therefore the approximate Jacobian operators compensate the measured errors from external sensors. The proposed control strategy is evaluated by the simulation and experiment of a single-axis robot system on the elastic base.

• The Journal of Korea Robotics Society
• /
• v.5 no.3
• /
• pp.186-196
• /
• 2010

In this paper, we present a global localization and position error compensation method in a known indoor environment using magnet hall sensors. In previous our researches, it was possible to compensate the pose errors of $x_e$, $y_e$, ${\theta}_e$ correctly on the surface of indoor environment with magnets sets by regularly arrange the magnets sets of identical pattern. To improve the proposed method, new strategy that can realize the global localization by changing arrangement of magnet pole is presented in this paper. Total six patterns of the magnets set form the unique landmarks. Therefore, the virtual map can be built by using the six landmarks randomly. The robots search a pattern of magnets set by rotating, and obtain the current global pose information by comparing the measured neighboring patterns with the map information that is saved in advance. We provide experimental results to show the effectiveness of the proposed method for a differential drive wheeled mobile robot.

• Journal of Institute of Control, Robotics and Systems
• /
• v.17 no.5
• /
• pp.471-478
• /
• 2011

This UGV (Unmanned Ground Vehicle) is not only widely used in various practical applications but is also currently being researched in many disciplines. In particular, obstacle avoidance is considered one of the most important technologies in the navigation of an unmanned vehicle. In this paper, we introduce a simple algorithm for path planning in order to reach a destination while avoiding a polygonal-shaped static obstacle. To effectively avoid such an obstacle, a path planned near the obstacle is much shorter than a path planned far from the obstacle, on the condition that both paths guarantee that the robot will not collide with the obstacle. So, to generate a path near the obstacle, we have developed an algorithm that combines an edge detection method and a limit-cycle navigation method. The edge detection method, based on Hough Transform and IR sensors, finds an obstacle's edge, and the limit-cycle navigation method generates a path that is smooth enough to reach a detected obstacle's edge. And we proposed novel algorithm to solve local minima using the virtual wall in the local vision. Finally, we verify performances of the proposed algorithm through simulations and experiments.

• Journal of the Society of Naval Architects of Korea
• /
• v.48 no.6
• /
• pp.509-515
• /
• 2011

The radar cross section (RCS) of warships is a crucial design factor to improve the survivability in terms of not only low observablity of the platform but also efficiency of on-board sensors and jamming devices against enemy threat. In design stage, numerical models are generated in order to quantitatively assess RCS, of which hull surfaces are modeled with the finite number of the flat plate. However, in practice, hull surfaces are permanently deformed by various kinds of loads such as winds and ocean waves faced during operations. In this paper, the effect of these shell plate deformation to RCS is numerically investigated. For this purpose, RCS calculations are carried out for various kinds of numerical models, such as single plates, dihedrals, large-sized undulate plates, and virtual warships, with some extent of permanent deformation. The results are compared with those of corresponding models without permanent deformation. It is concluded that the permanent deformation of hull surface highly influences RCS characteristics of warships, therefore they should be considered in the RCS analysis.

• Journal of Korea Game Society
• /
• v.21 no.5
• /
• pp.41-48
• /
• 2021

This paper introduces a mobile augmented visualization technology that augments a three-dimensional virtual human body on a mannequin model using two pose(position and rotation) tracking sensors. The conventional camera tracking technology used for augmented visualization has the disadvantage of failing to calculate the camera pose when the camera shakes or moves quickly because it uses the camera image, but using a pose tracking sensor can overcome this disadvantage. Also, even if the position of the mannequin is changed or rotated, augmented visualization is possible using the data of the pose tracking sensor attached to the mannequin, and above all there is no load for camera tracking.

• Journal of Sensor Science and Technology
• /
• v.28 no.4
• /
• pp.236-239
• /
• 2019

In this work, we performed an optical simulation study on the performance of a PMDPP3T:PCBM based on an organic photovoltaic (PV) device. The virtual PV device was developed in Lumerical, finite-difference time-domain (FDTD) solutions. Different layers of the PV cell have been defined through the incorporation of complex refractive index value of those layers' constituent materials. During the simulation study, the effect of the variation active layer thickness on an ideal short circuit current density ($J_{sc,ideal}$) of the PV cell has been, first, observed. Thereafter, we have investigated the impact of surface roughness of a transparent conducting oxide (TCO) electrode on $J_{sc,ideal}$ of the PV cells. From this simulation, it has been observed that the $J_{sc,ideal}$ value of the PV cell is strongly dependent on the thickness of its active layer and the photon absorption of the PV cell has gradually decreased with the increment of the TCO's surface roughness. As a result, the capability of the PV device has been reduced with the increment of the surface roughness of the TCO.

• Current Applied Physics
• /
• v.18 no.11
• /
• pp.1327-1337
• /
• 2018

This paper investigates the vibration behavior of pristine and defected triangular graphene sheets; which has recently attracted the attention of researchers and compare these two types in natural frequencies and sensitivity. Here, the molecular dynamics method has been employed to establish a virtual laboratory for this purpose. After measuring the different parameters obtained by the molecular dynamics approach, these data have been analyzed by using the frequency domain decomposition (FDD) method, and the dominant frequencies and mode shapes of the system have been extracted. By analyzing the vibration behaviors of pristine triangular graphene sheets in four cases (right angle of 45-90-45 configuration, right angle of 60-90-30 configuration, equilateral triangle and isosceles triangle), it has been demonstrated that the natural frequencies of these sheets are higher than the natural frequency of a square sheet, with the same number of atoms, by a minimum of 7.6% and maximum of 26.6%. Therefore, for increasing the resonance range of sensors based on 2D materials, nonrectangular structures, and especially the triangular structure, can be considered as viable candidates. Although the pristine and defective equilateral triangular sheets have the highest values of resonance, the sensitivity of defective (45,90,45) triangular sheet is more than other configurations and then, defective (45,90,45) sheet is the worst choice for sensor applications.

• Journal of Korea Multimedia Society
• /
• v.24 no.5
• /
• pp.629-641
• /
• 2021

Crowd behavior simulations have been studied to further accelerated and refined by parallelism by inducing agent-interacting forces into the image field representing the forces of attraction and repulsion. However, it was difficult to consider rapidly changing environments such as fire situations in buildings because texture images must be generated in advance simulation starts and simulations can only be performed in 2D spaces. In this paper, we propose a crowd agent behavior simulation method based on agent's 3D affordance field for flexible agent behavior in variable geomorphological environments in 3D space. The proposed method generates 3D affordance field related to agents and sensors in 3D space and defines the agent behavior in 3D space for the crowd behavior simulation based on an image-inducing field to a 3D space. Experimental results verified that our method enables the development of large-scale crowd behavior simulations that are flexible to various fire evacuation situations in 3D virtual spaces.