• Transactions of the Korean Society of Mechanical Engineers
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• v.9 no.5
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• pp.683-690
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• 1985

본 논문에는 Euler매개변수를 회전좌표계로 사용하여 구속된 3차원 기계시스템의 역동학력 해 을 수행한 연구결과가 수록되었다. 해석을 위해 문제에 등장하는 비선형 Holonomic구속조건식 들과 운동방정식들을 Cartesian일반좌표계을 사용하여 표시하였으며, 일반좌표계를 구성하는 각 강체의 좌표계로는 변위를 나타내기 위한 3개의 좌표와 회전을 나타내기 위한 4개의 Euler매 개변수가 사용되었다. 구속조건식들과 미분방정식 형태의 운동방정식들을 결합하여 시스템 전 체의 운동방정식을 유도하기 위해 Lagrange승수 기법을 사용하였다. 각 강체의 주어진 시간에 서의 위치, 속도, 가속도는 기구학적 해석(kinematic analysis)을 통해 얻어지고, 이 자료들을 전 체운동방정식에 대입하여 Lagrnage승수의 값을 계산하여 6개의 자유도를 가진 로봇 기구를 원 하는대로 운전하는에 필요한 각 관절의 토오크를 계산하였으며, 계산결과가 정확하다는 사실이 입증되었다. 연구결과 Euler매개변수를 회전좌표로 사용할 경우 특이 경우(singular case)가 발 생하지 않으며, 이 방법은 역동력학 해석용 다목적 전산프로그램 개발에 광범위하게 응용될 수 있음이 밝혀졌다.

• Journal of Industrial Technology
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• v.19
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• pp.173-178
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• 1999

In many areas of technology there are machines and systems controllable in up to six degrees of freedom. Helicopters and underwater vehicles, industrial robots are among the first representatives of this category. They need six degrees of freedom in order to move and orient within their workspace. An even broader and more explosively growing area is 3D computer graphics and virtual environment. In this work, functions of 3D input device are described and two types of commercial 3D input device are presented. Then, a preliminary experiment of a low cost 6 axis force/moment sensor is presented that can also be sued as a 3D input device. A low cost force/moment sensor and its application in robot teaching experiment is described. It computes the direction of 3 components of the force and 3 components of the moment applied by human holding the sensor by hand. The concept is shown by an experiment where the tool position and orientation of a robot in 3 dimensional space is controlled by the proposed sensor.

• Proceeding of EDISON Challenge
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• 2016.03a
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• pp.15-22
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• 2016

분자의 진동(특히, 뒤틀림 운동)은 분자의 반응성과 동역학적 특성을 결정하는 중요한 요인이다. 특히, 분자내 메틸기의 뒤틀림 운동은 매우 흔히 관찰되지만, 이 운동을 분광학 실험으로 관찰하고 이론적으로 설명하는 것은 여전히 어려운 과제이다. 여러 양자화학 소프트웨어가 상용화되어 있지만, 뒤틀림 운동과 같은 주기적인 퍼텐셜 에너지를 갖는 운동을 기술하기 위해서는 뒤틀림 운동을 위한 양자화학 솔버가 필요하다. 따라서, 우리는 EDISON의 양자화학 솔버(1차원 슈레딩거 방정식(LagChem), 작은 유기 분자의 분광스펙트럼 분석을 위한 양자 소프트웨어(SGU-QASSO))들을 이용하여 $2-C_3H_5Br$의 ZEKE/MATI (J.Chem.Phys.119,12351(2003),Zero kinetic energy/mass-analyzed threshold ionization)스펙트럼을 이해하고 해석해보았다. $2-C_3H_5Br$ 분자는 메틸기의 강한 뒤틀림 운동을 관찰 할 수 있는 비교적 간단한 분자이기 때문에 뒤틀림 운동 분석을 위한 실험대상으로 적절하다(J.Chem.Phys.119,12352(2003)). $2-C_3H_5Br$ 분자의ZEKE/MATI스펙트럼의 결과는 EDISON양자화학 솔버를 통해 성공적으로 재현되었다. 각 진동 전이의 진동수와 세기는 실험 결과와 일치했으며, 진동 상태에 따른 파동 함수도 구할수 있었다. 이를 바탕으로 thietane 분자와 같은 고리분자의 ring-puckering운동에 대해 이해하려 한다.

• Journal of the Korea Computer Graphics Society
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• v.2 no.2
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• pp.53-60
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• 1996

In 3D graphics interface, 3D objects and virtual camera have many degrees of freedom. We interpret the control of 3D objects and virtual camera as a problem of kinematics and inverse kinematics. It is well known that extra degrees of freedom introduce various singularities in inverse kinematics. In this paper, we approach 3D graphics interface problems by reducing redundant degrees of freedom so that the control degrees of freedom matches with the degrees of freedom in the motions of 3D objects and virtual camera.

• Journal of Korean Elementary Science Education
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• v.41 no.4
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• pp.673-689
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• 2022

To understand seasonal changes it is necessary to understand the relationship between celestial bodies in a three-dimensional space, and to this end, modeling activities in which students directly construct, use, evaluate, and modify three-dimensional models are important. In this study, the process of elementary school students using globes and light bulbs to model Earth's motion in a three-dimensional space as a cause of seasonal changes was analyzed. Seventeen sixth graders participated in the modeling process. After exploring phenomena and concepts related to seasonal change, students constructed models using globes and bulbs and used them to explain seasonal changes. Video data recording students' modeling process, students' activity sheets, and transcripts of post-interview were used as research data, and data triangulation was conducted. The modeling level analysis framework was also developed based on previous studies. In particular, the framework was developed in detail in this study in consideration of the concept of Earth's motion as well as understanding model and implementing modeling. In the final analysis framework, the 3D modeling level was classified from level 1 to level 3, and student performance that may appear at each level was specified. As a result of the study, there were two main levels of modeling using globes for elementary school students to explain seasonal changes. The rotation and tilt of the axis of rotation and revolution of the earth were considered but the level at which empirical evidence was not used (level 2), the level at which empirical evidence was used to explain seasonal chages (level 3). However, even when students use empirical evidence, it did not lead to the construction of a scientific model. In this study, the cause was explored in relation to the characteristics of the tool used for modeling.

• Journal of the Daesoon Academy of Sciences
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• v.35
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• pp.39-71
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• 2020

Ever since gaining liberation in 1945, Korean society has constantly recalled memories of Japan's invasion and Korea's anti-Japanese movements for an independent state (AMIS). In the process, a small number of new religious groups were also identified as main subjects within AMIS. However, the logic necessary to connect these religious groups with AMIS was still weak. In order to solve this situation academically, the purpose of this article is to illuminate the activities of Mugeukdo (無極道) and Jo Jeongsan (趙鼎山) through the lens of AMIS and to reflect on the issues that will arise when linking the religion with AMIS. Regarding this purpose, this article analyzed the internal and external data collected by Daesoon Jinrihoe (大巡眞理會) about Jo Jeongsan and Mugeukdo's activities linked to AMIS. Later, this paper presents several tasks for future research on this subject matter. Specifically, according to Chapter II, the AMIS of Jo Jeongsan and Mugeukdo were generally centered on resistance at the family level, Jo Jeongsan's order to participate in the March 1st Movement, and Mugeukdo's industrial activities. In Chapter III, I reviewed the contents of Chapter II using Daesoon Jinrihoe's external materials. According to the results of the review, future research is required to discover and cross-check materials related to the AMIS of Jo Jeongsan and Mugeukdo believers. Likewise, further research is needed to highlight the theory of the enthronement of emperor (天子登極說) and the Great Opening of the later world (後天開闢) in terms of AMIS. These efforts can make contributions that increase the credibility of Daesoon Jinrihoe's internal data on the AMIS of Jo Jeongsan and Mugeukdo and expand the periphery of AMIS as it relates to certain religious groups. Subsequently, in Chapter IV, I present three items for reflecting upon the connection between certain religious groups and AMIS. The first is that criteria for establishing the category of AMIS is necessary to determine whether religious activities can be included. Second, reductionist approaches make it difficult to explain the reasons why some of the people who participated in AMIS did so while forming 'new religious movements,' and why these groups have maintained their religious identity even after liberation was achieved in 1945. Third, it is necessary to distinguish between the primary and the secondary dimensions to elaborate on the connection between these religions and AMIS. This means that researchers should be expected to look at whether the activities in question are based on a religious worldview and whether the goal of the activities is the realization of AMIS or the implementation of some aspect of that religious worldview. In the future, considering the mechanisms that make AMIS memorable in Korea, religious groups and religious studies should take greater interest in discovering and accumulating data that facilitates research on these topics. At the same time, effort should be made to find the basis for AMIS within religious worldviews. It can also be made possible through specific interest in further elaboration on the various AMIS-related activities of Jo Jeongsan and Mugeukdo.

• Proceedings of the Korean Society of Coastal and Ocean Engineers Conference
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• 2002.08a
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• pp.287-293
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• 2002

조석을 수치모의하기 위해 North carolina 대학의 R.A. Luettich와 Notre Dame 대학의 J.J. Westerink가 개발한 ADvanced CIRCulation model for oceanic, coastal and estuarine waters(ADCIRC) 유한요소모형 (Luettich, et al., 1992)은 수심 적분된 2 차원 모형(2DDI)과 3차원 모형(3DL)으로 구성되어 있는데, 그 중 2차원 ADCIRC 유한요소모형은 천수방정식에서 연속방정식과 운동방정식을 합성하여 수면변위에 대해 하나의 식으로 표현한 파동방정식(wave equation)을 지배방정식으로 사용하고 있다. (중략)

• Proceedings of the KSME Conference
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• 2004.11a
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• pp.1574-1579
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• 2004

A simultaneous measurement system that can analyze the flow-structure interactions(FSI) has been constructed and analyses on the flow field and the motion field of a floating cylinder was made. The three-dimensional vector fields around the cylinder are measured by 3D-PTV technique while the motion of the cylinder forced by the flow field is measured simultaneously with a newly developed motion tracking algorithm(bidirectional tracking algorithm). The cylinder is pendant in the working fluid of a water channel and the surface of the working fluid is forced sinusoidal to make the cylinder bounced. The interaction between the flow fields and the cylinder motion is examined quantitatively.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2011.04a
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• pp.727-730
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• 2011

본 논문에서는 3차원 자기부상열차에 대한 열차-가이드웨이 상호작용 해석기법을 제시하고자 한다. 수직 및 수평방향 변위, 피칭, 롤링 그리고 요잉에 대한 자유도를 각 보기와 차체에 대해 고려하여 총 25자 유도 자기부상열차에 대한 운동방정식을 유도하였다. 제어방식으로는 UTM01에 적용된 제어기법을 이용하였고, 궤도 틀림을 고려하기 위하여 미국 FRA에 적용하고 있는 궤도 불규칙성에 대한 밀도 스펙트럼 함수를 이용하여 조도를 생성하였다. 같은 조건하에 2차원 모델과 3차원 모델의 동적응답 결과를 비교하여 타당성을 확인하였고, 2차원 모델에서 고려할 수 없는 수평방향 조도를 도입하였을 때 수직방향 부상공극에는 두드러진 영향을 미치지 않았으나, 수평방향 부상변위에 있어서 중요하게 작용함을 확인하였다.

• The Science & Technology
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• v.35 no.3 s.394
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• pp.55-58
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• 2002

국민의식 개조되야 과기발전 충분조건, 국민과학화운동 정치적 차원 승화해야