• Journal of Mechanical Science and Technology
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• v.19 no.spc1
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• pp.364-370
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• 2005

A stable walking pattern generation method for a biped robot is presented in this paper. In general, the ZMP (zero moment point) equations, which are expressed as differential equations, are solved to obtain a stable walking pattern. However, the number of differential equations is less than that of unknown coordinates in the ZMP equations. It is impossible to integrate the ZMP equations directly since one or more constraint equations are involved in the ZMP equations. To overcome this difficulty, DAE (differential and algebraic equation) solution method is employed. The proposed method has enough flexibility for various kinematic structures. Walking simulation for a virtual biped robot is performed to demonstrate the effectiveness and validity of the proposed method. The method can be applied to the biped robot for stable walking pattern generation.

• Communications of Mathematical Education
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• v.22 no.3
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• pp.337-347
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• 2008

'Slope' is an invariant of a straight line and 'Linear Equation' is an algebraic representation of a straight line in the cartesian plane. The concept 'slope' is necessary for algebraically representing a geometrical figure, line. In this article, we investigate how those concepts are dealt with in school mathematics and suggest some improvement methods.

• Journal of the Korean Institute of Telematics and Electronics
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• v.16 no.5
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• pp.18-26
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• 1979

This paper extends some well-known system theories on algebraic matrix Lyapunov and Riccati equations. These extended results contain two point boundary conditions in matrix differential equations and include conventional results as special cases. Necessary and sufficient conditions are derived under which linear systems are stabilizable with feedback gains derived from periodic two-point boundary matrix differential equations. An iterative computation method for two-point boundary differential Riccati equations is given with an initial guess method. The results in this paper are related to periodic feedback controls and also to the quadratic cost problem with a discrete state penalty.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.39 no.7
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• pp.740-748
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• 1990

In this paper, we consider the problem of parameter estimation, i.e., definding the internal structure of a linear distribution parameter system from its input/output data. First, a linear partial differential equation describing the system is double-integrated with respect to two variables and then transformed into an integral equation. Next the Walsh Operation Matrix for Walsh function and their integration are introduced to transform the integral equation into algebraic simultaneous equations. Finally, we develop an algorithm to estimate the parameters of the linear distributed parameter system from the simple linear algebraic simultaneous equations. It is also shown that our algorithm could be effective in real time data processing since it uses the Fast Walsh Transform.

• Journal of Korean Society of Forest Science
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• v.90 no.2
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• pp.210-216
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• 2001

Pinus densiflora S. et Z. has widely been distributed, and is one of the important main foret resources in Korea. Diameter and height growth patterns were estimated using non-linear algebraic difference equation, which requires two-measurement times $T_1$ and $T_2$. To maximize data use, all possible measurement interval data were derived using Lag and Put statements in the SAS. In results, of the algebraic difference equations applied, the Schumacher and the Gompertz polymorphic equations for diameter and height, respectively showed the higher precision of the fitting. In order to allow more precise estimation of growth than those of the basic Schumacher and the Gompertz, further refinement that combine biological realism as input into the equation would be necessary.

• Communications of Mathematical Education
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• v.29 no.4
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• pp.699-722
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• 2015

Based on Lagrange's general theory of algebraic equations, by applying the solution of the equation using the relationship between roots and coefficients to the high school 1st grade class, the purpose of this study is to recognize the significance of symmetry associated with the solution of the equation. Symmetry is the core idea of Lagrange's general theory of algebraic equations, and the relationship between roots and coefficients is an important means in the solution. Through the lesson, students recognized the significance of learning about the relationship between roots and coefficients, and understanded the idea of symmetry and were interested in new solutions. These studies gives not only the local experience of solutions of the equations dealing in school mathematics, but the systematics experience of general theory of algebraic equations by the didactical organization, and should be understood the connections between knowledges related to the solutions of the equation in a viewpoint of the mathematical history.

• Transactions of the Korean Society of Mechanical Engineers
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• v.11 no.1
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• pp.1-18
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• 1987

Prediction performances by Einstein's equation of diffusivity, Peskin's model, Three-Equation model, Four-Equation model and Algebraic Stress Model, have been compared by analyzing twophase (air-solid) turbulent jet flow. Turbulent kinetic energy equation of dispersed phase was solved to investigate effects of turbulent kinetic energy on turbulent diffusivity. Turbulent kinetic energy dissipation rate of particles has been considered by solving turbulent kinetic energy dissipation rate equation of dispesed phase and applying it to turbulent diffusivity of dispersed phase. Results show that turbulent diffusivity of dispersed phase can be expressed by turbulent kinetic energy ratio between phases and prediction of turbulent kinetic energy was improved by considering turbulent kinetic energy dissipation rate of dispersed phase for modelling turbulent diffusivity. This investigation also show that Algebraic Stress Model is the most promising method in analyzing gas-solid two phaes turbulent flow.

• Transactions of the Korean Society of Mechanical Engineers
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• v.12 no.1
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• pp.1-7
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• 1988

Prediction performances by Einstein's equation of diffusivity, Peskin's model, Three-Equation model, Four-Equation model and Algebraic Stress Model, have been compared by analyzing twophase (air-solid) turbulent jet flow. Turbulent kinetic energy equation of dispersed phase was solved to investigate effects of turbulent kinetic energy on turbulent diffusivity. Turbulent kinetic energy dissipation rate of particles has been considered by solving turbulent kinetic energy dissipation rate equation of dispersed phase and applying it to turbulent diffusivity of dispersed phase. Results show that turbulent diffusivity of dispersed phase can be expressed by turbulent kinetic energy ratio between phases and prediction of turbulent kinetic energy was improved by considering turbulent kinetic energy dissipation rate of dispersed phase for modelling turbulent diffusivity. This investigation also show that Algebraic Stress Model is the most promising method in analyzing gas-solid two phases turbulent flow.

• Communications of the Korean Mathematical Society
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• v.4 no.1
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• pp.59-71
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• 1989

• Kyungpook Mathematical Journal
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• v.33 no.1
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• pp.61-67
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• 1993