• 대한수학교육학회지:학교수학
• /
• 제3권2호
• /
• pp.447-473
• /
• 2001

Since the greater part of mathematical concepts have been developed in the direction of “from the concrete and realistic aspects to the abstract level”, children should be secured to learn mathematics genetically with various manipulative materials. The aim of this study is to instigate the active use of geoboards in mathematics classroom. To achieve this arm, we first embodied the several significances on the use of geoboards in mathematics instruction. And we then performed an instruction that children discover and justify the formula related to the area of trapezoid by exploring with geoboards, and analyzed the instructional episode to support our assertion about some secure merit accompanied by using geoboards. From this study, we obtained the conclusion that geoboard activity contains many significances such as children can explore congruence, symmetry, similarity, fundamental properties of figures, and pattern. Futhermore, geoboard activity enable children to transform a figure into other equivalently, develop spatial sense, have basic experiences for coordinate geometry, build a concrete model to explain abstract ideas, and foster the ability of problem solving and mathematical thinking.

• Structural Engineering and Mechanics
• /
• 제27권5호
• /
• pp.527-540
• /
• 2007

The modal controller of single-input system cannot stabilize the defective system with positive real part of repeated eigenvalues, because some of the generalized modes are uncontrollable. In order to stabilize the uncontrollable modes with positive real part of eigenvalues, the multi-input system should be introduced. This paper presents a recursive procedure for designing the feedback controller of the multi-input system with defective repeated eigenvalues. For a nearly defective system, we first transform it into a defective one, and apply the same method to manage. The proposed methods are based on the modal coordinate equations, to avoid the tedious mathematic manipulation. As an application of the presented procedure, two numerical examples are given at end of the paper.

• 제어로봇시스템학회논문지
• /
• 제15권4호
• /
• pp.372-378
• /
• 2009

For effective mobility control of unmanned ground vehicles in outdoor off-road environments, terrain cover classification technology using passive sensors is vital. This paper presents a novel method far terrain classification based on color and texture information of off-road images. It uses a neural network classifier and wavelet features. We exploit the wavelet mean and energy features extracted from multi-channel wavelet transformed images and also utilize the terrain class spatial coordinates of images to include additional features. By comparing the classification performance according to applied features, the experimental results show that the proposed algorithm has a promising result and potential possibilities for autonomous navigation.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2000년도 추계학술대회 논문집
• /
• pp.307-310
• /
• 2000

The measuring method of large object using the pattern matching is discussed in the paper. It is hard and expensive to get the complete 3D data when the object is large or exceeds the limit of measuring devices. The large object is divided into several smaller areas and is scanned several times to get the data of all the pieces. These data are aligned to get the complete 3D data using the pattern matching method. The point pattern matching method and transform matrix algorithm are used for aligning. The laser slit beam and CCD camera is applied for experimental measurement. Visual C++ on Window98 is implemented in processing the algorithm.

• 제어로봇시스템학회논문지
• /
• 제16권8호
• /
• pp.727-734
• /
• 2010

This paper deals with an anti-sway control for a ship-mounted container crane which is disturbed by the wave-induced motions of the ship. We derive a simple dynamics of the ship-mounted container crane with an active anti-sway control system and transform it into a dynamic function for a horizontal variable on the absolute coordinate. Then we propose an control method to reduce pendulation of the spreader and compare its performance with well-known feedback linearization control in computer simulation.

• Journal of Mechanical Science and Technology
• /
• 제17권2호
• /
• pp.269-279
• /
• 2003

The anti-plane shear problem of bonded elastic materials containing a crack at an arbitrary angle to the graded interfacial zone is investigated in this paper The interfacial zone is modeled as a nonhomogeneous interlayer of finite thickness with the continuously varying shear modulus between the two dissimilar, homogeneous half-planes. Formulation of the crack problem is based upon the use of the Fourier integral transform method and the coordinate transformations of basic field variables. The resulting Cauchy-type singular integral equation is solved numerically to provide the values of mode 111 stress intensity factors. A comprehensive parametric study is then presented of the influence of crack obliquity on the stress intensity factors for different crack size and locations and for different material combinations, in conjunction with the material nonhomogeneity within the graded interfacial zone.

• 제어로봇시스템학회논문지
• /
• 제22권7호
• /
• pp.519-523
• /
• 2016

This paper proposes a method of estimating the actuator faults of a hexacopter without using encoders when one or more of six actuators do not operate normally. In the case of the hexacopter, a Pseudo-Inverse matrix is generally used to obtain the rotational speed of the actuators because the matrix that transforms the rotational speed of the actuators into the thrust and torque of the body coordinate system is not a square matrix. However, the method based on the Pseudo-Inverse matrix cannot detect the actuator faults correctly because the Pseudo-Inverse matrix is approximate. In the proposed method, the actuator faults are estimated by modifying the transform matrix using the property that the actuators of the hexacopter are symmetrical. The simulation results show the effectiveness of the proposed method when faults occur in one or more of the six actuators.

• 소음진동
• /
• 제9권1호
• /
• pp.103-112
• /
• 1999

A new modeling and analysis technique for one-dimensional distributed parameter systems is presented. First. discretized equations of motion in Laplace domain are derived by applying discretization methods for partial differential equations of a one-dimensional structure with respect to spatial coordinate. Secondly. the z and inverse z transformations are applied to the discretized equations of motion for obtaining a dynamic matrix for a uniform element. Four different discretization methods are tested with an example. Finally, taking infinite on the number of step for a uniform element leads to an exact dynamic matrix for the uniform element. A generalized modal analysis procedure for eigenvalue analysis and modal expansion is also presented. The resulting element dynamic matrix is tested with a numerical example. Another application example is provided to demonstrate the applicability of the proposed method.

• 한국공작기계학회:학술대회논문집
• /
• 한국공작기계학회 1999년도 추계학술대회 논문집 - 한국공작기계학회
• /
• pp.99-104
• /
• 1999

This paper proposes an efficient method constructing a local map using the data of a scanning laser range finder. A laser range finder yields distance data of polar form, that is, distance data corresponding to every scanning directions. So, the data consists of directional angle and distance. We propose a new method to find a line fitting with a set of such data. The method uses Log-Hough Transformation. Usually, map building from these data requires some transformations between different coordinate systems. The new method alleviates such complication. Also, the method simplifies computation for line recognition and eliminates the slope quantization problems inherent in the classical Cartesian Hough transform method. To show the efficiency of the proposed method, it is applied to find a local map using the data from a laser range finder PLS(Proximity Laser Scanner, made by SICK).

• 한국콘텐츠학회:학술대회논문집
• /
• 한국콘텐츠학회 2004년도 춘계 종합학술대회 논문집
• /
• pp.317-322
• /
• 2004

안테나 복사 특성을 효율적으로 측정할 수 있는 근역장 측정 방법의 개선을 논한다. 본 논문에서 직각좌표계에 바탕을 둔 원통주사법의 공식을 제안한다. 제안된 원통주사법 알고리즘을 미소 쌍극자 안테나의 정확한 해와 비교한다 본논문의 접근법이 대부분의 안테나 측정에 효과적임을 수치해석 결과에서 알 수 있다.