• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.838-843
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• 1991

A telemanipulator that reflects grasping force of the slave gripper to the human operator was implemented in order for manipulation to be more delicate and safe. An industrial robot gripper was used as the slave manipulator. The master manipulator was constructed to make it easy for a human operator to direct the slave and to feel the reflected gripping force. Reflected force was generated by the servomotor of the master. The force signal and position signals of the master and the slave was used to generate driving force signal. Basically position-position type control was used. Miner force feedback is added to improve the performance of the system. Implemented system was tested by colliding two fingers of the slave manipulator, and here switching was used to archive more fast and easy manipulation.

• Journal of Multimedia Information System
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• v.8 no.2
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• pp.111-120
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• 2021

As recent virtual reality technologies provide a more natural three-dimensional interactive environment, users naturally learn to explore space and interact with synthetic objects. The virtual reality researcher develops a technique that realizes realistic sensory feedback to get appropriate feedback to sense input behavior. Although much recent virtual reality research works extensively consider the human factor, it is not easy to adapt to all new virtual environment contents. Among many human factors, distance perception has been treated as very important in virtual environment interaction accuracy. We study the experiential virtual environment with the feature of the virtual object connected with the real object. We divide the three-dimensional interaction, in which distance perception and behavior have a significant influence, into two types (whole-body movement and direct manipulation) and analyze the real and virtual visual distance perception heterogeneity phenomenon. Also, we propose a statistical correction method that can reduce a near-body movement and manipulation error when changing the interaction location and report the experiment results proving its effectiveness.

• Korean Journal of Remote Sensing
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• v.20 no.1
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• pp.47-55
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• 2004

We have constructed a level-1 processor to generate brightness temperatures using the direct-broadcast data from the passive microwave radiometer onboard Aqua satellite. Although 50-minute half-orbit data, called a granule, are being routinely produced by global data centers, to our knowledge, this is the first attempt to process 10-minute long direct-broadcast (DB) data. We found that the processor designed for a granule needs modification to apply to the DB data. The modification includes the correction to path number, the selection of land mask and the manipulation of dummy scans. Pixel-to-pixel comparison with a reference indicates the difference in brightness temperature of about 0.2 K rms and less than 0.05 K mean. The difference comes from the different length of data between 50-minute granule and about 10-minute DB data. In detail, due to the short data length, DB data do not always have correct cold sky mirror count. The DB processing system is automated to enable the near-real time generation of brightness temperatures within 5 minutes after downlink. Through this work, we would be able to enhance the use of AMSR-E data, thus serving the objective of direct-broadcast.

• Proceedings of the Optical Society of Korea Conference
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• 2003.02a
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• pp.242-243
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• 2003

A CGH is a hologram generated by computer. It is widely applied to wavefront manipulation, synthesis, optical information processing and interferometer. Some methods have been used to determine the optimum phase pattern to achieve high diffraction efficiency and uniform intensity such as DBS (Direct Binary Search), SA (Simulated Annealing), GA(Genetic Algorithm). These methods require long computation time to generate a hologram. (omitted)

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.898-902
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• 1995

STEP is a neutral model for exchanging CAD modelbetween different CAD systms. The paper presents a laser path contour generation for rapid prototyping originated form STEP format files without using any tools nor libraries for STEP data manipulation. Polygons are generated from every point on the layer of given thickness, which are the intersections of layer plane and edges stored in entity tables. Curves are approximated with polygons whitin segment tolerance limit in order to cover sculptured surfaces. With the advantage of less data loss in direct slicing over STL formats, the system developed in this work shows a good potential to provide data share with various CAD systems including RP data preparation.

• Journal of Korean Library and Information Science Society
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• v.26
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• pp.365-400
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• 1997

The interface design for most present query-base model of OPAC systems does not include the function to implement an iterative feedback process till the user arrives at satisfied search results through the interaction with the system. Also, the interface doesn't provide the help function for a user to select pertinent search terms. To formulate a query at the present OPAC system, a user should learn a set of syntax different from system to system. All of above mentioned things make an end-user feel difficult to utilize an OPAC system effectively. This experimental system is attempted to alleviate a few limitations of the present OPAC system by a n.0, pplying the direct-manipulation technique as well as the feedback principle. First, this system makes it unnecessary for a user to learn some syntax for query formulation by providing option buttons for access points. Second, this system makes it possible for a user to decide whether each displayed record is relevant or not, and for keywords included in the relevant records to be automatically stored in order to be used for later feedback. Third, in this system, the keywords stored in [sayongja yongeu bogyanham] can be deleted if unnecessary or can selected as search terms for a query expansion as well as a query modification. Fourth, in this system, after inputting the original query, the feedback process can be proceed without coming back to the previous search step until a user becomes satisfied with the search results. In conclusion, the searching behaviors of heterogeneous users should be continuously observed, analysed, and studied, the findings of which should be integrated into the design for the interface of the OPAC system.

• Analyses & Alternatives
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• v.7 no.1
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• pp.83-114
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• 2023

Previous studies on international politics dealing with World War I mainly pointed to the balance of power and alliance issues as the causes of war. This view saw the assassination of Sarajevo, the direct cause of the war, as a simple opportunity. As a result, these studies can explain 'what made war inevitable' but still need to fully explain 'why the war started in the Balkans and how it spread throughout Europe.' To compensate for the limitations of these preceding studies, this study aim to find the origin of World War 1 in the context of the Balkan, which began with the conflict between Germany-Austria and Russia-Serbia. To this end, this study analyzed the historical background of the Balkan crisis and the development of the crisis through the concept of Shoemaker and Spanier's patron-client relationship between states and crisis manipulation. As a result, it confirmed that competition between Russia and Germany and crisis manipulation attempts by their client states did not necessarily lead to war. But crisis manipulation has instilled a competitive mindset in patron states that will potentially and cumulatively work. Since then, unexpected crises have occurred, and rival patrons have suspected that their opponents are planning grand strategic conspiracies and challenges. As a result, they have become vulnerable to crisis manipulation by the clients. This situation was the cause of the outbreak of World War I in the context of the Balkans' patron-client relationship.

• The Journal of Korea Robotics Society
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• v.15 no.4
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• pp.309-315
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• 2020

This study shows a control strategy that acquires both precision and manipulation sensitivity of remote center motion with manual traction for a surgical assistant robot. Remote center motion is an essential function of a laparoscopic surgical robot. The robot has to keep the position of the insertion port in a three-dimensional space, and general laparoscopic surgery needs 4-DoF (degree-of-freedom) motions such as pan, tilt, spin, and forward/backward. The proposed robot consists of a 6-axis collaborative robot and a 2-DoF end-effector. A 6-axis collaborative robot performs the cone-shaped trajectory with pan and tilt motion of an end-effector maintaining the position of remote center. An end-effector deals with the remaining 2-DoF movement. The most intuitive way a surgeon manipulates a robot is through direct teaching. Since the accuracy of maintaining the remote center position is important, direct teaching is implemented based on position control in this study. A force/torque sensor which is attached to between robot and end-effector estimates the surgeon's intention and generates the command of motion. The predefined remote center position and the pan and tilt angles generated from direct teaching are input as a command for position control. The command generation algorithm determines the direct teaching sensitivity. Required torque for direct teaching and accuracy of remote center motion are analyzed by experiments of panning and tilting motion.

• Journal of the Korean Society of Visualization
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• v.12 no.2
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• pp.13-17
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• 2014

In the present study, the optofluidic droplet manipulation in a microfluidic platform was demonstrated via theoretical and experimental approaches. Optical scattering force and gradient force were used to separate and trap droplets. Two types of droplets were generated by a T-junction method in the microfluidic channel. While they approach a test region where the optical beam illuminates the droplets, they were pushed by the optical scattering beam. The displacement by the laser beam is dependent on the refractive index of the droplets. By using the optical gradient force, the droplets can be trapped and coalesced. In order to bring the droplets in a direct contact, the optical gradient force was used to trap the droplets. A theoretical modeling of the coalescence was derived by combining the optical force and drag force on the droplet.

• ETRI Journal
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• v.11 no.2
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• pp.120-136
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• 1989

최근의 데이터 베이스 응용분야에 있어서 시간에 따른 정보의 변화를 유지관리할 필요성이 대두되고 대용량의 기억장치 가격의 급속한 감소와 함께 이의 이용 기술이 향상되면서 시간주기에 따라 실세계의 상태에 대한 변경과정을 표현하는 시간 즉, 데이터의 변경이력을 지원하는 데이터베이스(Terporal Database)에 관심이 집중되고 있으며, 이러한 요구를 만족시키기 위한 여러 방법들이 연구되고 있다. 일반적으로 시간 지원 데이터베이스 모델은 지원되는 시간의 형태에 따라 Static, Static Rollback, Historical, Temporal, Revision 데이터베이스 모델로 나뉘어진다. 본 논문에서는 시간 및 변경이력을 지원하기 위한 데이터베이스 모델과 이를 위한 데이터베이스 시스템의 주요 설계 Issue들에 관하여 조사분석한 다음, Static Rollback 데이터베이스 모델을 기본으로 하는 "$SR^2DBS$: 시간 지원 데이터베이스 시스팀"의 설계 및 구현에 관하여 기술하였다. $SR^2DBS$은 기존의 관계형 데이터 베이스 시스팀"의 모델을 시간 애트리뷰트를 추가시킴으로서 데이터 베이스의 변경이력관리를 가능케 한 Direct Manipulation Database Processing System으로 데이터베이스의 현상태 뿐만 아니라 시간에 따른 변경이력에 대해서 Screenoriented Relation Browsing & Editing 기능을 제공하며, 다음과 같은 특징을 갖는다. - Screen oriented Processing - Directi-Manipulation of Objects - Object & Revision History of Interest Visibility - Rapid Reversible Actions - Transaction Time & Revision Number Supporting - Roll-back Query Supporting - Han-gul Data Supporting - Two level Storage Structure(Current Version & History Versions)