• 제어로봇시스템학회논문지
• /
• 제10권10호
• /
• pp.887-898
• /
• 2004

In this paper a mathematical framework fur deriving acceleration bounds from given joint torque limits of multiple cooperating robots are described. Especially when the different frictional contacts for every contact are assumed and the torque limits are given in 2-norm sense, we show that the resultant geometrical configuration for the acceleration is composed of corresponding parts of ellipsoids. Since the frictional forces at the contacts are proportional to the normal squeezing forces, the key points of the work includes how to determine internal forces exerted by each robot in order not to cause slip at the contacts while the object is carried by external forces. A set of examples composed of two robot systems are shown with point-contact-with-friction model and insufficient or proper degree of freedom robots.

• 대한원격탐사학회:학술대회논문집
• /
• 대한원격탐사학회 2008년도 International Symposium on Remote Sensing
• /
• pp.212-215
• /
• 2008

The final product generated from the KOMPSAT-2 Terminal for Polar System, K2PS, is an ellipsoid projected image. This leaves a relief displacement on the image by process of which the height value of subject area is constant. In this paper, orthorectification using the SRTM was used to remove such artifacts, and thereafter, the additional product that could be generated from the K2PS was discussed.

• International Journal of Control, Automation, and Systems
• /
• 제2권2호
• /
• pp.238-246
• /
• 2004

In displaying a virtual wall using a passive haptic device equipped with passive actuators such as electric brakes, unsmooth motion frequently occurs. This undesirable behavior is attributed to time delay due to slowness in the virtual environment update and force approximation due to the inability of a brake to generate torque in arbitrary directions. In this paper a new control scheme called direct control is proposed to achieve smooth display on the wall-following task with a passive haptic device. In direct control, brakes are controlled so that the normal component of a resultant force at the end-effector vanishes, based on the force analysis at the end-effector of the passive haptic device using the passive FME (Force Manipulability Ellipsoid). Various experiments have been conducted to verify the validity of the direct control scheme with a 2-link passive haptic system.

• 대한수학회논문집
• /
• 제18권2호
• /
• pp.263-280
• /
• 2003

We prove weighted L$^{p}$ estimates with respect to the non-isotropic norm for the (equation omitted)-equation on real ellipsoids, where weights are powers of the distance to the boundary. The non-isotropic norm is smaller than the usual norm, by a factor which is equal to the distance to the boundary in the complex tangential component and which is equal to the m-th root of the distance to the boundary in the complex normal component. Here n is the maximal order of contact of the boundary of the real ellipsoid with complex analytic curves.

• 대한수학회지
• /
• 제45권5호
• /
• pp.1221-1241
• /
• 2008

Most of domains people have studied are convex bounded projective (or affine) domains. Edith $Soci{\acute{e}}$-$M{\acute{e}}thou$ [15] characterized ellipsoid in ${\mathbb{R}}^n$ by studying projective automorphism of convex body. In this paper, we showed convex and bounded projective domains can be identified from local data of their boundary points using scaling technique developed by several mathematicians. It can be found that how the scaling technique combined with properties of projective transformations is used to do that for a projective domain given local data around singular boundary point. Furthermore, we identify even unbounded or non-convex projective domains from its local data about a boundary point.

• 한국측량학회지
• /
• 제13권2호
• /
• pp.125-133
• /
• 1995

지오이드고는 천문측지자료, 중력자료, 위성자료 등으로부터 계산될 수 있다. 이 논문에서는 연직선편차와 지오이드고 제약조건을 사용하여 곡면다항식법에 따라 동경원점계인 벳셀지오이드 모델(KGM95-A)을 산정하고 지심계인 중력지오이드 모델 KGM 93-C로 부터 동경원점 변환요소에 의해 변환된 벳셀지오이드(KGM95-D)와 비교하였으며 우리나라 측지망에서의 적용에 대한 토의가 제시되었다.

• Applied Microscopy
• /
• 제13권1호
• /
• pp.41-47
• /
• 1983

A Scanning electron microscope which can obtain additional information not readily available with either the light or transmission electron microscope was used to study the mast cell shape and its granules in normal mammal tissue(rat mesentery, stomach and mouse stomach) by fretting cut using liquid nitrogen. The results showed that rat mesentery and mouse stomach mast cell surfaces had no ridges and microvilli, but revealed several microvilli projecting into the surrounding connective tissue in the rat stomach mast cell. The shape of the mast cell varied from discoid(in the rat mesenteric mast cell) to ellipsoid (rat and mouse stomach), ranging from 7.5 to $10{\mu}m$ in diameter. The shape of the nucleus was ellipsoid and nucleic membrane was adherent to the outer surface of the granules. The granules, approximately 0.2 to $0.9{\mu}m$ in diameter, were various shapes. Frequently, rounded protrusions of cytoplasmic granules could be discerned under the cell membrane. Many small granules were seen in the cytoplasm.

• 한국측량학회지
• /
• 제12권1호
• /
• pp.69-76
• /
• 1994

본 연구는 측지원점의 지오이드 기준설정에 따른 WGS84 타원체와 Bessel 타원체간의 좌표변환특성을 파악하기 위해, 충남·북 지역내 11개 기준점의 GPS 관측자료를 토대로 원점의 Bessel 타원체면에 기준한 지오이드 고를 다양하게 가정하여 각 경우별로 타원체간의 평균지심편차량을 도출, 지역내 Bessel 지오이드를 모델링하고 이에 연계한 좌표변환을 수행하므로써 Bessel 지오이드 고의 변동에 따른 좌표변환정확도를 고찰한 것이다.

• Journal of the Optical Society of Korea
• /
• 제18권5호
• /
• pp.485-494
• /
• 2014

A novel antenna with ellipsoid-paraboloid surfaces configuration is designed for matching the incident radial radiation fiber laser distribution for maximum transmission efficiency. The on-axial and off-axial defocus effects on the optical antenna system, resulting in energy loss, are analyzed in detail. Knowledge of the effects of those defocuses on beam divergence, aberration and antenna transmission efficiency is of great importance to the long range communication systems.

• Communications for Statistical Applications and Methods
• /
• 제24권6호
• /
• pp.641-649
• /
• 2017

Multivariate confidence regions were defined using a chi-square distribution function under a normal assumption and were represented with ellipse and ellipsoid types of bivariate and trivariate normal distribution functions. In this work, an alternative confidence region using the multivariate quantile vectors is proposed to define the normal distribution as well as any other distributions. These lower and upper bounds could be obtained using quantile vectors, and then the appropriate region between two bounds is referred to as the quantile confidence region. It notes that the upper and lower bounds of the bivariate and trivariate quantile confidence regions are represented as a curve and surface shapes, respectively. The quantile confidence region is obtained for various types of distribution functions that are both symmetric and asymmetric distribution functions. Then, its coverage rate is also calculated and compared. Therefore, we conclude that the quantile confidence region will be useful for the analysis of multivariate data, since it is found to have better coverage rates, even for asymmetric distributions.