• Communications of the Korean Mathematical Society
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• v.31 no.3
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• pp.637-645
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• 2016

For a polygon P, we consider the centroid $G_0$ of the vertices of P, the centroid $G_1$ of the edges of P and the centroid $G_2$ of the interior of P, respectively. When P is a triangle, the centroid $G_0$ always coincides with the centroid $G_2$. For the centroid $G_1$ of a triangle, it was proved that the centroid $G_1$ of a triangle coincides with the centroid $G_2$ of the triangle if and only if the triangle is equilateral. In this paper, we study the relationships between the centroids $G_0$, $G_1$ and $G_2$ of a quadrangle P. As a result, we show that parallelograms are the only quadrangles which satisfy either $G_0=G_1$ or $G_0=G_2$. Furthermore, we establish a characterization theorem for convex quadrangles satisfying $G_1=G_2$, and give some examples (convex or concave) which are not parallelograms but satisfy $G_1=G_2$.

• Journal of the Korean institute of surface engineering
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• v.46 no.4
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• pp.175-180
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• 2013

Carbon nanofilaments (CNFs) could be synthesized using $C_2H_2/H_2$ as source gases and $SF_6$ as an incorporated additive gas under thermal chemical vapor deposition system. Ni powders were used as the catalyst for the formation of the CNFs. During the initial deposition stage, the initiation of the CNFs on the Ni catalyst was investigated. The geometries of the as-grown CNFs on Ni catalyst were strongly dependent on the size and/or the shape of Ni catalyst. Small size catalyst (<150 nm in diameter) gives rise to the unidirectional growth of the CNFs. On the other hand, large size catalyst (150~500 nm), the bidirectional growth of the CNFs could be observed. Particularly, the well faceted parallelogram-shaped Ni catalyst could give rise to the bidirectional growth of the CNFs having the symmetrically opposite direction. Eventually, these bidirectional growths of CNFs were understood to form the well-developed carbon microcoils (CMCs). Based on these results, the optimal shape and the size of the Ni catalyst to form the CMCs were discussed.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.5
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• pp.599-605
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• 2011

A 3-D rehabilitation robot system is developed. The robot system is for the rehabilitation of upper extremities, especially the shoulder and elbow joints, and has 3-D workspace for occupational therapy to recover physical functions in activities of daily living(ADL). The rehabilitation robot system has 1 DOF in horizontal rotational motion and 2 DOF in vertical rotational motion, where all actuators are set on the ground. Parallelogram linkage mechanisms lower the equivalent inertia of the control elements as well as control forces. Also the mechanisms have high mechanical rigidity for the end effector and the handle. In this paper, a hybrid position/force controller is used for controlling positions and forces simultaneously The controller is tuned according to the robot posture. The active motion modes for rehabilitation program consist of active-resisted motion mode and active-free motion mode. The results of the experiments show that the proposed motion modes provide the intended forces effectively.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.117-122
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• 1998

The recent developments and studies in the framework of output tracking control in the field of robotics that has been studied in the Control Laboratory, are presented. An output controller based on“Hardware-ln-the-Loop Simulation”(HILS) and“Rapid Control Prototyping”(RCP) concepts is developed using dSPACE. These new concepts are shown to be particularly beneficial for manipulator control tasks. In the Elbow manipulator design, there are two kinds of manipulators, namely the serial-drive type and the parallelogram-drive manipulator, The objective of this research is to model the two Elbow manipulators and to implement the proposed controller for manipulator applications. The control goal is to force the manipulator to follow a given trajectory in the given work space. Output controllers of the two elbow manipulators that are based on the model matching control approach have been implemented in two models that represent the robot equations of motion. To reduce the efforts in evaluating the proposed algorithm, a new system configuration method, based on HILS and RCP tools, was suggested to determine the parameters of the integrated dynamic system.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.1
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• pp.66-72
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• 2000

As the demand for the design of modular manipulators or special purpose manipulators has increased, task based design to design an optimal manipulator for a given task become more and more important. However, the complexity with a large number of design parameters, and highly nonlinear and implicit functions are characteristics of a general manipulator design. To achieve the goal of task based design, it is necessary to develop a methodology to solve the complexity. This paper addresses how to determine the kinematic parameters of a two-degrees of freedom manipulator with parallelogram five-bar link mechanism from a given task, namely, how to map a given task into the kinematic parameters. With simplified example of designing a manipulator with five-bar link mechanism, the methodology for task based design is presented. And it introduces formulations of a given task and manipulator specifications, and presents a new dexterity measure for manipulator design. Also the optimization problem with constraints is solved by using a genetic algorithm that provides robust search in complex spaces.

• The Journal of Korea Robotics Society
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• v.18 no.4
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• pp.367-375
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• 2023

Most partial hand amputees experience limited wrist movement, which hinders the efficient functioning of upper limb, affecting hand-to-use coordination and the usability of the prosthetic hand. This limitation can lead to secondary musculoskeletal issues due to repetitive compensatory movement patterns. However, current partial hand prosthetic lack rotational wrist movement due to challenges in accommodating various hand shapes and limited space. In our study, we proposed a prosthetic hand with a wrist rotation module for partial hand amputees, aiming to reduce compensatory movement. To validate the proposed wrist rotation module, we conducted motion analysis during reach-to-grasp task. Furthermore, during the Jebsen-Taylor hand function test, we evaluated both the effect on upper limb movement and the usability of the prosthetic hand, comparing configurations with and without the wrist rotation module. The results showed that the prosthetic hand equipped with rotational wrist movements reduces compensatory movements and promotes efficient upper limb movement patterns. This finding highlights the value of incorporating a wrist rotation module in prosthetic hands to improve upper limb movement for partial hand amputees.

• Journal of Elementary Mathematics Education in Korea
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• v.16 no.3
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• pp.451-469
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• 2012

This research intends to examine how 6th graders (age 12) conceptualize the area of geometric figures. In this research, 4 problems were given to 122 students, which the 4 problems correspond to understanding area concept, finding the area of geometric figures-including rectangular, parallelogram, and triangle, writing the area formula for finding area of geometric figures, and explaining the reason why the area formula holds. As the results of the study, we identified that students revealed the most low achievement in the understanding area concept, and lower achievement in explaining the reason why the area formula holds, writing the area formula, finding the area of geometric figures in order. In based on the results, we suggested the didactical implication for improving the students' conception about the area of geometric figures.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.5
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• pp.2031-2037
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• 2011

The French doors have the advantage that they can use inner space more efficiently due to without of partition between two rooms. However, when they are used for refrigerators, the door gaskets for sealing may cause interference of themselves during opening and closing, which causes fatal effect on sealing by worn out of the gaskets as well as increases door opening force. This research proposes a new mechanism for the French doors using the parallelogram motion of 4-bar linkage mechanism, which does not make any interference between gaskets. We manufactured the French doors of proposed mechanism to verify that they do not cause any interference during opening and closing, as well as opening force is decreased. The use of our developed mechanism is not limited to refrigerators, but can be extended to other industrial products with the French doors.

• Education of Primary School Mathematics
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• v.19 no.2
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• pp.113-125
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• 2016

The concept and measuring activities of the height of figures are essential to find the areas or volumes of the corresponding figures. For plane figures, the height of a triangle is defined to be the line segment from a vertex that is perpendicular to the opposite side of the triangle, whereas the height of a parallelogram(trapezoid) is defined to be the distance between two parallel sides. For the solid figures, the height of a prism is defined to be the distance of two parallel bases, whereas the height of a pyramid is defined to be the perpendicular distance from the apex to the base. In addition, the height of a cone is defined to be the length of the line segment from the apex that is perpendicular to the base and the height of a cylinder is defined to be the length of the line segment that is perpendicular to two parallel bases. In this study, we discuss some pedagogical problems on the concepts and measuring activities of the height of figures to provide alternative activities and suggest their educational implications from a teaching and learning point of view.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.1
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• pp.73-79
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• 2012

Kiosks are widely used in drive-thru systems in parking lots or on the highway to provide various services to drivers. However, the driver must stop at an exact location to access the kiosk, since its panel is fixed. In order to improve the kiosk accessibility, in this study we developed a manipulator that can adjust the position of the kiosk panel. The number of active joints was minimized to lower the cost, whereas a parallelogram mechanism and passive joints were adopted to increase its convenience for the users. Furthermore, a safety mechanism using springs and a cam was designed to ensure the safety of the user in the case of an emergency. The performance of the position controller and the safety mechanism were verified through various tests. In addition, the proposed collision reaction strategy improved the safety performance of the kiosk system.