• 한국수산과학회지
• /
• 제53권4호
• /
• pp.637-649
• /
• 2020

An ideal 3D primitive equation model is implemented to investigate upper ocean response to typhoons, focusing on rightward bias (RWB) which means an appearance of an intensified sea surface cooling to the right side of the typhoon track. The model has 26-stratified levels and a flat bottom (1000 m), covering a rectangular domain of about 3,060 km×3,300 km with four open boundaries. The sea water is forced by an atmospheric pressure and a gradient wind of the typhoon. The model well reproduces the RWB in previous observations and theoretical analyses. For the fast moving typhoon (FMT) (-8m/sec), the model shows that in the mixed layer (ML), the RWB in the SST noticeably appears clearly illustrating the coupling between inertial motion and wind stress, but in the subsurface layer (-100m), the RWB does not emerge since a cyclonic current field (CCF) caused by wind stress curl is primarily dominant. For the slowly moving typhoon (SMT) (-3m/sec), however, the RWB does not emerge because the coupling is weakened and the CCF is rather predominant even in the ML. In the model, we conclude that the RWB noticeably emerges in the FMT but does not emerge in the SMT related to predominance of CCF.

• 한국수학교육학회지시리즈A:수학교육
• /
• 제56권4호
• /
• pp.387-405
• /
• 2017

The purpose of this study is to investigate the change of students 'perception and expression about the motion of object following distance function $={x \atop 3}$ and distance function $y=\frac{x^3}{3}+3$ according to the necessity of research on students' perception and expression about integral constant. In this paper, we present the recognition and the expression of the difference of the constant in the relationship between the distance function and the speed function of the students, while examining the process of constructing the speed function and the inverse process of the distance function. This provides implications for the relationship between the derivative and the indefinite integral corresponding to the inverse process. In particular, in a teaching experiment, a constructive activity was performed to analyze the motion of two distance functions, where the student had a difference of the constant term. At this time, the students used the expression 'starting point' for the constants in the distance function, and the motion was interpreted by using the meaning. This can be seen as a unique 'students' mathematics' in the process of analyzing the motion of objects. These scenes, in introducing the notion of the relation between differential and indefinite integral, it is beyond the comprehension of the integral constant as a computational procedure, so that the learner can understand the meaning of the integral constant in relation to the motion of the object. It is expected that it will be a meaningful basic research on the relationship between differential and integral.

• 한국컴퓨터그래픽스학회논문지
• /
• 제2권1호
• /
• pp.7-14
• /
• 1996

파티클시스템은 비정형적 물체를 표현하기 위해 모인 기본 파티클들의 집합으로 정의된다. 파티클시스템은 시간에 대해 동적인 성질을 가지므로 연기, 구름, 폭포, 폭발 등과 같이 비정형적이고 시간의 흐름에 따라 변화하는 물체를 표현하기 적합한 모델링방법이다. 그러나 표현하고자하는 물체의 모양이나 변화의 양상이 복잡한 경우 이를 조정하기 위하여 많은 수의 파라미터가 필요하게 되고, 이들 파라미터들의 상호영향을 고려하며 적절히 조절하기가 매우 어려워지게 된다. 또한 파티클의 움직임과 변화를 계산하기 위하여 운동방정식 및 변화함수를 근사화하여 사용하는데 이는 근원적인 부정확성(inaccuracy)을 내포하므로 이런 부정확성을 포함하고 있는 다수의 요인이 결합되었을 때 나타나는 궁극적 결과를 파악하기 어렵다. 본 논문에서는 이런 문제를 해결하기 위하여 기존의 파티클시스템에서의 파티클의 운동 및 변화를 제어하는 데에 퍼지제어기법을 도입하는 새로운 접근방식을 제안하고, 시스템을 구현하여 폭발장면 등을 대상으로 하여 실험한다.

• 한국정보과학회논문지:시스템및이론
• /
• 제33권8호
• /
• pp.455-476
• /
• 2006

아바타 스크립트 언어는 사이버 공간에서 아바타의 동작을 제어하기 위해서 사용되는 명령어들로 이루어져있다. 사용자가 아바타 동작 스크립트 언어를 쉽게 작성하기 위해서는 스크립트 언어의 행위표현이 복잡한 하위수준 동작 표현 요소로부터 최대한 추상화되어야 한다. 또한 작성된 시나리오 스크립트 가 다양한 구현환경에 적용 될 수 있는 표준적인 구조를 가지고 있어야 한다. 이를 위해 본 논문에서는 작업수준 행위, 상위수준 동작 및 기본 동작 스크립트 언어로 구성된 계층적 아바타 행위 표현 언어를 정의하였다. 각 계층의 언어는 사용자의 스크립트 작성을 위한 행위 요소와 아바타 동작 시퀀스 및 구현 환경의 기하 정보를 분리하여 표현한다. 제안 언어를 통하여 사용자는 추상화된 스크립트 작성이 가능하며 작성된 스크립트는 번역 과정을 거쳐 다양한 구현 환경에 적용이 가능하다 구현 결과에서는 제안 기법을 적용한 시스템을 구축하여 사이버 교육 도메인 환경에서 아바타 스크립트 시나리오의 작성 과정 및 스크립트가 다양한 응용 프로그램에 유연하게 적용되는 것을 보여준다.

• 제어로봇시스템학회논문지
• /
• 제6권5호
• /
• pp.404-414
• /
• 2000

This paper addresses the development of a 3-fingered humanoid robot hand system and a real-time grasp synthesis of multifingered robot hands to find grasp configurations which satisfy the force closure condition of arbitrary shaped objects. We propose a fast and efficient grasp synthesis algorithm for planar polygonal objects, which yields the contact locations on a given polygonal object to obtain a force closure grasp by the multifingered robot hand. For an optimum grasp and real-time computation, we develop the preference and the hibernation process and assign physical constraints of the humanoid hand to the motion of each finger. The preferences consist of each sublayer reflecting the primitive preference similar to the conditional behaviors of humans for given objectives and their arrangements are adjusted by the heuristics inspired from human's grasping behaviors. The proposed method reduces the computational time significantly at the sacrifice of global optimality, and enables the grasp posture to be changable within two-finger and three-finger grasps. The performance of the presented algorithm is evaluated via simulation studies to obtain the force-closure grasps of polygonal objects with fingertip grasps. The architecture suggested is verified through experimental implementation to our robot hand system by solving the 2- or 3-finger grasp synthesis.

• 대한물리치료과학회지
• /
• 제3권4호
• /
• pp.189-196
• /
• 1996

The purpose of this review are that what is the concept of sport P. N. F and to give the information about proprioceptive neuromuscular facilitation technique when the sport physical therapy will be needed in field. Technique of proprioceptive neuromuscular facilitation are methods of placing specific demands in order to secure a desired response. Greatest emphasis was placed on the application of optimal resistance throughout the range of motion, using many combinations of motions which were related to primitive patterns and employment of postural and righting reflexes. The treatment after sport injury patient is required that two component actions of muscles as well as permitting action to occur at two or more joint. The effect of P. N. F and of sprot P. N. F are reviewed. Implications for treatment of sport disability are suggested.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
• /
• pp.1621-1623
• /
• 1997

Use of teaching pendant is the most widespread and economical way to teach desired motion to robots. It is also very primitive,time consuming and ineffective way of teaching which has not changed since the early days of robot. In order to reduce the teaching effor, a new efficient form of teaching is needed. Also, the recent robotics research trend into service robots such as home robot, nurse robot and medical robot calls for a new teaching method which is both easy and inexpensive. In this paper, the design and operation principle of a low cost force/moment sensor is presented. The proposed sensor architecture is so simple and inexpensive that it opens the prospect for a new paradigm of robot teaching which is easy and efficinet. Other prospective areas of application are tele-manipulation of robots wher it can be used in master arm, and virtual environment where it can be used as an user input device.

• International Journal of Aeronautical and Space Sciences
• /
• 제10권2호
• /
• pp.148-160
• /
• 2009

By the development of recent technology, a new variant of rotorcrafts having four rotors start drawing attention from aerial-robotics engineers more than before. Its potential spans from just being control device test bed to performing difficult task such as carrying surveillance device to unreachable places. In this regards, modeling a quad-rotor is significant in analyzing its dynamic behavior and in synthesizing control system for such a vehicle. This paper summarizes the modeling of a mini quad-rotor aerial vehicle. A first principle approach is considered for deriving the model based on Euler-Newton equations of motion. The result of the modeling is a simulation platform that is expected to acceptably predict the dynamic behavior of the quad-rotor in various flight conditions. Linear models associated with different flight condition can be extracted for the purpose of control synthesis.

• 한국멀티미디어학회:학술대회논문집
• /
• 한국멀티미디어학회 2000년도 추계학술발표논문집
• /
• pp.475-478
• /
• 2000

사람의 몸 동작을 인식해야하는 여러 응용분야에서의 필요성이 대두되면서 이 분야로의 연구가 활발해지고 있다. 이 논문은 사람의 비언어적 행동을 자동적으로 분석할 수 있는 인식기 개발에 관한 것으로 실세계 3 차원 좌표값을 입력으로 하는 사람 몸 동작 패턴 분류기의 구현방법을 소개한 것이다. 하나의 사람 몸 동작은 각 몸 구성 성분(손, 아래팔, 위팔, 어깨, 머리, 몸통 등)의 움직임을 조합해서 정의한 수가 있기 때문에 개별적인 각 몸 구성성분의 움직임을 인식하여 조합해서 임의의 동작을 판별하려는 방법을 적용한다. 사람 몸 동작 패턴 분류기는 측정된 실세계 3 차원 좌표 자료를 양자화한 후 xy, zy 평면에 투영한 값을 자자 구한다. 이 결과를 각각 8 방향 체인 코드로 바꾸고 2 단계 체인 코드 평활화 사업을 하여, 4 방향 코드 체적화 및 대표 코드로의 압축단계를 거친다. 이로서 생성된 프리미티브 패턴나열들을 동작 클래스별로 분류하여 프리미티브 패턴나열의 확장으로 각각의 식별기를 구축하여 각 몸 구성 성분별 동작들을 분류한다. 일련의 실험이 행해져 그 타당성을 확인하였으며, 차후에 이 분류기는 비언어적 행동 분석을 위한 사람 몸 동작 인식기의 전처리 단계로 사용되어진 것이다.

• 한국CDE학회논문집
• /
• 제4권4호
• /
• pp.295-311
• /
• 1999

An increasing attention is paid to STEP-NC, the next generation CNC controller interfacing STEP-compatible data. In this paper, we first propose an Architecture for the STEP-NC (called FBCC: Feature Baled CNC Controller) accepting feature code compatible with STEP-data, and executing NC motion feature by feature while monitoring the execution status. The main thrust of the paper has been to develop an automatic on-line tool path generation and modification scheme for milling operation. The tool path it generated iota each feature by decomposing into a finite number of primitive features. The key function in the new scheme is haw to accommodate unexpected execution results. In our scheme, the too1 path plinker is designed to have a tracing capability iota the tool path execution so that a new path can be generated from the point where the operation is stopped. An illustrative example is included to show the capability of the developed algorithm.