• ETRI Journal
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• 제35권6호
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• pp.1029-1037
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• 2013

This paper introduces a novel and fast synthesizing method for 3D motions of quadrupedal animals that uses only a small set of motion capture data. Unlike human motions, animal motions are relatively difficult to capture. Also, it is a challenge to synthesize continuously changing animal motions in real time because animals have various gait types according to their speed. The algorithm proposed herein, however, is able to synthesize continuously varying motions with proper limb configuration by using only one single cyclic animal motion per gait type based on the biologically driven Froude number. During the synthesis process, each gait type is automatically determined by its speed parameter, and the transition motions, which have not been entered as input, are synthesized accordingly by the optimized asynchronous motion blending technique. At the start time, given the user's control input, the motion path and spinal joints for turning are adjusted first and then the motion is stitched at any speed with proper transition motions to synthesize a long stream of motions.

• 한국정밀공학회지
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• 제24권8호통권197호
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• pp.97-107
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• 2007

The present CNC machining system if without any CAM software has been limited to 2D or 2.5D plane cut using lines, arcs and curves. If the CNC is equipped with a surface interpolation module and a surface reorganizing module inside it, we can easily try 3D surface machining without aid of CAM software. The existing NURBS surface interpolator is simple and direct to use for a unit surface. However, it enables only machining of each reference surface individually even when machining a simple composite surface. In this paper, we propose a method which can unify and reorganize various reference surfaces with a newly defined NURBS surface cycle command: a multi-repetitive cycle command such as in a CNC turning center. We also introduce a reorganizing rule for reference surfaces using NURBS properties. The usefulness of the proposed method is verified through computer simulation.

• 한국운동역학회지
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• 제20권2호
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• pp.183-189
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• 2010

The balanced performance of dominant and non-dominant leg is very important to Taekwondo sparring. The purpose of this study was to investigate whether elite Taekwondo athletes would have balanced biomechanical performance and intra-limb coordination in executing different types of Taekwondo kicks. Twelve athletes(more than 10 year practice experience) participated in this study and performed six basic kicks(i.e., the front, roundhouse, side, back, thrashing, and turning-back kick). Results indicated no statistical difference on response time, peak kicking velocity, single limb vertical jump height, and angle-angle plot between dominant leg and non-dominant leg(p>.05). In conclusion, elite Taekwondo athletes had equivalent ability between dominant leg and non-dominant leg in performing Taekwondo kicks. This might be an advantage to elite athletes for Taekwondo sparring because they could use both leg without any restriction.

• Fisheries and Aquatic Sciences
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• 제8권3호
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• pp.177-181
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• 2005

Fishing selectivity is determined by the level of voluntary escaping behavior in accordance with decision-making based on the relationship between fish size and mesh size. This study examined movement during the swimming behavior of black porgy in a trawl's towing cod-end and analyzed the movement components such as swimming speed, angular velocity of turning, and distance to the net over time. Most of the observed fish exhibited an optomotor response, maintaining position and swimming speed without changing direction. Others exhibited erratic or 'panic' behavior with sudden changes in swimming speed and direction. The latter behavior involved very irregular and aperiodic variations in swimming speed and angular velocity, termed 'chaotic behavior.' Thus, the results of this study can be applied to a chaotic behavior model as a time series of swimming movements in the towing cod-end for the fishing selectivity.

• 한국발생생물학회지:발생과생식
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• 제1권2호
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• pp.181-187
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• 1997

This study has been conducted to investigate the mating behavior, time sequence of mating and time limit with which female can fulfill spawning and brooding after pre-spawning molting in the giant fresh-water prawn, macrobrachium rosenbergii reared in the laboratory. the results obtained were summarized as follows. Mating happened spontaneously as the following sequences: courting gesture, seizure of female by male, mounting, turning of female, copulation. The entire mating lated approximately seven minutes. The endopodite of 2nd pleopod of male bore the appendix masculins whcih are male's secondary sex characteristic. cinciulli was formed at the distal portion of appendix interna which are on the upper portion of appendix masculins and helped stabilizing the connection of each side of 2nd pleopod during mating. After the connection of each side of 2nd plepod was fixed on the posterior portion of the thoracic sternum in female, a gelatinous spermatophore that emitted at the basipodite of 5th pereiopod during courting gesture was deposited on the ventral groove of 2nd, 3rd, 4th and 5th pereiopod. time limit which female can fulfill copulation and brooding was from 3 hours to 15 hours after pre-spawning molting.

• 대한기계학회논문집A
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• 제20권8호
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• pp.2449-2457
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• 1996

This paper presents a design method for autopilot control system in course change to the specified direction based on a robust digital servo controlmelthod incorporating the concept of the annihilator polynormial. The mathematicalmodel of ship turning motion is very complex in the view of practical control because it has time varying parameters, nonlinear and dead time terms. To apply the digital servo control method based on computer control, the model is linearized at an equilibrium point and discretized with appropriate sampling time. The control algorithm was evaluated on the basis of computer simulation for a model ship and the practical experiment was carried out with an image processing method for measurement of ship position in a water tank. The results of overall experiments show that the proposed control method will be one of good way to keep a track plotted in the map.

• 한국수학교육학회지시리즈C:초등수학교육
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• 제24권4호
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• pp.203-216
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• 2021

이 연구의 목적은 초등학교 수학교실에서 시행되는 경과시간 수업에서 학생들에게 제공되는 수학 학습기회를 탐색하는 것이다. 경과시간을 도입하는 데에 있어 후속 학년과의 수학적 연결성을 갖도록 경과시간을 양적으로 대상화하려는 교사들의 노력을 문서화하고자 하였다. 이를 위해 세 초등교사의 경과시간 도입 수업을 관찰하고 내러티브 분석을 시행하였다. 그 결과, 교사들은 도구를 사용하여 학생들이 경과시간을 양적으로 접근할 수 있도록 지원하고 있었으며, 같은 도구라도 서로 다른 양적 측면을 강조하였다. 아날로그 시계의 경우 한 교사는 시계바늘의 회전 바퀴 수로 양적 대상화를 시도한 반면, 다른 교사는 시계바늘이 아동한 거리로 경과시간의 양을 표상하였다. 시간띠의 길이 속성으로 경과시간의 양을 표상하는 경우도 있었다. 결과를 바탕으로 경과시간의 수업에서 다양하게 포착된 양적 대상화 사례들의 교수학적 의미를 논의하였다.

• 교육시설
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• 제9권2호
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• pp.25-35
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• 2002

This paper is to evaluate an open space on university campuses enclosed within buildings, with respect to building elevation a wall of an open space including outer wall materials and window forms and an open space itself. It uses case study methods to periodically know specific details about open spaces and surrounding buildings elevation. It was found, at first, that it was emphasized vertical elements on window frames as well as building elements in an era of the 1910's to the 1930's. It, however, was changed into emphasizing on horizontal features in the era of the 1960's to the 1970's. Meanwhile the period from the 1940's to the 1950's was a turning point. The horizontal style was continued until the 1980s and the style was changed into various style mixed with various types. Secondly, an open space was recognized as a valuable design criteria for a construction of buildings in the 1930s to the 1970s. It was, however, a forgotten criteria during the late 1970's and the 1980's because of short age of the construction budget of the government. In the 1990's, the importance of open space design reappeared on the design of a block plan. Thirdly, a design style of an open space was authoritarianism using symmetrical and magnificent style in the 1910's to the 1930's. The time of 1945 to the 1950's was a turning point from authoritarianism to an idea of efficiency. In the 1960's and the 1970s, an idea of efficiency emphasizing their functions was prevalent to the design of buildings and open spaces and this trend was continued until the 1980's. A romanticism was realized on the design of an open space and surrounded building's.

• KIEE International Transactions on Electrophysics and Applications
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• 제11C권4호
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• pp.127-132
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• 2001

We describe the pulse forming of pulsed $CO_2$laser using multi-pulse superposition technique. A various pulse length, high duty cycle pulse forming network(PFN) is constructed by time sequence. That is, this study shows a technology that makes it possible to make various pulse shapes by turning on SCRs of three PFN modules consecutively at a desirable delay time with the aid of PIC one-chip microprocessor. The power supply for this experiment consists of three PFN modules. Each PFN module uses a capacitor, a pulse forming inductor, a SCR, a High voltage pulse transformer, and a bridge rectifier on each transformer secondary. The PFN modules operate at low voltage and drive the primary of HV pulse transformer. The secondary of the transformer has a full-wave rectifier, which passes the pulse energy to the load in a continuous sequence. We investigated laser pulse shape and duration as various trigger time intervals of SCRs among three PFN modules. As a result, we can obtain laser beam with various pulse shapes and durations from about 250 $mutextrm{s}$ to 600 $mutextrm{s}$.

• 한국산업정보학회논문지
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• 제19권5호
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• pp.57-68
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• 2014

로봇 개발에서 하드웨어를 개발한 후에 테스트하면 많은 시행착오를 겪게 되어 많은 비용이 소요된다. 로봇이 현장과 동일한 로봇 시뮬레이션을 사용하여 로봇을 개발하면 소프트웨어 및 하드웨어의 병행 개발 및 테스트를 통해 개발결과를 예측할 수 있고 비용을 절감할 수 있다. 로봇 시뮬레이션 플랫폼인 마이크로소프트의 로보틱스 개발자 스튜디오(MSRDS)는 하드웨어 로봇이 없이도 기본적인 로봇 프로그래밍을 할 수 있는 시뮬레이션 로봇과 환경을 제공한다. 본 논문에서는 MSRDS에서 LRF센서, Bumper센서, IR센서, Sonar센서의 성능을 비교분석하기 위하여 미로 찾기를 수행한다. 센서의 성능을 분석하기 위하여 동일한 조건으로 실험한다. 4가지의 센서중에서 LRF센서가 주행시간, 방향전환횟수, 장애물 충돌횟수면에서 우수한 성능을 보인 반면에 범퍼센서는 가장 성능이 낮았다. IR센서와 Sonar센서는 방향 전환횟수면에서 LRF센서 보다는 낮은 성능을 보였다.