• Journal of Mechanical Science and Technology
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• v.17 no.10
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• pp.1431-1442
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• 2003

A new method of estimating the pose of a mobile-task robot is developed based upon an active calibration scheme. The utility of a mobile-task robot is widely recognized, which is formed by the serial connection of a mobile robot and a task robot. To be an efficient and precise mobile-task robot, the control uncertainties in the mobile robot should be resolved. Unless the mobile robot provides an accurate and stable base, the task robot cannot perform various tasks. For the control of the mobile robot, an absolute position sensor is necessary. However, on account of rolling and slippage of wheels on the ground, there does not exist any reliable position sensor for the mobile robot. This paper proposes an active calibration scheme to estimate the pose of a mobile robot that carries a task robot on the top. The active calibration scheme is to estimate a pose of the mobile robot using the relative position/orientation to a known object whose location, size, and shape are known a priori. For this calibration, a camera is attached on the top of the task robot to capture the images of the objects. These images are used to estimate the pose of the camera itself with respect to the known objects. Through the homogeneous transformation, the absolute position/orientation of the camera is calculated and propagated to get the pose of a mobile robot. Two types of objects are used here as samples of work-pieces: a polygonal and a cylindrical object. With these two samples, the proposed active calibration scheme is verified experimentally.

• Journal of Educational Research in Mathematics
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• v.26 no.4
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• pp.715-730
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• 2016

The purpose of this study is to analyze Descartes's point of view on the mathematical connection of algebra and geometry which help comprehend the traditional frame with a new perspective in order to access to unsolved problems and provide useful pedagogical implications in school mathematics. To achieve the goal, researchers have historically reviewed the fundamental principle and development method's feature of analytic geometry, which stands on the basis of mathematical connection between algebra and geometry. In addition we have considered the significance of geometric solving of equations in terms of analytic geometry by analyzing related preceding researches and modern trends of mathematics education curriculum. These efforts could allow us to have discussed on some opportunities to get insight about mathematical connection of algebra and geometry via geometric approaches for solving equations using the intersection of curves represented on coordinates plane. Furthermore, we could finally provide the method and its pedagogical implications for interpreting geometric approaches to cubic equations utilizing intersection of conic sections in the process of inquiring, solving and reflecting stages.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.45 no.9
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• pp.775-783
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• 2017

In this paper, an impulsive rendezvous problem by using minimum energy of spacecraft in different orbits is addressed. In particular, the orbits considered in this paper are the general orbits including the elliptic orbit, while most of the orbits considered in the literature have been restricted within co-planar or circular orbits. The constraints for solving this optimization problem are the Kepler's equation formulated with the universal variable, and the final position and velocity of two spacecraft. Also, the Lagrange coefficients, sometimes called as f and g solution, are used to describe the orbit transfer. The proposed method technique is demonstrated through numerical simulation by considering the minimum energy, and both the minimum energy and the wait time, respectively. Finally, it is also verified by comparing with the Hohmann transfer known as the minimum energy trajectory. Although a closed-form solution cannot be obtained, it shows that the suggested technique can provide a new insight to solve various orbital transfer problems.

• The Journal of the Acoustical Society of Korea
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• v.35 no.5
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• pp.403-409
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• 2016

Traditional towed line arrays using omni-directional sensor suffer from the well known port-starboard ambiguity, because the direction of arrival is determined by conic angle. The operational method and structure of the sensor arrays method have been proposed to solve this problem. Recently, a lot of research relating to the acoustic vector sensor are studied. In this paper, we study port-starboard discrimination for roll of acoustic vector sensor array. With one omni-directional sensor and three orthogonally-placed directional sensors, an acoustic vector sensor is able to measure both the acoustic pressure and the three directional velocities at the point of the sensor. The wrong axis due to the roll at directional sensors can degrade performance of beamforming. We investigate port-starboard discrimination for roll of sensor array and confirm the validity of performance of beamforming with compensated the roll.

• The Journal of Korean Academy of Prosthodontics
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• v.28 no.1
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• pp.95-122
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• 1990

This study was done to analyze the occlusal curve as one of the factors to be considered for maintenance of occlusal stability in the orthodontic and prosthodontic treatments. Sixty gnathological casts we.e obtained from 43 subjects with normal occlusion and 17 subjects with some of temporomandibular disorders. The occlusal surfaces of gnathologic casts were duplicated by using a Color kit SK-700 and tile reference points of X, Y coordinates were digitized by using the Summagraphic digitizer and 18AT computer system. The Z coordinates of cusp height were measured by 0.01mm measurable caliper. The mathematical computer program of least square method was used to analyze the occlusal curve arranged by three dimensional coordinates of X, Y, Z. The following results were obtained : 1. The occlusal curve of buccal and lingual cusp tips was fitted to the ellipse, and the occlusal curve of anterior teeth was fitted to a part of the circle in the analysis of conic sections. 2. The radius of Spee's curve showed individual differences, but was average 98.7mm in male subjects and 93.7mm in female subjects. 3. The radius fo Spee's curve according to the half of canine width showed the least coefficient of variation. 4. The radius of Spee's curve was not significantly relative to the lateral occlusal contacts on laterotrusion and the absence or presence of temporomandibular disorders. 5. The radius of Wilson's curve showed individual difference and the size of radius was followed by the order of 1st premolar, 2nd premolar, 2nd molar and 1st molar.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.43 no.8
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• pp.692-698
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• 2015

This paper represents a trajectory design and analysis technique which uses invariant manifolds of the circular restricted three body problem. Instead of the classical patched conic method based on 2-body problem, the equation of motion and dynamical behavior of spacecraft in the circular restricted 3-body problem are introduced, and the characteristics of Lyapunov orbits near libration points and their invariant manifolds are covered in this paper. The trajectories from/to Lyapunov orbits are numerically generated with invariant manifolds in the Earth-moon system. The trajectories in the Sun-Jupiter system are also analyzed with various initial conditions in the boundary surface. These methods can be effectively applied to interplanetary trajectory designs.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.13 no.2
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• pp.1-4
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• 1977

The author determined the relationship between the hauling veloicty and the hydrodynamic resistance of the sablefish pot shaped conic frustum like, and induced the formulae to determine the diameter of the main line and the net horse power of the pot hauler. The results are summarized as follows: 1. The maximum hydrodynamic resistance (with its weight in water) of the pot T(kg), when the bottom webbing is covered by a cloth to imitate the catches are scattered on the bottom, is eatimated as $$ T=120v^{1.1} (0.3{\leqq}v{\leqq}0.8) $$ where v denotes the hauling velocity of the pot in m/sec. 2. When P. P. 3 strand rope is used as main line, the diameter d(mm)is recommended to satisfy the formula $$ d=72 \frac{D}{H} V^{1.1} where H denotes the depth of the fishing ground and D the intervals of the pots linked to the main in m respectively. 3. The pot hauler must displace the net horse power p(ps) of $$ P= \frac{75}{120} \frac{D}{H} v^{2.1}$$

• Korean Journal of Ichthyology
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• v.8 no.2
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• pp.74-83
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• 1996

The ultrastructure of the spermatozoa of the family Cobitidae, 6 genera and 12 species, was examinated under electron microscopes. Spermatozoa of the observed species consist of a head(nucleus), a short midpiece, and a single tai1(flagellum). It is of anacrosomal aquasperm type, lacking an acrosome. However, the spermatozoa of Nemacheilus toni has vestigal acrosome or acrosome-like vesicle in the anterior region of the nucleus during spermiogenesis, The nucleus of Cobitidae is approximately spherical except that N. toni is conic. The mid piece was under $3.0{\mu}m$ in length and contained 5-8 ring-shaped mitochodria. Genera Cobitis, Iksookimia, Niwaella, and Nemacheilus. have shorter midpiece, whereas Misgurnus and Lefua have longer midpiece. The flagellum was uniflagellate consisting of a typical 9+2 axoneme without fins.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.2
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• pp.399-406
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• 2009

In this study, Polynomial Radial Basis Function Neural Network(pRBFNN) based on Fuzzy Inference System is designed and its parameters such as learning rate, momentum coefficient, and distributed weight (width of RBF) are optimized by means of Particle Swarm Optimization. The proposed model can be expressed as three functional module that consists of condition part, conclusion part, and inference part in the viewpoint of fuzzy rule formed in 'If-then'. In the condition part of pRBFNN as a fuzzy rule, input space is partitioned by defining kernel functions (RBFs). Here, the structure of kernel functions, namely, RBF is generated from HCM clustering algorithm. We use Gaussian type and Inverse multiquadratic type as a RBF. Besides these types of RBF, Conic RBF is also proposed and used as a kernel function. Also, in order to reflect the characteristic of dataset when partitioning input space, we consider the width of RBF defined by standard deviation of dataset. In the conclusion part, the connection weights of pRBFNN are represented as a polynomial which is the extended structure of the general RBF neural network with constant as a connection weights. Finally, the output of model is decided by the fuzzy inference of the inference part of pRBFNN. In order to evaluate the proposed model, nonlinear function with 2 inputs, waster water dataset and gas furnace time series dataset are used and the results of pRBFNN are compared with some previous models. Approximation as well as generalization abilities are discussed with these results.

• Korean Journal of Optics and Photonics
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• v.25 no.2
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• pp.78-84
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• 2014

In this paper secondary optics for an LED lamp with a narrow beam angle of $15^{\circ}$ were optimized by using a two-reflector system, to reduce both its size and the occurrence of satellite rings. The conic constant and the curvature of the primary reflector were determined by considering the relation of the source size to the beam angle, and the optimal position and radius of the secondary reflector were found for reducing the occurrence of satellite rings. Luminous flux efficiency was about 80%.