• Journal of Institute of Control, Robotics and Systems
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• v.21 no.7
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• pp.648-653
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• 2015

The kinematics with the instantaneous motion and statics of a manipulator has generally been proven algebraically. The algebraic solutions give very simple and straightforward results but the solutions do not have any meaning in physics or geometry. Therefore it is not easy to extend the algebraic results to design or control a robotic manipulator efficiently. Recently, geometrical approach to define the instantaneous motion or static relation of a manipulator is popularly researched and the results have very strong advantages to have a physical insight in the solution. In this paper, the instantaneous motion and static relation of a planar manipulator are described by geometrical approach, specifically by an axis screw and a line screw. The mass center of a triangle with weight and a perpendicular distance between the two screws are useful geometric measures for geometric analysis. This study provides a geometric interpretation of the kinematics and statics of a planar manipulator, and the method can be applied to design or control procedure from the geometric information in the equations.

• Journal of Advanced Marine Engineering and Technology
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• v.21 no.4
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• pp.381-386
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• 1997

The offsetting method using geometric properties of B-spline control polygon is more faster than using of general normal vector in offset processing. But this method itself does not solve the prob¬lems of loop removal in normal offsetting. Generally the distance between neighborhood spans of B-spline control polygon is greater than the offset distance, the loops are occurred in offsetting. For generating of the more precision tool-path in NC machining, the loops of offset must be removed. In this paper, two methods for loop removal are introduced in offsetting of B-spline curve. One is using the intersection of B-spline control span which being occurred of the loop. The other is using two B-spline curve divisions divided from original B-spline curve or its offset curve. After the inter¬section point of loop was searched, the loop being removed to cusp. Also the method for filleting of cusp is inspected to more precision cutting. It is shown that the offsetting using B-spline control polygon is more effective in the sculptured surface machining.

• Korean Journal of Computational Design and Engineering
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• v.12 no.3
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• pp.220-232
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• 2007

Current geometric modeling and analysis are commonly based on B-Rep modeling and a finite elements method respectively. Furthermore, it is difficult to represent an object whose material property is heterogeneous using the B-Rep method because the B-Rep is basically used for homogeneous models. In addition, meshes are required to analyze a property of a model when the finite elements method is applied. However, the process of generating meshes from B-Rep is cumbersome and sometimes difficult especially when the model is deformed as time goes by because the topology of deforming meshes are changed. To overcome those problems in modeling and analysis including homogeneous and heterogeneous materials, we suggest a unified modeling and analysis method based on implicit representation of the model using R-function which is suggested by Rvachev. For implicit modeling of an object a distance field is approximated and blended for a complex object. Using the implicit function mesh-free analysis is possible where meshes are not necessary. Generally mesh-free analysis requires heavy computational cost compared to a finite elements method. To improve the computing time of function evaluation, we utilize GPU programming. Finally, we give an example of a simple pipe design problem and show modeling and analysis process using our unified modeling and analysis method.

• Asian Journal of Atmospheric Environment
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• v.7 no.1
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• pp.56-63
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• 2013

Children are particularly vulnerable to adverse health effects associated with heavy metal exposure. The goal of this study was to investigate the relationship between proximity to an industry complex and blood lead and urinary cadmium levels for children aged 7-13 who lived in Ulsan where a big petrochemical complex is located. We conducted a questionnaire survey to collect data including sociodemographics, daily habits, residential environment, etc. We also analyzed blood lead and urinary cadmium levels using Atomic Absorption Spectrometry (AAS). Data were analyzed using regression analysis. All statistical analyses were conducted with SAS software version 9.2. We calculated distance by using a Geographic Information System (ArcGIS version 10.0). The geometric mean blood lead level was 1.55 ${\mu}g/dL$ (boys: 1.59 ${\mu}g/dL$, girls: 1.51 ${\mu}g/dL$), and the geometric mean urinary cadmium level was 0.51 ${\mu}g/g$ creatinine (boys: 0.45 ${\mu}g/g$ creatinine, girls: 0.58 ${\mu}g/g$ creatinine). In the results of regression analyses, we found that urinary cadmium levels significantly decreased as distance between residence and industrial complex increased after adjusting for age, gender, income, passive smoking and the length of residence. This result was opposite to that for lead levels. Our observations support the hypothesis that urinary cadmium levels in children are related to their proximity to an industrial complex.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.5
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• pp.603-608
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• 2009

In this paper, a similarity measure between interval-valued vague sets is proposed. In the interval-valued vague sets representation, the upper bound and the lower bound of a vague set are represented as intervals of interval-valued fuzzy set respectively. Proposed method combines the concept of geometric distance and the center-of-gravity point of interval-valued vague set to evaluate the degree of similarity between interval-valued vague sets. We also prove three properties of the proposed similarity measure. It provides a useful way to measure the degree of similarity between interval-valued vague sets.

• Korean Journal of Computational Design and Engineering
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• v.10 no.1
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• pp.27-39
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• 2005

Implicit surfaces are geometric shapes which are defined by implicit functions and exist in three-dimensional space. Recently, implicit surfaces have received much attention in solid modeling applications because they are easy to represent the location of points and to use boolean operations. However, it is difficult to chart points on implicit surfaces for rendering. As efficient rendering method of implicit surfaces, the original Adaptively Sampled Distance Fields (ADFs) $method^{[1]}$ is to use sampled distance fields which subdivide the three dimensional space of implicit surfaces into many cells with high sampling rates in regions where the distance field contains fine detail and low sampling rates where the field varies smoothly. In this paper, in order to maintain the sharp features efficiently with small number of cells, an extended ADFs method is proposed, applying the Dual/Primal mesh optimization $method^{[2]}$ to the original ADFs method. The Dual/Primal mesh optimization method maintains sharp features, moving the vertices to tangent plane of implicit surfaces and reconstructing the vertices by applying a curvature-weighted factor. The proposed extended ADFs method is applied to several examples of implicit surfaces to evaluate the efficiency of the rendering performance.

• The KSFM Journal of Fluid Machinery
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• v.15 no.4
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• pp.33-41
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• 2012

In the present work, a parametric study on double-jet film-cooling has been carried out to enhance the film-cooling effectiveness using three-dimensional Reynolds-averaged Navier-Stokes analysis. The shear stress transport turbulence model is used as the turbulence closure. The lateral ejection angles and the lateral and streamwise distance between the centers of the cooling holes are chosen as the geometric parameters. The spatially averaged film-cooling effectiveness averaged over an area of 8 hole diameters in width and 30 hole diameters in streamwise length is used to evaluate the performance of film-cooling. The parameter of the lateral distance has the largest impact on the film cooling effectiveness compared to the others. On the other hand, the parameter of streamwise distance gives the least influence on the film cooling effectiveness.

• The Journal of Korea Robotics Society
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• v.11 no.1
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• pp.33-40
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• 2016

In this paper, we propose a method for estimating the pose of the camera using a rectangle feature utilized for the visual SLAM. A warped rectangle feature as a quadrilateral in the image by the perspective transformation is reconstructed by the Coupled Line Camera algorithm. In order to fully reconstruct a rectangle in the real world coordinate, the distance between the features and the camera is needed. The distance in the real world coordinate can be measured by using a stereo camera. Using properties of the line camera, the physical size of the rectangle feature can be induced from the distance. The correspondence between the quadrilateral in the image and the rectangle in the real world coordinate can restore the relative pose between the camera and the feature through obtaining the homography. In order to evaluate the performance, we analyzed the result of proposed method with its reference pose in Gazebo robot simulator.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.30 no.8 s.251
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• pp.715-721
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• 2006

In the present work, nozzle shape of a jet fan is optimized numerically using three-dimensional Reynolds-averaged Navier-Stokes analysis. Standard $k-{\epsilon}$ model is used as a turbulence closure. Response surface method is employed as an optimization technique. The objective function is defined as maximum throw distance. Three geometric variables, i.e., length and angle of nozzle, and interval between two nozzles, are selected as design variables. As the main result of the optimization, the throw distance has been improved effectively.

• The Journal of Natural Sciences
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• v.15 no.1
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• pp.47-56
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• 2005

The substituent dependence of geometric distortion through the two independent electronic substituent effects is analyzed for mono-substituted benzene derivatives of $C_{2v}$. Based on resonance structures, quantitative relationships expressing the resonance and field/inductive contribution terms in bond distortions are derived. The calculated field-effect parts of $C_{ipso}$_$C_{ortho}$ ring bonds increase and decrease compared to benzene for electropositive and electronegative substituents respectively. The nonbonded axial distance, $C_{ipso}$....$C_{para'}$ decreases for electronegative substituents and increases for electropositive substituents. As the electronegativity increases, the distance $C_{ortho}$....$C_{ortho'}$ increases. With the $\pi$-donors, $C_{meta}$....$C_{meta'}$ nonbonded distances are shorter compared to the ones of benzene, and for $\pi$-acceptors, the are longer. Our model based on valence bond approach predicts that the average bond length determined the area of ring, and the sum of the angles <$C_{ortho}$_$C_{ispo}$_$C_{ortho}$ and <$C_{meta}$_$C_{para}$_$C_{meta}$ determines the axial distance.