• Human Ecology Research
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• v.55 no.2
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• pp.125-140
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• 2017

This study composed spatial cognition tasks within the system of geometric area to study children's spatial cognition development systematically. It surveyed children's execution of direction, rotation, symmetry, conjugation, and part/whole cognition tasks. A spatial geometry cognition task set (consisting of total 27 sub-tasks) was presented to 60 children (20 each in groups of 3-, 4-, and 5-year-old) in order to confirm how children's execution of spatial geometry cognition changed depending on children's age and sex as well as if the execution of the spatial geometry cognition showed a difference after each task area. As a result, the execution of the whole direction task and the part/whole task gradually increased between age 3 and age 5. The execution of the whole rotation task, whole symmetry task, and whole conjugation task rapidly increased between age 3 and age 4. Significant sexual difference did not appear in the execution of spatial geometry cognition tasks. The execution of the conjugation and part/whole task was high in each task area, and the execution of the direction, rotation, and symmetry task was relatively low. In addition, the difference of task execution appeared in the sub-tasks of direction, symmetry, and conjugation areas. This result suggests the theoretical discussion possibility of children's spatial geometry cognition development. In addition, the empirical results of this study can be applied to child education plans and activity compositions appropriate for child development.

• International Journal of CAD/CAM
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• v.3 no.1_2
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• pp.13-17
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• 2003

Hybrid method of representing geometric entities as combination of boundary (B-rep) and functional (F-rep) representations is presented which can be used as a basis of solid modeling kernel. It contains whole functionality of classic B-rep kernel, and also supports enveloping (sweep of solid body). Principles and keysolutions are considered. Example of a real task that comes from gearing is provided.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.1
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• pp.105-112
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• 1998

Regarding the measure of dexterity of robot manipulators, two geometric tools, manipulability ellipsoids and manipulability polytopes, are examined and compared with each other. Even though the manipulability ellipsoid approach is the most widely used technique, it is shown that the manipulability ellipsoid transforms the inexact joint velocity constraints into task space and so it may fail to give an exact measure of dexterity and optimal direction of motion in task space. After showing that the polytope approach can handle such problems, we propose a practical polytope method which can be applied to 3-dimensional task space in general. The relation between manipulability ellipsoids and manipulability polytopes are also explored for a redundant case and a non-redundant one.

• Journal of the Ergonomics Society of Korea
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• v.8 no.2
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• pp.19-26
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• 1989

This study, as a part of integrated human-robot ergonomics, improves the robot motion control on the robot task in the TOES/WCS whose purpose is improving the teaching task constructed in the previous study. First, the updated combined fuzzy process using a new membership function with Weber's law is constructed for the purpose of coordinate reading of the end points in the macro motion control. Second, an algorithm using the geometric analysis is desinged in order to calculate position values and posture values of the robot joints. Third, the MGSLM method is designed to remove unnecessary the robot motion control caused by the GSLM method in the micro motion control. Consequently, proposed methods in this study lessen burdcn of a human of an improvement of the robot motion control and reduce the teaching time of a human operator and inaccuracy of the teaching task, which contribute to the integrated human-robot ergonomics.

• Research in Mathematical Education
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• v.25 no.3
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• pp.201-225
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• 2022

This paper details case study vignettes that focus on enhancing the teaching and learning of geometry and measurement in the elementary grades with attention to pedagogical practices for teaching through problem solving with rigor and centering equitable teaching practices. Rigor is a matter of equity and opportunity (Dana Center, 2019). Rigor matters for each and every student and yet research indicates historically disadvantaged and underserved groups have more of an opportunity gap when it comes to rigorous mathematics instruction (NCTM, 2020). Along with providing a conceptual framework that focuses on the importance of equitable instruction, our study unpacks ways teachers can leverage their deep understanding of geometry and measurement learning trajectories to amplify the mathematics through rigorous problems using multiple approaches including learning by doing, challenged-based and mathematical modeling instruction. Through these vignettes, we provide examples of tasks taught through rigorous problem solving approaches that support conceptual teaching and learning of geometry and measurement. Specifically, each of the three vignettes presented includes a task that was implemented in an elementary classroom and a vertically articulated task that engaged teachers in a professional learning workshop. By beginning with elementary tasks to more sophisticated concepts in higher grades, we demonstrate how vertically articulating a deeper understanding of the learning trajectory in geometric thinking can add to the rigor of the mathematics.

• Journal of Information Processing Systems
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• v.10 no.4
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• pp.503-522
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• 2014

In the cursive handwriting recognition process, script trajectory segmentation and modeling represent an important task for large or open lexicon context that becomes more complicated in multi-writer applications. In this paper, we will present a developed system of Arabic online handwriting modeling based on graphemes segmentation and the extraction of its geometric features. The main contribution consists of adapting the Fourier descriptors to model the open trajectory of the segmented graphemes. To segment the trajectory of the handwriting, the system proceeds by first detecting its baseline by checking combined geometric and logic conditions. Then, the detected baseline is used as a topologic reference for the extraction of particular points that delimit the graphemes' trajectories. Each segmented grapheme is then represented by a set of relevant geometric features that include the vector of the Fourier descriptors for trajectory shape modeling, normalized metric parameters that model the grapheme dimensions, its position in respect to the baseline, and codes for the description of its associated diacritics.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.46 no.4
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• pp.124-131
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• 2009

A reliable detection of regions in radiography is one of the most important task before the evaluation of defects on welded joints. The extracted features is to be classified into distinctive clusters for each segmented region. But conventional segmentation techniques give unsatisfactory results for this task due to the spatial superposition of intensity and low signal-to-ratio(SNR) in radiographic images. The usage of global or local processes not only provide the necessary noise resistance but also fail in classification of regions. In this paper, we presents an appropriate approach for segmentation of region-based indications in industrial Computed Radiography(CR) images. The geometric differences between welded and non-welded area which is generated on radiography as the representative regions(background, thickness, middle and welded region in steel tube image) have constructed the hierarchical structure. Although this structure is contaminated by noise, the scheme between regions can be selected by the help of local clustering based on distinctive geometric property of each region. Because of the geometric nature of the considered region and so that the region is selected layer by layer, and that the real class represents the boundary between regions, the vertical and horizontal clustering process in each layer must be judicious. In order to show the effectiveness of this approach, a comparative experiment of various segmentation method is performed on industrial steel tube CR images.

• Journal of Elementary Mathematics Education in Korea
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• v.21 no.2
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• pp.309-341
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• 2017

This study aims to investigate an approach to teach percentages in elementary mathematics class by analyzing calculating strategies with percentage the students use to solve the percentage tasks and their percentages of correct answers, as well as types of errors with percentages the students make. For this research 182 sixth graders were examined. The instrument test consists of various task types in reference to the previous study; the percentages tasks are divided into algebraic-geometric, part whole-comparison-change and find part-find whole-find percentage tasks. According to the analysis of this study, percentages of correct answers of students with percentage tasks were lower than we expected, approximately 50%. Comparing the percentages of correct answers according to the task types, the part-whole tasks are higher than the comparison and change tasks, the geometric tasks are approximately equal to the algebraic tasks, and the find percentage tasks are higher than the find whole and find part tasks. As to the strategies that students employed, the percentage of using the formal strategy is not much higher than that of using the informal strategy, even after learning the formal strategy. As an insightful approach for teaching percentages, based on the study results, it is suggested to reinforce the meaning of percentage, include various types of the comparison and change tasks, emphasize the informal strategy explicitly using models prior to the formal strategy, and understand the relations among part, whole and percentage throughly in various percentage situations before calculating.

• Research in Mathematical Education
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• v.4 no.2
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• pp.63-77
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• 2000

The purpose of this article is to devise the activities based on van Hiele levels of geometric thought using computer software, Geometer\\\\`s Sketchpad(GSP) as a tool. The most challenging task facing teachers of geometry is the development of student facility for understanding geometric concepts and properties. The National Council of teachers of Mathematics(Curriculum and Evaluation Standards for School Mathematics, 1991; Principles and Standards for School Mathematics, 2000) and the National Re-search Council(Hill, Griffiths, Bucy, et al., Everybody Counts, 1989) have supported the development of exploring and conjecturing ability for helping students to have mathematical power. The examples of the activities built is GSP for students ar designed to illustrate the ways in which van Hiele\\\\`s model can be implemented into classroom practice.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.492-495
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• 1997

This paper aims to derive a mathematical model of the dynamics of handling task in field robot which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraints of tight area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of contact-area are discussed. Finally, it is shown that even in the simplest case of dual single D.O.F. manipulators there exists a sensory feedback from sensing data of he rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes secure grasping of the object, provided that he object is of rectangular shape and motion is confined to a horizontal