• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1093-1097
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• 2004

We propose 'the haptic primitive' for haptic rendering without the need to solve complicated parametric equations. To develop 'the haptic primitive', we adopted "the God-Object Method" as a haptic rendering algorithm and applied 'Constructive Solid Geometry' to manage haptic objects. Besides being used in the 'ghost library' of $PHANToMTM^{TM}$ our method can be used as a basic component for developing tools and libraries that aim to simplify haptic modeling. It can also be applied to tactile display modules and temporal display modules. Ultimately it can be developed into a one-stop haptic modeling tool that enables the user to more conveniently create a tangible CAD systems or a tangible e-ommerce system.

• 디자인학연구
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• 제12권3호
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• pp.29-40
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• 1999

Walter Gropius, famous architect of Bauhaus, once treated of pure mind which was revealed in the system of object and its phenomena through sense of sight while examining material being and illusive being. And Thomas Aquinas said that man can have a creative power only with modest mental state void of prejudice saying that he expected God to come to him after his soul went out of him. The same thing was said by so many great philosophers and thinkers other than him. I think his saying, "God comes after Soul's escape from the body for a new creation", has a real truth for all times and places and beauty itself beyond expression. Why\ulcorner The reason why the saying is so true is because it has a Yin and Yang Idea, that is, the Soul means a dark spirit correspondent to Yin between both oriental ideas and God does a bright spirit correspondent to Yang between them. By reason of this idea, I would like to assert that we should take it granted that we stand in need of the same bright Yang's spirit as God has for the new creation, and let the Yang's bright spirit come to our minds. We can call it divine 'Providence', or call it God's guidance, which we cannot help accepting as a man's fatality. As God was pleased after he made man and all the creatures by dint of his design, so man was pleased after he made everything he needed by the same design that he accepted from God. In spite of pleasure of different dimensions from what God and Man has each other, their way of empathies were all the same. In this paper I compared a worldly lower conception by which man designed his products for his sensuous satisfaction with a higher conception by which God designed his creatures for his mental satisfaction. I intended to infer what destined relation there must be between both God's and man's creations, trying to remind designers that they have to confess to have not so divine a providence as God has for creation because I think the real truth is that they had regarded their works of product design as a routine occurrence for their physical convenience in the industrial plans.ial plans.

• 전력전자학회논문지
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• 제4권5호
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• pp.455-461
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• 1999

본 논문에서는 가상환경 내의 물체로부터 역감을 얻을 수 있는 3자유도 힘 반향 장치를 제안한다. 이 시스템은 디바이스와 가상환경의 모델과 힘 반향 렌더링 알고리즘 등으로 구성되었다. 평행링크 메커니즘과 와이어에 의한 토크전달 그리고 임피던스 제어가 가능한 제어기를 사용해 3자유도 힘 반향 역감장치(Force-reflecting device)를 설계하였다. 위치 함수만으로 계산되는 힘 반향동작은 God-Object 알고리즘을 사용했다. 3차원 가상물체와 시험 제작한 역감장치(Force-reflecting device)를 인터페이스 실험을 통해 3차원 가상물체와 접촉과 비접촉 그리고 푸쉬 버튼을 만지는 느낌을 검출하였다.

• 대순사상논총
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• 제31집
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• pp.49-92
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• 2018

이 글은 한국에서 뇌신 신앙과 술법이 전개된 역사적 양상과 특징에 대한 종교사적 연구로서, 역동적 종교문화의 이해를 위해 뇌신 신화를 통해 정치 권력을 초월적으로 정당화하거나 백성의 민생을 의례적으로 주관하는 국가권력 혹은 관방도교의 종교적 관심, 무교나 도교와 연관된 민간신앙 혹은 민족종교의 가능성 및 가뭄, 전쟁, 질병 등의 위기 혹은 문제상황에서 뇌신이 호출되고 신앙되는 다양한 종교적 관심의 유형을 파악하여 설명했다. 고조선을 비롯한 고대 국가의 신화에서 뇌신은 삼계를 다스리는 하늘의 지고한 주재자로 등장하고 지신 혹은 수신과 결합하는 신성혼을 통해 지상의 권력을 정당화했으며, 뇌신과 연관된 태일은 주변화되어 민간 도교 속에서 원시부려천존, 구천응원뇌성보화천존, 옥황상제 등의 종교적 상상력의 근간이 되었다. 고려부터 조선 중기까지는 도교적 재초와 농경사회의 기우제를 해결하는 의례적 차원에서 뇌성보화천존이 국가적으로 주목받았으나, 조선 전기에는 선사시대의 돌도끼가 뇌신의 벼락 도끼인 뇌부로 인식되면서 다양한 병 치료에 효험이 있다는 신앙이 전개되었다. 조선 후기에는 뇌신이 전쟁 극복과 치병을 위한 존재로 부각되었는데, 전쟁 극복을 위한 다양한 도교 술법이 수용되기도 했고, 칠성검이나 사인검 등의 도검이 애호되었으며, 민간에서는 『옥추경』을 활용한 앉은 굿을 통해 면면히 영향력을 유지했다. 대순진리회를 비롯한 근대 민족종교에서는 후천개벽과 해원상생의 관점에서 뇌신의 위상이 초월적 주재자로서 조명되는 민간종교 혹은 민족 종교로서 새롭게 재전유하는 양상이 나타났다.

• 철학연구
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• 제131권
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• pp.273-301
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• 2014

이 논문의 목적은 라이프니츠 변신론의 논증을 재구성해보고, 있을 수 있는 몇 가지 쟁점을 검토하는 것이다. 변신론의 핵심은 이 세계 안에서 발견되는 여러 가지 종류의 악이 무엇이든 그 악의 기원을 신에게 돌리려는 모든 이론을 반박하여 신의 선함, 지혜, 정의를 옹호하는 것이다. 라이프니츠는 과거의 변신론자들과 달리 자신의 독특한 개념을 사용하여 자신만의 독특한 변신론을 구성하고자 한다. 이때 사용되는 개념이 영원한 진리, 우연성, 필연성, 충족이유율, 완전성의 원리, 도덕적 필연성, 있을 수 있는 세계 중 최선의 세계 등이다. 라이프니츠의 변신론은 다음처럼 전개된다. 선하고 지혜로운 신이 도덕적 필연성에 의해서 자유롭게 이 세계를 창조하였다. 신의 의지는 일차적으로 선을 창조하는 것이었다. 그러나 신은 선만을 창조할 수 없었다. 왜냐하면 최종적인 신의 의지는 최선을 선택하는 것이었기 때문이다. 이 세계 전체가 최선이 되기 위해서는 개개의 모두가 선일 필요는 없다. 예컨대 두 개의 악의 합이 두 개의 선의 합보다 더 좋은 결과를 낳을 수도 있기 때문이다. 그러므로 최선의 세계에서는 악이 존재할 수밖에 없다. 그리고 그 악은 불완전성에서 야기하는 것이기 때문에, 그리고 인간은 자유롭지만 불완전하기 때문에, 악의 원천은 인간일 수밖에 없다. 이렇게 해서 신에 대한 라이프니츠의 변호는 완료된다.

• 대순사상논총
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• 제26집
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• pp.143-182
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• 2016

The Qi(氣) concept in the Orient is the important concept which forms the world-view and thinking structure of the Oriental. The idea of Qi unfolds two ways. The first is the cosmogony that is the theory explaining the creation and change of universe through the change of Qi. The second is the preservation theory that think human body is full of Qi and we can be the immortal by raising Qi inside human body. The canon of Daesoonjinrihoe(大巡眞理會), Jeon-gyung(典經) also says about Qi many times especially in the doctrines about the object of belief and Cheonjigongsalon(天地公事論). This paper is willing to systematize the discussion of Qi in Daesoon(大巡) thought through researching Sangjeguan (上帝觀) and Cheonjigongsalon. The object of religious faith in Daesoonjinrihoe is Gucheon(九天)-yeungwon(應元)-noisung(雷聲)-bohwa(普化)-cheonjon(天尊)-gangsung(姜聖)-sangje(上帝) and Won(元) concept in the explanation of this divinity is deeply related to Wonqi(元氣) thought of the Oriental traditional Qi idea. And the theory of Qi(Qilon, 氣論) in Sangjeguan is related to electricity and the idea that the supreme God governs all things by electricity is the very original interpretation only found in Daesoon thought. The Qilon in Cheonjigongsalon is based on the Qilon of traditional thought that sees Qi is the element of all things and all thing are formed by the change of Qi. And the unique feature of the Qilon is saying that the supreme God, Cheungsan(甑山) operates Qi of universe and arouses the change of Qi. That is to say, God Cheungsan saved the world and all living beings by eliminating and giving and changing and moving and gathering and combining Qi. The characteristics of Qilon in Cheonjigongsalon is that the transcendental existence having human body has the control of the change of Qi in the universe. In conclusion, Qilon of Dasesoon thought tells that Gucheon-Sangje Chengsan governs all things by electricity and he fixed the old world and opened the new world like paradise by conducting the change of Qi.

• 전력전자학회:학술대회논문집
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• 전력전자학회 1999년도 전력전자학술대회 논문집
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• pp.71-75
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• 1999

In this paper, we present the 3DOF force-reflecting interface which allows to acquire force of object within a virtual environment. This system is composed of device, virtual environment model, and force-reflecting rendering algorithm. We design a 3 DOF force-reflecting device using the parallel linkage, torque shared by wire, and the controller of system applied by impedance control algorithm. The force-reflecting behaviour implemented as a function position is equivalent to controlling the mechanical impedance felt by the user. Especially how force should be supplied to user, we know using a God-Object algorithm. As we experiment a system implemented by the interface of 3D virtual object and 3DOF force-reflecting interface, we can feel a contact, non-contact of 3D virtual object surface and sensing of push button model.

• 복식문화연구
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• 제7권1호
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• pp.68-81
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• 1999

This paper makes a report of Shaman\`s ritual performed among Korean resiednts in Japan as socio-historical facts, and this also examines the symbolic meanings of Shamans\` costumes. The results are as follows ; 1) At the ritual of Jungsip-Wang Maji, Shamans wear Gwandae, Kunbok, Jangsam, Durumaki, and Chima-jugori. These costumes show that their wearers are priests and gods at the same time. 2) The reason why Simbang performs the ritual in different costumes at different Jaechas is that each object-god needs different costumes to represent its different character. 3) Shamans\` instruments consist of musical instruments and other instruments. Among the musical instruments are such percussions as Buk, Jing, Janggo and Sulsae. Among other insttruments are Sindo, Sanban and Yoryung. 4)Shamans think that the musical instruments have magic powers to drive out minor demons and invite gods. Sindo, Sanban and Yoryung are thought to be the symbolic instruments representing god\`s will.

• 대순사상논총
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• 제21권
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• pp.99-156
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• 2013

This paper is to indicate research tendencies of faith in Daesoonjinrihoe and controversial points of those, and to consider the outlook on Sangje after defining it as theological understanding and explanation for Gu-Cheon-Sang-Je (High-est ruling Entity that is the object of devotion in Daesoon-jinrihoe). As the first introduction to the work, various descriptions for Sangje are arranged and the meanings of those are analyzed. In brief, first, the name of Gu-Cheon-Eung-Won-Nweh-Seong-Bo-Hwa-Cheon-Jon, expresses the fact that the authority of Sangje (the Supreme Entity) is exposed by spatial concept Sangje dwells in Ninth Heaven. This fact can be compared with the doctrines Allah in Islam and Jehovah in Christianity each are dwelled in Seventh Heaven. And the name shows Sangje is the ruler who reigns over the universe by using yin and yang. Second, the name, Gu-Cheon-Eung-Won-Nweh-Seong-BoHwa-Cheon-Jon, is imported from China Taoism because it has been in Ok-Chu-Gyeong (the Gaoshang shenlei yushu). But in fact it's root is in Korea because Buyeo and Goguryeo, the ancient Korean nations, have the source of the name. While the name is not the Supreme Entity in China Taoism, it is the Supreme Entity in Daesoonjinrihoe. This fact is a important difference. Third, arbitrarily or not, the name, Gu-Cheon-Eung-Won-Nweh-Seong-Bo-Hwa-Cheon-Jon, is put on the image of 'resolution of grievances'. The reason is that many peoples in Korea and China has called the name for about 1,000 years ago to help their fortunes and escape predicaments. Forth, not only Gu-Cheon-Eung-Won-Nweh-Seong-Bo-Hwa-Cheon-Jon but also the name, Three Pure Ones and Ok-Cheon-Jin-Wang (Yuqingzhenwang) in China Taoism used as the Highest ruling Entity in Daesoonjinrihoe. But the relations between three Pure Ones and Ok-Cheon-Jin-Wang and Gu-Cheon-Eung-Won-Nweh-Seong-Bo-Hwa-Cheon-Jon in Dae-soonjinrihoe are different from that in China Taoism. Fifth, Sangje is associated with the Polaris divinity of Tae-Eul, view on God in Oriental Cosmology. The description Tae-Eul as well as Gu-Cheon-Eung-Won-Nweh-Seong-Bo-Hwa-Cheon-Jon is indicated Sangje is linked to the faith of Buyeo and Goguryeo. Sixth, Sangje is not only Mugeuk-Sin (The God of The Endless) who supervise the Endless but also Taegeuk-Ji-Cheon-Jon (The God of The Ultimate Reality) who supervise the Ultimate Reality. These descriptions directly display the fact Sangje is a creator. Seventh, in case explaining Sangje, the point of view is necessary that grasps the whole viewpoints Sangje 'was' Hidden God(deus otiosus) and 'is' Unhidden God after Incarnation. Eighth, Sangje is Cheon-Ju in Donghak, but different from that. Cheon-Ju in Donghak has both transcendence and immanence in tightrope tension, but Cheon-Ju in Daesoonjinrihoe emphasize transcendence than immanence. That difference is the result of the fact Cheon-Ju in Donghak was a being having revealed a man and Cheon-Ju in Daesoonjinrihoe was a being having incarnated after revealing a man. Ninth, Sangje is Gae-Byeok-Jang who is the manager of the transforming and ordering the Three Realms of the World by the Great Do which is the mutual beneficence of all life and Hae-Won-Sin who is the God of resolution of grievances.

• 한국과학교육학회지
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• 제14권3호
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• pp.379-392
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• 1994

One of the historical origins of the modern science education was investigated in this paper. From the view point of the pansophistic educational philosophy which emphasized "man should teach completely all things to all mankind(Omnes, Omnia, omnino)", J.A.Comenius proposed in his book "Didactica magna"(1658) that 'physica' should be learned as one of the most important school subjects. He suggested the completion of human being as a wholeness of the universe could be achieved through the physics teaching. His ideas of science education was, however, directed not to the 'rational konwledge' about the natural world, but to the 'divine wisdom'. His main thoughts and influences on science education can be summarized as follows: 1) The human being as a God's image should know the divinely created nature, because the invisible God's existence can be sensorially recognized in the nature. 2) Physics or science should be regarded as more important objects than verbal learning in general school education. 3) The cognitive union between the words('representative' or 'das Dargestellte') and things('presentative' or 'das Dargebotene') can be achieved through the objects lesson ('Anschauungsunterricht') 4) The realistic and sensor-cognitive learning theory of the object lesson is yet very important especially in the science education of elementary school, even though the inquiry learning process has became more important in the last years. 5) The religious aspect of his idea could not satisfy the social needs of industrialization and the development of professonal technics in the 18 to 19th century.