• Journal of Institute of Convergence Technology
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• v.6 no.2
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• pp.9-13
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• 2016

Robot usually requires spline motion to move through multiple knots. In this paper, catmull-rom spline method is applied to the trajectory planning of industrial robot in task space. Centripetal catmull-rom is selected to avoid self-intersection and slow motion which can be occurred in uniform and chordal spline. The method to set two control points are proposed to satisfy velocity conditions of initial and final knots. To optimize robot motion, time scaling method is presented to minimize margin between real robot value and maximum value in velocity and acceleration. The simulation results show that the proposed methods are applied to trajectory planning and robot can follow the planned trajectory while robot motion does not exceed maximum value of velocity and acceleration.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2001.05a
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• pp.163-167
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• 2001

The paper introduce the basic concept for the variable graph description of blending functions in NURBS using some control method; the control points, knot vectors and weight points in 3D space.

• Journal of Korean Society of Forest Science
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• v.97 no.5
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• pp.485-491
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• 2008

This study was performed in 14 unthinned Mongolian pine (Pinus sylvestris L. var. mongolica Litvin) plantations in northeast China. Data were collected on 70 sample trees of different canopy position with diameter at breast height (DBH) ranging from 6.9 cm to 34.5 cm. Diameter and length of knots per whorl below the living crown were studied by different vertical levels divided by relative knot height (RHK) in this paper. Models taking DBH and height to the crown base (HCB) as independent variables were developed to predict knot diameter (KD) in a sample whorl. According to the vertical distribution tendency and range of sound knot length (KLsound), KLsound was modeled as multiple linear function of DBH, KD and relative knot height (RHK). The loose knot length (KLloose) was described as a function of DBH, KD and height above the ground for knots (HK) in a mixed log-linear model. Results from this study can provide abundant knot information so as to describe the knot size and vertical distribution tendency of Mongolian pine plantation.

• Structural Engineering and Mechanics
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• v.18 no.2
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• pp.247-262
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• 2004

In the earlier application of the spline finite strip method(FSM), the uniform B3-spline functions were used in the longitudinal direction while the conventional interpolation functions were used in the transverse direction to construct the displacement filed in a strip. To overcome the shortcoming of the uniform B3-spline, non-periodic B-spline was developed as the displacement function. The use of non-periodic B3-spline function requires no tangential vectors at both ends to interpolate the geometry of shell and the Kronecker delta property is also satisfied at the end boundaries. Recently, non-periodic spline FSM which was modified to have a multiple knots at the boundary was developed for the shell analysis and applied to the analysis of bridges. In the formulation of a non-symmetric spline finite strip method, the concepts of non-periodic B3-spline and a stress-resultant finite strip with drilling degrees of freedom for a shell are used. The introduction of non-symmetrically spaced knots in the longitudinal direction allows the selective local refinement to improve the accuracy of solution at the connections or at the location of concentrated load. A number of numerical tests were performed to prove the accuracy and efficiency of the present study.

• International Journal of CAD/CAM
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• v.5 no.1
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• pp.11-18
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• 2005

The traditional method of manipulation of knots and degrees gives poor quality of surface, if compatibility of input curves is not good enough. In this work, a new algorithm of multiple refitting of curves has been developed using minimum energy based formulation to get compatible curves for skinning. The present technique first reduces the number of control points and gives smoother surface for given accuracy and the surface obtained is then skinned by compatible curves. This technique is very useful to reduce data size when a large number of data have to be handled. Energy based technique is suitable for approximating the missing data. The volumetric information can also be obtained from the surface data for analysis.

• Journal of Computational Design and Engineering
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• v.2 no.1
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• pp.1-15
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• 2015

Measured bidirectional reflectance distribution function (BRDF) data have been used to represent complex interaction between lights and surface materials for photorealistic rendering. However, their massive size makes it hard to adopt them in practical rendering applications. In this paper, we propose an adaptive method for B-spline volume representation of measured BRDF data. It basically performs approximate B-spline volume lofting, which decomposes the problem into three sub-problems of multiple B-spline curve fitting along u-, v-, and w-parametric directions. Especially, it makes the efficient use of knots in the multiple B-spline curve fitting and thereby accomplishes adaptive knot placement along each parametric direction of a resulting B-spline volume. The proposed method is quite useful to realize efficient data reduction while smoothing out the noises and keeping the overall features of BRDF data well. By applying the B-spline volume models of real materials for rendering, we show that the B-spline volume models are effective in preserving the features of material appearance and are suitable for representing BRDF data.

• Structural Engineering and Mechanics
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• v.12 no.3
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• pp.313-328
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• 2001

A multi-span bridge has the peak value of resultant girder moment or membrane stress at the interior support. In this paper, the spline finite strip method (FSM) is modified to obtain the more appropriate solution at the interior support where the peak values of solution exist. The modification has been achieved by expressing the shape function with non-periodic B-splines which have multiple knots at the boundary. The modified B-splines have the useful feature for interpolating the curve with sudden change in curvature. Moreover, the modified spline FSM is very efficient in analyzing multi-span box girder bridges, since a bridge can be modeled by an assembly of strips extended along the entire bridge length. Numerical examples of the bridge analysis have been performed to verify the efficiency and accuracy of the new spline FSM.

• Journal of the Korean Data and Information Science Society
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• v.28 no.3
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• pp.709-720
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• 2017

In healthcare and medical research, many important variables have a measurement error such as body mass index and laboratory data. It is also not easy to collect samples of large size because of high cost and long time required to collect the target patient satisfied with inclusion and exclusion criteria. Beside, the demand for solving a complex scientific problem has highly increased so that a semiparametric regression approach could be of substantial value solving this problem. To address the issues of measurement error, small domain and a scientific complexity, we conduct a multivariable Bayesian smoothing under structural measurement error covariate in this article. Specifically we enhance our previous model by incorporating other useful auxiliary covariates free of measurement error. For the regression spline, we use a radial basis functions with fixed knots for the measurement error covariate. We organize a fully Bayesian approach to fit the model and estimate parameters using Markov chain Monte Carlo. Simulation results represent that the method performs well. We illustrate the results using a national survey data for application.

• Journal of English Language & Literature
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• v.56 no.6
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• pp.1295-1310
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• 2010

In her "After Language Poetry: Innovation and Its Theoretical Discontents" in Contemporary Poetics (2007), Marjorie Perloff spotted Steve McCaffery's and Lyn Hejinian's points of reference and opacity/transparency in poetic language, and theorizes in her perspicacious insights that poetic language is not a window, to be seen through, a transparent glass pointing to something outside it, but a system of signs with its own semiological interconnectedness. Providing a critique and contextualizing Perloff's argument, the purpose of this paper is to introduce a topological model for poetry, language, and theory and further to elaborate the relation between the theory and the practice of language poetry in terms of "the revolution of language." Jacques Lacan's poetics of knowledge and of the topology of the mind, in particular, that of "extimacy," can articulate the way how language poetry problematizes the opposition between inside and outside in the substance of language itself. In fact, as signifiers always refer not to things, but to other signifiers, signifiers becomes unconscious, and can say more than they actually says. The original signifiers become unconscious through the process of repression which makes a structure of multiple and polyphonic signifying chains. Language poets use this polyphonic language of the Other at Freudian "Another Scene" and Lacan's "Other." When the reader participates the constructive meanings, the locus of the language writing transforms itself into that of the Other which becomes the open field of language. The language poet can even manage to put himself in the between-the-two, a strange place, the place of the dream and of the Unheimlichkeit (uncanny), and suture between "the outer skin of the interior" and "the inner skin of the exterior" of the impossible real of definite meaning. The objective goal of the evacuation of meaning is all the same the first aspect suggested by the aims of the experimentalism by the language poetry. The open linguistic fields of the language poetry, then, will be supplemented by The Freudian "unconscious" processes of dreams, free associations, slips of tongue, and symptoms which are composed of this polyphonic language. These fields can be properly excavated by the methods and topological mapping of the poetics of extimacy and of the klein bottle.

• Journal of the Korean Society of Marine Environment & Safety
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• v.26 no.6
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• pp.644-655
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• 2020

This study focuses on the margin of human error when a navigator is embarrassed by the psychological fear of collision in a close-quarter situation (CQS) and is unable to perform as per the prescribed collision avoidance measures. The purpose of the study is to identify the effects of the navigator's personal characteristics or factors in relation to on-board career (OC), license rating (LR), and age on the perceived collision risk (PCR) in CQSs. In order to obtain quantified data regarding the collision risk perceived by the navigator in four typical CQSs between their own ship and a target ship, this study measured and collated the heart rate variability of 30 navigators on their own ship when two ships approached each other at a speed of 10 knots from 2.5 nautical miles to a collision situation. According to a multiple regression analysis of the measured values, the navigators' OC and LR factors had negative effects on the PCR, while the age factor had no significant effect on PCR. The t-test results showed that the PCR value was significantly higher for navigators with an OC ≤ 4 years than for those with an OC ≥ 5 years, and the LR factor was significantly higher for a class 4~6 group than for a class 2~3. This finding may be applied to the development of collision risk warning systems, particularly for navigators.