• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.990-995
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• 1991

The integration of intelligent robots into manufacturing systems should positively impact the product quality and productivity. A new theory of object location and recognition using the supporting plane is presented. The unknown supporting points are determined by image coordinates, known camera parameters, and joint coordinates of the robot manipulators. This is developed by using the geometrical interpretation of perspective projection and the geometrical constraints of industrial environments. This can be applied to solve typical robot vision problems such as determination of position, orientation, and recognition of objects.

• 제어로봇시스템학회논문지
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• 제17권3호
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• pp.269-276
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• 2011

This paper proposes a novel control method using phase plane for a hydraulic biped humanoid robot. In biped walking control, it is much more difficult to control the posture of a biped robot in the coronal plane because the supporting area formed by the both feet in the coronal plane is much narrower than that of the sagittal plane. When the biped robot walks stably, the phase portrait of the pelvis in the coronal plane makes an elliptical shape. From this point of view, we develop an ankle torque controller and a foot placement controller for tracking the desired phase portrait during walking. We design these controllers by using simulations of a simplified compass gait biped model to regulate the desired phase portrait of pelvis. The effectiveness of the proposed control method is proved through full-body dynamic walking simulations and real experiments of the SARCOS hydraulic biped humanoid.

• Journal of the Optical Society of Korea
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• 제19권2호
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• pp.144-148
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• 2015

An alternative description for the Gaussian image plane (GIP) of an optical system for a given object is presented, which applies to both aberration-free and non-aberration-free systems. We extend the definition of transverse magnification (TM) to the image plane (IP) displaced from the GIP and find that the TM depends linearly on the locations of both an aperture stop placed in front of the system and the IP. Hence, we redefine the GIP as the location at which the slope of the TM variance changes sign. The definition is deterministic and self-consistent and, therefore, no other parameters or measurements are needed. The derivation of this definition using a set of paraxial ray tracings and supporting experimental data for a thick bi-convex lens system is presented.

• 대한조선학회논문집
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• 제54권3호
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• pp.242-249
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• 2017

A design system for doubler reinforcement of the ship plate members subjected to in-plane shear and biaxial compressive loads was developed. This design system of doubler reinforcement on ship plate members established by design supporting system and this system was based on the buckling evaluation process of ship plate members for these in-plane loads. Each design parameters were suggested by equations as the form of influence coefficients for the doubler reinforcement subjected to the various in-plane loads including shear load. Strength of doubler plate member reinforced on the plate member could be suggested by the equivalent flat plate thickness after the consideration of corelation equations in the design system of doubler reinforcement. Level of strength recovery of ship plate members for these in-plane loads according to the local reinforcement by doubler could be suggested by use of this design system in the initial repair design stage of shipyards.

• 치과방사선
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• 제7권1호
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• pp.27-30
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• 1977

To insure accuracy in dental roentgenographs, it is important that the patient's head position and angulation of the x-ray tube. In 1907 Cieszynski applied the rule of isometry to dental radiography and established that in the production of an accurate image of a tooth, the central ray must be porjected perpendicularly to a plane bisecting angle formed by the longitudinal axis of the tooth and the film plane. Proper exposure of the film is a part of the production of a good dental radiograph, and correct processing also makes an essential contribution to the quality of the radiograph. The author analysed the failure of exposure and processing results, and recommended followings. 1. The patient head must be positioned that occlusal plane are parallel with the horizontal floor. 2. Central ray must be projected to the objective tooth and supporting structure and projected as perpendicularly to tooth axis and film surface as possible. 3. In processing, the temperature of the solution and the processing time must be correct.

• 대한치과보철학회지
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• 제29권2호
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• pp.103-115
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• 1991

This study was executed to analyze the stress distribution of tooth, supporting structure and overdenture by two-dimensional photoelastics when 6 types of coping were inserted. Types of coping were designed to be inclined plane, short dome, medium dome, shore square, medium square and o-p anchor attachment. Fortes were applied respectively as follows: 1) Vertical load of 10 kg on the incisal edge 2) $30^{\circ}$ diagonal load of 8 kg on the labial surface. The results were as follows: 1. In case of short dome and o-p anchor attachment, the stress is evenly distributed on teeth, supporting tissue structure under vertical and $30^{\circ}$ diagonal load, then short dome and o-p anchor attachment show better stress distribution and stabilization of overdenture than any other coping under labial diagonal load. 2. Inclined plane revealed greater tendency of displacement of overdenture than any other coping under labial diagonal load. 3. Long height of copings had greater concentration of stress than short height of copings. 4. In case of medium dome under labial diagonal load, there were high level of stress concentration on denture base contacted labioincisal angle of coping.

• 한국가시화정보학회지
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• 제17권3호
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• pp.12-18
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• 2019

Direct numerical simulation of a fully developed turbulent plane Couette-Poiseuille flow with a two-dimensional (2-D) rod-roughened wall is performed to investigate the impacts of the surface roughness. It is shown that the logarithmic region in the mean velocity profile over the rough wall Couette-Poiseuille flow is significantly shortened by the surface roughness compared to that over a turbulent Couette-Poiseuille flow with smooth wall. The Reynolds shear stress over the rough wall Couette-Poiseuille flow is decreased compared to that for a smooth case in the outer layer. These results are attributed to weakened turbulence activity or roll-cell mode over the rough wall Couette-Poiseuille flow near the channel centerline due to suppressed development of u'-structure on the top wall, as documented through spanwise energy spectra of the streamwise velocity fluctuations. Inspection of congregation motion near the bottom wall and time evolution of u'-structure reveal weakened co-supporting cycle for the rough wall case.

• Journal of Animal Science and Technology
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• 제54권6호
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• pp.449-454
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• 2012

The present study was performed to investigate the effects of the plane of nutrition on growth performance and meat quality traits, especially marbling and PSE (pale, soft, and exudative), in finishing pigs. One hundred and four barrows and 102 gilts born to Yorkshire ${\times}$ Landrace dams and Duroc sires were randomly allocated to 16 pens at approximately 80-kg body weight, with 13 animals housed per pen except for two pens. Each eight pens received a diet containing either 3.4 Mcal ME/kg and 0.98% total lysine (high plane) or 3.1 Mcal ME/kg and 0.81% total lysine (medium plane). All animals were slaughtered at approximately 112 kg BW on an average, after which the Longissimus muscle (LM) was analyzed physicochemically. The ADG, ADFI, gain:feed as well as marbling score did not differ between the two dietary groups, whereas backfat thickness was greater in the high-plane group than in the medium-plane group (24.1 vs. 22.5 mm P<0.05). No LM exhibited PSE, i.e. $L^*$ (lightness) > 50, pH < 6.0 and drip loss > 5.0%, nor were these PSE-related variables influenced by the dietary treatment. Contents of crude protein and fat in LM did not differ between the two dietary groups. In conclusion, the present results suggest that growth performance and the occurrence of the PSE or 'watery' carcass are not influenced significantly by increasing the plane of nutrition in finishing pigs when the finisher is adequate nutritionally for supporting maximal lean growth. However, increasing the plane of nutrition is likely to result in an increase in fat deposition.

• Structural Engineering and Mechanics
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• 제81권3호
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• pp.379-394
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• 2022

Shallow footings usually belonged to the category of thick plate structures. For accurate analysis of thick plates, the contribution of out-of-plane components of the stress tensor should be considered in the formulation. Most of the available shallow footing models are based on the classical plate theories, which usually neglect the effects of the out-of-plane stresses. In this study, a mixed-field plate finite element model (FEM) is developed for the analysis of shallow footings rested on soil foundations. In addition to displacement field variables, the out-of-plane components of the stress tensor are also assumed as a priori unknown variables. For modeling the interaction effect of the soil under and outside of the shallow footings, the modified Vlasov theory is used. The tensionless nature of the supporting soil foundation is taken into account by adopting an incremental, iterative procedure. The equality requirement of displacements at the interface between the shallow footing and soil is fulfilled using the penalty approach. For validation of the present mixed FEM, the obtained results are compared with the results of 3D FEM and previous results published in the literature. The comparisons show the present mixed FEM is an efficient and accurate tool for solving the problems of shallow footings rested on subsoil.

• 한국정밀공학회지
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• 제13권9호
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• pp.104-113
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• 1996

In robot system, the robot manipulation needs the information of task and objects to be handled in possessing a variaty of positions and orientations. In the current industrial robot system, determining position and orientation of objects under industrial environments is one of major problems. In order to pick up an object, the roblt needs the information about the position and orientation of object, and between objects and gripper. When sensing is accomplished by pinhole model camera, the mathematical relationship between object points and their images is expressed in terms of perspective, i.e., central projection. In this paper, a new approach to determine the information of the supporting points related to position and orientation of the object using the robot vision system is developed and testified in experimental setup. The result will be useful for the industrial, agricultural, and autonomous robot.