• 천문학회보
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• 제41권1호
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• pp.35.2-35.2
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• 2016

We present a census of AGN-driven gas outflows based on the kinematics of ionized gas and stars, using a large sample of ~11,000 emission line galaxies at z < 0.3, selected from SDSS. First, a broad correlation between gas and stellar velocity dispersions indicates that the bulge gravitational potential plays a main role in determining the ionized gas kinematics. However, the velocity dispersion of the [OIII] emission line is larger than stellar velocity dispersion by a factor of 1.3-1.4, suggesting that the non-gravitational (non-virial) component, i.e., outflows, is almost comparable to the gravitational component. Second, gas-to-stellar velocity dispersion ratio increases with both AGN luminosity and Eddington ratio, suggesting that non-gravitational kinematics are clearly linked to AGN accretion. The distribution in the [OIII] velocity - velocity dispersion diagram dramatically expands toward large values with increasing AGN luminosity, implying that the launching velocity of gas outflows increases with AGN luminosity. Third, the fraction of AGNs with a signature of the non-gravitational kinematics, steeply increases with AGN luminosity and Eddington ratio, while the majority of luminous AGNs presents the non-gravitational kinematics in the [OIII] profile. These results suggest that ionized gas outflows are prevalent among type 2 AGNs. On the other hand, we find no strong trend of the [OIII] kinematics with radio luminosity, once we remove the effect of the bulge gravitational potential, indicating that ionized gas outflows are not directly related to radio activity for the majority of type 2 AGNs. We will discuss the implication of these results for AGN feedback in the local universe.

• 한국정밀공학회지
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• 제20권4호
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• pp.103-111
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• 2003

The Denavit-Hartenberg symbolic notation provides the framework for the convenient and systematic method for the robot manipulator kinematics, but is limited its use to the lower pair mechanism or to the single loop mechanisms. The Sheth-Uicker notation is its revised and generalized version to be extended fur the entire domain of the link mechanism including the higher pairs. This paper proposes the method that uses the Sheth-Uicker notation fur the robot kinematics modeling. It uses the instantly coincident coordinate system and the closed loop chain fur the coordinate transformation. It enables us to model the velocity kinematics of the robot that has the complex structures such as the ternary links and the wheels in a systematic and rational way. As an implementation of the proposed method, the Jacobian matrices were obtained for not only the robot with two legs and a torso, but a manipulator on a mobile platform.

• 천문학회보
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• 제40권1호
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• pp.78.4-79
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• 2015

We present the spatially resolved kinematics of ionized gas and stars along the major axis of 9 pseudo bulge galaxies. Using the high quality long-slit spectra obtained with the FOCAS at the Subaru telescope, we measured the flux, velocity, and velocity dispersion of the [OIII] and $H{\beta}$ lines to determine the size of the narrow-line region, rotation curve, and the radial profile of velocity dispersions. We compare ionized gas kinematics and stellar kinematics to investigate whether ionized gas shows any signs of outflows and whether stars and ionized gas show the same sigma-dip feature (i.e., decrease of velocity dispersion) at the very center.

• 천문학회보
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• 제39권2호
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• pp.69.1-69.1
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• 2014

We present the spatially resolved kinematics of ionized gas and stars along the major axis of 9 pseudo bulge galaxies. Using the high quality long-slit spectra obtained with the FOCAS at the Subaru telescope, we measured the flux, velocity, and velocity dispersion of the [OIII] and $H{\beta}$ lines to determine the size of the narrow-line region, rotation curve, and the radial profile of velocity dispersions. We compare ionized gas kinematics and stellar kinematics to investigate whether ionized gas shows any signs of outflows and whether stars and ionized gas show the same sigma-dip feature (i.e., decrease of velocity dispersion) at the very center.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.402-405
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• 1997

Based on the relative velocity method and the inverse kinematics theory, this paper presents an automated system for designing and manufacturing of an open type cylindrical cam with a rotating follower(OCRF). In the first part, this paper defines the relative velocity method for OCRF and calculates the contact point by using the coordinate transformation technique. In the second part, it generates NC Code of a CNC machine center for inverse kinematics by using the cutter location and the cutter orientation of OCRF. Finally, the automated CADICAM program developed in the paper shows an example on the desip and manufacture process of OCRF.

• 로봇학회논문지
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• 제10권4호
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• pp.230-244
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• 2015

Continuous-path motion control such as resolved motion rate control requires online solving of the inverse differential kinematics for a robot. However, the solution space of the inverse differential kinematics related to Jacobian J is not well-established. In this paper, the solution space of inverse differential kinematics is analyzed through categorization of mapping conditions between joint velocities and end-effector velocity of a robot. If end-effector velocity is within the column space of J, the solution or the minimum norm solution is obtained. If it is not within the column space of J, an approximate solution by least-squares is obtained. Moreover, this paper introduces an improved mapping diagram showing orthogonality and mapping clearly between subspaces, and concrete examples numerically showing the concept of several subspaces. Finally, a solver and graphics user interface (GUI) for inverse differential kinematics are developed using MATLAB, and the solution of inverse differential kinematics using the GUI is demonstrated for a vertically articulated robot.

• 천문학회보
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• 제41권1호
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• pp.40.2-41
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• 2016

To understand the observed kinematics in the narrow-line region (NLR) of type 2 AGNs, we construct a model of 3-D biconical outflow combined with a thin dust plane. The model consists of two identical cones whose apex is located at the nucleus, and the cones are axisymmetric with respect to the bicone axis. After we define the properties of the bicone and the dust plane, we calculate a spatially integrated velocity and velocity dispersion along the line-of-sight using various physical parameters. As we test the effect of model parameters, we find three key parameters determining the integrated kinematics: intrinsic outflow velocity, bicone inclination, and the amount of dust extinction. The velocity dispersion increases as the intrinsic outflow velocity or the bicone inclination increases, while the velocity shift increases as the amount of dust extinction increases. We confirm that the integrated velocity dispersion can be a good indicator of the intrinsic outflow velocity unless dust extinction is not very strong (>~80%), while the effect of dust extinction can be alleviated by combining the integrated velocity and the velocity dispersion. Based on the simulated velocity distributions using the 3-D models, the variety of the observed [O $_{III}$] line profiles of type 2 AGNs can be well reproduced. In addition, we perform Monte Carlo simulations based on the different sets of model parameters. By comparing the model results with the observed [O $_{III}$] kinematics of ~39,000 SDSS type 2 AGNs (Woo et al. 2016), we find that the observed [O $_{III}$] velocity-velocity dispersion distribution is well reproduced by the biconical outflow model, enabling us to constrain the intrinsic physical parameters of outflows.

• 천문학회보
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• 제39권1호
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• pp.43.2-43.2
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• 2014

We investigate the ionized gas kinematics at the center of 6 nearby Seyfert galaxies, using the integral field spectroscopy data from the Calar Alto Legacy Integral Field spectroscopy Area survey Data Release 1. To understand the kinematic nature of the ionized gas in the narrow-line regions (NLRs), we measured the flux, velocity, and velocity dispersion of the [OIII] $5007{\AA}$ and Ha $6563{\AA}$ emission lines, after subtracting a best-fit stellar population model representing the stellar features. At the same time, we measured stellar velocity as a reference for the systemic velocity, and stellar velocity dispersion. We spatially resolved the velocity structure of the ionized gas using each emission line and compared it to that of stars. In this poster we present the flux, velocity, and velocity dispersion maps of the ionized gas and stars, and discuss the nature of the ionized gas outflows in the central kiloparsec scale.

• 한국정밀공학회지
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• 제19권5호
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• pp.118-125
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• 2002

The previous kinematic analysis of wheeled mobile robots(WMRs) is performed in an ad-hoc manner, while those of the robot manipulators are done in a consistent way using the coordinate system assignment and the homogeneous transformation matrix. This paper shows why the method for the robot manipulators cannot be used directly to the WMRs and proposes the method for the WMRs, which contains modeling the wheel with the Sheth-Uicker notation and the homogeneous transformation. The proposed method enable us to model the velocity kinematics of the WMRs in a consistent way. As an implementation of the proposed method, the Jacobian matrices were obtained for conventional steered wheel and non-steered wheel respectively and the forward and inverse velocity kinematic solutions were calculated fur a tricycle typed WMR. We hope that our proposed method comes to hold an equivalent roles for WMRs, as that of the manipulators does for the robot manipulators.

• 천문학회지
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• 제53권5호
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• pp.103-115
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• 2020

We analyze the spatially resolved kinematics of gas and stars for a sample of ten hidden type 1 AGNs in order to investigate the nature of their central sources and the scaling relation with host galaxy stellar velocity dispersion. We select our sample from a large number of hidden type 1 AGNs, which are identified based on the presence of a broad (full width at half maximum ≳1000 km s^-1) component in the Hα line profile and which are frequently mis-classified as type 2 AGNs because AGN continuum and broad emission lines are weak or obscured in the optical spectral range. We used the Blue Channel Spectrograph at the 6.5-m Multiple Mirror Telescope to obtain long-slit data with a spatial scale of 0.3 arcsec pixel^-1. We detected broad Hβ lines for only two targets; however, the presence of strong broad Hα lines indicates that the AGNs we selected are all low-luminosity type 1 AGNs. We measured the velocity, velocity dispersion, and flux of stellar continuum and gas emission lines (i.e., Hβ and [O III]) as a function of distance from the center. The spatially resolved gas kinematics traced by Hβ or [O III] are generally similar to the stellar kinematics except for the inner center, where signatures of gas outflows are detected. We compare the luminosity-weighted effective stellar velocity dispersions with the black hole masses and find that our hidden type 1 AGNs, which have relatively low back hole masses, follow the same scaling relation as reverberation-mapped type 1 AGN and more massive inactive galaxies.