• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.1
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• pp.35-43
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• 1996

A computer program for automatic deriving the symbolic equations of motion for robots using the programming language MATHEMATICA has been developed. The program, developed based on the Lagrange formalism, is applicable to the closed chain robots as well as the open chain robots. The closed chains are virtually cut open, and the kinematics and dynamics of the virtual open chain robot are analyzed. The constraints are applied to the virtually cut joints. As a result, the spatial closed chain robot can be considered as a tree structured open chain robot with kinematic constraints. The topology of tree structured open chain robot is described by a FATHER array. The FATHER array of a link indicates the link that is connected in the direction of base link. The constraints are represented by Lagrange multipliers. The parallel robot, DELTA, having three-dimensional closed chains is modeled and simulated to illustrate the approach.

• Journal of Korea Multimedia Society
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• v.5 no.3
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• pp.249-254
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• 2002

We consider a buffer-constrained adaptive quantization algorithm for image compression. Buffer control algorithm was considered with source coding scheme by some researchers and recently a formal description of the algorithm in terms of rate-distortion has been developed. We propose a buffer control algorithm that incorporates the buffer occupancy into the Lagrange multiplier form in a rate-distortion cost measure. Although the proposed algorithm provides the suboptimal performance as opposed to the optimal Vieterbi algorithm, it can be implemented with very low computaional complexity. In addition stability of this buffer control algorithm has been mentioned briefly using Liapnov stability theory.

• Journal of the Korean earth science society
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• v.33 no.7
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• pp.608-617
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• 2012

The symbiotic nova Z Andromedae (And) was investigated, using the high dispersion spectra of spectral resolution, ${\Delta}{\lambda}{\sim}-0.1{\AA}$. The spectral observations were done with (1) the Hamilton Echelle Spectrograph (HES) and the high resolution spectra (exposures=1800s and 3600s) were obtained at Lick Observatory in 2001 August $30^{th}$ (phase ${\Phi}$=0.77), and 2002 August $12^{th}$ (phase ${\Phi}$=0.22), (2) with the Bohyunsan Echelle Spectrograph (BOES) at Bohyunsan Optical Astronomy Observatory and the high resolution spectra (exposure=1200s) were secured in 2009 October $21^{st}$ (phase ${\Phi}$=0.70). From both the HES and BOES spectral data in the $3600{\AA}-9500{\AA}$ wavelengths, we extracted the emission lines of HI, HeI, and HeII, which have been decomposed into double or triple Gaussian components for 3 consecutive phases. The emission zones responsible for these components appear to be closely related with the orbital motion of a white dwarf or a giant star. The presence of the Raman scattering $H{\alpha}$ broad wing feature and the kinematic characteristics of the line profile observed in each phase imply that the Z And emission lines are mostly from two Lagrangian points, $L_1$ and $L_2$, and the accretion disk around the white dwarf star. The Z And was most active in 2009 and 2001 during the outburst phase, while it remained quiescent in 2002 in spite of the complex line profiles.