• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.41.4-41
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• 2002

In this paper we deal with visual servoing that can control a robot arm with a camera using information of images only, without estimating 3D position and rotation of the robot arm. Here it is assumed that the robot arm is calibrated and the camera is uncalibrated. Here we consider two coordinate systems, the world coordinate system and the camera coordinate one and we use a pinhole camera model as the camera one. First of all, the essential notion can be show, that is, epipolar geometry, epipole, epipolar equation, and epipolar constrain. And these plays an important role in designing visual servoing in the later chapters. Statement of the problem is giver. Provided two a priori...

• 한국전산유체공학회:학술대회논문집
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• 2007.10a
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• pp.134-140
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• 2007

Nonlinear parabolized stability equations for compressible flow in general curvilinear coordinate system are derived to deal with a broad range of transition prediction problems on complex geometry. A highly accurate finite difference PSE code has been developed using an implicit marching procedure. Blasius flow is tested. The results of the present computation show good agreement with DNS data. Nonlinear interaction can make the T-S fundamental wave more unstable and the onset of its amplitude decay is shifted downstream relative to linear case. For nonlinear calculations, rather small difference in initial amplitude can produce large change during nonlinear region. Compressible secondary instability at Mach number 1.6 is also simulated and showed that 1.1% initial amplitude for primary mode is enough to trigger the secondary growth.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.18 no.5
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• pp.564-571
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• 2008

This paper is concerned with the free vibration analysis of an annular plate with boundary conditions of simply supported-free, clamped-free and free-free, respectively. Exact solutions for the natural frequency and mode of an annular plate can be obtained by solving the differential equation but other methods such as the Rayleigh-Ritz method and the finite element method can be also used. In this research, we applied the Independent Coordinate Coupling Method(ICCM) to the annular plate and prove that the ICCM can accurately predict the natural frequency and mode shape of the annular plate. The numerical results show that the ICCM can be used effectively for the free vibration problem of plate with a hole compared to the Rayleigh-Ritz method and the finite element method.

• Research in Mathematical Education
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• v.20 no.1
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• pp.39-49
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• 2016

The History of Mathematics (HOM) was integrated in teaching the Cartesian Coordinate Plane (CCP) to Grade Seven learners of Moonwalk National High School using Lesson Study. After the lesson was taught, there were three valuable issues emerged: (1) HOM is a Springboard and/or a Medium of Motivation in Teaching CCP; (2) The History of CCP Opened a Wider Perspective about Its Real-life Application in the Modern World (3) Integration of History Developed a Sense of Purpose and an Appreciation of Mathematics Among Learners. Feedbacks solicited from the learners showed that they have understanding of the importance of studying Mathematics after they learned the life and contributions of Rene Descartes to Mathematics. Hence, integration of history plays a vital role in developing positive attitudes among learners towards Math.

• Journal of Mechanical Science and Technology
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• v.16 no.5
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• pp.703-709
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• 2002

In the present paper, approximate coordinate transformations for simulation of turbulent flows with wall deformation, significantly reducing computational cost with little degradation in numerical accuracy, are presented. The Wavier-Stokes equations are coordinate-transformed with an approximation of Tailor-series truncation. The performance is evaluated by performing numerical simulations of a channel flow at Re$\sub$$\tau$/ = 140 with active wall motions of η$\sub$m/$\^$+/ $\leq$5. The approximate transformations provide flow structures as well as turbulence statistics in good agreement with those from a complete transformation [Phys. Fluids 12, 3301 (2000) ] and allow 25-30% savings in the CPU time as compared to the complete one.

• Journal of KSNVE
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• v.8 no.1
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• pp.203-211
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• 1998

In order to find out relationship between hit probability and gun firing of a moving tank, a turret and flexible gun system model has been developed using a recursive flexible multibody dynamics. For a firing simulation model, nodal coordinates for a finite element model of a flexible gun have been employed to include transverse loads to the gun tube due to moving bullet and ballistic pressure. Modal coordinates are also used to represent the motion induced gun vibration before a firing occurs. An efficient switching technique from modal equations to nodal equation has been introduced for an entire gun firing simulation with a rotating turret.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.18 no.6
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• pp.681-689
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• 2008

This paper is concerned with the free vibration analysis of a circular plate with an eccentric circular hole by the Independent coordinate coupling method(ICCM). It was proved in the previous study that the ICCM can accurately predict the natural frequencies and mode shapes of the annular plates and can also be used for the free vibration analysis of the simply-supported circular plate with an eccentric circular hole. In this study, the clamped and free boundary conditions were considered for the circular plate. The numerical results show that the ICCM can be used effectively for the free vibration problem of circular plate with an eccentric hole compared to the finite element method.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.17 no.11
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• pp.1086-1092
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• 2007

This paper is concerned with the vibration analysis of a rectangular plate with multiple circular holes. On the contrary to the case of rectangular plate with multiple rectangular holes, it is very difficult to perform qualitative analysis on natural vibration characteristics because of geometrical inconsistency. In this paper, we applied the Independent Coordinate Coupling Method(ICCM) to the addressed problem, which was developed to compute natural vibration characteristics of the rectangular plate with a circular hole and proven to be computationally effective. The ICCM is based on Rayleigh-Ritz method but utilizes independent coordinates for each hole domain. By matching the deflection conditions for each hole imposed on the expressions, we can easily derive the reduced mass and stiffness matrices. The resulting equation is then used for the calculation of the eigenvalue problem. The numerical results show the efficacy of the Independent Coordinate Coupling Method.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2007.11a
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• pp.229-232
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• 2007

A numerical method for the moving boundary required in analysis of the combustion phenomenon of the solid propellant has been studied. The ghost cell extrapolation has been used in the Eulerian coordinate system. The Lagrangian method has been used in Non-Eulerian coordinate system. Results of the numerical analysis were verified by comparing to theoretical results of 1-D free-moving piston in the pipe.

• Interaction and multiscale mechanics
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• v.2 no.4
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• pp.413-430
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• 2009

The stator tooth is a key component of the electromechanical integrated toroidal drive system. The stator tooth is spiral in shape and the calculation of its displacements is difficult. In this paper, using the coordinate transformation method, the displacements of the stator tooth in the local coordinate system are expressed as the function of the variable in the drive coordinate system. Using the minimum potential energy principle, the equations of the displacements of the stator tooth under the loads are deduced. The displacement distributions within the stator tooth are investigated and the changes of the displacement distributions along with the main parameters are analyzed. This research can offer the basis for the strength and stiffness design of the drive system.