• Transactions of the Korean Society of Machine Tool Engineers
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• v.11 no.6
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• pp.98-104
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• 2002

In this study, we have developed an algorithm by attaching a camera at the end-effector of industrial six-axis robot in order to determine position and orientation of the camera system from cartesian coordinates. Cartesian coordinate as a starting point to evaluate for suggested algorithm, it was easy to confront increase of orientation vector for a linear line point that connects two points from coordinate space applied by recursive least square method which includes previous data result and new data result according to increase of image point. Therefore, when the camera attached to the end-effector has been applied to production location, with a calibration mask that has more than eight points arranged, this simulation approved that it is possible to determine position and orientation of cartesian coordinates of camera system even without a special measuring equipment.

• Geophysics and Geophysical Exploration
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• v.24 no.1
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• pp.1-5
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• 2021

The closed-form expressions of the vector gravity and gravity gradient tensor due to a circular disk are derived. The gravity potential due to a circular disk with a constant density is defined for a cylindrical system. Then, the vector gravity is derived by differentiating the gravity potential with respect to cylindrical coordinates. The radial component of the vector gravity in the cylindrical system is converted into horizontal gravity components in the Cartesian system. Finally, the gravity gradient tensor due to a circular disk is obtained by differentiating the vector gravity with respect to the Cartesian coordinates.

• Research in Mathematical Education
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• v.8 no.2
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• pp.107-114
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• 2004

University teachers of linear algebra often feel annoyed and disarmed when faced with the inability of their students to cope with concepts that they consider to be very simple. Usually, they lay the blame on the impossibility for the students to use geometrical intuition or the lack of practice in basic logic and set theory. J.-L. Dorier [(2002): Teaching Linear Algebra at University. In: T. Li (Ed.), Proceedings of the International Congress of Mathematicians (Beijing: August 20-28, 2002), Vol. III: Invited Lectures (pp. 875-884). Beijing: Higher Education Press] mentioned that the situation could not be improved substantially with the teaching of Cartesian geometry or/and logic and set theory prior to the linear algebra. In East Asian countries, science-orientated mathematics curricula of the high schools consist of calculus with many other materials. To understand differential and integral calculus efficiently or for other reasons, students have to learn a lot of content (and concepts) in linear algebra, such as ordered pairs, n-tuple numbers, planar and spatial coordinates, vectors, polynomials, matrices, etc., from an early age. The content of linear algebra is spread out from grades 7 to 12. When the high school teachers teach the content of linear algebra, however, they do not concern much about the concepts of content. With small effort, teachers can help the students to build concepts of vocabularies and languages of linear algebra.

• Geophysics and Geophysical Exploration
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• v.23 no.1
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• pp.55-60
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• 2020

The closed-form expressions of gravity, magnetic, gravity gradient tensor, and magnetic gradient tensor due to a rectangular prism are derived. The vertical gravity is derived via triple integration of a rectangular prism in Cartesian coordinates, and the two horizontal components of vector gravity are then derived via cycle permutation of the axis variables of vertical gravity through the axial symmetry of the rectangular prism. The gravity gradient tensor is obtained by differentiating the vector gravity with respect to each coordinate. Using Poisson's relation, a vector magnetic field with constant magnetic direction can be obtained from the gravity gradient tensor. Finally, the magnetic gradient tensor is derived by differentiating the vector magnetic with respect to appropriate coordinates.

• Journal of the Korean Institute of Intelligent Systems
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• v.6 no.3
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• pp.3-13
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• 1996

In orde to reduce huge memory requirements of multidimensional CMAC problems, building a CMAC system by problem decomposition is investigated. Decomposition is based on resolving a displacement vector in cartesian coordinates into unit vectors that define a few lower-dimensional CMACs in the CMAC system. A CMAC system for an an in verse kinematics problem for a planar manipulator was simulated and the performance of the system was evaluated in terms of training and output quality.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2006.06a
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• pp.85-86
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• 2006

In this paper, a nonlinear controller based on adaptive sliding-mode method which has a sliding surface vector including new boundary function is proposed and applied to a two-wheeled voiding mobile robot (WMR). This controller makes the welding point of WMR achieve tracking a reference point which is moving on a smooth curved welding path with a desired constant velocity. The mobile robot is considered in view of a kinematic model and a dynamic model in Cartesian coordinates. The proposed controller can overcome uncertainties and external disturbances by adaptive sliding-mode technique. To design the controller, the tracking error vector is defined, and then the new sliding is proposed to guarantee that the error vector converges to zero asymptotically. The stability of the dynamic system will be shown through the Lyapunov method. The simulations is shown to prove the effectiveness of the proposed controller.

• Transactions of the Korean Society of Automotive Engineers
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• v.2 no.4
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• pp.80-90
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• 1994

Basic constraint equations derived from orthogonality conditions between a pair of body-fixed vectors and a body-fixed vector or a vector between two bodies are reformulated by using relative coordinate kinematics between two adjacent reference frames. Arithmetic numbers of operations required to compute derivatives of the constraint equations are drastically reduced. A mixed formulation of relative and cartesian coordinates is developed to further simplify derivatives of the constraints. Advantages and disadvantages of the new formulation are discussed. Possible singularity problem of para llelism constraints is resolved by introducing an extra generalized coordinate. Kinematic analysis of a McPherson strut suspension system are carried out to illustrate use and efficiency of the new formulation.

• International Journal of Control, Automation, and Systems
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• v.5 no.3
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• pp.283-294
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• 2007

In this paper, a nonlinear controller based on adaptive sliding-mode method which has a sliding surface vector including new boundizing function is proposed and applied to a two-wheeled welding mobile robot (WMR). This controller makes the welding point of WMR achieve tracking a reference point which is moving on a smooth curved welding path with a desired constant velocity. The mobile robot is considered in view of a kinematic model and a dynamic model in Cartesian coordinates. The proposed controller can overcome uncertainties and external disturbances by adaptive sliding-mode technique. To design the controller, the tracking error vector is defined, and then the sliding surface vector including new boundizing function and the adaptation laws are chosen to guarantee that the error vector converges to zero asymptotically. The stability of the dynamic system is shown through the Lyapunov method. In addition, a simple way of measuring the errors by potentiometers is introduced. The simulations and experimental results are shown to prove the effectiveness of the proposed controller.

• Aerospace Engineering and Technology
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• v.10 no.1
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• pp.116-121
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• 2011

The tracking radar systems in NARO space center are used in order to acquire the TSPI (Time, Space, and Position Information) data of the launch vehicle. The tracking radar produce the measurements of tracked targets in the radar-centered coordinate system. When the tracking radar is in the Cartesian/Polar tracking mode, the state vector data is sent in radar-centered Cartesian/Polar coordinate system to RCC. RCC also send the slaving data in Test Range coordinate system to the tracking radar. So, the tracking radars have to transform the slaving data in Test Range coordinate system into in radar-centered coordinate system. In this study, we described the coordinate transformation between radar-centered coordinate system and Test Range coordinated system.

• Coupled systems mechanics
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• v.11 no.1
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• pp.33-41
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• 2022

Quite often we have a lot of measurement data and would like to find some relation between them. One common task is to see whether some measured data or a curve of known shape fit into the cumulative measured data. The problem can be visualized since data could generally be presented as curves or planes in Cartesian coordinates where each curve could be represented as a vector. In most cases we have measured the cumulative 'curve', we know shapes of other 'curves' and would like to determine unknown coefficients that multiply the known shapes in order to match the measured cumulative 'curve'. This problem could be presented in more complex variants, e.g., a constant could be added, some missing (unknown) data vector could be added to the measured summary vector, and instead of constant factors we could have polynomials, etc. All of them could be solved with slightly extended version of the procedure presented in the sequel. Solution procedure could be devised by reformulating the problem as a measurement problem and applying the generalized inverse of the measurement matrix. Measurement problem often has some errors involved in the measurement data but the least squares method that is comprised in the formulation quite successfully addresses the problem. Numerical examples illustrate the solution procedure.