• 한국공작기계학회논문집
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• 제11권6호
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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.

• 지구물리와물리탐사
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• 제24권1호
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• pp.1-5
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• 2021

이 논문에서는 축 방향 대칭성을 가지면서 두께를 무시할 수 있는 원판형 이상체 대한 벡터 중력과 중력 변화율 텐서 반응식을 유도하였다. 밀도가 일정한 원판형 이상체의 중력 포텐셜을 원통 좌표계를 이용하여 정의한 후, 미분을 통하여 벡터 중력의 r 성분과 z 성분을 유도하였다. 벡터 중력 r 성분을 직교 좌표계에서 2개의 수평 성분으로 분해하여 벡터 중력을 구한다. 원판형 이상체의 중력 변화율 텐서는 직교 좌표계로 표현된 벡터 중력을 각 성분 방향으로 미분하여 유도하였다.

• 한국수학교육학회지시리즈D:수학교육연구
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• 제8권2호
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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.

• 지구물리와물리탐사
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• 제23권1호
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• pp.55-60
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• 2020

직육면체 프리즘에 대한 중력, 자력, 중력 변화율 텐서 및 자력 변화율 텐서 반응식을 정리하였다. 직교 좌표계에서 직육면체 프리즘에 대한 삼중 적분으로 수직 중력을 유도하고, 직육면체의 축 방향 대칭성을 이용하여 순환 치환으로 두 개의 수평 중력 성분을 유도한다. 벡터 중력을 각 성분 별로 미분하여 중력 변화율 텐서를 유도한다. 포아송(Poisson) 관계식을 이용하면 일정한 방향으로 자화된 벡터 자력은 중력 변화율 텐서로부터 얻어진다. 벡터 자력을 각 방향으로 미분하여 최종적으로 자력 변화율 텐서를 유도하였다.

• 한국지능시스템학회논문지
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• 제6권3호
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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.

• 한국마린엔지니어링학회:학술대회논문집
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• 한국마린엔지니어링학회 2006년도 전기학술대회논문집
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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.

• 한국자동차공학회논문집
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• 제2권4호
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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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• 제5권3호
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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.

• 항공우주기술
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• 제10권1호
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• pp.116-121
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• 2011

나로우주센터 추적레이더가 획득한 실시간 위치 정보는 발사통제시스템에서 위치, 속도, 비행궤도 표시, 예상궤도 진입여부 및 안전을 위한 비행종료시점 판단 등의 중요한 데이터로 사용된다. 추적레이더에서 발사통제시스템으로 전송하는 표적의 위치 정보는 추적레이더 중심의 좌표값 데이터이며, 발사통제시스템에서 추적레이더로 전송하는 Slaving 데이터는 발사대 중심의 좌표값 데이터이다. 이렇듯 추적레이더와 발사통제시스템 간의 송수신 데이터는 각 시스템에 맞게 적절하게 좌표 변환이 수행되어야 한다. 본 연구에서는 나로우주센터 추적레이더 간의 상호 데이터 송수신 및 발사통제시스템과의 데이터 통신에 사용되는 각각의 좌표계 및 좌표계 간의 좌표 변환에 대해 기술하였다.

• Coupled systems mechanics
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• 제11권1호
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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.