• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.482-487
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• 2002

This paper presents a robot trajectory generation method based on the dual curvature theory of ruled surfaces. Robot trajectory can be represented as a ruled surface generated by the TCP(Tool Center Point) and my unit vector among the tool frame. Dual curvature theory of ruled surfaces provides the robot control algorithm with the motion property parameters. With the differential properties of the ruled surface, the linear and angular motion properties of the robot end effector can be utilized in the robot trajectory planning.

• Journal of the Korean Mathematical Society
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• v.43 no.6
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• pp.1339-1355
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• 2006

This paper develops in detail the differential geometry of ruled surfaces from two perspectives, and presents the underlying relations which unite them. Both scalar and dual curvature functions which define the shape of a ruled surface are derived. Explicit formulas are presented for the computation of these functions in both formulations of the differential geometry of ruled surfaces. Also presented is a detailed analysis of the ruled surface which characterizes the shape of a general ruled surface in the same way that osculating circle characterizes locally the shape of a non-null Lorentzian curve.

• Communications of the Korean Mathematical Society
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• v.34 no.1
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• pp.333-349
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• 2019

The paper study the curvature theory of a line-trajectory of constant Disteli-axis, according to the invariants of the axodes of moving body in spatial motion. A necessary and sufficient condition for a line-trajectory to be a constant Disteli-axis is derived. From which new proofs of the Disteli's formulae and concise explicit expressions of the inflection line congruence are directly obtained. The obtained explicit equations degenerate into a quadratic form, which can easily give a clear insight into the geometric properties of a line-trajectory of constant Disteli-axis with the theory of line congruence. The degenerated cases of the Burmester lines are discussed according to dual points having specific trajectories.

• Bulletin of the Korean Chemical Society
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• v.32 no.4
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• pp.1187-1194
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• 2011

The hydrogen abstraction reaction of $CF_3CH_2CHO$ + OH has been studied theoretically by dual-level direct dynamics method. Two stable conformers, trans- and cis-$CF_3CH_2CHO$, have been located, and there are four distinct OH hydrogen-abstraction channels from t-$CF_3CH_2CHO$ and two channels from c-$CF_3CH_2CHO$. The required potential energy surface information for the kinetic calculation was obtained at the MCG3-MPWB//M06-2X/aug-cc-pVDZ level. The rate constants, which were calculated using improved canonical transitionstate theory with small-curvature tunneling correction (ICVT/SCT) were fitted by a four-parameter Arrhenius equation. It is shown that the reaction proceeds predominantly via the H-abstraction from the -CHO group over the temperature range 200-2000 K. The calculated rate constants were in good agreement with the experimental data between 263 and 358 K.

• Journal of the Korean Society of Laryngology, Phoniatrics and Logopedics
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• v.5 no.1
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• pp.11-21
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• 1994

The vocal pitch is controlled by the tension, mass, and length of the vocal fold. It is well known that cricothyroid approximation raises the vocal pitch by simulating the contraction of the cricothyroid muscle, and there were so many reports that have noted a relationship between cricothyroid distance and pitch control, but there does not seem to be any single generally accepted theory to account for this connection. It is generally known that the strap muscles are active during low and falling Fo, and the suprahyoid muscles are active during high and raising Fo. These findings can be related to a general picture of the motion of the larynx during changes in Fo, the cricothyroid joint would tend to lengthen the vocal folds, as the larynx moves up and forward, and relax them as it moves back and down. In this study, we suggest that the relationship between anterior cricothyroid distance and fundamental frequency of the larynx was so complex according to the level of larynx and vertebral curvature. The higher the level of larynx, the wider the cricothyoid distance, but there is more greater fundamental frequency even though more wide cricothyroid distance. This phono-menon seems to be due to the multifactors, especially the vertical tension of the conus elasticus or the change of cricothyroid articulation. It is generally known that the crocothyoid and vocal is muscles are very closely related to pitch elevation, but sternohyoid muscle seems to be more closely related to pitch lowering. By this electromyographic studies, the sternohyoid muscle have dual activity to pitch control, increased activity during the low fundamental frequency and falling pitch, but also increased activity during the higher fundamental frequency and raising pitch at least in this study.