• International Journal of Precision Engineering and Manufacturing
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• 제4권6호
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• pp.61-70
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• 2003

A multibody system dynamics analysis program is presented using one of the most useful programming methodologies, the object-oriented modeling, The object-oriented modeling defines a problem from the physical world as an abstract object. The object becomes encapsulated with the data and method, Analysis is performed using the object's interface, It is then possible for the user and the developer to modify and upgrade the program without having particular knowledge of the analysis program, The method presented in this paper has several advantages, Since the mechanical components of the multi-body system are converted into the class, the modification, exchange, distribution and reuse of classes are increased. It becomes easier to employ a new analysis method and interface with other S/W and H/W systems, Information can be communicated to each object through messaging. This makes the modeling of new classes easier using the inheritance, When developing a S/W for the computer simulation of a physical system, it is reasonable to use object-oriented modeling.

• 한국정밀공학회지
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• 제20권8호
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• pp.115-125
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• 2003

To analyze the applications of all types of mechanical systems, general purpose analysis programs have been developed and commercialized. However, it is customary to develop and use customized programs even though they sometimes require more work than a general purpose program. A customized program is simplified to adapt to a particular application from the beginning, is designed for small computers, and developed with hardware-in-the-loop in mind so it can be applied effectively. By adding design knowledge and bundling know-how to an analysis program, analysis time can be reduced. And because an analysis has to work in conjunction with other analysis programs, a proprietary program that the user can easily modify can be useful. In this thesis, a multi-body dynamics analysis system is presented using one of the most useful programming techniques, object-oriented concept. The object-oriented concept defines a problem from the physical world as an abstract object, an abstract model. The object becomes encapsulated with the data and method. Simulation is performed using the object's interface. It is then possible for the user and the developer to modify and upgrade the program without having particular knowledge of the analysis program. The method presented in this thesis has the following advantages. Since the mechanical components of the multi-body system converts independent modeling into a class, the modification, exchange, distribution, and reuse of elements are increased. It becomes easier to employ a new analysis method and interface with other S/W and H/W systems. To employ a new analysis method, there is no need to modify elements of the main solver and the Library. In addition, information can be communicated to each object through messaging. It makes the modeling of new elements easier using inheritance. When developing a S/W for the computer simulation of physical system, it is reasonable to use object-oriented modeling. Also, for multi-body dynamics analysis, it is possible to develop a solver that is user-oriented.

• 한국감성과학회:학술대회논문집
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• 한국감성과학회 2009년도 춘계학술대회
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• pp.219-222
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• 2009

Rapid object recognition is one of the main stream research themes focusing to reveal how human recognizes object and interacts with environment in natural world. This field of study is of consequence in that it is highly important in evolutionary perspective to quickly see the external objects and judge their characteristics to plan future reactions. In this study, we investigated how human detect natural scene objects and categorize them in a limited time frame. We applied Magnetoencepahlogram (MEG) while participants were performing detection (e.g. object vs. texture) or basic-level categorization (e.g. cars vs. dogs) tasks to track the dynamic interaction in human brain for rapid object recognition process. The results revealed that detection and categorization involves different temporal and functional connections that correlated for the successful recognition process as a whole. These results imply that dynamics in the brain are important for our interaction with environment. The implication from this study can be further extended to investigate the effect of subconscious emotional factors on the dynamics of brain interactions during the rapid recognition process.

• Bulletin of the Korean Chemical Society
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• 제32권6호
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• pp.1849-1850
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• 2011

• Journal of Advanced Marine Engineering and Technology
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• 제20권1호
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• pp.37-43
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• 1996

This paper presents a new control scheme for decoupling the dynamics of two coordinating robot manipulators. A simple full-state feedback scheme with configuration dependent gains can be devised to decouple the system dynamics such that the dynamics of each arm and that of an object held by the two arms is independent of one another. A condition for stability is shown. The advantage of the proposed scheme is that the same control scheme can be applied both for the closed kinematic chain(object-grasping) case and open kinematic chain(no object-grasping) case.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1992년도 추계학술대회 논문집
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• pp.215-219
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• 1992

This paper presents a motion coordination of two robot manipulators coordinating an object. To coordinate the object, a force/position control scheme in a mode of leaer/follower is devised. The dynamics of the object are incorporated into the dynamics of the leader arm, which yields a reduced order model of two arm system. In order to regulate interaction forces between two arm, the dynamics of the follower arm are expressed as force dynamic equations such that a novel direct forces between two arms and two different type of bounded input disturbances, boundedness and asymptotic stability results based on a proposed Lyapunov function are shown. Also, a sufficient condition for a stability robustness is derived based on the Lyapunov approach.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.492-495
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• 1997

This paper aims to derive a mathematical model of the dynamics of handling task in field robot which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraints of tight area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of contact-area are discussed. Finally, it is shown that even in the simplest case of dual single D.O.F. manipulators there exists a sensory feedback from sensing data of he rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes secure grasping of the object, provided that he object is of rectangular shape and motion is confined to a horizontal

• 한국콘텐츠학회논문지
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• 제20권12호
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• pp.582-592
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• 2020

본 연구의 목적은 한강의 소설 「채식주의자」에 등장하는 인물의 심리 역동과 체계 속에서의 관계 패턴을 위니컷의 대상관계이론을 적용하여 분석하고자 한다. '채식주의자'는 이미 다양한 각도로 분석되고 재해석된 바 있으나 대상관계이론을 적용하여 살펴본다면 가족 체계 안에서의 인물 심리 분석과 부부 관계 역동, 세대간에 걸친 필연적 역사를 이해할 수 있다. 먼저 채식주의자 인물의 대사 속에서 표현되는 각 인물의 성격과 심리역동을 탐색하고 대상관계이론과 개념으로 부부관계를 분석할 것이다. 실제 임상 사례가 아닌 소설 속 인물을 이론에 근거하여 심리 분석 및 탐색하는 과정은 추후 임상 장면에서 상담자가 내담자들의 삶의 스토리를 재해석하는데 근거 자료로 사용될 수 있을 것이다. 더불어 실제 사례만이 아니라 예술을 활용하여 인물 및 관계 분석을 함으로써 윤리적이고 실천적인 임상 교육을 실현할 수 있을 것이다. 문화적으로 다양한 인물 분석을 통한 의미 탐색이 누적될 때 임상 실천의 장 또한 함께 확장된다고 제언하고자 한다.

• 전자공학회논문지B
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• 제33B권11호
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• pp.11-21
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• 1996

Robot manipulators constituing multi-robot system must exert the desired motion force on an object to preserve tghe fine motion of it. The forces exerte on an object by the end-effectors of multi-inducing force and the internal force. Here, motion-inducing force effects the motion of an object, but internal force as lies in the null space of an object coordinate can't effect it. The motion of an object can't track exactly the desired motion by the effect of an object, but internal force as lies in the null space of the effect of internal force component, therefore internal force component must be considered. In this paper, first, under assumption that we can estimate exactly the parameter of dynamics, we constitute paper, first, under assumption that we can estimate exactly the parameter of dynamics, we constitute the controller concerning internal force. And we obtain the internal force as projecting force sensor readings onto the space spanned by null basis set of jacobian matrix. Using the resolved acceleration control method and the fact that internal force lies in the null space of jacobian matrix, we construct the robust control law to preserve the robustness with respect to the uncertainty of mainpulator parameters.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제5권6호
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• pp.1166-1191
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• 2011

This paper presents an adaptive active tracking system with sector based scanning for a single PTZ camera. Dividing sectors on an image reduces the search space to shorten selection time so that the system can cover many targets. Upon the selection of a target, the system estimates the target trajectory to predict the zooming location with a finite amount of time for camera movement. Advanced estimation techniques using probabilistic reason suffer from the unknown object dynamics and the inaccurate estimation compromises the zooming level to prevent tracking failure. The proposed system uses the simple piecewise estimation with a few frames to cope with fast moving objects and/or slow camera movements. The target is tracked in multiple steps and the zooming time for each step is determined by maximizing the zooming level within the expected variation of object velocity and detection. The number of zooming steps is adaptively determined according to target speed. In addition, the iterative estimation of a zooming location with camera movement time compensates for the target prediction error due to the difference between speeds of a target and a camera. The effectiveness of the proposed method is validated by simulations and real time experiments.