• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.1587-1592
• /
• 2004

In the area of tracking control, it is important to design not only the controllers but also the trajectories to which a system has to follow. Position in the form of the $5^{th}$ order polynomial is often used with constraints of initial and final states. Smooth ending with possible minimum time is important for many systems to be away from vibrations or jerky motions. A simple polynomial-like trajectory generation method based on zero final state constraints is suggested and named ZSPOT. The effects of suggested method are shown through experiments in which a system follows an easy and computationally light reference trajectory.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.101-106
• /
• 2003

In the area of tracking control, it is important to design not only the controllers but also the trajectories to which a system has to follow. $5^{th}$ order polynomial is often used with constraints of initial and final states. Smooth ending with possible minimum time is important for many systems because of vibration or jerky motions. Examples are increased with development of technology in smaller, more accurate systems. On the base of a polynomial like trajectory generation method from a paper in ACC2002 and RIC(Robust Internal-loop Compensator) control scheme of Robotics and Bio-mechanics lab. of POSTECH, generalized and expanded polynomial like trajectory generation method is showed.

• Proceedings of the Computational Structural Engineering Institute Conference
• /
• 2000.04b
• /
• pp.371-378
• /
• 2000

In this study an adaptive node generation procedure in the Element-free Galerkin (EFG) method using bubble-meshing technique is proposed. Based on the error function that obtained by projected error estimation method, the initial node arrangement is defined along the background cell that is used in the numerical integration. To obtain the smooth nodal configuration, the nodal configuration are regenerated by bubble-meshing technique. This bubble meshing technique was originally developed to generate a set of well-shaped triangles and tetrahedra. Its basic idea is packing circles or spheres, called bubble, into the specified area or space naturally using some dynamic equations with attracting and repelling force. To demonstrate the performance of proposed scheme, the convergence behaviors are investigated for several problems.

• The Journal of the Korean dental association
• /
• v.56 no.10
• /
• pp.572-580
• /
• 2018

Adequate access cavity is the key to achieving endodontic success. The aims of the access cavity can be considered as follows: 1) Creation of a smooth unimpeded pathway for instruments to canal orifices 2) Removal of the entire roof of the pulp chamber in order to inspect the pulp floor, 3) Preservation of natural tooth substance consistent with the above. Recently, contracted endodontic cavities based on minimally invasive endodontics has introduced. This has the benefit of preserving the pericervical dentin more than traditional access cavity with achieving long-term success. However, some studies reported controversial results regarding root canal detection, instrumentation efficacy (noninstrumented canal area, hard tissue debris accumulation, canal transportation, and centering ratio) as well as fracture resistance. Therefore, further studies are required for accepting contracted access cavity, and modified form of traditional and contracted access cavity could be considered.

• Applied Microscopy
• /
• v.28 no.3
• /
• pp.273-282
• /
• 1998

Ultrastructure of fertilized egg envelope in the tomato clown anemonefish (Amphiprion freatus) was examined by mean of light, scanning and transmission electron microscopies. The fertilized egg of tomato clown anemonefish was of non-transparent, ellipsoidal, adhesive and non-floted type, and there were numerous oil droplets in the yolk sac and adhesive filaments in the area of the animal pole. The outer surface of egg envelope was smooth. The fertilized egg envelope consisted of two distinct layers; a non-adhesive outer electron-dense layer and an inner layer, consisting of five horizontal low electron-dense lamellae alternating with the middle electron dense interlamellae.

• Animal Systematics, Evolution and Diversity
• /
• v.30 no.2
• /
• pp.137-143
• /
• 2014

A newly recorded species of gammaridean amphipod, Cryptodius kelleri (Br$\ddot{u}$ggen, 1907) belonging to the family Odiidae Coleman and Barnard, 1991 collected from the east coastal area of Korea. Cryptodius kelleri (Br$\ddot{u}$ggen) is characterized by the medially expanded maxillipedal palp article 2, smooth dorsal pereonites, propodochelate gnathopod 1, subchelate gnathopod 2, lacking the posterior process on the basis of pereopods 5-7, dorsal carination of pleonite 3, posterolateral upturned process of pleonite 3, and an entire telson. The species is described and fully illustrated in the present study. A key is also provided to the species of genus Cryptodius. This is the first record of the family Odiidae from Korea.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
• /
• 2002.05a
• /
• pp.259-266
• /
• 2002

The basic concept of 'tooth profile modification' is to change a part of the involute profile to reduce the load in that area and appropriate profile modifications can help gears to run quietly and resist scoring, pitting and tooth breakage. In this study, the modification of tooth profile to make a smooth transmission of the normal loads in spur gears has been developed. The modified tooth profile has been determined by the total deflection at contact points. We use the AGMA Standard to design basic gear profile, We also developed a gear design Program using tooth profile modification

• Water Engineering Research
• /
• v.4 no.3
• /
• pp.127-139
• /
• 2003

This paper presents the hydraulic analysis of the oxygen transfer through the air entrainment and the relationships between the efficiency of the oxygen transfer and the hydraulic parameters in the riparian riffles. Field survey on the pool-riffle formation of the river reach and the measurements of the oxygen transfer in the riffles were performed. Air entrainment occurred more frequently in the edged gravels rather than in the round and edgeless ones, and it was formed mainly from behind the trailing edges of the gravels. Oxygen transfer was found to be proportional to the flow velocity, the flow discharge, and the Froude number, but to be not closely related to the particle diameter. Average value of oxygen transfer in the riffles of study area was about 0.085, which shows good efficiency compared with results of smooth chute. Variation of the water level, which increases in proportion to the flow velocity and the flow discharge, seems to make the air entrainment more active, but has not been verified quantitatively. Relationships between the air entrainment and the variation of the water level must be considered in the further study.

• Journal of the Korean Society for Precision Engineering
• /
• v.20 no.7
• /
• pp.138-146
• /
• 2003

A critical issue in area-based stereo matching lies in selecting a fixed rectangular window size. Previous stereo methods doesn't deal effectively with occluding boundary due to inevitable window-based problems, and so give inaccurate and noisy matching results in areas with steep disparity variations. In this paper, a variable window approach is presented to estimate accurate, detailed and smooth disparities for three-dimensional structure reconstruction. It makes the smoothing of depth discontinuity reduced by evaluating corresponding correlation values and intensity gradient-based similarity in the three-dimensional disparity space. In addition, it investigates maximum connected match candidate points and then devise the novel arbitrarily shaped variable window representative of a same disparity to treat with disparity variations of various structure shapes. We demonstrate the performance of the proposed variable window method with synthetic images, and show how our results improve on those of closely related techniques for accuracy, robustness, matching density and computing speed.

• Journal of Mechanical Science and Technology
• /
• v.17 no.11
• /
• pp.1693-1703
• /
• 2003

This paper presents a new local obstacle avoidance method for indoor mobile robots. The method uses a new directional approach called the Lane Method. The Lane Method is combined with a velocity space method i.e., the Curvature-Velocity Method to form the Lane-Curvature Method (LCM). The Lane Method divides the work area into lanes, and then chooses the best lane to follow to optimize travel along a desired goal heading. A local heading is then calculated for entering and following the best lane, and CVM uses this local heading to determine the optimal translational and rotational velocities, considering some physical limitations and environmental constraint. By combining both the directional and velocity space methods, LCM yields safe collision-free motion as well as smooth motion taking the physical limitations of the robot motion into account.