• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.314-319
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• 2005

When a robot navigates in the real environment, it frequently meets various environments that can be expressed by simple geometrical shapes such as fiat floor, uneven floor, floor with obstacles, slopes, concave or convex corners, etc. Among them, the convex corner composed of two plain surfaces is the most difficult one for the robot to negotiate. In this paper, we propose a gait planning algorithm to help the robot overcome the convex environment. The trajectory of the body is derived from the maximum distance between the edge boundary of the corner and the bottom of the robot when it travels in the convex environment. Additionally, we find the relation between kinematical structure of the robot and its ability of avoiding collision. The relation is realized by considering the workspace and the best posture of the robot in the convex structure. To provide necessary information for the algorithm, we use an IR sensor attached in the leg of the robot to perceive the convex environment. The validity of the gait planning algorithm is verified through simulations and the performance is demonstrated using a quadruped walking robot, called "MRWALLSPECT III"( Multifunctional Robot for WALL inSPECTion version 3).

• 대한수학회보
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• 제49권3호
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• pp.465-479
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• 2012

For $0<p{\leq}{\infty}$ and a convex body $K$ in $\mathbb{R}^n$, Lutwak, Yang and Zhang defined the concept of dual $L_p$-centroid body ${\Gamma}_{-p}K$ and $L_p$-John ellipsoid $E_pK$. In this paper, we prove the following two results: (i) For any origin-symmetric convex body $K$, there exist an ellipsoid $E$ and a parallelotope $P$ such that for $1{\leq}p{\leq}2$ and $0<q{\leq}{\infty}$, $E_qE{\supseteq}{\Gamma}_{-p}K{\supseteq}(nc_{n-2,p})^{-\frac{1}{p}}E_qP$ and $V(E)=V(K)=V(P)$; For $2{\leq}p{\leq}{\infty}$ and $0<q{\leq}{\infty}$, $2^{-1}{\omega_n}^{\frac{1}{n}}E_qE{\subseteq}{\Gamma}_{-p}K{\subseteq}{2\omega_n}^{-\frac{1}{n}}(nc_{n-2,p})^{-\frac{1}{p}}E_qP$ and $V(E)=V(K)=V(P)$. (ii) For any convex body $K$ whose John point is at the origin, there exists a simplex $T$ such that for $1{\leq}p{\leq}{\infty}$ and $0<q{\leq}{\infty}$, ${\alpha}n(nc_{n-2,p})^{-\frac{1}{p}}E_qT{\supseteq}{\Gamma}_{-p}K{\supseteq}(nc_{n-2,p})^{-\frac{1}{p}}E_qT$ and $V(K)=V(T)$.

• East Asian mathematical journal
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• 제16권2호
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• pp.363-370
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• 2000

We evaluate the dual quermassintegrals of $\gamma$-equichordal bodies and obtain the lower bound for the volume product of p-centroid body in $E^2$.

• Tribology and Lubricants
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• 제39권6호
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• pp.250-255
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• 2023

This study applies various surface patterns to minimize material loss in construction equipment that is subject to severe wear due to sand, such as the wear-resistant steel plates of dump trucks or the teeth of excavators. The relationship between surface morphology and wear behavior is investigated using PLA+ polymer to observe the effect of the surface pattern. Five types of samples - smooth, concave, convex, wavy concave, and wavy convex designs - are created using a 3D printer. A wear experiment is conducted for a duration of 3 h using 6.5 kg of abrasive particles. The mass loss of the samples after the experiment is measured to assess the extent of wear. Additionally, the surface morphology of the samples before and after the experiment is analyzed using SEM and confocal microscopy. The study results reveal that the smooth design exhibits the highest wear loss, whereas the concave and wavy concave designs show relatively lower wear loss. The convex and wavy convex designs exhibit varying contact areas with the abrasive particles depending on the surface pattern, resulting in different levels of wear. Furthermore, a comparison between the experimental results and DEM simulations confirms the observed wear trends. This study reveals the relationship between wear damage according to surface pattern shape and is expected to be of substantial help in the analysis of wear and tear on agricultural and heavy equipment.

• 대한수학회지
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• 제45권5호
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• pp.1221-1241
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• 2008

Most of domains people have studied are convex bounded projective (or affine) domains. Edith $Soci{\acute{e}}$-$M{\acute{e}}thou$ [15] characterized ellipsoid in ${\mathbb{R}}^n$ by studying projective automorphism of convex body. In this paper, we showed convex and bounded projective domains can be identified from local data of their boundary points using scaling technique developed by several mathematicians. It can be found that how the scaling technique combined with properties of projective transformations is used to do that for a projective domain given local data around singular boundary point. Furthermore, we identify even unbounded or non-convex projective domains from its local data about a boundary point.

• 대한수학회지
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• 제55권3호
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• pp.695-704
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• 2018

In this paper we derive some basic inequalities connecting the Minkowski measure of symmetry, the Minkowski symmetral and the Banach-Mazur distance. We then explore the geometric contents of these inequalities and shed light on the structure of the quotient 𝔅/Aff of the space of convex bodies modulo the affine transformations.

• 대한기계학회논문집
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• 제12권4호
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• pp.916-925
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• 1988

본 연구에서는 이에 대한 현상을 이해하기 위한 노력의 일환으로 반원호가 유 동방향에 오목하게 놓여있는 경우와 볼록하게 놓여있는 두 특수한 경우에 대해 Re수를 0.1부터 50까지 증가시켜가며 수치해를 구하여 박리점, 와류길이, 그리고 와도와 유선 들을 중점적으로 조사하였다.

• 대한수학회보
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• 제38권4호
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• pp.735-740
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• 2001

Let K be a convex body of constant relative breadth and let $K^*$ be its polar dual with respect to the Euclidean unit circle. In this paper we obtain the lower bound for the volume of the pedal body $PK^*P $K^{*}$ of K^*.$ Using this, we also obtain the lower bound for the volume product V$(PK^*)$V(PK) for planar bodies.s.

• 대한인간공학회지
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• 제36권2호
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• pp.69-86
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• 2017

Objective: The present study is intended to develop an improved bus seat armrest design by evaluating various bus armrest designs from ergonomic aspects. Background: An ergonomic armrest design which considers the sitting postures and body shapes of passengers can improve the convenience and comfort of a bus seat. Method: Subjective satisfaction of each of five design dimensions (length, width, height from seatpan, shape, and angle) was evaluated for seven bus seat armrest designs in various sizes and shapes by 58 participants (28 males and 33 females) using a 7-point scale (1: very dissatisfied, 4: neutral, and 7: very satisfied). Improved bus seat armrest designs adjustable in length and rotatable to the left or right (sliding and rotating armrest, SRA) with a concave, flat, or convex shape of the upper part were developed by considering the preferred design features and the body size and shape in sitting posture and needs of passengers and then compared with a conventional armrest. Results: A bus seat armrest with a wide width (40~50mm), a long length (360mm), a lower height (213mm), and a curved shape was found significantly preferred in terms of comfort. The proposed armrest designs (SRA-convex, SRA-flat, and SRA-concave) improved satisfaction by 46~62% for length suitability, 184~216% for width suitability, 205~214% for angle suitability, 138~181% for contact area suitability, and 49~64% for height suitability, 138~174% for comfort, and 93~111% for overall satisfaction. Conclusion: The preferred design features and passengers' needs of bus seat armrest were identified and the SRA designs were recommended for better usability. Application: The ergonomic design process of bus seat armrest employed in the present study can be applied to designing armrests in various vehicles for better convenience and comfort.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2007년도 추계학술대회 논문집
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• pp.303-304
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• 2007