• School Mathematics
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• v.11 no.2
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• pp.281-299
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• 2009

In this paper, we show how dynamic manipulation environments can be integrated in the mathematics curriculum by presenting some pedagogical tasks manufactured by dynamic manipulation. These examples are composed to produce meaningful definitions through inductive experiments, to strengthen the thinking ability on continuity through the visualization, to make mathematics through investigation and finding, and to strengthen the ability of posing and generalizing problems. Through these examples students can observe the process of how mathematics is being invented, and they can experience how to solve mathematical problems using physical experiments in dynamic manipulation environments. When integration of dynamic manipulation into the teaching and learning of mathematics is applied, some difficulties can come out. To resolve such difficulties, a teacher must play the role of a co-worker of students in addition to the role of a scaffolder, coach, or close listener.

• The Journal of Korean Physical Therapy
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• v.29 no.2
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• pp.95-100
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• 2017

Purpose: This study aimed to evaluate the changes in dorsiflexion and balance following proximal and distal tibiofibular joint manipulation in individuals with a history of lateral ankle sprain (LAS). Methods: Fifteen participants with a history of unilateral LAS, exhibiting a restriction in ankle dorsiflexion were included in this study. LAS ankle received a manipulation to the proximal and distal tibiofibular joint, while the opposite control ankle received no manipulation intervention. The outcome measures included ankle dorsiflexion and balance. Ankle dorsiflexion was measured using weight-bearing lunge test. Static and dynamic balances were measured using the overall, anterioposterior, and mediolateral balance index via the biodex balance system. Measurements were obtained prior to and following manipulation. Results: This study showed that ankle dorsiflexion and dynamic balance were improved following the manipulation compared to those prior to the manipulation (p<0.05). There was no significant change in static balance (p>0.05). Conclusion: The joint manipulation technique applied to the ankle of those with a history of LAS appears to improve ankle dorsiflexion and dynamic balance. This suggest that a manipulation to the proximal and distal tibiofibular joint could be provided as preliminary data regarding the prophylactic effects of recurrent LAS.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.11
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• pp.1111-1118
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• 2006

This paper covers topics related to the investigations for the problem of sensorless vibratory orienting of polygonal parts with high probability through dynamic simulation. The author's program for mechanical systems with changing topologies was experimentally validated and was used as a simulation and design tool for motion behaviors of the vibratory parts-orienting system in the dynamic environment. A flat level vibrating bar is proposed as a means of orienting parts. Dynamic manipulation, in which a part is repeatedly caught and tossed by the bar without sensing, forms the fundamental manipulation strategy. This paper presents how to plan vibratory manipulation strategies that can orient a small rigid polygonal part using interaction between the part and the vibrating bar without requiring sensing. The planned motion strategies have been experimentally validated to show how the dynamic simulation can be used to find favorable vibration parameters for a given part without knowledge of their initial orientations.

• The Journal of Korea Robotics Society
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• v.8 no.1
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• pp.20-28
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• 2013

Large workspace and strong grasping force are required when a robot manipulates big and/or heavy objects. In that situation, bimanual manipulation is more useful than unimanual manipulation. However, the control of both hands to manipulate an object requires a more complex model compared to unimanual manipulation. Learning by human demonstration is a useful technique for a robot to learn a model. In this paper, we propose an imitation learning method of bimanual object manipulation by human demonstrations. For robust imitation of bimanual object manipulation, movement trajectories of two hands are encoded as a movement trajectory of the object and a force trajectory to grasp the object. The movement trajectory of the object is modeled by using the framework of dynamic movement primitives, which represent demonstrated movements with a set of goal-directed dynamic equations. The force trajectory to grasp an object is also modeled as a dynamic equation with an adjustable force term. These equations have an adjustable force term, where locally weighted regression and multiple linear regression methods are employed, to imitate complex non-linear movements of human demonstrations. In order to show the effectiveness our proposed method, a movement skill of pick-and-place in simulation environment is shown.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.6
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• pp.774-779
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• 2010

This paper analyzes the fundamental dynamic motion of a robotic arm and body mechanism on the platform of a mobile manipulation system. For the purpose, we reveal the dynamic coefficients of a robotic arm and body mechanism, and identify their dominant behaviors in an exemplar trajectory following simulation. We also discuss on their influence for the motion of the body, shoulder, and elbow joints. It is finally expected that this analysis is helpful for effective manipulation tasks by using mobile manipulation systems with an arm and body mechanism.

• Proceedings of the Korean Institute of Interior Design Conference
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• 2004.11a
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• pp.92-97
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• 2004

This purpose of this study was about the analysis on the dynamic expression of geometric manipulation in interior composition elements. The paradigm of contemporary times became different from paradigm of modern times. The change of paradigm is caused by the side effect of paradigm of pre-times. In the contemporary architectural condition, architecture have a tendency to plural characteristics. This study investigates systemically ‘the DYNAMISM’ as a part of contemporary interior space's feature, based on geometric manipulation in interior composition elements. First of all, the dynamic characteristics of architectural space. The second, relationship between the architecture and geometric manipulation.

• International Journal of Control, Automation, and Systems
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• v.2 no.2
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• pp.228-237
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• 2004

This paper provides a motion analysis of soft-fingertip object manipulation tasks by presenting a dynamic model of multi-fingered object manipulations with soft fingertips. It is fundamentally observed that soft fingertips employed in a multi-fingered hand generate some deformation effects during the manipulation process and also that those effects are closely related to the behavior of the manipulated object. In order to analyze the motion of using soft fingertips, a dynamic manipulation control scheme is presented. Simulation and experimental results demonstrate the motion of soft-fingertips applied in object manipulating tasks and are further used to discuss the characteristics of soft-fingertip motions.

• Journal of Advanced Research in Ocean Engineering
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• v.3 no.3
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• pp.136-148
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• 2017

The paper presents dual arm ROV manipulation using deep reinforcement learning. The purpose of this underwater manipulator is to investigate and excavate natural resources in ocean, finding lost aircraft blackboxes and for performing other extremely dangerous tasks without endangering humans. This research work emphasizes on a self-learning approach using Deep Reinforcement Learning (DRL). DRL technique allows ROV to learn the policy of performing manipulation task directly, from raw image data. Our proposed architecture maps the visual inputs (images) to control actions (output) and get reward after each action, which allows an agent to learn manipulation skill through trial and error method. We have trained our network in simulation. The raw images and rewards are directly provided by our simple Lua simulator. Our simulator achieve accuracy by considering underwater dynamic environmental conditions. Major goal of this research is to provide a smart self-learning way to achieve manipulation in highly dynamic underwater environment. The results showed that a dual robotic arm trained for a 3DOF movement successfully achieved target reaching task in a 2D space by considering real environmental factor.

• Research in Mathematical Education
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• v.16 no.2
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• pp.107-123
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• 2012

A group of twenty-nine high school student-teachers were given a set of mathematical propositions focusing on shape-to-shape transformations. Their task was to determine through hands-on manipulation and use of dynamic software that each shape be transformed into an area equivalent rectangular region. This paper reports on a classroom-based research.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.124-129
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• 1992

The goal of the proposed Intelligent Assisting System - IAS is to assist human operators in an intelligent way, while leaving decision and goal planning instances for the human. To realize the IAS the very important issue of manipulation skill identification and analysis has to be solved, which then is stored in a Skill Data Base. Using this data base the IAS is able to perform complex manipulations on the motion control level and to assist the human operator flexibly. We propose a model for manipulation skill based on the dynamics of the grip transformation matrix, which describes the dynamic transformation between object space and finger joint space. Interaction with a virtual world simulator allows the calculation and feedback of appropriate forces through controlled actuators of the sensor glove with 10 degrees-of-freedom. To solve the sensor glove calibration problem, we learn the nonlinear calibration mapping by an artificial neural network(ANN). In this paper we also describe the experimental system setup of the skill acquisition and transfer system as a first approach to the IAS. Some simple manipulation examples and simulation results show the feasibility of the proposed manipulation skill model.