• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.1-6
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• 1992

A principle of "orthogonalization" is proposed as an extended notion of hybrid (force and position) control for robot manipulators under geometric endpoint constraints. The principle realizes the hybrid control in a strict sense by letting position and velocity feedback signals be orthogonal in joint space to the contact force vector whose components are exerted at corresponding joints. This orthogonalization is executed via a projection matrix computed in real-time from a gradient of the equation of the surface in joint coordinates and hence both projected position and velocity feedback signals become perpendicular to the force vector that is normal to the surface at the contact point in joint space. To show the important role of the principle in control of robot manipulators, three basic problems are analyzed, the first is a hybrid trajectory tracking problem by means of a "modified hybrid computed torque method", the second is a model-based adaptive control problem for robot manipulators under geometric endpoint constraints, and the third is an iterative learning control problem. It is shown that the passivity of residual error dynamics of robots follows from the orthogonalization principle and it plays a crucial role in convergence properties of both positional and force error signals.force error signals.

• 한국정밀공학회지
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• 제13권6호
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• pp.90-101
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• 1996

Determination of assembly sequence of components is a key issue in assembly operation. Although a number of articles dealing with assembly sequence determination have appeared, an efficient and general methodology for complex products has yet to appear. The objective of this paper is to present the problems and models used to generate assembly sequence from design data. An essential idea of this research is to acquire a finite number of voxels from any complex geometric entity, such as 3D planar polygons, hollow spheres, cylinders. cones, tori, etc. In order to find a feasible assembly sequence, the following four steps are needed: (1) The components composing of an assembly product are identified and then the geometric entities of each component are extracted. (2) The geometric entities extracted in the first step are translated into a number of voxels. (3) All the mating or coupling relations between components are found by considering relations between voxels. (4) The components to be disassembled are determined using CCGs (Component Coupling Graph).

• Structural Engineering and Mechanics
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• 제6권2호
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• pp.217-227
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• 1998

An elasto-plastic finite element procedure using degenerated shell element with assumed strain field technique considering both material and geometric nonlinearities has been developed. This assumes von-Mises yield criterion, von-Karman strain displacement relations and isotropic hardening. A few numerical examples are presented to demonstrate the correctness and applicability of the method to different kinds of engineering problems. From present study, it is seen that there is a considerable improvement in the displacement valuse when both material and geometric nonlinearities are considered. An example of the spread of plastic zones for isotropic and anisotropic materials has been illustrated.

• 대한수학교육학회지:수학교육학연구
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• 제10권1호
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• pp.139-159
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• 2000

The experimental software such as Cabri II, The Geometer's Sketchpad, etc. provides dynamic environment which construct and explore geometric objects interactively and inductively. It has the effects on mathematics itself differently from other technologies that are used in instruction. What is its characteristics\ulcorner What are the educational implication of it for the learning of geometry\ulcorner How is mental reasoning of geometric problems changed by transformation of the means of representation and the environment to manipulate them\ulcorner In this study, we answer these questions through the review of the related literatures and the analysis of textbooks, teaching materials using it and curricular materials. Also, we identify implications about how the criteria for choosing geometic content and the ways of constructing context, for orchestrating the students' exploration with the secondary geometry curriculum, can be changed.

• Structural Engineering and Mechanics
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• 제87권1호
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• pp.85-94
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• 2023

In the present work, thermal buckling and post-buckling behaviors of imperfect graphene platelet reinforced metal foams (GPRMFs) doubly curved shells are examined. Material properties of GPRMFs doubly curved shells are presumed to be the function of the thickness. Reddy' shell theory incorporating geometric nonlinearity is utilized to derive the governing equations. Various types of the graphene platelets (GPLs) distribution patterns and doubly curved shell types are taken into account. The nonlinear equations are discretized for the case of simply supported boundary conditions. The thermal post-buckling response are presented to analyze the effects of GPLs distribution patterns, initial geometric imperfection, GPLs weight fraction, porosity coefficient, porosity distribution forms, doubly curved shell types. The results show that these factors have significant effects on the thermal post-buckling problems.

• 한국멀티미디어학회논문지
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• 제15권11호
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• pp.1292-1304
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• 2012

최근에 디지털 이미지는 광고주나 이미지 편집자들에 의해 극단적으로 수정되는 경우가 많다. 또한 일반인들도 간단한 편집 프로그램을 통해 원본 이미지를 수정함으로써 사진을 조작하곤 한다. 본 논문에서는 이러한 문제를 해결하기 위해서 수정된 이미지에 대한 식별 및 분석 방법을 제안하고자 한다. 수정 이미지 분석에는 크게 기하학적 변형(geometric changes)과 필터링 변형(filtering change)으로 나누었다. 이러한 변형에는 항상 보간법을 기반으로 한 알고리즘을 내포하고 있기 때문에 보간의 흔적을 분석할 수 있는 알고리즘을 제안하였다. 그 방법으로 minimum 필터와 laplacian 연산 그리고 maximum 필터를 이용한 보간 검출 맵을 구현하였으며, 실제로 수정된 이미지에 제안하는 알고리즘을 적용하여 변형된 흔적을 검출 맵을 통해 분석할 수 있었다.

• 대한의용생체공학회:학술대회논문집
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• 대한의용생체공학회 1997년도 추계학술대회
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• pp.541-545
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• 1997

This paper presents a modified geometric active contour model or edge detection and segmentation of computed tomography(CT) scan images. The method is based on the level setup approach developed by Osher and Sethian and the modeling of propagation fronts with curvature dependent speeds by Malladi. Based on above algorithms, the geometric active contour is obtained through a particular level set of hypersurface lowing along its gradient force and curvature force. This technique retains the attractive feature which is topological and geometric flexibility of the contour in recovering objects with complex shapes and unknown topologies. But there are limitations in this algorithm which are being not able to separate the object with weak difference from neighbor object. So we use speed limitation filter to overcome those problems. We apply a 2D model to various synthetic cases and the three cases of real CT scan images in order to segment objects with complicated shapes and topologies. From the results, the presented model confirms that it attracts very naturally and efficiently to the desired feature of CT scan images.

• 한국학교수학회논문집
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• 제16권4호
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• pp.821-840
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• 2013

중학교 기하에서 등장하는 도형의 정의는 그 모양에서 시각적으로 확인할 수 있는 단순한 용어의 뜻으로만 생각하기 쉽다. 그러나 도형의 정의에 대한 낮은 이해도는 이와 같은 도형 정의에 대한 도구적 이해의 한계를 보여주고 있다. 이 연구는 영재중학생들을 대상으로, Freudenthal이 주장했던 도형 성질의 논리적 조직화에 의한 정의의 재발명과정을 구체적으로 실행하여 분석하였다. 그 결과 영재 학생 중 상당수가 도형 성질의 논리적 조직화 경험을 통하여, 도형을 왜 그렇게 정의하는 것인가, 또 다른 성질로는 정의할 수 없는가와 같은 도형 정의의 관계적 이해와 관련된 질문에 대해 깊이 이해하고 있음을 확인할 수 있었다. 이 연구에서 분석한 논리적 조직화에 의한 정의의 재발명과정은 중학교 기하교육의 문제를 반성하고 새로운 대안을 모색하는데 도움이 될 수 있을 것이다.

• Computers and Concrete
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• 제33권3호
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• pp.241-250
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• 2024

This article investigates the thermal and post-buckling problems of graphene platelets reinforced metal foams (GPLRMF) beams with initial geometric imperfection. Three distribution forms of graphene platelet (GPLs) and foam are employed. This article utilizes the mixing law Halpin Tsai model to estimate the physical parameters of materials. Considering three different boundary conditions, we used the Euler beam theory to establish the governing equations. Afterwards, the Galerkin method is applied to discretize these equations. The correctness of this article is verified through data analysis and comparison with the existing articles. The influences of geometric imperfection, GPL distribution modes, boundary conditions, GPLs weight fraction, foam distribution pattern and foam coefficient on thermal post-buckling are analyzed. The results indicate that, perfect GPLRMF beams do not undergo bifurcation buckling before reaching a certain temperature, and the critical buckling temperature is the highest when both ends are fixed. At the same time, the structural stiffness of the beam under the GPL-A model is the highest, and the buckling response of the beam under the Foam-II mode is the lowest, and the presence of GPLs can effectively improve the buckling strength.

• 한국학교수학회논문집
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• 제10권3호
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• pp.303-322
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• 2007

교과서에서 사용되는 문제는 주로 정형화된 폐쇄형의 문제로 학생의 문제해결력을 육성하거나 학생의 자주적인 학습을 촉구하는데 제한적이다. 본 연구는 문제해결력을 육성하기 위해 개방형 문제를 해결해가는 과정을 폴리아의 문제해결단계를 따라 학생에게 나타나는 학습변화를 관찰하였다. 학생은 문제를 더욱 신중히 읽고 이해하는 과정에서 단순화하였고 계획수립과정에선 처음엔 익숙하지 않았지만 다양한 방법으로 해결하려는 시도와 체계적으로 되돌아보는 인지과정을 나타냈으며, 실행과정에서는 오류를 통한 계획수립의 재시도가 일어나 통제가 향상되는 과정을 보였다. 반성단계는 점검만하는 수준을 벗어나 다른 해결방법을 무엇인지 등의 반성단계의 필요성을 인식하였고 개방형문제의 실생활 적용과 일반화하는 과정을 통해 문제 해결력이 더욱 향상됨을 알 수 있었다.