• 충청수학회지
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• 제29권2호
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• pp.267-281
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• 2016

In this paper, we consider multi-degree reduction of $B{\acute{e}}zier$ curves with continuity of any (r, s) order with respect to $L_2$ norm. With help of matrix theory about generalized inverses we can use Lagrange multipliers to obtain the degree reduction matrix in a very simple form as well as the degree reduced control points. Also error analysis comparing with the least squares degree reduction without constraints is given. The advantage of our method is that the relationship between the optimal multi-degree reductions with and without constraints of continuity can be derived explicitly.

• 한국컴퓨터정보학회:학술대회논문집
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• 한국컴퓨터정보학회 2014년도 제50차 하계학술대회논문집 22권2호
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• pp.259-260
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• 2014

IT 기술의 발달로 인해 로봇공학은 전문가의 영역에서 비전문가의 영역까지 두루 사용되고 있다. 그러나 현재 존재하는 소프트웨어는 여전히 높은 진입 장벽을 가지고 있다. 비전문가가 실질적으로 참고자료가 많이 부족하기 때문에 로봇 제어가 쉽지 않다. 본 논문에서는 5 자유도를 가진 로봇 팔을 움직이게 할 때 사용하는 기존의 역기구학(Inverse Kinematics)을 활용하여 기존 방법의 난도보다 직관적인 방법을 제시하여 비전문가들에게 로봇에 대한 높은 접근성을 제시한다.

• 근관절건강학회지
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• 제3권1호
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• pp.63-89
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• 1996

This study has been done for the purpose of determining whether the positive association between social support and depression is attributable to an overall beneficial effect of support(direct effect) or to a process of support protecting persons from adverse effects of stressors such as life events, pain or physical disability (buffering effect). The sample consisted of 214 patients who were identified as the rheumatoid arthritis. The instruments used in this study were Depression Scale(CES-D), Perceived Social Support Scale, Life Events Questionnaire, AIMS Pain Scale, and Physical Disability Scale. The data were analysed by the use of t-test, ANOVA, Pearson Correlation Coefficient and Stepwise Multiple Regression. The results of this study are summerized as follows : 1. The 1st hypothesis, "The higher the life events degree, the higher the depression degree" was supported(r=.49, P=.0001). 2. The 2nd hypothesis, "The higher the pain degree, the higher the depression degree" was supported(r=.44, P=.0001). 3. The 3rd hypothesis, "The higher the physical disability degree, the higher the depression degree" was supported (r=.46, P=.0001). 4. The 4th hypothesis, "The higher the social support degree, the lower the depression degree" was supported(F=84.52, P=.0001). 5. The 5th hypothesis, "There will be different in the relationship between the degrees of life events and depression according to social support degree" was rejected (F=.29, P=.5928). 6. The 6th hypothesis, "There will be different in the relationship between the degrees of pain and depression according to social support degree" was supported (F=3.19, P=.0755). 7. The 7th hypothesis, "There will be different in the relationship between the degrees of physical disability and depression according to social support degree" was supported(F=5.69, P=.018). 8. The predictive variables for depression were the degrees for social support, life events, pain, and physical disability. 9. The depression degree showed a inverse correlation with social support degree (r=-.56, p=.0001). The social support degree showed a inverse correlation with the degrees of life events(r=-.22, p=.0007), pain(r=-.18, p=.0069) and physical disability(r=-.15, p=.0293). 10. The depression degree showed significant differences in the variables of sex (t=2.26, p=.025), educational level(r=.189, P=.006) and the number of treatment method (r=.201, P=.003). In conclusion, it was found that social support had the direct effect on depression and the buffering effect in each relationship between degrees of pain or physical disability and depression in patients with rheumatoid arthritis. So the researcher thinks that it is effective that nurses should provide these patients with social support to reduce depression in cases of having severe pain or physical disability.

• 한국정밀공학회지
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• 제16권4호통권97호
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• pp.205-212
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• 1999

A three dimensional binary parallel robot manipulator uses actuators which have only two stable states and its structure is variable geometry truss. As a result, it has a finite number of states and fault tolerant mechanism because of kinematic redundancy. This kind of robot manipulator has some advantages compared to a traditional one. Feedback control is not required, task repeatability can be very high, and finite state actuators are generally inexpensive. Because the number of states of a binary robot manipulator grows exponentially with the number of actuators it is very difficult to solve and inverse kinematic problem. The goal of this paper is to develop an efficient algorithm to solve an inverse kinematic problem of three dimensional binary parallel robot manipulator using a backbone curve when the number of actuators are too much. We first derive the coordinate transformations associated with a three degree of freedom in-parallel actuated robot manipulator. The backbone curve is generated optimally by considering the maximum roll and pitch angles of the robot manipulator configuration and length of link. Then, the robot manipulator is fitted along the backbone curve with some criterion.

• Korean Journal of Mathematics
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• 제19권1호
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• pp.101-109
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• 2011

We get a theorem which shows that there exist at least two or three nontrivial weak solutions for the nonlinear parabolic boundary value problem with the variable coefficient jumping nonlinearity. We prove this theorem by restricting ourselves to the real Hilbert space. We obtain this result by approaching the topological method. We use the Leray-Schauder degree theory on the real Hilbert space.

• 대한기계학회논문집A
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• 제22권2호
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• pp.467-475
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• 1998

The Six Degree-of-Freedom manipulators are generally operated by linear actuators which are hydraulic cylinder, pneumatic cylinder, ball-screw. But these actuators are not adequate to have a wide work-space, and furthermore some of them have a self-locking property. Therfore, we have designed a new manipulator which fully overcomes these demerits. The new manipulating system consists of 6 DC-motors to generate operation forces and 6 position transducers to feedback displacement signals. This paper presents an overview of the design and characteristics of 6 Degree-of-Freedom force feedback manipulators for vitual reality implementation. we can operate Six Degree-of-Freedom manipulator with six motors and six potentiometers.

• 한국펄프종이공학회:학술대회논문집
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• 한국펄프종이공학회 2007년도 추계학술발표논문집
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• pp.21-33
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• 2007

CPAM has been applied to the paper industry for the purpose of wet-end improvement for a long time. And molecular weight and charge density have been managed most important quality factors to make CPAM for this application. Recently branched CPAM was developed to improve retention and drainage characteristics and we considered branch degree of CPAM as important factor as molecular weight and charge density. In this experiment, we tried to investigate physical and chemical properties to determine branch degree and flocculation efficiency using Arbocell pulp which was recently developed micro size pulp and finally we applied retention and drainage test under the ONP stock condition.

• 대한수학회지
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• 제60권1호
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• pp.91-113
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• 2023

The polytope of tristochastic tensors of degree three, the Latin polytope, has two kinds of extreme points. Those that are at a maximum distance from the barycenter of the polytope correspond to Latin squares. The remaining extreme points are said to be short. The aim of the paper is to determine the geometry of these short extreme points, as they relate to the Latin squares. The paper adapts the Latin square notion of an intercalate to yield the new concept of a cross-intercalate between two Latin squares. Cross-intercalates of pairs of orthogonal Latin squares of degree three are used to produce the short extreme points of the degree three Latin polytope. The pairs of orthogonal Latin squares fall into two classes, described as parallel and reversed, each forming an orbit under the isotopy group. In the inverse direction, we show that each short extreme point of the Latin polytope determines four pairs of orthogonal Latin squares, two parallel and two reversed.

• 한국차세대컴퓨팅학회논문지
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• 제13권4호
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• pp.112-123
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• 2017

전자전 상황에서 수신기의 수집 변수를 토대로 RF 위협체를 역추적함으로서 효율적인 전자공격을 수행하려는 연구가 진행되고 있다. 본 논문에서는 다양하고 구체적인 전자전 상황에서 위협체 역추적 알고리즘의 성능을 검증할 수 있도록 하기 위하여, 전자파 수집 변수를 바탕으로 레이더 위협체, 전자전 수신기, 전자파 전송환경과 같은 전자전 구성 단위들의 기능을 모델링하여 전자전 송수신 시뮬레이터를 구축한다. 시뮬레이터의 실험 결과는 수 m 정도의 거리 추적 오차와 소수점 이하 크기의 각도 추적 오차를 보이며, 모노펄스 빔폭과 편각의 변화에 따른 각도 추적 오차의 변화가 이론적인 모델링의 결과와 동일한 양상을 보임으로써 레이더 위협체의 거리 및 각도 추적의 동작 원리가 시뮬레이터에 적절하게 반영되었음을 확인할 수 있다. 구축한 전자전 송수신 시뮬레이터는 전자전 수집 시스템에서 추출된 위협체의 특성 변수가 실제 위협체의 특성 변수에서 어떻게 변형되었는지를 관찰하고, 다양한 전자전 상황에서 수집된 변수를 토대로 구성한 위협체 역추적 시스템의 성능을 평가하는 데에 활용될 수 있다.

• 제어로봇시스템학회논문지
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• 제9권11호
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• pp.925-936
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• 2003

The manipulability analysis of the parallel-type rolling mill proposed in Hong et al. [1] is re-visited. The parallel rolling mill uses two Stewart platforms in opposite direction for the generation of 6 degree-of-freedom motions of each roll. The objective of this new parallel rolling mill is to permit an integrated control of the strip thickness, strip shape, pair crossing angle, uniform wear of rolls, and tension of the strip. New forward/inverse kinematics problems, in contrast with [1], are formulated. The forward kinematics problem is defined as the problem of finding the roll-gap and the pair-crossing angle of two work rolls for given lengths of twelve legs. On the other hand, the inverse kinematics problem is defined as the problem of finding the lengths of twelve legs when the roll-gap, the pair-crossing angle, and the position and orientation of one work roll are given. The method of manipulability analysis used in this paper follows the spirit of [1]. But, because the rolling force and moment exerted from both upper and lower rolls have been included in the manipulability analysis, more accurate results than the use of a single platform can be achieved. Two. kinematic parameters, the radius of the base and the angle between two neighboring joints, are optimally designed by maximizing the global manipulability measure in the entire workspace.