• Journal of The Korean Association For Science Education
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• v.17 no.4
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• pp.383-393
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• 1997

In order to study the effect of student's conceptions about force and motion into the graph construction in kinematics in college physics course, the tasks of constructing the qualitative graph in the similar problem context used in force conception was asked to the first 74 and third 97 student teacher in teachers' university. The frequencies analysis showed that student teachers had the naive conceptions that the throwing force was still acted to a upwarding ball. They also had the popular Aristotelian views about motion. These naive conceptions coexisted with the scientific conception about gravitational force. In a simple pendulum problem no one had the correct acceleration concepts which varies the direction in swing. This result suggest that student teacher had more difficulties in a acceleration problem than in a velocity problem In v-t and a-t graph construction tasks, the number of categories of a-t graphs were more than that of v-t graphs. There were many graph errors in a sign of velocity and acceleration. The acceleration conceptions without the relations of changes in velocity made the kinematics graphs more various shapes. The force and motion conceptions influenced the ability to construct the kinematics graphs.

• Journal of The Korean Association For Science Education
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• v.25 no.6
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• pp.671-677
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• 2005

Line graphs are powerful tools in conveying complicated relationships and ideas because line graphs show the relationship that exists between two continuous variables. Also, line graphs can show readers the variations in variables and correlate two variables in a two dimensional space. For these reasons, line graphs have a significant role in physics, especially kinematics. To what extent are Korean college and secondary students able to understand kinematics graphs? Is there a difference between American students and Korean students in interpreting kinematics graphs? The TUG-K instrument (Test of Understanding Graphs in Kinematics) was administered to students in both countries. The results show the difference between American students and Korean students by TUG-K objective. Also, the results are discussed in terms of a graph comprehension theory.

• Journal of The Korean Association For Science Education
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• v.43 no.3
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• pp.237-251
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• 2023

This study explores the possibility of automated scoring for scientific graph answers by designing an automated scoring model using convolutional neural networks and applying it to students' kinematics graph answers. The researchers prepared 2,200 answers, which were divided into 2,000 training data and 200 validation data. Additionally, 202 student answers were divided into 100 training data and 102 test data. First, in the process of designing an automated scoring model and validating its performance, the automated scoring model was optimized for graph image classification using the answer dataset prepared by the researchers. Next, the automated scoring model was trained using various types of training datasets, and it was used to score the student test dataset. The performance of the automated scoring model has been improved as the amount of training data increased in amount and diversity. Finally, compared to human scoring, the accuracy was 97.06%, the kappa coefficient was 0.957, and the weighted kappa coefficient was 0.968. On the other hand, in the case of answer types that were not included in the training data, the s coring was almos t identical among human s corers however, the automated scoring model performed inaccurately.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.576-579
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• 2002

This paper presents the jacobian analysis of new type Casing Oscillator using the inverse kinematics, and to search for it's singularities through the jacobian analysis. All parallel manipulator have some singularities in workspace or it's outside workspace. Singularities were cleared by many other study of parallel manipulator f3r that reason recent publication of device control. In this paper defined that singularities of new file of Casing Oscillator and, to show it's graph. Finally this paper will be used for a practical example for construction spot, aviation simulator, vehicles simulator, military equipment etc.

• International Journal of Contents
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• v.7 no.3
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• pp.19-28
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• 2011

This paper presents a fast and practical motion synthesis algorithm for massive number of quadruped animals. The algorithm constructs so called speed maps that contain a set of same style motions but different speed from a single cyclic motion by using IK(Inverse Kinematics) solver. Then, those speed maps are connected each other to form a motion graph. At run time, given a point trajectory that obtained from user specification or simulators, the algorithm retrieves proper speed motions from the graph, and modifies and stitches them together to create a long seamless motion in real time. Since our algorithm mainly targets on the massive quadruped animal motions, the motion graph create wide variety of different size of characters for each trajectory and automatically adjusted synthesized motions without causing artifact such as foot skating. The performance of algorithm is verified through several experiments

• Journal of the Korean Society for Precision Engineering
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• v.22 no.5 s.170
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• pp.87-94
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• 2005

This paper presents the development of a virtual robot design program. Robot design requires numerical software, robot solution software and multi-body dynamics software to complete several designs. However using a commercialized software implies some disadvantages, such as the waste of time and money it costs to learn how to use the software. We developed a virtual robot design program with which a user can design a robot with rapidity and reliability. The virtual robot design program is composed of robot kinematics module and robot dynamics module. The program is powerful software which may be used to solve various problems of a robot. The 3D animator and a 2D/3D graph of the program can analyze the design results into visual data. The virtual robot design program is expected to increase the competitiveness and efficiency of the robot industry.

• Journal of Korean Institute of Industrial Engineers
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• v.22 no.4
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• pp.579-588
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• 1996

The purpose of this paper is to develop a method of Collision-Free Path Planning (CFPP) for an articulated robot. First, the configuration of the robot is built by a set of robot joint angles derived from robot inverse kinematics. The joint space, that is made of the joint angle set, forms a Configuration space (Cspcce). Obstacles in the robot workcell are also transformed into the Cobstacles using slice projection method. Actually the Cobstacles means the configurations of the robot causing collision with obstacles. Secondly, a connected graph, a kind of roadmap, is constructed by the free configurations in the Cspace, where the free configurations are randomly sampled from a free Cspace immune from the collision. Thirdly, robot paths are optimally determinant in the connected graph. A path searching algorithm based on $A^*$ is employed in determining the paths. Finally, the whole procedures for the CFPP method are shown for a proper articulated robot as an illustrative example.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.5
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• pp.434-441
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• 2015

In this paper, we propose an inverse optimal distributed protocol for the formation and velocity consensus of nonholonomic mobile robots. The communication among mobile robots is described by a simple undirected graph, and the mobile robots' kinematics are considered. The group of mobile robots driven by the proposed protocols asymptotically achieves the desired formation and group velocity in an inverse optimal fashion. The design of the protocols is based on dynamic feedback linearization and the proposed linear quadratic (LQ) inverse optimal second-order consensus protocol. A numerical simulation is given to verify the effectiveness of the proposed scheme.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 1995.04a
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• pp.629-634
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• 1995

The purpose of this paper is to develop a method of Collision-Free Path Planning (CFPP) for an articulated robot. First, the configuration of the robot is formed by a set of robot joint angles derived fromm robot inverse kinematics. The joint space that is made of the joint angle set, forms a Configuration space (Cspace). Obstacles in the robot workcell are also transformed and mapped into the Cspace, which makes Cobstacles in the Cspace. (The Cobstacles represented in the Cspace is actually the configurations of the robot causing collision.) Secondly, a connected graph, a kind of roadmap, is constructed from the free configurations in the 3 dimensional Cspace, where the configurations are randomly sampled form the free Cspace. Thirdly, robot paths are optimally in order to minimize of the sum of joint angle movements. A path searching algorithm based on A is employed in determining the paths. Finally, the whole procedures for the CFPP method are illustrated with a 3 axis articulated robot. The main characteristics of the method are; 1) it deals with CFPP for an articulated robot in a 3-dimensional workcell, 2) it guarantees finding a collision free path, if such a path exists, 3) it provides distance optimization in terms of joint angle movements. The whole procedures are implemented by C on an IBM compatible 486 PC. GL (Graphic Library) on an IRIS CAD workstation is utilized to produce fine graphic outputs.

• Journal of The Korean Astronomical Society
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• v.29 no.spc1
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• pp.63-64
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• 1996

The nature of distant faint blue field galaxies remains a mystery, despite the fact that much attention has been devoted to this subject in the last decade. Galaxy counts, particularly those in the optical and near ultraviolet bandpasses, have been demonstrated to be well in excess of those expected in the 'no-evolution' scenario. This has usually been taken to imply that galaxies were brighter in the past, presumably due to a higher rate of star formation. More recently, redshift surveys of galaxies as faint as B$\~$24 have shown that the mean redshift of faint blue galaxies is lower than that predicted by standard evolutionary models (de-signed to fit the galaxy counts). The galaxy number count data and redshift data suggest that evolutionary effects are most prominent at the faint end of the galaxy luminosity function. While these data constrain the form of evolution of the overall luminosity function, they do not constrain evolution in individual galaxies. We are carrying out a series of observations as part of a long-term program aimed at a better understanding of the nature and amount of luminosity evolution in individual galaxies. Our study uses the luminosity-linewidth relation (Tully-Fisher relation) for disk galaxies as a tool to study luminosity evolution. Several studies of a related nature are being carried out by other groups. A specific experiment to test a 'no-evolution' hypothesis is presented here. We have used the AUTOFIB multifibre spectro-graph on the 4-metre Anglo-Australian Telescope (AAT) and the Rutgers Fabry-Perot imager on the Cerro Tolalo lnteramerican Observatory (CTIO) 4-metre tele-scope to measure the internal kinematics of a representative sample of faint blue field galaxies in the red-shift range z = 0.15-0.4. The emission line profiles of [OII] and [OIII] in a typical sample galaxy are significantly broader than the instrumental resolution (100-120 km $s^{-l}$), and it is possible to make a reliable de-termination of the linewidth. Detailed and realistic simulations based on the properties of nearby, low-luminosity spirals are used to convert the measured linewidth into an estimate of the characteristic rotation speed, making statistical corrections for the effects of inclination, non-uniform distribution of ionized gas, rotation curve shape, finite fibre aperture, etc.. The (corrected) mean characteristic rotation speed for our distant galaxy sample is compared to the mean rotation speed of local galaxies of comparable blue luminosity and colour. The typical galaxy in our distant sample has a B-band luminosity of about 0.25 L$\ast$ and a colour that corresponds to the Sb-Sd/Im range of Hub-ble types. Details of the AUTOFIB fibre spectroscopic study are described by Rix et al. (1996). Follow-up deep near infrared imaging with the 10-metre Keck tele-scope+ NIRC combination and high angular resolution imaging with the Hubble Space Telescope's WFPC2 are being used to determine the structural and orientation parameters of galaxies on an individual basis. This information is being combined with the spatially resolved CTIO Fabry-Perot data to study the internal kinematics of distant galaxies (Ing et al. 1996). The two main questions addressed by these (preliminary studies) are: 1. Do galaxies of a given luminosity and colour have the same characteristic rotation speed in the distant and local Universe? The distant galaxies in our AUTOFIB sample have a mean characteristic rotation speed of $\~$70 km $s^{-l}$ after correction for measurement bias (Fig. 1); this is inconsistent with the characteristic rotation speed of local galaxies of comparable photometric proper-ties (105 km $s^{-l}$) at the > $99\%$ significance level (Fig. 2). A straightforward explanation for this discrepancy is that faint blue galaxies were about 1-1.5 mag brighter (in the B band) at z $\~$ 0.25 than their present-day counterparts. 2. What is the nature of the internal kinematics of faint field galaxies? The linewidths of these faint galaxies appear to be dominated by the global disk rotation. The larger galaxies in our sample are about 2"-.5" in diameter so one can get direct insight into the nature of their internal velocity field from the $\~$ I" seeing CTIO Fabry-Perot data. A montage of Fabry-Perot data is shown in Fig. 3. The linewidths are too large (by. $5\sigma$) to be caused by turbulence in giant HII regions.