• 한국과학교육학회지
• /
• 제17권4호
• /
• pp.383-393
• /
• 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.

• 한국과학교육학회지
• /
• 제25권6호
• /
• pp.671-677
• /
• 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.

• 한국과학교육학회지
• /
• 제43권3호
• /
• pp.237-251
• /
• 2023

본 연구는 합성곱 신경망을 활용한 자동 채점 모델을 설계하고 학생의 운동학 그래프 답안에 적용함으로써, 과학 그래프 답안에 대한 자동 채점의 가능성을 탐색하였다. 연구자가 작성한 2,200개의 답안을 2,000개의 훈련 데이터와 200개의 검증 데이터로 데이터셋을 구성하고, 202개의 학생 답안을 100개의 훈련 데이터와 102개의 시험 데이터로 데이터셋을 구성하여 연구를 진행하였다. 먼저, 자동 채점모델을 설계하고 성능을 검증하는 과정에서는 연구자가 작성한 답안 데이터셋을 활용하여 그래프 이미지 분류에 최적화되도록 자동 채점모델을 완성하였다. 다음으로 자동 채점 모델에 훈련 데이터셋을 여러 유형으로 학습시키면서 학생의 시험 데이터셋에 대한 채점을 수행하여 훈련 데이터의 양이 많고 다양할수록 자동 채점 모델의 성능이 향상된다는 것을 확인하였고, 최종적으로 인간 채점과의 일치율은 97.06%, 카파 계수는 0.957, 가중 카파 계수는 0.968을 얻었다. 한편, 훈련 데이터로 학습되지 않은 유형의 답안의 경우 인간 채점자들 간에는 채점이 거의 일치하였으나, 자동 채점 모델은 일치하지 않게 채점하는 것을 확인하였다.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2002년도 추계학술대회 논문집
• /
• pp.576-579
• /
• 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
• /
• 제7권3호
• /
• pp.19-28
• /
• 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

• 한국정밀공학회지
• /
• 제22권5호
• /
• pp.87-94
• /
• 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.

• 대한산업공학회지
• /
• 제22권4호
• /
• pp.579-588
• /
• 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.

• 제어로봇시스템학회논문지
• /
• 제21권5호
• /
• pp.434-441
• /
• 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.

• 한국경영과학회:학술대회논문집
• /
• 대한산업공학회/한국경영과학회 1995년도 춘계공동학술대회논문집; 전남대학교; 28-29 Apr. 1995
• /
• pp.629-634
• /
• 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.

• 천문학회지
• /
• 제29권spc1호
• /
• pp.63-64
• /
• 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.