• Transactions on Control, Automation and Systems Engineering
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• v.4 no.1
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• pp.17-22
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• 2002

Endoscopes for industrial and medical fields are expected to have multi degree-of-freedom (DOF) motions. A multi-DOF ultrasonic motor we developed consists of a spherical rotor and a bar-shaped stator, and the rotor rotates around three perpendicular axes using three natural vibration modes of the stator. In this study, a multi-DOF unilateral master-slave system for active endoscope using the multi-DOF ultrasonic motor is developed. The configurations of master and slave arms for active endoscope are similar, so that an operator can easily handle the master-slave system. First, driving characteristics of the multi-DOF ultrasonic motor are measured in order to design the slave arm and its controller. Next, the master arm and the slave arm are designed. Then, the unilateral feedback controller for the master-slave system is developed. Finally, the motion control tests of rotor are conducted. As a result, the possibility of the endoscope is confirmed.

• Bulletin of the Korean Chemical Society
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• v.28 no.10
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• pp.1705-1708
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• 2007

Geometric manipulation of molecules is an essential elementary component in computational modeling programs for molecular structure, stability, dynamics, and design. The computational complexity of transformation of internal coordinates to Cartesian coordinates was discussed before.1 The use of rotation matrices was found to be slightly more efficient than that of quaternion although quaternion operators have been widely advertised for rotational operations, especially in molecular dynamics simulations of liquids where the orientation is a dynamical variable.2 The discussion on computational efficiency is extended here to a more general case in which bond angles and sidechain torsion angles are allowed to vary. The algorithm of Thompson3 is derived again in terms of quaternions as well as rotation matrices, and an algorithm with optimal efficiency is described. The algorithm based on rotation matrices is again found to be slightly more efficient than that based on quaternions.

• 한국HCI학회:학술대회논문집
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• 2008.02a
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• pp.49-54
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• 2008

In order to do a maintenance task, a maintenance operator should learn the basic skills of the maintenance task such as assembly and disassembly (A/D). However, the key of the learning process is to learn the A/D task intuitively and naturally. Haptic guidance promises to give effectiveness and benefit qualitatively since a person can be trained to do the optimal task based on information that comes from an expert, database, or intelligent algorithms. By applying haptic guidance, a maintenance training process can be made more intuitive and natural in a virtual environment. This paper describes the development of a maintenance training system by using haptic guidance.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2001.12a
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• pp.283-286
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• 2001

Based on a fuzzy system representation of gray scale images, we derive an edge detection algorithm whose convolution kernel is different from the known kernels such as those of Roberts', Prewitt's or Sobel's gradient. Our fuzzy system representation is an exact representation of the bicubic spline function which represents the gray scale image approximately. Hence the fuzzy system is a continuous function and it provides a natural way to define the gradient and the Laplacian operator. We show that the gradient at grid points can be evaluated by taking the convolution of the image with a 3 3 kernel. We also show that our gradient coupled with the approximate value of the continuous function generates an edge detection method which creates edge images clearer than those by other methods. A few examples of applying our methods are included.

• Journal of Korean Institute of Industrial Engineers
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• v.31 no.1
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• pp.10-19
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• 2005

The minimum spanning tree (MST) problem is one of the traditional optimization problems. Unlike the MST, the degree constrained minimum spanning tree (DCMST) of a graph cannot, in general, be found using a polynomial time algorithm. So, finding the DCMST of a graph is a well-known NP-hard problem of importance in communications network design, road network design and other network-related problems. So, it seems to be natural to use evolutionary algorithms for solving DCMST. Especially, when applying an evolutionary algorithm to spanning tree problems, a representation and search operators should be considered simultaneously. This paper introduces a new tree representation scheme and a genetic operator for solving combinatorial tree problem using evolutionary algorithms. We performed empirical comparisons with other tree representations on several test instances and could confirm that the proposed method is superior to other tree representations. Even it is superior to edge set representation which is known as the best algorithm.

• Journal of the Korean Mathematical Society
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• v.43 no.5
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• pp.1019-1045
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• 2006

As a natural generalization of a Sasakian space form, we define a contact strongly pseudo-convex CR-space form (of constant pseudo-holomorphic sectional curvature) by using the Tanaka-Webster connection, which is a canonical affine connection on a contact strongly pseudo-convex CR-manifold. In particular, we classify a contact strongly pseudo-convex CR-space form $(M,\;\eta,\;\varphi)$ with the pseudo-parallel structure operator $h(=1/2L\xi\varphi)$, and then we obtain the nice form of their curvature tensors in proving Schurtype theorem, where $L\xi$ denote the Lie derivative in the characteristic direction $\xi$.

• Bulletin of the Korean Mathematical Society
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• v.41 no.2
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• pp.241-256
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• 2004

In this paper, we introduce and study a new class of variational inclusions, called the general variational inclusion. We prove the equivalence between the general variational inclusions, the general resolvent equations, and the fixed-point problems, using the resolvent operator technique. This equivalence is used to suggest and analyze a few iterative algorithms for solving the general variational inclusions and the general resolvent equations. Under certain conditions, the convergence analyses are also studied. The results presented in this paper generalize, improve and unify a number of recent results.

• Honam Mathematical Journal
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• v.30 no.4
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• pp.703-711
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• 2008

Let ${{\xi}_k,k{\in}{\mathbb{Z}}}$ be an associated H-valued random variables with $E{\xi}_k$ = 0, $E{\parallel}{\xi}_k{\parallel}$ < ${\infty}$ and $E{\parallel}{\xi}_k{\parallel}^2$ < ${\infty}$ and {$a_k,k{\in}{\mathbb{Z}}$} a sequence of bounded linear operators such that ${\sum}^{\infty}_{j=0}j{\parallel}a_j{\parallel}_{L(H)}$ < ${\infty}$. We define the sationary Hilbert space process $X_k={\sum}^{\infty}_{j=0}a_j{\xi}_{k-j}$ and prove that $n^{-1}{\sum}^n_{k=1}X_k$ converges to zero.

• Journal of applied mathematics & informatics
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• v.20 no.1_2
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• pp.465-478
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• 2006

In this paper, we introduce a new class of completely generalized strongly nonlinear quasivariational inequalities and establish its equivalence with a class of fixed point problems by using the resolvent operator technique. Utilizing this equivalence, we develop a three-step iterative scheme with errors, obtain a few existence theorems of solutions for the completely generalized non-linear strongly quasivariational inequality involving relaxed monotone, relaxed Lipschitz, strongly monotone and generalized pseudocontractive mappings and prove some convergence and stability results of the sequence generated by the three-step iterative scheme with errors. Our results include several previously known results as special cases.

• Journal of applied mathematics & informatics
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• v.19 no.1_2
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• pp.241-251
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• 2005

In this paper, we introduce a new algebraic method to characterize rational PH plane curves. And using this method, we study the algebraic characterization of generic strongly regular rational plane PH curves expressed in the complex formalism which is introduced by R.T. Farouki. We prove that generic strongly semi-regular rational PH plane curves are completely characterized by solving a simple functional equation H(f, g) = $h^2$ where h is a complex polynomial and H is a bi-linear operator defined by H(f, g) = f'g - fg' for complex polynomials f,g.