• 로봇학회논문지
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• 제7권1호
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• pp.35-44
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• 2012

This paper presents a method to optimize motion planning for industrial manipulators with redundancy. For optimal motion planning, first of all, particular inverse kinematic solution is needed to improve efficiency for manipulators with redundancy working in various environments. In this paper, we propose three kinds of methods for solving inverse kinematics problems; numerical and combined approach. Also, we introduce methods for optimal motion planning using potential function considering the order of priority. For efficient movement in industrial settings, this paper presents methods to plan motions by considering colliding obstacles, joint limits, and interference between whole arms. To confirm improved performance of robot applying the proposed algorithms, we use two kinds of robots with redundancy. One is a single arm robot with 7DOF and another is a dual arm robot with 15DOF which consists of left arm, right arm with each 7DOF, and a torso part with 1DOF. The proposed algorithms are verified through several numerical examples as well as by real implementation in robot controllers.

• Communications for Statistical Applications and Methods
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• 제19권6호
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• pp.837-847
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• 2012

Inverse Gaussian distribution is widely used in applications to analyze and model right-skewed data. To assess the appropriateness of the distribution prior to data analysis, Mudholkar and Tian (2002) proposed an entropy-based test of fit. The test is based on the entropy power fraction(EPF) index suggested by Gokhale (1983). The simulation results report that the power of the entropy-based test is superior compared to other goodness-of-fit tests; however, this observation is based on the small-scale simulation results on the standard exponential, Weibull W(1; 2) and lognormal LN(0:5; 1) distributions. A large-scale simulation should be performed against various alternative distributions to evaluate the power of the entropy-based test; however, the use of a theoretical method is more effective to investigate the powers. In this paper, utilizing the information discrimination(ID) index defined by Ehsan et al. (1995) as a mathematical tool, we scrutinize the power of the entropy-based test. The selected alternative distributions are the gamma, Weibull and lognormal distributions, which are widely used in data analysis as an alternative to inverse Gaussian distribution. The study results are provided and an illustrative example is analyzed.

• 한국멀티미디어학회논문지
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• 제10권6호
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• pp.716-725
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• 2007

In this paper we describe a motion tracking algorithm for 3D human animation using stereo vision system. This allows us to extract the motion data of the end effectors of human body by following the movement through segmentation process in HIS or RGB color model, and then blob analysis is used to detect robust shape. When two hands or two foots are crossed at any position and become disjointed, an adaptive algorithm is presented to recognize whether it is left or right one. And the real motion is the 3-D coordinate motion. A mono image data is a data of 2D coordinate. This data doesn't acquire distance from a camera. By stereo vision like human vision, we can acquire a data of 3D motion such as left, right motion from bottom and distance of objects from camera. This requests a depth value including x axis and y axis coordinate in mono image for transforming 3D coordinate. This depth value(z axis) is calculated by disparity of stereo vision by using only end-effectors of images. The position of the inner joints is calculated and 3D character can be visualized using inverse kinematics.

• 한국인터넷방송통신학회논문지
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• 제16권6호
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• pp.319-327
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• 2016

본 논문에서는 나무나 염소 뿔처럼 대부분의 동식물이 대칭임을 살펴본다. 또한 DNA를 가지고 있는 인간의 신체 역시 대칭이다. 피보나치수열, 식물의 나선, 동물의 대수 나선에서 볼 수 있는 것은 대칭이다. 해바라기 꽃은 원형이다. 원(元)은 원점을 중심으로 회전을 해도 모양이 꼭 같으므로 회전대칭이다. 공간상의 회전변환을 넘어서, 시간 공간의 대칭적 변환으로 일반화하면 아인슈타인의 특수상대성 이론이 시공간 변환관계이다. 동식물의 나선은 좌우 나선들이 대칭을 이루며 그 속에는 element-wise inverse가 존재한다. Hadamard 행렬 중 가운데 하중 값을 2로 준 것은 자연대수의 밑 2와 같고, 나선 행렬은 Symmetric하며 역행렬은 element-wise inverse이다.

• 대한수학회논문집
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• 제37권2호
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• pp.503-520
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• 2022

We introduce a new type of fractional derivative, which we call as the right local general truncated M-fractional derivative for α-differentiable functions that generalizes the fractional derivative type introduced by Anastassiou. This newly defined operator generalizes the standard properties and results of the integer order calculus viz. the Rolle's theorem, the mean value theorem and its extension, inverse property, the fundamental theorem of calculus and the theorem of integration by parts. Then we represent a relation of the newly defined fractional derivative with known fractional derivative and in context with this derivative a physical problem, Kirchoff's voltage law, is generalized. Also, the importance of this newly defined operator with respect to the flexibility in the parametric values is described via the comparison of the solutions in the graphs using MATLAB software.

• 한국운동역학회지
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• 제21권3호
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• pp.317-325
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• 2011

The purpose of this study was to investigate the contributions of body joints to the kinetic energy of the clubhead in the golf swing. Three dimensional swing analysis was conducted on the seven KPGA golfers. The subjects were asked to swing with 45 inches of driver. The work done by body joints were computed by utilizing the inverse dynamics method. The order of work done by the body joints was lumbar > left hip > right shoulder > left wrist > right wrist > right hip at the first phase. At the second phase, the order of work done by the body joints was trunk > left elbow > right wrist > right shoulder > left wrist > right wrist. At the third phase, the order of work done by body joints was lumbar > right shoulder > left shoulder > left elbow > right wrist > right elbow. The sum of the work done by the body joints was lumbar > shoulder > wrist on the average. The kinetic energy of the club head was 430.11${\pm}$24.35 J and the subject's swing efficiency was shown as 31.82${\pm}$4.86% on the average. The contributions of body joints to the kinetic energy of the clubhead was the order of lumbar > upper right shoulder > left elbow > right wrist during the down swing.

• 대한전기학회논문지:시스템및제어부문D
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• 제51권8호
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• pp.368-373
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• 2002

The inverse z-transform of a z-domain expression of a sequence can be Performed in many different methods among which the recursive computational method is based on the difference equation. In applying this method, a few initial values of the sequence should be obtained separately. Although the existing method generates the right initial values of the sequence, its derivation and justification are not theoretically in view of the definition of z-transform and its shift theorems. In this paper a general approach for formulating a difference equation and for obtaining required initial values of a sequence is proposed, which completely complies to the definition of the z-transform and an interpretation of the validity of the existing method which is theoretically incorrect.

• International Journal of Contents
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• 제3권2호
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• pp.40-43
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• 2007

This paper proposed a new modular inverse algorithm based on the right-shifting binary Euclidean algorithm. For an n-bit numbers, the number of operations for the proposed algorithm is reduced about 61.3% less than the classical binary extended Euclidean algorithm. The proposed algorithm implementation shows substantial reduction in computation time over Galois field GF(p).

• 대한수학회지
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• 제34권3호
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• pp.653-659
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• 1997

In this paper, we extend the Gottlieb groups of a space to the Gottlieb groups of a map and show some properties of those groups. Especially, We show the 2nd Gottlieb group of a map is contained in the center of the homotopy group of the map and show $G_n(F) = \pi_n(f)$ for an H-map f between H-spaces. We also show the Gottlieb subgroups $G_n(A), G_n(X) and G_n(f)$ make a sequence if the map $f : A \to X$ has a right homotopy inverse.

• Journal of the Korean Data and Information Science Society
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• 제28권4호
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• pp.947-955
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• 2017

A competing risk analysis has been applied when subjects experience more than one type of end points. Geskus (2011) showed three types of estimators of CIF are equivalent under left truncated and right censored data. We extend his approach to an interval censored competing risk data by using a modified risk set and evaluate their performance under several sample sizes. These estimators show very similar results. We also suggest a test statistic combining Sun's test for interval censored data and Gray's test for right censored data. The test sizes and powers are compared under several cases. As a real data application, the suggested method is applied a data where the feasibility of the vaccine to HIV was assessed in the injecting drug uses.