과피색의 경우 정량적인 지표로서 주로 Hunter L*a*b* 값을 이용하나 이 값으로 과피색, 과실의 품질을 간접적으로 확인하기에는 어려운 점이 있다. 따라서 본 실험에서는 포도 착색지수로서 제안된 CIRG(Color Index for Red Grapes) 값의 활용도를 평가하여 포도 착색의 객관적인 평가지수로서의 가능성을 검증하고자 하였다. 이를 위해 포도가 착색이 시작되는 시기부터 과립을 채취하여 과피색과 당도, 산도 등의 품질 인자를 측정하여, CIRG 값과의 상관을 분석하고 회귀식을 도출하였다. CIRG 값과 안토시아닌 함량은 CIRG 값이 증가함에 따라 안토시아닌 함량은 지수적으로 증가함을 알 수 있었으며, 결정계수는 ‘캠벌얼리’와 ‘흑보석’ 모두 0.8500 였다. CIRG 값과 당도는 ‘캠벌얼리’가 0.7758, ‘흑보석’이 0.7253으로 높은 결정계수를 나타냈으며, 산도 또한 각각 0.7279, 0.663으로 비교적 높은 결정계수 값을 나타내었다. 따라서 적색포도를 대상으로는 CIRG값이 Hunter L*a*b*값에 비해 과실품질을 추정하는데 있어 보다 높은 신뢰성을 가지고 있는 것을 확인하였다.

In classical dynamics, the coefficient of restitution is one of variables to estimate the amount of impulse. In general, we have considered the coefficient of restitution as a constant value. However, coefficient of restitution (COR) is the function of contact material and colliding velocity. Furthermore, COR is also a function of contact area. Thus, without considering the variable characteristic of COR, the actual motion of an object just after impact is not the same as we expect. A general COR model is proposed in this work and its effectiveness is verified through a cart impact experiment and its result is applied to simulation of a ball impact problem. A three-degree-of-freedom manipulator is employed as a test-bed.

This study deals with the design of a spring backboned soft arm, which will be employed for generation of human gesture as an effective means of Human‐Robot interaction. The special features of the proposed mechanism are the light weight and the flexibility of the whole mechanism by using a spring backbone. Thus, even in the case of collision with human, this device is able to absorb the impact structurally. The kinematics and the design for the soft arm are introduced. The performance of this mechanism was shown through experiment emulating several human gestures expressing human emotion and some service contents. Finally, this soft arm was implemented as the wing mechanism of a penguin robot.

This work deals with development of effective redundancy resolution algorithms for the motion control of manipulator. Differently from the typical kinematically redundant robots that are attached to the fixed ground, the ZMP condition should be taken into account in the manipulator motion in order to guarantee the system stability. In this paper, a new motion planning algorithm for redundant manipulator not fixed to the ground is introduced. A sequential redundancy resolution algorithm is proposed, which ensures the ZMP (Zero Moment Point) stability, the planned operational motion, and additional sub‐criteria such as joint limit index. A geometric constraint equation derived by reshaping the existing ZMP equation enables one to employ the sequential redundancy algorithm. The feasibility of the proposed algorithm is verified by simulating a redundant manipulator model.