As a type of intimate architecture, fashion has always mediated the dialogue between clothes and the body, or fashion and figure. This study seeks to inquire the current aesthetic consciousness of the body and dress in Japanese avant-garde fashion and intends to research the features and meanings in the pastiche of Western sartorial convention in Japanese avant-garde fashion in order to examine the changing aesthetic attitude in postmodern fashion. The study investigates subjects of the fashion collections of the turn of the twenty-first century, when pastiche strategies frequently appeared in Japanese avant-garde fashion, through the methodology of literature research and case analysis. The results of the study are as follows: by developing the strategy of pastiche, Japanese avant-garde fashion exposes the defectiveness of the Western idea of the idealized and standardized body for mass productions, thus freeing design from its traditional confinement to the human body. Drawing on the re-conceptualization of the sartorial convention of Western tradition, Japanese avant-garde fashion designers tend to experiment with extreme exaggeration in form, refusing to subscribe to the traditional Western values built on the balance and symmetry of the body. Through the combination of the past and the present as well as the inner-wear as outerwear strategy, the historical pastiche challenges convention and symbolism, which results in the discord between signifiant and signifié of clothing.

This article is concerned with the theory of mimesis that had impact on the history of art from the antiquity to modern times. It tries to show its connection to the historical change of the poiesis concept, and purposes thus to approach a hitherto little known background of music history. Furthermore it seeks an answer to the question for which reason the theory of mimesis influenced the history of art for so long and so broad in the historical discussion on the legitimacy of art.

본 연구에서는 패류 껍질의 경계조건을 모사한 고연성 시멘트 복합재료의 휨 성능을 평가하였다. 패류 껍질층 경계면 구조를 모방 하여 프리캐스트 형식으로 제조된 패널 사이를 후 타설 HDCC로 충전한 실험체와 PE-mesh를 HDCC층의 경계면에 배치한 실험체 등 2가지 경계면 특성을 고려하여 제작한 4종류 실험체의 휨 성능을 평가하였다. 패류 껍질의 경계조건을 모사한 고연성 시멘트 복합재료의 휨 성능 평가 결과 일반적인 휨 시험체 대비 층상화 단면을 적용한 모든 실험체의 연성이 증가하였다. 특히 PE-mesh를 삽입하여 층상화한 방법이 가장 우수한 연성을 나타내는 것을 확인하였다. 이는 삽입된 PE-mesh가 층을 분리하는 경계면 역할을 하고, PE-mesh 체눈 내의 각주형 HDCC는 층과 층 사이의 부착을 견고히 하는 역할을 하였기 때문이라고 사료된다.

This paper describes a study on posture control of the multi-legged biomimetic underwater robot (CALEB10). Because the underwater environment has a feature that all degrees of freedom are coupled to each other, we designed the posture control algorithm by separating each degree of freedom. Not only should the research on posture control of underwater robots be a precedent study for position control, but it is also necessary to compensate disturbance in each direction. In the research on the yaw directional posture control, we made the drag force generated by the stroke of the left leg and the right leg occur asymmetrically, in order that a rotational moment is generated along the yaw direction. In the composite swimming controller in which the controllers in each direction are combined, we designed the algorithm to determine the control weights in each direction according to the error angle along the yaw direction. The performance of the proposed posture control method is verified by a dynamical simulator and underwater experiments.

The CALEB10 is a multi-legged biomimetic underwater robot. In the last research, we developed a swimming pattern named ESPG (Extended Swimming Pattern Generator) by observing diving beetle’s swimming actions and experimented with a positive buoyancy state in which CALEB10 floats on the water. In this paper, however, we have experimented with CALEB10 in a neutral buoyancy state where it is completely immersed in water for pitch motion control experiment. And we found that CALEB10 was unstably swimming in the pitch direction in the neutral buoyancy state and analyzed that the reason was due to the weight proportion of the legs. In this paper, we propose a pitch motion control method to mimic the pitch motion of diving beetles and to solve the problem of CALEB10 unstably swimming in the pitch direction. To control the pitch motion, we use the method of controlling additional joints while swimming with the ESPG. The method of obtaining propulsive force by the motion of the leg has a problem of giving propulsive force in the reverse direction when swimming in the surge direction, but this new control method has an advantage that a propulsive moment generated by a swimming action only on a target pitch value. To demonstrate validity this new control method, we designed a dynamics-based simulator environment. And the control performance to the target pitch value was verified through simulation and underwater experiments.

In This study, the bio-inspired high energy absorption cementitious composites was developed which is a new structural material performing a high energy absorption and ductility property imitated from shells. The flexural performance of the cementitious composites was evaluated and as a result, excellent ductility was obtained.

이 연구의 목적은 모방하기 전략을 활용한 한국어 학습자의 쓰기 양상을 살펴보는 데 있다. 이를 위해 중급 단계 한국어 학습자에게 비교와 대조의 구조 유형의 쓰기 과정 중 쓰기 전 단계에서 구조에 맞는 모델 텍스트를 제시한 후 학습자 스스로 제시된 글의 구조를 파악하고 그것을 새로운 글쓰기에 어떻게 재구성하여 활용하는지 살펴보았다. 모델 텍스트는 쓰기에 부담감을 가지는 한국어 학습자들이 쓰기 활동에 적극적으로 참여할 수 있도록 도와주는 비계를 역할을 하여 학습자 스스로 쓰기 활동을 주도적으로 이끌어 갈 수 있도록 하는데 도움을 준다. 또한 텍스트 구조는 글 쓰는 이의 사고를 논리적으로 연결하여 학습자가 질 높은 텍스트를 완성하는 데 만들어 내는 데 영향을 준다. 이 연구에서는 모델 텍스트의 활용을 통해 먼저 완성된 학습자의 글을 비교와 대조의 마름모형 텍스트 구조를 확인하고, 제공된 정보를 잘 배열하고 조직화하여 응집성을 확보한 계단식 구조로 완성된 텍스트 내용을 확인하였다. 그리고 글에 활용된 구조 표지어를 확인 해 보았다. 이를 통하여 학문 목적 한국어 학습자의 쓰기 지도와 쓰기 능력 향상에 필요한 모방 전략의 가능성을 탐색할 수 있었다.

이 세상의 온갖 자연과 사물은 모두 일정한 비를 이루고 있다. 이러한 비례의 조화는 시각적으로 안정감을 주는 중요한 요소임과 동시에 아름다움을 느끼게 하는 기본적인 조건이 되며, 비의 조화를 기반으로 한 아름다움은 일정한 비가 있을 때 이루어진다고 할 수 있다. 자연계에는 무수히 많은 비율이 존재한다. 화합물은 지극히 안정된 구조를 필요로 하기 때문에 특정 조형비를 가지는 다양한 정다각형 구조로 되어 있다. 특히, 유기체는 합목적성에 맞게 어떤 특정한 비율을 선택하기 때문에 자연에는 정말로 다양한 비율이 존재한다. 심지어 바이러스의 경우는 이 들 특정 조형비들의 조합으로 되어 있다. 사실 황금비나 금강비나 이 무한한 비율의 특수한 경우 중의 하나라 할 수 있다. 유사한 비율을 보이는 사례까지 이 범주에 넣어 확대 해석하는 것은 바람직한 일이 아니라 생각된다. 인간의 주관적 심미안은 특정 비율에 대한 선호도를 가진다. 어떤 예술품이나 건축물에서 보이는 특정비율의 선호도는 우연하게 인간의 주관적 심미적 요소와 부합된 경우라 할 수 있다. 21세기에 들어 인류 영속성의 전제는 ‘지속가능한 발전’이라는 화두를 낳았다. 이는 친환경적이고 에너지 효율적이며 인간의 편의성을 해치지 않아야 함을 의미한다. 본 논문에서는 자연에 존재하는 다양한 조형비와 완벽한 조형비로 널리 알려진 서양의 황금비와 한국을 비롯한 동양권에서 선호되는 금강비의 잘못 알려진 사례와 확대 해석 사례 등에 대하여 살펴보고자 한다. 이를 토대로 이러한 관점에서 심미적 요소 뿐 아니라, 인류의 영속성을 전제할 수 있는 실체화 가능한 새로운 패러다임의 다양한 조형비의 필요성에 대하여 고찰하고자 한다.

For articulated swimming robots, there have been no researches about controlling the motion or trajectory following. A control method for articulated swimming robot is suggested by extending a previous algorithm, ESPG (Extended Swimming Pattern Generator). The control method focuses on the situation that continuous pre-determined swimming pattern is applied for long range travelling. In previous studies, there has not been a way to control the propulsive force when a swimming pattern created by ESPG was in progress. Hence, no control could be made unless the swimming pattern was completed even though an error occurred while the swimming pattern was in progress. In order to solve this problem, this study analyzes swimming patterns and suggests a method to control the propulsive force even while the swimming pattern was in progress. The angular velocity of each link is influenced and this eventually modifies the propulsive force. However, The angular velocity is changed, a number of problems can occur. In order to resolve this issue, phase compensation method and synchronization method were suggested. A simple controller was designed to confirm whether the suggested methods are able to control and a simulation has affirmed it. Moreover, it was applied to CALEB 10 (a biomimetic underwater articulated robot) and the result was verified.

An insect-like flapping-wing flying-robot should be able to produce flight forces and control moments at the same time only by flapping wings, because there is no control surface at tail just like an insect. In this paper, design principles for the flapping mechanism and control moment generator are briefly explained, characteristics measured force and moment generations of the robot are presented, and finally controlled flight of the flying robot is demonstrated. The present insect-like robot comprises a lightweight flapping mechanism that can produce a flapping angle larger than 180° and a control moment generator that produces pitch, roll, and yaw moments by adjusting location of the trailing edges at the wing roots. The measured force and moment data show that the control input angles less than 9° would not significantly reduce the vertical force generation. It is also observed that the pitch, roll, and yaw control moments are produced only by the corresponding control input. The simple PID control theory is used for the controlled flight of the flying robot, controlling pitch, roll, and yaw motions. The flying robot successfully demonstrated controlled flight for about 40 seconds.

This paper describes the design concept of a bio-inspired legged underwater and estimating its performance by implementing simulations. Especially the leg structure of an underwater organism, diving beetles, is fully adopted to our designing to employ its efficiency for swimming. To make it possible for the robot to both walk and swim, the transformable kinematic model according to applications of the leg is proposed. To aid in the robot development and estimate swimming performance of the robot in advance, an underwater simulator has been constructed and an approximated model based on the developing robot was set up in the simulation. Furthermore, previous work that we have done, the swimming locomotion produced by a swimming patten generator based on the control parameters, is briefly mentioned in the paper and adopted to the simulation for extensive studies such as path planning and control techniques. Through the results, we established the strategy of leg joints which make the robot swim in the three dimensional space to reach effective controls.

Large workspace and strong grasping force are required when a robot manipulates big and/or heavy objects. In that situation, bimanual manipulation is more useful than unimanual manipulation. However, the control of both hands to manipulate an object requires a more complex model compared to unimanual manipulation. Learning by human demonstration is a useful technique for a robot to learn a model. In this paper, we propose an imitation learning method of bimanual object manipulation by human demonstrations. For robust imitation of bimanual object manipulation, movement trajectories of two hands are encoded as a movement trajectory of the object and a force trajectory to grasp the object. The movement trajectory of the object is modeled by using the framework of dynamic movement primitives, which represent demonstrated movements with a set of goal-directed dynamic equations. The force trajectory to grasp an object is also modeled as a dynamic equation with an adjustable force term. These equations have an adjustable force term, where locally weighted regression and multiple linear regression methods are employed, to imitate complex non-linear movements of human demonstrations. In order to show the effectiveness our proposed method, a movement skill of pick-and-place in simulation environment is shown.

This paper presents a method, Exposure Controlled Temporal Filtering (ECF), applied to visual motion tracking, that can cancel the temporal aliasing of periodic vibrations of cameras and fluctuations in illumination through the control of exposure time. We first present a theoretical analysis of the exposure induced image time integration process and how it samples sensor impingent light that is periodically fluctuating. Based on this analysis we develop a simple method to cancel high frequency vibrations that are temporally aliased onto sampled image sequences and thus to subsequent motion tracking measurements. Simulations and experiments using the ‘Center of Gravity’ and Normalized Cross-Correlation motion tracking methods were performed on a microscopic motion tracking system to validate the analytical predictions

In this research, a comprehensive study is performed upon the design of a quadruped walking robot. In advance, the walking posture and skeletal configuration of the vertebrate are analyzed to understand quadrupedal locomotion, and the roles of limbs during walking are investigated. From these, it is known that the forelimbs just play the role of supportingtheir body anbd help vault forward, while most of the propulsive force is generated by hind limbs. In addition, with the study of the stances on walking and energy efficiency, design criteria and control method for a quadruped walking robot are derived. The proposed controller, though it is simple, provides a useful framework for controlling a quadruped walking robot. In particular, introduction of a new rhythmic pattern generator relieves the heavy computational burden because it does not need any computation on kinematics. Finally, the proposed method is validated via dynamic simulations and implementing in a quadruped walking robot, called AiDIN(Artificial Digitigrade for Natural Environment)