We have examined the relationship between the speeds of coronal mass ejections (CMEs) and the GOES X-ray peak fluxes of associated flares. Noting that previous studies were possibly affected by projection effects and random association effects, we have considered two sets of carefully selected CME-flare events: four homologous events and four well-observed limb events. In the respective samples, good correlations are found between the CME speeds and the GOES X-ray peak fluxes of the associated flares. A similarly good correlation is found for all eight events of both samples when the CME speeds of the homologous events are corrected for projection effect. Our results suggest that a close relationship possibly exists between CME kinematics and flaring processes.

이 연구의 목적은 발목에 테이핑을 한 후 40 cm의 높이에서 한 발로 수직착지를 할 때 발목관절에서의 테이핑 효과를 분석하는 것이었다. 대상자는 20대의 건강한 성인 14명(남자 4명, 여자 10명) 이었다. 대상자에게 적용한 조건은 테이핑 전, 테이핑 적용, 30분 동안 트레드밀에서 걷기, 테이핑 제거상태 이었고 맥리플렉스(MacReflex)를 이용하여 발끝이 지면에 닿은 상태에서 발목이 최대 배측굴곡(dorsiflexion) 되기까지 걸린 시간,

The HII region S140 and the associated molecular cloud L1204 have been observed with 10 molecular transitions, CO (1-0), 13CO (1-0), C18O (1-0), CS (2-1), HCO+ (1-0), HCN (1-0), SO (22-11), SO2(220-313), OCS (8-7), and HNCO (404-303) with ~ 50" angular resolutions. More than 7,000 spectra were obtained in total. The morphology of this region shows a massive fragment (the S140 core) and the extended envelope to the northeast. Several gas condensations have been identified in the envelope, having masses of ~103M⊙ and gas number densities of ≾104cm-3 to 3×105cm-3 in their cores. The column densities of the observed molecular species toward the S140 core appear to be the typical warm clouds' abundances. It seems to be that the S140 core and L1204 have been swept up by an expanding shell called the Cepheus bubble. The large value of LIR(embedded stars)/Mcloud ~5 L⊙/M⊙ of the S140 core may suggest that the star formation has been stimulated by the HII region, but the shock velocity and the pressure of the region seem to give a hint of the spontaneous star formation by the self gravity.

We have mapped the whole extent of a dark cloud Lynds 1251 in the emission of the J=1-0 transitions of 12CO and 13CO using FCRAO's fifteen-beam array receiver in high angular resolution of 50'. We have derived physical parameters of L1251, discussed three different mass estimate techniques, and obtained a large range of mass, 600 to 6,000 M⊙, depending on the techniques. The factor of 10 discrepancy between the virial and LTE masses is much larger than expected based on the uncertainties residing in two methods. The large virial mass may reflect the fact that L1251 is not gravitationally bound system as in the case of dark clouds in solar neighborhood. Two outflows are affecting the dynamics of cloud significantly but not enough to reshape the whole extent of the cloud. The small cloud, 'Stripe', which is apparently connected with main cloud, is not likely to be associated with L1251. The velocity gradient composed on this small cloud may be driven by other unknown sources. It is found that L1251 cloud itself is very quiescent except the two bipolar outflow regions.

We have obtained high angular resolution maps toward a molecular cloud associated with an HII region S287 and studied mainly kinematics of the cloud. The mapped region is 1.5 square degrees of the cloud in the transitions of 12CO and 13CO J=1-0. We have obtained a large range of mass, 1.3×104⊙, to $7.2×104⊙ using three different techniques. The S287 molecular cloud shows a very disturbed feature: velocity field of the cloud is very complicated, and shows several arcs. It is likely that the southern part of cloud is being disrupted by the residing HII region S287 as well as external perturbing sources. In addition to an HII region, five bipolar outflows are also disturbing the molecular gas significantly. The large virial mass and the very disturbed morphology may reflect the fact that the cloud is not gravitationally bound system, as in the case of nearby giant molecular cloud (GMC) G216-2.5. The several arc structure and the filamentary features are possibly driven by external strong stellar winds, and these external perturbing sources may be driving the second generation of star-forming activities on the edges of the S287 molecular cloud.

The 4.8GHz formaldehyde absorption line in the dark clouds in M17 and NGC 2024 regions has been mapped. In both nebulae, we detected two H2CO line components. In M17, the 24km S-1 cloud is closely associated with the HII region located in front of the radio continuum source, and the 19km S-1 cloud is associated with the visual dark clouds with a larger extent which are closer to us. The 19km S-1 cloud has a mass motion approaching to the HII region. In both clouds, a velocity gradient from the north-east to the south-west directions is observed. The linewidth has no variation indicating no collapsing motion. In NGC 2024, the 9km S-1 feature is extended along the dark bar in front of the bright nebula and a weak second component at 13km S-1 is confined to the immediate vicinity of the radio source. Indications are that the 9km S-1 cloud is physically associated with the dark bar and the 13km S-1 cloud is located behind the radio source. The angular extent, the column density, and the total mass of the clouds are derived. The radial velocities of other molecular lines observed in these clouds are compared.

Robot inverse kinematics solution is a complex nonlinear equation and very time-consuming task. This paper propose to use TSK fuzzy reasoning for solving robot inverse kinematics. A fuzzy model of inverse kinematics is identified by using input-output data and the model is used to solve the inverse kinematics. To show that, when used in robot inverse kinematics, fuzzy model is simple and generates a fairly accurate solution, a fuzzy model of inverse kinematics for PUMA robot is constructed.

국제해상충돌예방규칙(International Regulations for Preventing Collision at Sea) 제 15조, 제 16조 및 제 17조는 횡단상태에 있는 선박들의 피항방법에 대해서 지시하고 있으나, 피항선이 피항동작을 취할 안전한계접근거리에 대해서는 전혀 언급이 없으므로 본 논문에서는 이 거리를 선체운동학적으로 해석하여 이에 대한 산출식을 도출하였다. 실선시험에서 소형 및 대형선의 조종성지수를 구하고, 이를 산출식에 적용하여 안전한계접근거리를 계산하였다. 이 결과를 요약하면 다음과 같다. 1. 소형선 및 대형선을 막론하고 가장 큰 거리를 두고 피항동작에 들어가야 하는 경우는 양선박이 조우하는 침로교각이 90˚부근의 각도이며, 안전한계 접근거리는 소형선(200~300 ton급 선박)에서는 자선길이의 약 5배 이상, 대형선(100,000 ton급 선박)에서는 자선 길이의 약 11배 이상이 되어야 한다. 2. 양선박이 조우하는 침로교각이 크게 둔각인 경우에는 적은 예각인 경우보다 충돌의 위험이 더 크므로, 더 큰 거리를 두고 피항동작에 들어가야 하며, 특히 대형선인 경우에는 주의를 요한다. 3. 국제해상충돌예방규칙 제 16조의 피항선의 동작은 물론, 동 제 17조 a항(ii)호의 유지선의 피항동작도 위의 안전한계접근거리 밖에서 이루어져야하며, 부득이 안전한계접근거리이내에서 피항동작을 취할 때는 주기관의 동작이 반드시 수반되어야 한다. 4. 횡단상태에 있는 양선박간에 피항선이 변침만으로 피항동작을 취하는 경우 본 논문에서 계산한 각침로교각에 대한 안전한계거리를 미리 염두에 두고 피항조선을 하게되면 감각에 의한 조선방법으로 야기되는 충동해난사고를 지양할 수 있으리라 생각된다.

이번 연구는 영덕단층 일원을 대상으로 실시된 상세 지표지질조사에서 수집된 다양한 구조요소들의 기 하와 운동학적 자료 그리고 단층암의 대자율이방성 분석 자료를 바탕으로 영덕단층의 내부구조 그리고 기하와 운동학적 특성을 규명하고자 하였다. 영덕단층은 영덕군 강구면 오포리에서 울진군 매화면 길곡리와 기성면 방 율리까지 연장되며, 4.6-5.0 km (평균 4.77 km)의 우수향 수평변위로 고원생대부터 중생대에 이르는 다양한 암 종을 절단하거나 암상경계를 이룬다. 영덕단층은 4개의 기하학적 분절로 구분되며, 대부분 노두에서 남-북 내 지 북북서 주향에 54° 이상 고각으로 동쪽으로 경사지고 있으나 북쪽으로 갈수록 서쪽으로 54°-82° 경사지는 노두가 증가한다. 영덕단층은 모암의 암종에 따라 0.3-15 m 범위의 다양한 폭을 가진 단층핵과 단층대 내부구 조의 차이를 보이는데, 이는 모암의 연성도, 구성광물, 입자크기, 이방성과 같은 물성 차이에 기인하는 것으로 해석된다. 이번 연구에서 새롭게 도출한 고응력장 및 대자율이방성 분석 결과와 기존 연구 결과를 종합하면, 영 덕단층은 (1) 백악기말~신생대초에 북서-남동 최대수평응력(σHmax)과 북동-남서 최소수평응력(σHmin) 하에서 좌 수향 주향이동운동을 겪은 이후, (2) 신생대 고진기에 북동-남서 최대수평응력과 북서-남동 최소수평응력 하에 서 우수향 주향이동운동을 겪었음을 지시한다. 이중 고진기에 발생한 우수향 주향이동운동에 의한 변형이 가장 우세하였으며 이후 지각변형은 미미하였던 것으로 해석된다.

This paper proposes a design methodology of self-reconfigurable kinematics and control engine for modular and reconfigurable robots. A modular manipulator has been proposed to meet the requirement of task adaptation in versatile needs for service and industrial robot area and the function of self-reconfiguration is required to extend the application of modular robots. Kinematic and dynamic contexts are extracted from the module and assembly information and related codes are automatically generated including controller. Thus a user can easily build and use a modular robot without professional knowledge. Simulation results are presented to verify the validity of the proposed method.

Continuous-path motion control such as resolved motion rate control requires online solving of the inverse differential kinematics for a robot. However, the solution space of the inverse differential kinematics related to Jacobian J is not well-established. In this paper, the solution space of inverse differential kinematics is analyzed through categorization of mapping conditions between joint velocities and end-effector velocity of a robot. If end-effector velocity is within the column space of J, the solution or the minimum norm solution is obtained. If it is not within the column space of J, an approximate solution by least-squares is obtained. Moreover, this paper introduces an improved mapping diagram showing orthogonality and mapping clearly between subspaces, and concrete examples numerically showing the concept of several subspaces. Finally, a solver and graphics user interface (GUI) for inverse differential kinematics are developed using MATLAB, and the solution of inverse differential kinematics using the GUI is demonstrated for a vertically articulated robot.

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.

Control and trajectory generation of a 7 DOF anthropomorphic robot arm suffer from computational complexity and singularity problem because of numerical inverse kinematics. To deal with such problems, analytical methods for a redundant robot arm have been researched to enhance the performance of inverse kinematics. In this research, we propose an analytical inverse kinematics algorithm for a 7 DOF anthropomorphic robot arm. Using this algorithm, it is possible to generate a trajectory passing through the singular points and intuitively move the elbow without regard to the end-effector pose. Performance of the proposed algorithm was verified by various simulations. It is shown that the trajectory planning using this algorithm provides correct results near the singular points and can utilize redundancy intuitively.

Bicycle is one of convention transportation system. In this paper, we derive a more precise kinematics of bicycle system compared with other ones which were suggested by other researchers. In the derivation of kinematics we adopted a physical concept called virtual wheel. We also propose an algorithm for deriving inverse kinematics of a bucycle system. In this paper, the meaning of inverse kinematics is to find the time functions of steering angle and driving wheel speed for a given desired path trajectory. From the computer simulation, we show the validity of our proposed algorithm for inverse kinematics of bicycle system.

본 연구에서는 수학적 지식이 요구되는 기존의 역운동학 해법을 사용하지 않고 직관력이 높은 기하학 방식의 새로운 역운동학 해법을 제시하였다. 뼈대 2개로 구성된 역운동학 모듈은 뼈대가 꺾이는 방향의 3차원 벡터만을 제공하여 수학적 지식이 없이도 역운동학의 사용이 가능했다. 본 연구에서 제시한 방법은 수학적 지식이 요구되지 않기 때문에 좀더 많은 그래픽 디자이너들이 역운동학을 쉽게 사용할 수 있을 것이다.