이 글은 필자의 논문, “바흐의 ≪추모 송가≫에 관한 소고”에 뒤따르는 후속연구이다. 선행연 구에서 필자는 이 작품이 절절한 슬픔을 전달하는 것도, 이를 통해 위로를 건너는 것도 아닌 것 같다고 서술한 바 있다. 이 후속연구는 ≪추모 송가≫의 5악장과 6악장을 논의의 출발점으로 삼 아 이 악장의 가사와 그것의 신학적인 의미를 살핀다. 나아가 이 신학적인 의미가 당대 루터교의 언어, 특별히 루터의 죽음관, 즉 루터의 아르스 모리엔디를 반영하고 있다는 사실을 서술해 나간 다. 또한, 이 후속연구는 루터의 아르스 모리엔디가 어떤 음악으로 구현되는지도 설명한다. 최종 적으로 이 글은 루터교의 아르스 모리엔디에 흐르는 좋은 죽음이라는 메시지를 통해, 그리고 그것 을 구현하는 바흐의 음악을 통해 위로를 구할 수도 있으리라는 가설을 제시한다.

Climate change may result in increases in air temperature and shifts in precipitation patterns as the result of increases in atmospheric CO2. Outdoor, naturally sunlit, plant growth chambers referred to as SPAR (Soil Plant Atmosphere Research) chambers are one of the important research facilities under controlled conditions. SPAR provide precise control of the major environmental variables influencing crop growth including temperature, humidity and atmospheric CO2 concentration. Especially the SPAR system is considered as the most realistic approach for studying crop canopy gas exchange including photosynthesis, respiration, transpiration. Indeed, many reports have confirmed that gas exchange values in SPAR is highly associated with dry matter and yield. So SPAR data can be used to develop quantitative relationships and functions, which are then tested against field data. In ARS, the SPAR system is widely used for research on: (1)Response and adaptation of crops and weeds to elevated CO2 and global warming, (2)Developing analytical and management strategies to improve crop utilization and to reduce losses due to the environment, (3)Mechanistic process-level crop simulation models for assessment of agricultural systems.

This article focuses on the background of the French ars nova, which includes Vitry's theory, and Machaut's isorhythmic motets. Vitry's innovation allows duple as well as triple division of the beat at three different levels. In the fourteenth century, these changes permitted rhythmic organization on the larger scale than before. Also, his technique of isorhythm, which was developed from the thirteenth-century ordines, is firmly established by Machaut. Machaut's complete works are preserved in; eight manuscripts: New York, Wildenstein Galleries, Paris, Bib. Nat.. Fonds Francais 1584, 1585, 1586, 9221, 22545-6, and 843. Among these, the Paris, Bib. Nat.. Fonds Francais 1586 is the oldest collection and Paris, Bib. Nat.. Fonds Francais 1585 is the fifteenth-century copy of New York, Wildenstein Galleries. The Paris, Bib. Nat.. Fonds Francais 22545 contains Machaut's complete compositional outputs, including twenty-three motets(ff. 102-125). In composing isorhythmic motets, Machaut employed various techniques in the unique way. Therefore, Machaut's isorhythmic motets are analysed here, especially the pattern of talea and color. Through the analysis, some mistakes occurring in Leo Schrade's edition have been revealed at the end of this article.

This paper proposes an optimal ARS control of a two-wheel mobile inverted pendulum robot. Conventional researches are highly concentrated on the robust control of a mobile inverted pendulum on the flat ground, i.e., mostly focus on the compensation of gyroscope signals. This newly proposed algorithm deals with a climbing control of a slanted surface based on the dynamic modeling using the conventional structure. During the climbing control of the robot, unexpected disturbance forces are essentially caused by the irregular contact force which comes from the irregular contact angle between the wheel and the terrain. The disturbances have effects on the optimal posture of the mobile robot to compensate the slanted angle. Therefore the dynamics equations through physical interpretation are derived for the selection of optimum climbing posture through ARS. Also using the ultrasonic sensor the slope information is obtained to compensate for the force of gravity. The control inputs are dynamically adjusted to climb up the slanted surface effectively. The proposed algorithm is demonstrated through the real experiments.