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What Factors Mediate Individual Differences in Color Matching?
Atsushi Konno,Kunihiro Hatakeyama,Yuki Kawashima,Tomonori Tashiro,Takehiro Nagai,Yasuki Yamauchi 한국색채학회 2017 AIC 2017 Jeju Vol.2017 No.10
We aimed to specify physiological factors which mediate individual differences in color matching. In previous studies, we found that the deviations of the color matching for the red-green direction is correlated with the macular pigment density. However, the factors causing blue-yellow deviation were not clarified. In this study, we performed a color matching experiment using metamers with the identical tristimulus values and an identical amount of the macular pigment absorption to examine the deviations of the color matching in the blue-yellow direction. As a result, there was a correlation between color matching deviations and the amounts of light absorbed by lens for each metamer, suggesting that the deviations of color matching in blue-yellow direction may be due to the amount absorbed of lens. These results suggest that individual difference in color matching in short wavelength light is strongly mediated by these two physiological properties of the eye.
Analytic Singularity Analysis of a 4-DOF Parallel Robot Based on Jacobian Deficiencies
최희병,Atsushi Konno,Masaru Uchiyama 제어·로봇·시스템학회 2010 International Journal of Control, Automation, and Vol.8 No.2
In this paper, analytic singularity analysis of a 4-DOF parallel robot H4 is addressed. Since a parallel manipulator consisting of several serial chains has complex singularities in the workspace, the determination of singular configurations is very important in design, trajectory planning, and control. The classical method to determine singular configurations is to find the determinant of the Jacobian matrix. However, the Jacobian matrix of a parallel manipulator is complex in general and thus it is not easy to find the determinant of the Jacobian matrix. Therefore, we focus on the analytic singularity analysis of a 4-DOF parallel robot H4 using Jacobian deficiencies. A subset of the whole singularities and the intuitively predictable ones are only derived using Jacobian matrix deficiency. Three type sin-gularities, i.e., overmobility, undermobility and combined singularities, have been presented.
Closed-Form Forward Kinematics Solutions of a 4-DOF Parallel Robot
최희병,Masaru Uchiyama,Atsushi Konno 제어·로봇·시스템학회 2009 International Journal of Control, Automation, and Vol.7 No.5
It is well known that the forward kinematics of parallel robots is a very difficult problem. Closed-form forward kinematics solutions have been reported only to a few special classes of parallel robots. This paper presents closed-form forward kinematics solutions of a 4-DOF parallel robot H4. A 16th order polynomial in a single variable is derived to solve the forward kinematics of the H4. The 16 roots of the polynomial lead to at most 16 different forward kinematics solutions. A numerical verification is also presented.