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유지원(Yu, Ji-Won) 원광대학교 인문학연구소 2015 열린정신 인문학연구 Vol.16 No.1
The center of Jilin area in Qing Dynasty used to be Jilin Ula Fortress. It started to work as the center of the area as Jilin Shipyard and the fortress were completed in 1657 and 1673, respectively. The Dynasty constructed them in the area in order to oppose to southward movement of Russia. After the border issue settled into silence as Treaty of Nerchinsk was signed, Jilin Ula became a key point in the area along with Shenyang in Liaoning to take crucial administrative and military roles for northeastern policies of Qing Dynasty. The fortress was built by fully taking advantage of the geographic and natural environments of Song Hua River. Several extension and reconstruction works thereafter to comply with increase in population and economic activities enlarged the fortress, which made it the center city in those days. Growing immigrants into the area due to the execution of Liaodongzhaokenling and the Blockade Policy(封禁政策) during Qing Dynasty resulted in rapid development over the Jilin Ula area. Those were Liuren(流人), Liumin(流民) and Eastern Tours of Emperor(淸帝東巡) who took important roles for such developments. As stated above, Jilin Ula had many immigrants from inland China during the whole era of Qing and has been evolving and developed as a political, administrative, military, and economic center of the north-eastern region.
머신 비전 시스템 및 반사형 마커 기반의 평면형 과구동 병렬기구 보정을 위한 재귀 보정 방법
유지원(Jiwon Yu),정형진(Hyungjin Jeong),이동훈(Donghun Lee) 대한기계학회 2021 대한기계학회 춘추학술대회 Vol.2021 No.11
In the case of parallel kinematic mechanism (PKM), it is challenging to successfully identify the initial positions of all active joints with respect to the kinematic reference frame and kinematic error parameters due to its own mutually constrained and closed structural features. In this study, the reflective markers and a single down-looking machine vision camera are used to simultaneously perform the homing process to initially identify the angular positions of all active joints with respect to the reference frame and kinematic calibration to identify all parametric errors. First, the initial active joints’ positions with respect to the reference frame are identified with significant indexing errors through the nominal kinematic model and the pose of the reflective marker set mounted at the end-effector measured by the machine vision camera. And then, the kinematic calibration is consecutively performed to minimize the difference between the joint displacements measured by the joint encoders and calculated by the nominal kinematics with the least-square scheme. After the 1<SUP>st</SUP> round kinematic calibration, the calibrated kinematic model is used to find the more accurate active joints’ positions, and this recursive process can be repeated until static equilibrium control is possible under the redundant control. This paper describes the theoretical model and experimental method of the recursive kinematic calibration method for 3-DOF planar PKM.
유지원(Yu, Ji-won) 원광대학교 인문학연구소 2016 열린정신 인문학연구 Vol.17 No.3
소태산 대종사 박중빈은 1916년 원불교 교단을 창립하면서 구인제자를 이끌고 1917년의 저축조합과 1918년의 방언공사로 이어지는 조합운동을 전개하였다. 이 일련의 조합운동은 당시 불리한 사회적 배경에도 불구하고 커다란 성과를 거둘 수 있었다. 이는 대종사의 뛰어난 포용적지도력과 실천적 추진력 아래 구인제자들의 희생적 참여가 있었기에 가능했고, 이를 통해 원불교의 창립정신을 수립할 수 있었다. 원불교의 조합운동은 초기 교단의 정신적 · 경제적 토대를 마련했을 뿐만 아니라 당시 사회와 기층 민중들의 의식 개혁을 이끄는 정신과 물질 모두를 개벽시키려는 종교적 근대화운동이었던 것이다. 이를 구체적 실천하는 방법으로 대종사가 제시한 것이 바로 ‘영육쌍전(靈肉雙全)’과 ‘이소성대(以小成大)’정신이었다. 이 두 가지 방법은 동서양을 막론하고 자본주의의 형성과 발전과정에서 발생하는 병폐를 해결하려는 종교적 실천운동이었다. 또한 이 ‘영육쌍전’과 ‘이소성대’라는 두 가지 정신이 종교사적으로 의의를 가지된 것은 구인선진의 스승에 대한 신성과 복종 · 희생적 정열 · 실천적 추진력 그리고 개척정신 등이 있었기에 가능하였던 것이다. The purpose of this paper is to search for the role of the Nine Members of Sotaesan(The Founding Master) in the early Won-Buddism. In preparation for founding Won-Buddism, Sotaesan(The Founding Master) organized the Savings Cooperative of Killyong-ni in 1917. And he required the Nine Members to start by abstaining from smoking and drinking, saving up ‘rice for the requital of grace,’ and participating in cooperative labor. And then Sotaesan(The Founding Master) also began a Levee Project to reclaim tideland at Killyong-ni and he supervising the work in 1918. The Nine Members completed this Levee Project successfully. I think that a achievement of this two Movements was by the Nine Members` religious practices. In addition to this, I take notice of the fact that this achievement based on the teachings of Sotaesan : The Wholeness of Both Spirit and Flesh(靈肉雙全) and The Simultaneous Practice of Universal Principles and Human Affairs(理事竝行).