Instructional effect of grouping by agreeableness and students` verbal interactions in small group science learning

학위논문(박사)--서울대학교 대학원 :과학교육과 화학전공,2003.Docto

A Study on the Structure of Compound -verb in the Middle Korean

This artic1e focuses on the structure of verb stem + verb stem' among the various ways of structuring the compound-verb. The topic itself originates from a questioning of the conventional idea that the structure is a productive way to form of the compound-verb. This artic1e assumes that the compound-verb should be a new verb in syntax and in semantics. It provides a list of the examples of verb stem + verb stem' structure at the sentence level. To identify the pure compound-verb, it suggests such conditions as: meaning reflection condition, impossibility of the elipsis of the structural element, formation of new meaning, and single-verb condition. In this process, 1 found the various modes of the verb stem + verb stem' structure. A1so, 1 found that many of the structure have adverb, affix or assistant verb as its pre- or post-element, and that the case of the conjunctive sentence shows the structure. If we focus only on the formation process, these various cases would be identified as the same. However, if we focus on the function of the verb, we can find the pure compound-verb. When we made the sentence a subject of the research, we found that in spite of the same form with the same structural elements, sometimes it functions as phrase and sometimes as compound-verb according to the usage in the sentence. Even though verb stem + -6 + verb stem' was not a main interest of this artic1e, we attempted to define the usage difference by comparing the verb stem + verb stem' structure with the same pre- or post-elements

휴머노이드 로봇을 위한 다중 작업 동작 프로그래밍 체계

학위논문 (박사)-- 서울대학교 대학원 : 기계항공공학부, 2013. 2. 박종우.본 논문에서는 휴머노이드 로봇을 대상으로 로봇의 동작을 프로그래밍 할 수 있는 언어, 자료구조, 아키텍쳐와 동역학 시뮬레이션을 갖춘 체계를 제시한다. 본 연구는 휴머노이드와 같은 여러 자유도를 갖는 로봇의 동작 생성이 어렵고 또한 일회성에 그쳐 재사용이 어렵다는 문제점을 인식하고 이를 해결하기 위한 방법을 찾고자 하였다. 우선 휴머노이드 로봇의 동작을 하드웨어의 기구학적인 구조와 상관없이 표현할 수 있는 동작 어휘들을 제안하였다. 다양한 휴머노이드 로봇을 포함할 수 있는 추상적인 휴머노이드 모델 및 자료구조를 고안하고, 추상 휴머노이드 모델을 대상으로 단순 자유 동작뿐만 아니라 환경과 상호작용하는 동작을 표현할 수 있다. 어휘들이 표현의 풍부성을 갖도록 하기 위하여 MTM법(Method-Time Measurement System)과 라바노테이션(Labanotation)의 아이디어를 이용하였다. 다음으로 휴머노이드 로봇의 멀티태스킹을 표현할 수 있는 로우레벨의 동작 기술 언어를 개발하였다. 기존의 동작 기술 언어(Motion Description Language)의 한계를 해결하여 여러 기본 제어기(primitive controller)의 중첩을 통해 다중 작업 및 동작을 수행할 수 있는 제어기를 구성하는 방법을 제시하였다. 기본 제어기는 제어 법칙과 좌표변환사상, 그리고 제어 종료 시점을 알려주는 함수로 구성되어있다. 기본 제어기에 우선순위를 부여하여 이에 따라 다중 작업 및 동작을 수행할 수 있도록 하였다. 제안된 방법은 하드웨어의 기구학적 구조에 대한 의존성을 최소화 하여 다른 구조의 휴머노이드에 적은 노력으로도 재사용이 가능하도록 하였다. 마지막으로, 고안된 어휘와 로우레벨 언어를 통하여 휴머노이드 로봇의 동작을 프로그래밍하고 검증할 수 있는 통합된, 계층 구조를 가진 소프트웨어 체계를 개발하였다. 하이 레벨 어휘를 로우 레벨 제어기로 해석하여 다중 작업 및 동작을 위한 제어기를 구성하여 휴머노이드 로봇을 제어할 수 있도록 하였다. 리(Lie)그룹에 기반한 재귀 동역학 알고리즘을 이용하여 빠르고 정확한 동역학 시뮬레이션을 제공하여 이를 통해 작성된 동작을 동역학적으로 검증해 볼 수 있는 환경을 제공하는 아키텍처를 개발하였다.Abstract ix List of Tables xv List of Figures xvii 1 Introduction 1 1.1 High-level Languages . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 1.2 Low-level Languages . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 1.3 Robot Software Architecture . . . . . . . . . . . . . . . . . . . . . . 3 1.4 Contributions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 2 Humanoid Abstract Modeling 7 2.1 Existing Humanoids . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 2.1.1 Brief Survey on Existing Humanoids . . . . . . . . . . . . . 8 2.1.2 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 2.2 Data Structures for Humanoid Modeling . . . . . . . . . . . . . . . 15 2.2.1 Kinematic Structure Abstraction . . . . . . . . . . . . . . . . 16 2.3 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 3 Humanoid Programming Vocabulary 23 3.1 Free-space Movements . . . . . . . . . . . . . . . . . . . . . . . . . . 23 3.1.1 Overview of Labanotation . . . . . . . . . . . . . . . . . . . . 23 3.1.2 Primitive Motions . . . . . . . . . . . . . . . . . . . . . . . . 25 3.2 Task-Oriented Movements . . . . . . . . . . . . . . . . . . . . . . . . 27 3.2.1 Overview of MTM . . . . . . . . . . . . . . . . . . . . . . . . 27 3.2.2 Primitive motions . . . . . . . . . . . . . . . . . . . . . . . . 28 3.3 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 4 Multitasking Motion Description Language 37 4.1 Brockett's Motion Description Language . . . . . . . . . . . . . . . 38 4.1.1 Changes of Coordinates . . . . . . . . . . . . . . . . . . . . . 39 4.1.2 Redundant Motion . . . . . . . . . . . . . . . . . . . . . . . . 41 4.1.3 MDL Machine for Manipulators Involving Dynamics . . . . 44 4.2 Multitasking Motion Description Language . . . . . . . . . . . . . . 46 4.2.1 Multitasking MDL Atom . . . . . . . . . . . . . . . . . . . . 47 4.2.2 Termination Atom . . . . . . . . . . . . . . . . . . . . . . . . 48 4.2.3 Multitasking MDL Word . . . . . . . . . . . . . . . . . . . . 49 4.2.4 Priority Adjustment . . . . . . . . . . . . . . . . . . . . . . . 50 4.2.5 Multitasking MDL Plan . . . . . . . . . . . . . . . . . . . . . 51 4.3 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 5 Integrated Architecture and Dynamics Simulation Library 53 5.1 Architectures for Motion Coordination . . . . . . . . . . . . . . . . . 54 5.1.1 Motion Programming Layer . . . . . . . . . . . . . . . . . . . 54 5.1.2 MDLm Compilation Layer . . . . . . . . . . . . . . . . . . . 57 5.1.3 Physical Layer . . . . . . . . . . . . . . . . . . . . . . . . . . 62 5.2 Dynamics Simulation Library: srLib . . . . . . . . . . . . . . . . . . 63 5.2.1 Robot Modeling of srLib . . . . . . . . . . . . . . . . . . . . 65 5.2.2 Dynamic Formulation and Algorithms . . . . . . . . . . . . . 66 5.2.3 Software Architecture . . . . . . . . . . . . . . . . . . . . . . 68 5.2.4 R-Station Simulator . . . . . . . . . . . . . . . . . . . . . . . 69 5.3 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 6 Case Studies 71 6.1 Golem Krang . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 6.1.1 Golem Krang Modeling . . . . . . . . . . . . . . . . . . . . . 72 6.1.2 Golem Krang Control . . . . . . . . . . . . . . . . . . . . . . 74 6.2 Hubo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 6.2.1 Low-level Modeling . . . . . . . . . . . . . . . . . . . . . . . 76 6.2.2 Humanoid Proxy Modeling . . . . . . . . . . . . . . . . . . . 82 6.2.3 MDLm Atom Programming . . . . . . . . . . . . . . . . . . . 84 6.3 Motion Programming Simulation . . . . . . . . . . . . . . . . . . . . 90 6.3.1 Reach: Wave . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 6.3.2 Reach/ApplyForce: Dishwashing . . . . . . . . . . . . . . . . 90 6.3.3 Reach/Support: Static Walking . . . . . . . . . . . . . . . . . 92 6.3.4 Motions with Balance . . . . . . . . . . . . . . . . . . . . . . 94 6.4 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 7 Conclusion 95 7.1 Main Contributions . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 7.2 Future Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96 7.2.1 Validation on hardware platforms . . . . . . . . . . . . . . . 96 7.2.2 Static Feasibility . . . . . . . . . . . . . . . . . . . . . . . . . 97 7.2.3 Grasp Planning . . . . . . . . . . . . . . . . . . . . . . . . . . 97 A Dynamics of Multibody Systems 99 A.1 Rigid Body Mechanics . . . . . . . . . . . . . . . . . . . . . . . . . . 99 A.1.1 Rigid Body Motion . . . . . . . . . . . . . . . . . . . . . . . 99 A.1.2 Screw Motions . . . . . . . . . . . . . . . . . . . . . . . . . . 102 A.1.3 Generalized Velocity and Force . . . . . . . . . . . . . . . . . 103 A.1.4 Generalized Inertia . . . . . . . . . . . . . . . . . . . . . . . . 105 A.1.5 Dynamics of a Single Rigid Body . . . . . . . . . . . . . . . 106 A.2 Dynamics of Kinematic Chains . . . . . . . . . . . . . . . . . . . . . 107 A.2.1 Recursive Dynamics Algorithm . . . . . . . . . . . . . . . . . 107 A.2.2 Recursive Hybrid Dynamics Algorithm . . . . . . . . . . . . 109 Bibliography 113 국문초록 121Docto

A Tentative for Compiling a 15th Century Korean Dictionary

This thesis aims at reviewing some problems related to the compilation of a 15th century Korean dictionary. For this purpose, the present writer has taken a general view of the whole shape of the existing old Korean dictionaries and felt it necessary to compile century-distinct dictionaries. In this sense the relatively copious material accumulated so far, makes for a strong foundation of the compilation of a 15th century dictionary. Along these lines, he has collected and studied the target materials in general. At this point he has realized the necessity of clarifying the characteristics of these related materials, and compiling a list of them. Two points were revealed by this procedure. It is as follows: 1. Chinese-origin words, which were Once excluded because of their peculiarity, should be registered 2. As for head items, tone marking should be reflected. At the same time, he has compared the worth of Nam(l960) and Yoo(1964), and reviewed compilatory problems

복합 건설 프로젝트의 협력설계 의사결정모델

학위논문(석사)--서울대학교 대학원 :건축학과,1999.Maste

Effects of the Characteristics of Anomalous Data on Cognitive Conflict and Conceptual Change in Learning Density

In this study, the effects of the authority level and the number of anomalous data on students' cognitive conflict and conceptual change in studying density were investigated. The subjects were 119 eighth graders in a co-ed middle school. A preconception test, a test of response to anomalous data, and a conception test were administered. Four types of anomalous data varying the authority level (high/low) and the number (one/two) were presented. The results indicated that anomalous data presented at high authority level significantly induced more cognitive conflict than that presented at low authority level. However, no significant difference in the degree of cognitive conflict was found between the number levels of anomalous data. The ANOVA. results indicated that there were no significant differences in the conception test scores due to the characteristics of anomalous data

The influences of lecture design using CoRe upon professor's teaching professionalism in college of science-engineering

© 2020 Korean Chemical Society. All rights reserved.In this study, we analyzed the influences of lecture design using CoRe upon the professor's teaching professionalism in the aspects of pedagogical content knowledge (PCK). The participants are three professors from the college of science-engineering located in Chungcheong-do. After collecting their syllabi, we observed their lecture and conducted the orientation. Afterward, we collected the CoRes which they prepared before the lecture. Then we observed their lecture and conducted semi-structured interviews. This process was carried out twice. We analyzed their syllabi, CoRes, videotaped lectures, field notes, the teaching materials, and interview transcripts. The results revealed that professors not only clarified the learning objectives and the characteristics of students but also reflected them in the lecture. In addition, they established the teaching strategies according to the characteristics of contents in the unit. As they recognized the necessity of understanding students' achievement, they selected the assessment method and applied it in the lecture. In some cases, however, they lacked presenting learning objectives specifically and explained students' misconceptions without inducing new concepts. They also presented a shortage of considering students' prior knowledge. They lacked providing students with an opportunity to participate in lectures, and their assessment method was not effective. Based on the results, we discussed implications to improve teaching professionalism using CoRe.N