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In this study, the contouring control problem of a five-axis machine tool was examined. Due to the rotation axes, there are two coordinate systems involved in the five-axis machine tool, namely the workpiece coordinate system and machine coordinate system. The five-axis machine tool is required to follow a given desired path with tool orientation specified in the workpiece coordinate system. However, the system dynamics of the machine tool is described in the machine coordinates. Kinematic transformations exist between the two coordinate systems. One challenge of the problem is to design a controller in the machine coordinate system that will meet the requirements in the workpiece coordinate system. Another challenge is to minimize both the position contour error and tool orientation error. The method of equivalent errors is adopted to design the contouring controller. The desired path and tool orientation in the workpiece coordinate system are transformed into a five-dimensional hyper-curve in the machine coordinate system. A contouring controller was designed to follow the five-dimensional hyper-curve using the method of equivalent errors. Both numerical and experimental results validate the effectiveness of the proposed contouring control method.

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Characters are signs and symbols that record our thoughts and feelings and allow the documentation of events and history. Later, the appearance of motion images marked a new milestone in the use and application of characters. Not only were the original function of characters improved and enhanced, text that integrate sound and images are also able to communicate much more diverse and abundant information. This technique is commonly found in cinema, television, advertisement, and animation. Thanks to technological advances, the combination of characters, texts, or types and images once again changed how we read. It has also created new meaning for our time. Today, type image seems to have achieved an aesthetic autonomy of their own. This has a profound impact on image and art creation and human communication. The emergence of cinema art in the late 19th century brought motion into written media and greatly expanded the possibilities of art. In today’s world of instant communication media, text and images face unprecedented changes. Chinese characters are one of the most ancient writing systems in human history. Unlike western alphabet, each Chinese character has its own form, sound, and meaning. Chinese characters are a highly figurative cultural element. This essay takes Chinese characters and the works featured in the concrete poetry/sound poetry and fragment poetry categories in the National Taiwan Museum of Fine Arts “Type Motion: Type as Image in Motion” exhibition as the subject of study to examine the history of text and media and changes in the way we deliver information and communicate. This essay also provides an analysis of the relationship between text and motion image and the interdependency between culture and technology and media. The connections and differences between Chinese characters in different time and space is also investigated to highlight the uniqueness of the characters as a medium, its application in motion writing techniques and aesthetic forms. This essay focuses on the following four topics: Artistic expression and styles related to the development of type as image in motion. Video poetics: the association between poetics and video images, poetic framework, and analysis of film poetry. Structure, format, characteristics, and presentation of meaning in concrete poetry/sound poetry, and fragment poetry. how Chinese characters are used in Taiwan and the aesthetic features of type through the exhibited works.