• 디지털융복합연구
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• 제13권1호
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• pp.331-339
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• 2015

사이버나이프치료에서 삽입된 금표지자의 삽입 개수 및 인식의 제한으로 인하여 3D DOF로 치료하는 경우 척추구조물 정렬을 가능하게 하는 Xsight spine tracking system으로 회전방향의 위치오차를 보정함으로서 표적위치오차를 개선하고, 치료방법의 대안을 제시하고자 한다. 실험결과 6D DOF에서 표적위치오차는 $0.214{\pm}0.058mm$, 종양내부에 삽입된 2개 금표지자를 이용한 3D DOF에서 $0.673{\pm}0.142mm$, 종양외부에 삽입된 2개 금표지자를 이용한 3D DOF에서 $1.126{\pm}0.253mm$, Xsight spine tracking system의 적용 한 3D DOF에서 $0.542{\pm}0.103mm$로 나타났다. 실험결과 척추 구조물로 회전방향에 대한 보정을 시행하였을 때 표적위치에 대한 정확성이 약 48% 향상되었다. 또한, 선량분포의 일치성도 약 3%가 향상되어 일치하는 것을 확인할 수 있었다. 따라서 척추구조물 정렬을 병용한 Xsight spine tracking system의 회전방향에 대한 보정은 유용한 것으로 평가 되었다.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제1권1호
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• pp.95-103
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• 2001

The purpose of Introducing a combined cycle with gas turbine in power plants is to reduce losses of energy, by effectively using exhaust gases from the gas turbine to produce additional electricity or process. The efficiency of a combined power plant with the gas turbine increases, exceeding 50%, while the efficiency of traditional steam turbine plants is approximately 35% to 40%. Up to the present time, the PID controller has been used to operate this system. However, it is very difficult to achieve an optimal PID gain without any experience, since the gain of the PID controller has to be manually tuned by trial and error procedures. This paper focuses on the neural network tuning of the 2-DOF PID controller with a combined 2-DOF parameter (NN-Tuning 2-DOF PID controller), for optimal control of the Gun-san gas turbine generating plant in Seoul, Korea. In order to attain optimal control, transfer function and operating data from start-up, running, and stop procedures of the Gun-san gas turbine have been acquired and a designed controller has been applied to this system. The results of the NN-Tuning 2-DOF PID are compared with the PID controller and the conventional 2-DOF PID controller tuned by the Ziegler-Nichols method through experimentation. The experimental results of the NN-Tuning 2-DOF PID controller represent a more satisfactory response than those of the previously-mentioned two controllers.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.302-307
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• 2005

Recently, lots of parallel mechanisms for spatial 3-DOF and 6-DOF were investigated. However, research on 4-DOF and 5-DOF parallel mechanisms has been very few. In this paper, we propose a 4-DOF parallel mechanism that consists of 3-rotational and 1-translational motions. The kinematic characteristics of this mechanism are analyzed in terms of an isotropic index and maximum force transmission ratio, and its kinematic optimization is being conducted to ensure enhanced kinematic performances

• 상하수도학회지
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• 제18권2호
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• pp.215-221
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• 2004

Effluent of wastewater treatment plant is to be disinfected to protect drinking water sources. DOF (Dissolved Ozone Flotation) was developed to meet this purpose. DOF was developed by combining DAF system with ozone. DAF system has good floating power with numerous microbubbles, and ozone has strong oxidation capability. And DOF system has good floating power and strong oxidation capability simultaneously. When DOF was applied to secondary wastewater effluent, color of 11CU in raw water which was secondary effluent was reduced to 1CU by the DOF system. Removal rate of other water quality parameters treated by DOF were also higher than that by DAF, which were proved the strength of oxidation capability of ozone. When ozone concentration of 3.3mg/l were applied in DOF system, general aerobic bacteria were reduced to 5CFU/ml from TNTC (Too many Numbers To Count). With the same ozone concentration, total coliform were not detected at all. These figures are under the numbers of drinking water regulation. These microbes were the target parameters of DOF. It was proved that DOF was very effective in disinfection of wastewater treatment plant effluent as well as in removal of color, turbidity, and T-P.

• Molecules and Cells
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• 제40권3호
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• pp.178-185
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• 2017

Nitrogen is one of the most important mineral elements for plant growth. We studied the functional roles of Oryza sativa DNA BINDING WITH ONE FINGER 18 (OsDOF18) in controlling ammonium uptake. The growth of null mutants of OsDOF18 was retarded in a medium containing ammonium as the sole nitrogen source. In contrast, those mutants grew normally in a medium with nitrate as the sole nitrogen source. The gene expression was induced by ammonium but not by nitrate. Uptake of ammonium was lower in osdof18 mutants than in the wild type, while that of nitrate was not affected by the mutation. This indicated that OsDOF18 is involved in regulating ammonium transport. Among the 10 ammonium transporter genes examined here, expression of OsAMT1;1, OsAMT1;3, OsAMT2;1, and OsAMT4;1 was reduced in osdof18 mutants, demonstrating that the ammonium transporter genes function downstream of OsDOF18. Genes for nitrogen assimilation were also affected in the mutants. These results provide evidence that OsDOF18 mediates ammonium transport and nitrogen distribution, which then affects nitrogen use efficiency.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.39-42
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• 2000

Cutrent technological development toward miniaturization requires smaller components. These components usually generate complex multi-DOF motions other than simple 1-DOF motlon. Therefore it is essential to develop measurement methodology for 6-DOF motions. In this paper, a new 6-DOF measurement system for milli-struchlre is presented. This methodology basically employs the Optical Beam Deflection Method (OBDM) with a diffraction grating. A laser beam is emitted toward the difliaction grating which could be attached on the surface of a milli-structue and the incident ray is dif'||'&'||'acted in several directions. Among these difliacted beams, $0^{th}$ and $\pm$ $1^{th}4" order difkicted rays are detected by 4 Quadrant Photodiodes. From coordinate values fram each detector, we can get information for 6-DOF motions with lineariration method, Required resolutions for milli-struchue measurement are suh-micrometer in translation and arcsec in rotation. Experimental results indicate that proposed system has possibility to satisfy this requirement.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 추계학술대회
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• pp.1482-1487
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• 2003

This paper presents a new family of 4-DoF parallel mechanism with two platforms. The new mechanism is composed of front and rear platforms, and three limbs. Two limbs with 6dof joint (P-P-S-P) are attached to the each platform and are perpendicular to baseplate, while the middle limb with 4-Dof joints (R-R-R-P or R-R-P-P) is attached to the revolute joint that connect front and rear platform. The two-DoF-driving mechanism at the middle limb with two base-fixed prismatic actuators can generate the heaving and roll motions or two translational motions. Therefore, Therefore, the new 4-Dof parallel mechanism (1T-3R) can generate pitch motions at each platforms, roll, and heaving motions, while another type of new 4-Dof parallel mechanism (2T-2R) can generate pitch motions at each platforms, x and z translational motions. For 1T-3R mechanism, kinematic analyses including inverse, forward kinematics, and Jacobian are performed.

• 로봇학회논문지
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• 제16권1호
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• pp.72-78
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• 2021

This paper presents a robust impedance control of high-DOF robot based on disturbance observer(DOB). A novel DOB is derived by considering the residual disturbance caused by the difference between actual disturbance and disturbance decoupling input which utilizes the estimated disturbance. It focuses on the elimination of the residual disturbance and improvement of the control performance as well as the good estimation of disturbances. In the control of high-DOF robot, numerical dynamic model, which is conducted by a software based on dynamics, is utilized because the analytical model of high-DOF robot is difficult to be obtained. The simulation of high-DOF robot with numerical dynamic model is provided to verify the performance of the proposed controller.

• Transactions on Control, Automation and Systems Engineering
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• 제4권1호
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• pp.17-22
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• 2002

Endoscopes for industrial and medical fields are expected to have multi degree-of-freedom (DOF) motions. A multi-DOF ultrasonic motor we developed consists of a spherical rotor and a bar-shaped stator, and the rotor rotates around three perpendicular axes using three natural vibration modes of the stator. In this study, a multi-DOF unilateral master-slave system for active endoscope using the multi-DOF ultrasonic motor is developed. The configurations of master and slave arms for active endoscope are similar, so that an operator can easily handle the master-slave system. First, driving characteristics of the multi-DOF ultrasonic motor are measured in order to design the slave arm and its controller. Next, the master arm and the slave arm are designed. Then, the unilateral feedback controller for the master-slave system is developed. Finally, the motion control tests of rotor are conducted. As a result, the possibility of the endoscope is confirmed.

• 한국정밀공학회지
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• 제27권4호
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• pp.53-62
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• 2010

This study introduces about development of multi-DOF ultrasonic motor that are composed of a bar-shaped stator and a spherical rotor. The ultrasonic motor is a motor which is operated by vibrations over frequency of 20kHz. The multi-DOF ultrasonic motor will be developed by expanding the basic theory of existing 1-DOF ultrasonic motor. It can generate 3-DOF rotation of the rotor around perpendicular axes using 3 vibration modes of stator. By using finite element methods, the optimal dimension of stator is decided and made the components of stator. When we apply the multi-DOF ultrasonic motor composed of rotor and stator to the driving test system, it will be checked whether the motor can be driven at the direction of 3-DOF or not. And it is proposed how the simulation of square bar shaped multi-DOF ultrasonic motor is accomplished.