• The Journal of Korea Robotics Society
• /
• v.15 no.1
• /
• pp.48-54
• /
• 2020

Home robot arms require a payload of 2 kg to perform various household tasks; at the same time, they should be operated by low-capacity motors and low-cost speed reducers to ensure reasonable product cost. Furthermore, as robot arms on mobile platforms are battery-driven, their energy efficiency should be very high. To satisfy these requirements, we designed a lightweight counterbalance mechanism (CBM) based on a spring and a wire and developed a home robot arm with five degrees of freedom (DOF) based on this CBM. The CBM compensates for gravitational torques applied to the two pitch joints that are most affected by the robot's weight. The developed counterbalance robot adopts a belt-pulley based parallelogram mechanism for 2-DOF gravity compensation. Experiments using this robot demonstrate that the CBM allows the robot to meet the above-mentioned requirements, even with low-capacity motors and speed reducers.

• Journal of the Optical Society of Korea
• /
• v.20 no.1
• /
• pp.101-106
• /
• 2016

A pupil filter is a useful technique for modifying the light intensity distribution near the focus of an optical system to realize depth of field (DOF) extension and superresolution. In this paper, we proposed a new design of the phase only pupil filter by using Zernike polynomials. The effect of design parameters of the new filters on DOF extension and superresolution are discussed, such as defocus Strehl ratio (S.R.), superresolution factor (G) and relative first side lobe intensity (M). In comparison with the other two types of pupil filters, the proposed filter presents its advantages on controlling both the axial and radial light intensity distribution. Finally, defocused imaging simulations are carried out to further demonstrate the effectiveness and superiority of the proposed pupil filter on DOF extension and superresolution in an optical imaging system.

• Journal of Navigation and Port Research
• /
• v.26 no.1
• /
• pp.101-105
• /
• 2002

Many malfunction take place in container crane spreader due to impact. So we designed a 2 DOF hydraulic impact absorbing equipment to absorb the impact and we studied the change of damping coefficient with respect to the variation of dimensions of oil-Cylinder wail. When we design the dimension of hydraulic cylinder wall considering the displacement on the wall, the value of it over 20m didn't affect the damping coefficient.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.23 no.8
• /
• pp.681-689
• /
• 2013

The commercial tools to simulate the non-linear dynamic characteristics of wind turbine system are various but, the tool take much time to simulate the control algorithm and require many input variables. In this paper, the procedures to derive the simplified 4-degree-of-freedom mathematical model of a 2-MW wind turbine which could be used at the initial design stage of the controller are proposed based on RISO's suggested method. In this model, the 1st tower fore-after bending motion and 1st blade flapping motion are also considered in addition to the rotor-generator rotation motion in the 2-DOF model. The effectiveness of the 4-DOF model is examined comparing with the 2-DOF model and verification of the simplified model is accomplished through modal analysis for whole wind turbine system.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.23 no.1
• /
• pp.41-48
• /
• 2013

In this work, 4-DOF ER haptic master is proposed and integrated with a slave robot for minimally invasive surgery(MIS). Using a controllable ER fluid, the haptic master can generate a repulsive force/torque with the 4-DOF motion. For realization of master-slave robot system, the motion command of the haptic master is realized by slave surgery robot. In order to follow the 4-DOF motion of the haptic master, novel mechanism of slave surgery robot with gimbal joint is devised. Accordingly, the haptic master-slave robot system is established by incorporating the slave robot with the haptic master device in which the desired repulsive force/torque and position are transferred to each other via wireless communications. In order to obtain the desired force/torque and position trajectories, tracking controllers for haptic master and slave robot are designed and implemented, respectively. It has been demonstrated that the desired effective torque tracking control performance is well achieved using the proposed haptic master-slave robot system.

• Journal of the Computational Structural Engineering Institute of Korea
• /
• v.24 no.2
• /
• pp.167-175
• /
• 2011

The purpose of this study is to examine the impact that change in speed and modeling methods has on maglevs' runnability. The study constructed equations of motion on 4-DOF, 6DOF, and 10-DOF vehicles respectively and carried out numerical analysis, applying 4th Runge Kutta method, in order to run six different model maglev as changing the vehicles speed on the same bridge that had 2000 to 1 deflection. The analysis revealed that maglev's runnability improved as speed was lower and the specific model had higher number of bogey and EMS.

• Journal of the Optical Society of Korea
• /
• v.20 no.1
• /
• pp.107-117
• /
• 2016

We develop a new method to globally calibrate the feature points that are derived from the binocular systems at different positions. A three-DOF (degree of freedom) global calibration system is established to move and rotate the 3D calibration board to an arbitrary position. A three-DOF global calibration model is constructed for the binocular systems at different positions. The three-DOF calibration model unifies the 3D coordinates of the feature points from different binocular systems into a unique world coordinate system that is determined by the initial position of the calibration board. Experiments are conducted on the binocular systems at the coaxial and diagonal positions. The experimental root-mean-square errors between the true and reconstructed 3D coordinates of the feature points are 0.573 mm, 0.520 mm and 0.528 mm at the coaxial positions. The experimental root-mean-square errors between the true and reconstructed 3D coordinates of the feature points are 0.495 mm, 0.556 mm and 0.627 mm at the diagonal positions. This method provides a global and accurate calibration to unity the measurement points of different binocular vision systems into the same world coordinate system.

• Journal of the Society of Naval Architects of Korea
• /
• v.43 no.1 s.145
• /
• pp.15-21
• /
• 2006

Recently, the attention to large container ships whose size is greater than 10,000 TEU container ship has been increased due to their increasing demand. The large container ship has twin skegs because of the engine capacity and large beam-draft ratio. In this paper, the maneuvering characteristics of a container ship with twin skegs were investigated through 4DOF(four degree of freedom) HPMM(Horizontal Planar Motion Mechanism) test and computer simulation. A mathematical model for maneuvering motion with 4DOF of twin skegs system was established to include effects of roll motion on the maneuvering motion. And to obtain roll-coupling hydrodynamic coefficients of a container ship, 4DOF HPMM system of MOERI which has a roll moment measurement system was used. HPMM tests were carried out for a 12,000 TEU class container ship with twin skegs at scantling load condition. Using the hydrodynamic coefficients obtained, simulations were made to predict the maneuvering motion. Rudder forces of twin-rudders were measured at the angles of drift and rudder. The neutral rudder angles with drift angles of ship was quite different with those of single skeg ship. So other treatment of flow straightening coefficient $\gamma_R$ was used and the simulation results was compared with general simulation result. The treatment of experimental result at static drift and rudder test was very important to predict the maneuverability of a container ship with twin skegs.

• Journal of Ocean Engineering and Technology
• /
• v.31 no.1
• /
• pp.8-13
• /
• 2017

Cavitation is used in various fields. This study examined the drag reduction of an underwater vehicle using cavitation. In this study, the natural partial cavitation analysis results were verified using CFD code with the Navier-Stokes equation based on a mixture model. The momentum and continuity equations in the mixture phase were separately solved in the liquid and vapor phases. The solver employs an implicit preconditioning algorithm in curvilinear coordinates. The results of a computational analysis showed good agreement with the experiment. A computational analysis was also performed on the supercavity. The study investigated the cavity characteristics and drag of an underwater vehicle and studied the speed required to achieve a supercavity. Finally, a 1DOF analysis was carried out to investigate the thrust system for a supercavity. As a result, one of the methods for determining a suitable thrust system for a supercavitating underwater vehicle was presented.

• Journal of Life Science
• /
• v.33 no.1
• /
• pp.34-42
• /
• 2023

In a signal transduction network, from the perception of stress signals to stress-responsive gene ex- pression, binding of various transcription factors to cis-acting elements in stress-responsive promoters coordinate the adaptation of plants to abiotic stresses. Among the AP2/ERF transcription factor family genes, group VII ERF genes, such as RAP2.12, RAP2.2, RAP2.3, AtERF73/HRE1, and AtERF71/ HRE2, are known to be involved in the response to hypoxia stress in Arabidopsis. In this study, we dissected the HRE1 promoter to identify hypoxia-responsive region(s). The 1,000 bp upstream promoter region of HRE1 showed increased promoter activity in Arabidopsis protoplasts and transgenic plants under hypoxia conditions. Analysis of the promoter deletion series of HRE1, including 1,000 bp, 800 bp, 600 bp, 400 bp, 200 bp, 100 bp, and 50 bp upstream promoter regions, using firefly luciferase and GUS as reporter genes indicated that the -200 to -100 region of the HRE1 promoter is responsible for the transcriptional activation of HRE1 in response to hypoxia. In addition, we identified two putative hypoxia-responsive cis-acting elements, the ERF-binding site and DOF-binding site, in the -200 to -100 region of the HRE1 promoter, suggesting that the expression of HRE1 might be regulated via the ERF transcription factor(s) and/or DOF transcription factor(s). Collectively, our results suggest that HRE1 contains hypoxia-responsive cis-acting elements in the -200 to -100 region of its promoter.