• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2005년도 ICCAS
• /
• pp.1668-1672
• /
• 2005

This paper presents the wall following control of a small indoor airship (blimp). The purpose of the wall following control is that a blimp maintains its position and pose and flies along the wall. A blimp has great inertia and it is affected by temperature, atmospheric pressure, disturbance and air flow around blimp. In order to fly indoors, a volume of blimp should be small. The volume of a blimp becomes small then the buoyancy of a blimp should be smaller. Therefore, it is difficult to attach additional equipments on the blimp which are necessary to control blimp. For these reasons, it is difficult to control the pose and position of the blimp during the wall following. In our research, to cope with its defects, we developed new blimp. Generally, a blimp is controlled by using rudders and elevators, however our developed blimp has no rudders and elevators, and it has faster responses than general blimps. Our developed blimp is designed to smoothly follow the wall by using low-cost small ultra sonic sensors instead of high-cost sensors. Finally, the controller is designed to robustly control the pose and position of the blimp which could control in spite of arbitrary disturbance during the wall following, and the effectiveness of the controller is verified by experiment.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2003년도 춘계학술대회 논문집
• /
• pp.996-1000
• /
• 2003

In this paper, Fly robot with electric power, a kind of Unmanned aerial vehicle (UAV), is considered as an autonomous hovering platform, capable of vertical lift-off, landing and stationary hovering. This aircraft has four rotor and DC motors of electrical Power, which is capable of omni-direction for indoor application. In the earlier days of vertical flight experimentation developers looked at the intuitively easy control functionality of 4 rotor designs. But we need to obtain design method of suitable structures and adequate components because the existing prototypes of 4 rotor-craft don't analyze the propeller, motor characteristic and propose a methodology to optimize this system. In this paper, we will show the new 4 rotor craft with blimp, analyze design and manufacturing method of 4 rotor craft system. Also we prove propriety of our design and manufacturing method by being based on thrust and motor experiment.

• IMMUNE NETWORK
• /
• 제20권5호
• /
• pp.42.1-42.10
• /
• 2020

Long-lasting post-switched plasma cells (PCs) arise mainly from germinal center (GC) reactions, but little is known about the mechanism by which GC B cells differentiate into PCs. Based on our observation that the expression of the transcription factor CCAAT/enhancer binding protein β (C/EPBβ) is associated with the emergence of post-switched PCs, we enquired whether a cell-autonomous function of C/EPBβ is involved in the program for PC development. To address this, we generated C/EPBβ-deficient mice in which the Cebpb locus was specifically deleted in B cells after transcription of the Ig γ1 constant gene segment (Cγ1). In response to in vitro stimulation, B cells from these Cebpb^fl/flCγ1^Cre/+ mice had defects in the induction of B lymphocyte-induced maturation protein 1 (Blimp1) and the formation of IgG1⁺ PCs, but not in proliferation and survival. At steady state, the Cebpb^fl/flCγ1^Cre/+ mice had reduced serum IgG1 titers but normal IgG2c and IgM titers. Moreover, upon immunization with T-dependent Ag, the mice produced reduced levels of Ag-specific IgG1 Ab, and were defective in the production of Ag-specific IgG1 Ab-secreting cells. These results suggest that a cell-autonomous function of C/EPBβ is crucial for differentiation of post-switched GC B cells into PCs through a Blimp1-dependent pathway.