• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.3
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• pp.305-315
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• 2016

This study aims to develop a robot vision control scheme using the Newton-Raphson (N-R) method for the uncertainty of circumstance caused by the appearance of obstacles during robot movement. The vision system model used for this study involves six camera parameters (C1-C6). First, the estimation scheme for the six camera parameters is developed. Then, based on the six estimated parameters for three of the cameras, a scheme for the robot's joint angles is developed for the placement of a slender bar. For the placement of a slender bar for the uncertainty of circumstances, in particular, the discontinuous robot trajectory caused by obstacles is divided into three obstacle regions: the beginning region, middle region, and near-target region. Then, the effects of obstacles while using the proposed robot vision control scheme are investigated in each obstacle region by performing experiments with the placement of the slender bar.

• Journal of Plant Biotechnology
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• v.6 no.1
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• pp.9-13
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• 2004

Transient uidA expression was used to optimize parameters required for biolistic transformation of suspension cells of Easter lily, Lilium longiflourm. Maximum uidA expression occurred following bombardment with gold particles as compared to tungsten. A 3hr pre-treatment of suspension cells with 0.125M osmoticum resulted in a 1.5X increase in uidA expression. A helium pressure of 1550 psi combined with a particle travelling distance of 6cm resulted in maximum uidA expression as compared to either 1100, 1200, or 1800 psi. Transient transformation resulted in up to 493 uidA expressing cells/Petri plate. For stable transformation suspension cells of Lilium longiflorum, were co-bombarded with plasmid DNA containing cucumber mosaic virus (CMV) replicase under the rice actin (Act1) promoter and either the bar or PAT genes under the cauliflower mosaic virus (CaMV 355) promoter. Ten regenerated plants contained the transgene as analyzed by PCR, and two of the ten plants were confirmed to contain the transgene by Southern hybridization. The two transgenic plants were independent transformants, one containing the bar gene and the other both the CMV replicase and bar genes. Plants were sprayed at the rosette stage and found to be resistant to 1000 mg/L of phosphinothricin (Trade name-Ignite) indicating expression of the bar gene throughout the leaves when bar was under control of the CaMV 35S promoter.

• Journal of the Earthquake Engineering Society of Korea
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• v.20 no.6
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• pp.351-360
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• 2016

In regions of low-to-moderate seismicity, various types of lap splices are used for longitudinal reinforcement of columns at the plastic hinge zones. The seismic performance of such lap spliced columns, such as strength, deformation capacity, and energy dissipation, is affected by material strengths, longitudinal re-bar size, confinement of hoops, lap splice location, and lap splice length. In the present study, cyclic loading tests were performed for columns using three types of lap splices (bottom offset bar splice, top offset bar splice, and splice without offset bend). Lap splice length($40d_b$ and $50d_b$) was also considered as test parameters. Ties with 90-degree end hooks were provided in the lap splice length. The test results showed that strength, deformation capacity, and energy dissipation of columns significantly differed depending on the details and the length of lap splices. The bottom offset bar splice showed high ductility and energy dissipation but low strength; on the other hand, the top offset bar splice and the splice without offset bend showed high strength but moderate ductility and energy dissipation.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2009.11a
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• pp.469-473
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• 2009

The supersonic gas ejector, as gas dynamic appliance, has been applied for a long time because of simplicity and reliability. However, for the prediction of ejector performances with given parameters, that is, working gas pressure and the nozzle shape, it is necessary to raise accuracy of modelling for properties of ejector gas flow. The purpose of the represented work is to compare one-dimensional modelling and numerical results with experimental results. The ejector with a conic nozzle has been designed and tested (Mach number at the nozzle exit section was 3.31, the nozzle throat diameter - 6 mm). Working gas - nitrogen, was brought from system of gas bottles. Diameter of the mixture chamber at the nozzle exit section was limited by condensation temperature of nitrogen and equaled 20 mm. The one-dimensional theory predicted the minimal starting pressure equaled 8.18 bar (absolute) and 0.051 bar in the vacuum chamber. Accordingly the minimal starting pressure was 9.055 bar and 0.057 in the vacuum chamber bar have been fixed in experiment.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.27 no.2
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• pp.114-122
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• 2004

In statistical process control applications, variable sample size (VSS) $\bar{X}$ chart is often used to detect the assignable cause quickly. However, it is usually assumed that only one assignable cause results in the out-of-control in the process. In this paper, we propose the algorithm to minimize the function of cost per unit time and compare the economic design and the statistical design by use of the value of cost per unit time. We consider double assignable causes to occur with compound in the process and adopt the Markov chain approach to investigate the statistical properties of VSS $\bar{X}$ chart. A procedure that can calculate the control chart's parameters is proposed by the economic design.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2000.06a
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• pp.1796-1802
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• 2000

The purpose of this work is to analyze the vibration characteristic of boring bar with dynamic vibration absorber and find out the effective design parameters. Using the finite element method and modified optimum design concept, conventional optimum design based on approximate lumped parameter model is checked and practical design to be measured with modal analysis is compared with optimum design from numerical analysis. Also, the performance of reducing vibration is investigated with variation of shape of boring bar. The considered model of boring bar with dynamic vibration absorber is selected among manufactured boring bars with the best performance.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.431-431
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• 2000

The modeling of 5-bar linkage robot manipulator dynamics by means of a mathematical and neural architecture is presented. Such a model is applicable to the design of a feedforward controller or adjustment of controller parameters. The inverse model consists of two parts: a mathematical part and a compensation part. In the mathematical part, the subsystems of a 5-bar linkage robot manipulator are constructed by applying Kawato's Feedback-Error-Learning method, and trained by given training data. In the compensation part, MLP backpropagation algorithm is used to compensate the unmodeled dynamics. The forward model is realized from the inverse model using the inverse of inertia matrix and the compensation torque is decoupled in the input torque of the forward model. This scheme can use tile mathematical knowledge of the robot manipulator and analogize the robot characteristics. It is shown that the model is reasonable to be used for design and initial gain tuning of a controller.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.11
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• pp.1111-1118
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• 2006

This paper covers topics related to the investigations for the problem of sensorless vibratory orienting of polygonal parts with high probability through dynamic simulation. The author's program for mechanical systems with changing topologies was experimentally validated and was used as a simulation and design tool for motion behaviors of the vibratory parts-orienting system in the dynamic environment. A flat level vibrating bar is proposed as a means of orienting parts. Dynamic manipulation, in which a part is repeatedly caught and tossed by the bar without sensing, forms the fundamental manipulation strategy. This paper presents how to plan vibratory manipulation strategies that can orient a small rigid polygonal part using interaction between the part and the vibrating bar without requiring sensing. The planned motion strategies have been experimentally validated to show how the dynamic simulation can be used to find favorable vibration parameters for a given part without knowledge of their initial orientations.

• Proceedings of the Korea Concrete Institute Conference
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• 2004.11a
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• pp.9-12
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• 2004

Coupling beams subject to cyclic loads exhibit different behavioral characteristics and energy dissipation capacity varying with re-bar layouts. In the present study, nonlinear analysis method was developed using analogous truss model. Using the numerical method, parametric studies were performed to investigate the behavioral characteristics and the energy dissipation mechanism of coupling beams with various re-bar layouts subject to cyclic loading. Based on the investigation, a simple and practical method for evaluating the energy dissipation capacity of coupling beams was developed and verified by experiments. The proposed method accurately predicted the dissipated energy during cyclic loading addressing design parameters such as re-bar layouts, re-bar ratio, and deformation. The proposed method can be easily applied to nonlinear static and dynamic methods for seismic analysis and design.

• Journal of the Korean Data and Information Science Society
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• v.25 no.5
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• pp.1137-1149
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• 2014

Since the bifurcating autoregressive (BAR) model was developed by Cowan and Staudte (1986) to analyze cell lineage data, a lot of research has been directed to BAR and its generalizations. Based mainly on the author's works, this paper is concerned with a contemporary review on the BAR in terms of an overview and perspectives. Specifically, bifurcating structure is extended to multi-cast tree and to branching tree structure. The AR(1) time series model of Cowan and Staudte (1986) is generalized to tree structured random processes. Branching correlations between individuals sharing the same parent are introduced and discussed. Various methods for estimating parameters and related asymptotics are also reviewed. Consequently, the paper aims to give a contemporary overview on the BAR model, providing some perspectives to the future works in this area.