• 한국경영과학회:학술대회논문집
• /
• 대한산업공학회/한국경영과학회 1995년도 춘계공동학술대회논문집; 전남대학교; 28-29 Apr. 1995
• /
• pp.629-634
• /
• 1995

The purpose of this paper is to develop a method of Collision-Free Path Planning (CFPP) for an articulated robot. First, the configuration of the robot is formed by a set of robot joint angles derived fromm robot inverse kinematics. The joint space that is made of the joint angle set, forms a Configuration space (Cspace). Obstacles in the robot workcell are also transformed and mapped into the Cspace, which makes Cobstacles in the Cspace. (The Cobstacles represented in the Cspace is actually the configurations of the robot causing collision.) Secondly, a connected graph, a kind of roadmap, is constructed from the free configurations in the 3 dimensional Cspace, where the configurations are randomly sampled form the free Cspace. Thirdly, robot paths are optimally in order to minimize of the sum of joint angle movements. A path searching algorithm based on A is employed in determining the paths. Finally, the whole procedures for the CFPP method are illustrated with a 3 axis articulated robot. The main characteristics of the method are; 1) it deals with CFPP for an articulated robot in a 3-dimensional workcell, 2) it guarantees finding a collision free path, if such a path exists, 3) it provides distance optimization in terms of joint angle movements. The whole procedures are implemented by C on an IBM compatible 486 PC. GL (Graphic Library) on an IRIS CAD workstation is utilized to produce fine graphic outputs.

• 한국수자원학회:학술대회논문집
• /
• 한국수자원학회 2008년도 학술발표회 논문집
• /
• pp.1894-1899
• /
• 2008

하천 내의 자생수목군에 의한 자연적인 흐름저항의 증가, 식재를 통한 인위적인 흐름저항의 증가, 교각 등의 구조물로 인한 흐름저항을 배수계산에 반영하기 위하여 일반적으로 Manning n값이 사용된다. 그러나 흐름 장애물로 인하여 증가된 Manning n값의 선정은 Chow(1950) 등이 제시한 도표를 활용하는 방법과 같이 공학적 판단을 요하는 작업이다. 그러므로 객관적으로 흐름저항을 산정할 수 있는 기법의 개발이 필요하며, 이를 위한 기초연구로 본 연구에서는 개수로 내 장애물의 항력계수 특성에 대하여 분석하고자 한다. 일반적으로 항력계수는 유체의 유속에 따라 변화되므로, Reynolds 수 또는 Froude 수에 따라 변화되는 것으로 알려져 있다. 그러나 그 범위가 연구자에 따라 상이하여 이를 정량화 할 필요가 있으며, 본 연구에서는 실험자료로부터 개수로 내 장애물의 항력계수 특성을 분석하고, 개수로에서 일반적으로 발생할 수 있는 Reynolds 수 또는 Froude 수 범위에서 기존 연구결과들을 비교분석하여 항력계수의 범위를 정량적으로 정립하고자 한다. 일반적인 상류 흐름조건에서 평균 항력계수($C_D$)는 1.11로 계산되었고, Froude 수의 증가에 따라 항력계수의 변동성이 점차 증가하였으며, 이러한 결과로부터 개수로 내 장애물로 인한 흐름저항을 반영하기 위하여 Manning n값으로 산정된 결과는 평균 0.01의 편차를 보이는 것으로 분석되었다.

• KSTLE International Journal
• /
• 제4권2호
• /
• pp.37-42
• /
• 2003

One of the obstacles for a magnetic bearing to be used in the wide range of industrial applications is the failure modes associated with magnetic bearings, which we don't expect for conventional passive bearings. These failure modes include electric power outage, power amplifier faults, position sensor faults, and the malfunction of controllers. Fault-tolerant magnetic bearing systems have been proposed so that the system can operate in spite of some faults in the system. In this paper, we designed a fault-tolerant magnetic bearing system for a turbo-molecular vacuum pump. The system can cope with the actuator/amplifier faults which are the most common faults in a magnetic bearing system. We implemented the existing fault-tolerant algorithms to experimentally prove the adequacy of the algorithms for industrial applications. As it turns out, the system can operate even with three simultaneously failing poles out of eight actuator poles.

• 제어로봇시스템학회논문지
• /
• 제6권3호
• /
• pp.317-328
• /
• 2000

This paper presents an effective approach to collision-free motion planning of a robot in the work-space including time-varying obstacles. The free arc is defined as a set composed of the configuration points of the robot satisfying collision-free motion constraint at each sampling time. We represent this free arc with respect to the new coordinate frame centered at the goal configuration and there for the collision-free path satisfying motion constraint is obtained by connecting the configuration points of the free arc at each sampling mined from the sequence of free arcs the optimality is determined by the performance index. Therefore the complicated collision-free motion planning problem of a robot is transformed to a simplified SUB_Optimal Collision Avoidance Problem(SOCAP). We analyze the completeness of the proposed approach and show that it is partly guaranteed using the backward motion. Computational complexity of our approach is analyzed theoretically and practical computation time is compared with that of the other method. Simulation results for two cally and practical computation time is compared with that of the other method. Simulation results for two SCARA robot manipulators are presented to verify the efficacy of the proposed method.

• 한국치위생학회지
• /
• 제13권6호
• /
• pp.933-939
• /
• 2013

Objectives : The purpose of this study is to examine the relationship between general characteristics and the intention of overseas employment and job satisfaction by Korean dental hygienists. Methods : We conducted a survey of 562 dental hygienists working in dental clinics nationwide. Collected data were analyzed by using the SAS(Version 9.2, SAS Institute, Cary, N.C.) package. $x^2$ test was used to determine the general characteristics of the subjects including job satisfaction level and intention to work abroad. Results : Old aged dental hygienists tended to work in the country rather than abroad(p<0.05). Higher job satisfaction was closely related to working hours, monthly income, social status, and stability of employment(p<0.05). Job satisfaction was concerned with intention to overseas employment. The main purpose of overseas employment included economic benefits(35.99%), self realization(26.75%), and improvement of working condition(21.66%) in the group of overseas employment(p<0.05). The obstacles to overseas employment were mastery of language proficiency(60.94%) and related information(21.89%) in those who want to work abroad. Conclusions : In order to increase the number of Korean dental hygienists for overseas employment, it is necessary to improve working competence and job satisfaction.

• 한국전산유체공학회지
• /
• 제18권1호
• /
• pp.43-48
• /
• 2013

The feasibility of a unique greenhouse, named as Gradient Biome, is now being examined extensively in the University of Tokyo. It is a large chamber (length:200m, width:50m, height:40m) in which the weather, such as temperature and humidity, of the tropical zone through to that of the frigid zone on the earth is reproduced with continuous gradient. In the Gradient Biome, ecosystems (mainly plants) corresponding to each weather are introduced and the possible responses of this ecosystems to the expected global warming are to be observed. Since one of the expected responses is the shift of the ecosystem(s) toward the region of suitable environment, there should be no artificial obstacles, which can prevent the shift, inside the Biome. This requirement is not so easy to be satisfied since the environment tends to be homogeneous. This paper presents the results of the numerical studies conducted to find the ways of how the temperature and humidity in the Gradient Biome could be reproduced. One of the contributed solvers of OpenFOAM, which is an open source physics simulation code, was modified and used for the numerical simulations.

• The Korean Journal of Pain
• /
• 제22권1호
• /
• pp.1-15
• /
• 2009

Neuropathic pain is often refractory to intervention because of the complex etiology and an incomplete understanding of the mechanisms behind this type of pain. Glial cells, specifically microglia and astrocytes, are powerful modulators of pain and new targets of drug development for neuropathic pain. Glial activation could be the driving force behind chronic pain, maintaining the noxious signal transmission even after the original injury has healed. Glia express chemokine, purinergic, toll-like, glutaminergic and other receptors that enable them to respond to neural signals, and they can modulate neuronal synaptic function and neuronal excitability. Nerve injury upregulates multiple receptors in spinal microglia and astrocytes. Microglia influence neuronal communication by producing inflammatory products at the synapse, as do astrocytes because they completely encapsulate synapses and are in close contact with neuronal somas through gap junctions. Glia are the main source of inflammatory mediators in the central nervous system. New therapeutic strategies for neuropathic pain are emerging such as targeting the glial cells, novel pharmacologic approaches and gene therapy. Drugs targeting microglia and astrocytes, cytokine production, and neural structures including dorsal root ganglion are now under study, as is gene therapy. Isoform-specific inhibition will minimize the side effects produced by blocking all glia with a general inhibitor. Enhancing the anti-inflammatory cytokines could prove more beneficial than administering proinflammatory cytokine antagonists that block glial activation systemically. Research on therapeutic gene transfer to the central nervous system is underway, although obstacles prevent immediate clinical application.

• Journal of Microbiology and Biotechnology
• /
• 제25권1호
• /
• pp.119-126
• /
• 2015

Among the various human growth factors, epidermal growth factor (hEGF, consisting of 53 amino acids) has various effects on cell regeneration, stimulation of proliferation, migration of keratinocytes, formation of granulation tissues, and stimulation of fibroblast motility, which are important for wound healing. Owing to their multiple activities, EGFs are used as pharmaceutical and cosmetic agents. However, their low productivity, limited target specificity, and short half-life inhibit their application as therapeutic agents. To overcome these obstacles, we fused the collagen-binding domain (CBD) of Vibrio mimicus metalloprotease to EGF protein. About 18 or 12 amino acids (aa) (of the 33 total amino acids), which were essential for collagen-binding activity, were combined with the N- and C-termini of EGF. We constructed, expressed, and purified EGF (53 aa)-CBD (18 aa), EGF (53 aa)-CBD (12 aa), CBD (18 aa)-EGF (53 aa), and CBD (12 aa)-EGF (53 aa). These purified recombinant proteins increased the numbers of cells in treated specimens compared with non-treated specimens and control hEGF samples. The collagen-binding activities were also evaluated. Furthermore, CBD-hybridized hEGF induced phosphorylation of the EGF receptor. These results suggested that these fusion proteins could be applicable as small therapeutic agents in wound tissue healing.

• 한국농업기계학회:학술대회논문집
• /
• 한국농업기계학회 2000년도 THE THIRD INTERNATIONAL CONFERENCE ON AGRICULTURAL MACHINERY ENGINEERING. V.II
• /
• pp.333-343
• /
• 2000

An automatic guidance system for combine was designed to harvest paddy rice by following a predetermined path. The automatic guidance system consisted of DGPS to locate position of combine, a gyro sensor system to measure heading angle, ultrasonic sensors to detect obstacles, a hydraulic system, microcomputer as a controller, and I/O interface system. Hydraulic cylinders and valves were installed to control movement of the combine. The heading angle and the position of the combine, and ultrasonic measurements from edge were used as the inputs of the controller. The operating position of hydraulic cylinder was determined as output of the controller. The automatic guidance system was evaluated at the 45-m straight path by changing the posture of the combine. The average RMS errors were 14.0 cm without offset and 15.0 cm with 1-m offset. The DGPS provided accurate position information within the limited error to guide the combine in the field. The results showed that the automatic guidance system could guide the combine autonomously in the paddy field when the posture of the combine was changed.

• 한국농공학회논문집
• /
• 제59권5호
• /
• pp.17-23
• /
• 2017

In South Korea, 25 % of annual agricultural residues (11.64 million tons) are unused. The hydrophilicity, low lower heating value (LHV), and low energy density of agricultural residues can be obstacles for efficient usage. Torrefaction, a low temperature pyrolysis process, can be a solution to overcome these disadvantage of agricultural residues. In this study, agricultural residues such as bean stem, pepper stem, perilla stem, sorghum stem, acorn shell, and ginkgo shell are torrefied at 200, 230, and $250^{\circ}C$ and evaluated energy properties, respectively. The torrefaction can increase the LHV and energy density rate of agricultural residues from 3,331~4,444 kcal/kg to 4,166~5,830 kcal/kg and 20~30 %, respectively.