• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1997.06c
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• pp.238-246
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• 1997

This study was conducted to develop a robotic transplanter for bedding plants. The robotic transplanter consisted of machine vision system, a manipulator, a gripper and plug tray transfer system. The performance of the robotic transplanter was tested and compared by two different transplanting methods, which were to consider the leaf orientation of seedlings and not to. Results of this study were as follows. (1) A cartesian coordinate manipulator for a robotic transplanter with 3 degree of freedom was constructed. The accuracy of position control was $\pm$1 mm. (2) The robotic transplanter with the machine vision system, the manipulator, the gripper and the transfer system was developed and tested with a shovel-type finger. Without considering the orientation of leaves, the success rates of transplanting healthy cucumber seedlings in 72-cell and 128-cell plug-trays were 95.5% and 94.5% respectively. Considering the orientation of leaves, the success rates of transplanting healthy cucumber seedling in 72-cell and 128-cell plug-trays were 96.0% and 95.0% respectively.

• Journal of Yeungnam Medical Science
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• v.34 no.1
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• pp.19-28
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• 2017

The incidence of type 2 diabetes mellitus and insulin resistance is growing rapidly. Multiple organs including the liver, skeletal muscle and adipose tissue control insulin sensitivity coordinately, but the mechanism of skeletal muscle insulin resistance has not yet been fully elucidated. However, there is a growing body of evidence that lipotoxicity induced by mitochondrial dysfunction in skeletal muscle is an important mediator of insulin resistance. However, some recent findings suggest that skeletal mitochondrial dysfunction generated by genetic manipulation is not always correlated with insulin resistance in animal models. A high fat diet can provoke insulin resistance despite a coordinate increase in skeletal muscle mitochondria, which implies that mitochondrial dysfunction is not mandatory in insulin resistance. Furthermore, incomplete fatty acid oxidation by excessive nutrition supply compared to mitochondrial demand can induce insulin resistance without preceding impairment of mitochondrial function. Taken together we suggested that skeletal muscle mitochondrial overloading, not mitochondrial dysfunction, plays a pivotal role in insulin resistance.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.37-42
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• 2005

This paper presents an autonomous system for reconstruction of three-dimensional indoor environments using a mobile robot. The system is composed of a mobile robot, a three-dimensional scanning system, and a notebook computer for registration, observation planning and real-time three-dimensional data transferring. Three-dimensional scanning system obtains three-dimensional environmental data and performs filtering of dynamic objects. Then, it registers multiple three-dimensional scans into one coordinate system and performs observation planning which finds the next scanning position by using the layered hexahedral-map and topological-map. Then, the mobile robot moves to the next scanning position, and repeats all procedures until there is no scanning tree in topological-map. In concurrence with data scanning, three-dimensional data can be transferred through wireless-LAN in real-time. This system is experimented successfully by using a mobile robot named KARA.

• Maxillofacial Plastic and Reconstructive Surgery
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• v.16 no.4
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• pp.359-370
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• 1994

The reconstruction of major head and neck defects must be an integral part of the overall cancer treatment plan. The priorities of surgical treatment of head and neck tumor are 1) local tumor control, 2) relief of pain, 3) avoidance of difficult dressing, 4) provision of oral continence, and 5) ability to swallow and manage saliva. The recent advances in reconstructive surgery including the development of musculocutaneous flaps and microvascular free tissue transfer have allowed the surgical restoration of head and neck tumor defects that previously were not possible. These techniques have provided the opportunity to undertake larger, more aggressive resection while at the same time permitting functional rehabilitation. The timing of reconstruction demands on the nature of the resection, the ability of the ablative and reconstructive teams to coordinate efforts, the overall health of the patients, the patient's needs and wishes. So, we report to emphasize current methods for restoring major head and neck tumor defects after tumor ablation, reviewing for the reconstructive operations, postoperative complications, and postoperative sequelae etc, of patients from Jan, 1990 to Dec, 1993.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.11 no.1
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• pp.46-49
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• 2012

Gears are reliable and efficient power transmission elements. They have been widely used in all kinds of machinery. Nowadays, resource conservation energy conservation environmental improvements from the request of the compact, light weight, high efficiency, low cost Higher efficiency is required. Tooth root and bottom profiles of cylindrical gears affect bending fatigue life, but they are hard to measure with conventional gear measuring machine(GMM), because GMM is normally customized to measure only gear working flanks. The authors try to develop a new type of GMM by installing an extra 3D scanning probe and control software to measure tooth root and bottom profiles. First, in order to measure in various directions, a 3D scanning probe has been attached to the GMM developed. Next, calibration algorithm has been developed. Deviations of the calibration results are measured and it is found that systematic error must be caused by heat from driving motors. A new alternative GMM with driving motors generating less heat was designed and two GMMs are compared. Finally, 3 Dimension measurement of tooth root and bottom profiles of cylindrical gears is described.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.15-19
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• 2001

A dedicated reverse engineering(RE) system for rapid manufacturing of human head in a 3D bust has been developed. The first step in the process is to capture the surface details of a human head and shoulder by three scanners based upon the digital moire fringe technique. Then the multiple scans captured from different angles are aligned and merged into a single polygonal mesh, and the aligned data set is refined by smoothing, subdividing or hole filling process. Finally, the refined data set is sent to a 4-axis computer numerically control(NC) machine to manufacture a replica. In this paper, we mainly describe on the algorithms and software for aligning multiple data sets. The method is based on the recently popular Iterative Closest Point(ICP) algorithm that aligns different polygonal meshes into one common coordinate system. The ICP algorithm finds the nearest positions on one scan to a collection of points on the other scan by minimizing the collective distance between different scans. We also integrate some heuristics into the ICP to enhance the aligning process. A typical example is presented to validate the system and further research work is also discussed.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.2
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• pp.185-193
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• 2013

The construction automation provides safer and more productive working environment of construction site. We developed the automation system of bolting operation for high-rise building in the previous research. However, this system has a weak point that the operation has to be processed in the air with the operator in the cabin. This weakness leads operators to considerably dangerous environment. Therefore, we proposed the tele-operation system in order to supplement this weak point. Furthermore, it leads more effective operation by application of more intuitive controller; spherical coordinate based Master Arm than the joystick in the Mobile Bolting Robot system. These proposed system and controller were evaluated based on Fitts' law paradigm, which is a general estimation method of speed accuracy of task. Through the experimental results, new developed tele-operation system is compared with the actual operation and it discloses distinctions between two systems. As a result, it is found that new developed teleoperation system can be possible to replace the operation in the cabin.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.20 no.11
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• pp.3573-3588
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• 1996

The flow through a centrifugal compressor impeller was calculated using the 3-dimensional Navier-Stokes solution method. A control volume method based on a rotating curvilinear coordinate system was used to solve the time-averaged Navier-Stokes equations, and a standard k-.epsilon. model was used to obtain eddy viscosity. Numerical results and experimental data were compared for the overall performance of the impeller, the pressure distributions along the shroud wall and the detailed flowfields at the design and off-design conditions, which showed good coincidence. The flow through the impeller is complex with the curvature of the streamlines and rotation. The development of secondary flows and the jet-wake flow characteristics, which is the main source of flow loss, was discussed. Calculation results show quite different patterns as the flow rate changes.

• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.10
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• pp.2617-2629
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• 1995

The flow through a centrifugal compressor rotor was calculated using the quasi-3-dimensional and fully 3-dimensional Navier-Stokes solution methods. The calculated results, obtained during the development of the computer codes for both methods are discussed. In the inviscid quasi 3-dimensional analysis, stream function formulation was used for the blade to blade (B-B) plane calculations, and the streamline curvature method was used for the meridional (H-S) plane calculations. In the viscous 3-dimensional flow analysis, a control volume method based on a general rotating curvilinear coordinate system was used to solve the time-averaged Navier-Stokes equations, and a standard k-.epsilon. model was used to obtain eddy viscosity. The quasi-3-dimensional analysis reasonably predicts the pressure distributions and requires much less computation time in the region where viscous effects are not strong; however, it fails to predict velocity field and loss mechanism through the impeller passage. The viscous 3-dimensional flow analysis shows reasonable pressure distributions and typical jet-wake flow field through the impeller passage. Secondary flow and total pressure distributions on cross-sectional planes explain the loss mechanisms through the impeller.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.407-407
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• 2000

For acquisition of 3-Dimensional information in real space, stereo vision system is suitable. In the stereo system, 3D real world position is derived from translation of coordinates between cameras and world. Thus, to use stereo vision, it is needed to construct a precise system which provides kinematically precise translation between camera and world coordinate, in spite of intricacy and hardness. So much cost and time should be spent to build the system. In this paper, facilely to solve previous problem, a method which can easily obtain 3D informations using reference objects and RSD(Relative Stereo Disparity) is proposed. Instead of direct computation of position with translation of coordinates, only relative stereo disparity in stereo pair of image is used to find the reference depth of objects, and real 3D position is computed with initial condition of reference objects. In computation, subpixel resolution is involved to find the display for accuracy. To find the RSD, corresponding points are calculated in subpixel resolution. So the result in experiemnt will be shown that subpixel resolution is more accurate than 1 pixel resolution.