• Plant Journal
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• v.9 no.3
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• pp.38-42
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• 2013

Submarine gas fields have focused because of the increasing fuel cost, the environmental regulations, and the safety & NIMBY problems. LNG-FPSO which is available for acid gas removal, recovery of the condensate & LPG and Liquefaction in topside process is one of high technology offshore structures. On the other hands, it is necessary to verify the pre-treatment efficiency by the ship motion and to apply to the design for LNG-FPSO. This study is to develop the pre-treatment technology for LNG-FPSO as taking account to the process efficiency by ship motion effects and the area optimization. Based on the simulation results, it founds that hybrid process shows the low circulate rate, the low heat duty and the small size of column dimensions compared to typical amine process. It will be verified the process efficiency in the various conditions by sea states as performing the 6-DOF motion test and CFD simulation.

• Journal of Biomedical Engineering Research
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• v.29 no.1
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• pp.32-39
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• 2008

This paper reports on a realtime OS based master-slave configuration robot control system for laparoscopic surgery robot which enables telesurgery and overcomes shortcomings with conventional laparoscopic surgery. Surgery robot system requires control system that can process large volume information such as medical image data and video signal from endoscope in real-time manner, as well as precisely control the robot with high reliability. To meet the complex requirements, the use of high-level real-time OS (Operating System) in surgery robot controller is a must, which is as common as in many of modem robot controllers that adopt real-time OS as a base system software on which specific functional modules are implemened for more reliable and stable system. The control system consists of joint controllers, host controllers, and user interface units. The robot features a compact slave robot with 5 DOF (Degree-Of-Freedom) expanding the workspace of each tool and increasing the number of tools operating simultaneously. Each master, slave and Gill (Graphical User Interface) host runs a dedicated RTOS (Real-time OS), RTLinux-Pro (FSMLabs Inc., U.S.A.) on which functional modules such as motion control, communication, video signal integration and etc, are implemented, and all the hosts are in a gigabit Ethernet network for inter-host communication. Each master and slave controller set has a dedicated CAN (Controller Area Network) channel for control and monitoring signal communication with the joint controllers. Total 4 pairs of the master/slave manipulators as current are controlled by one host controller. The system showed satisfactory performance in both position control precision and master-slave motion synchronization in both bench test and animal experiment, and is now under further development for better safety and control fidelity for clinically applicable prototype.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2004.05b
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• pp.506-510
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• 2004

A torque transmission system composed of several gears and couplings is flexible. In order to get an exact response of motor, the torsional vibration due to an unexpected change of motor speed must be suppressed. Therefore, it is very important that motor control suppress vibration. Various methods to control it including dual inertia system are proposed. Specially, the method of vibration suppression is that vibration can be suppressed to fee㏈ack the estimated torsion torque via the disturbance observer filter being of normal filter. The suitable Proportional controller and coefficient parameter can be designed using CDM and the torsional vibration also be suppressed, but it has a low degree of adaptability to disturbance. The PID controller can be designed easily, but makes the excessive overshoot and oscillation for system response in the early period. To resolve these problems, simple and practical PID controller with two degree of freedom is proposed recently that it ran improve performance of obeying the reference unconcerned in any disturbance by changing the proportional gain by two degree of freedom parameter. But it has also the defect that parameter a must be changed to obtain the ideal Proportional parameter. On this paper, we design the controller which automatically adjusts parameter u using fuzzy Algorithm to overcome such defects. Also, we compare the proposed method with established one and evaluate them to confirm performance of the designed controller.

• Journal of the Institute of Convergence Signal Processing
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• v.15 no.3
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• pp.104-111
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• 2014

In this paper, we deal with robotic automation for assembling car brake modules. A car brake module is comprises of a torque member, two brake pads, and two pad liners. In the assembly process, brake pads and pad liners are needed to be inserted in a torque member. If we use a typical robotic hand for the assembly, task time takes too long. So, we propose two methods. The first method is to use an end effector that has five grippers capable of gripping five assembly parts. In the first method we attached the implemented end effector to a conventional 6 degrees of freedom industrial manipulator and performed the bake module assembly task. Experimental results show that the task time is remarkably reduced. The brake module assembly task needs the robot to change its orientation frequently, so, in the second method, we added one degree of freedom to the end effector that is used in the first method. By attaching it to a conventional 6 degrees of freedom industrial manipulator, we composed a 7 degrees of freedom redundant manipulator. A redundant manipulator has the advantage of flexible manipulation so the robot can change its orientation easily and can perform assembly task very fast. Experimental results show that the second method dramatically reduce whole task time for brake module assembly.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.43 no.1
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• pp.49-61
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• 2007

Otter boards in the trawl are the one of essential equipments for the net mouth to be spread to the horizontal direction. Its performance should be considered in the light of the spreading force to the drag and the stability of towing in the water. Up to the present, studies of the otter boards have focused mainly on the drag and lift force, but not on the stability of otter boards movement in 3 dimensional space. In this study, the otter board is regarded as a rigid body, which has six degrees of freedom motion in three dimensional coordinate system. The forces acting on the otter boards are the underwater weight, the resistance of drag and spread forces and the tension on the warps and otter pendants. The equations of forces were derived and substituted into the governing equations of 6 degrees of freedom motion, then the second order of differential equations to the otter boards were established. For the stable numerical integration of this system, Backward Euler one of implicit methods was used. From the results of the numerical calculation, graphic simulation was carried out. The simulations were conducted for 3 types of otter boards having same area with different aspect ratio(${\lambda}=0.5,\;1.0,\;1.5$). The tested gear was mid-water trawl and the towing speed was 4k't. The length of warp was 350m and all conditions were same to each otter board. The results of this study are like this; First, the otter boards of ${\lambda}=1.0$ showed the longest spread distance, and the ${\lambda}=0.5$ showed the shorted spread distance. Second, the otter boards of ${\lambda}=1.0$ and 1.5 showed the upright at the towing speed of 4k't, but the one of ${\lambda}=0.5$ heeled outside. Third, the yawing angles of three otter boards were similar after 100 seconds with the small oscillation. Fourth, it was revealed that the net height and width are affected by the characteristics of otter boards such as the lift coefficient.

• Genes and Genomics
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• v.40 no.11
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• pp.1181-1197
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• 2018

Tropical plant rubber tree (Hevea brasiliensis) is the sole source of commercial natural rubber and low-temperature stress is the most important limiting factor for its cultivation. To characterize the gene expression profiles of H. brasiliensis under the cold stress and discover the key cold stress-induced genes. Three cDNA libraries, CT (control), LT2 (cold treatment at $4^{\circ}C$ for 2 h) and LT24 (cold treatment at $4^{\circ}C$ for 24 h) were constructed for RNA sequencing (RNA-Seq) and gene expression profiling. Quantitative real time PCR (qRT-PCR) was conducted to validate the RNA-Seq and gene differentially expression results. A total of 1457 and 2328 differentially expressed genes (DEGs) in LT2 and LT24 compared with CT were respectively detected. Most significantly enriched KEGG pathways included flavonoid biosynthesis, phenylpropanoid biosynthesis, plant hormone signal transduction, cutin, suberine and wax biosynthesis, Pentose and glucuronate interconversions, phenylalanine metabolism and starch and sucrose metabolism. A total of 239 transcription factors (TFs) were differentially expressed following 2 h or/and 24 h of cold treatment. Cold-response transcription factor families included ARR-B, B3, BES1, bHLH, C2H, CO-like, Dof, ERF, FAR1, G2-like, GRAS, GRF, HD-ZIP, HSF, LBD, MIKC-MADS, M-type MADS, MYB, MYB-related, NAC, RAV, SRS, TALE, TCP, Trihelix, WOX, WRKY, YABBY and ZF-HD. The genome-wide transcriptional response of rubber tree to the cold treatments were determined and a large number of DEGs were characterized including 239 transcription factors, providing important clues for further elucidation of the mechanisms of cold stress responses in rubber tree.

• Journal of Ocean Engineering and Technology
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• v.33 no.4
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• pp.350-357
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• 2019

The development of marine technology is expected to increase the demand for marine plants because of increasing oil prices. Therefore, there is also expected to be an increase in the demand for cylindrical structures such as URF (umbilical, riser, flowline) structures and spars, which are used operating in various seas. However, a cylindrical structure experiences vortex induced motion (VIM) in a current. In particular, for risers and umbilicals, it is important to identify the characteristics of the VIM because interference between structures can occur. In addition, various studies have been conducted to reduce VIM because it is the cause of fatigue damage to structures. The helical strake, which was developed for VIM reduction, has an excellent VIM reduction performance, but is difficult to install on structures and has a negative effect on heave motion. Therefore, the purpose of this study was to supplement the shortcomings of the helical strake and develop a high-performance reduction device. In the reduction device developed in this study, a string is placed around the structure inside the flow, causing vibration. The vibration of this string causes a small turbulence in the flow field, reducing the VIM effect on the structure. Finally, in this study, the 2-DOF motion characteristics of models without a suppression device, models with a helical strake, and models with a string were investigated, and their reduction performances were compared through model tests.

• Journal of agriculture & life science
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• v.53 no.4
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• pp.113-124
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• 2019

In this study, the operational characteristics of a cam-type vegetable transplanter which usually used in domestic was analyzed and operating mechanism of a transplanting device was analyzed. The main components and power path of the transplanter were analyzed. The maximum and minimum control cycles according to the moving speed and the plant spacing were analyzed. 3D modeling and simulation were performed to derive the trajectory of the bottom end of the transplanting hopper and the plant spacing at the each operating condition. The simulation results were verified by the field tests. As main findings of this study, the transplanting device has one degree of freedom (DOF) which consist of 13 links, 17 rotating joints and 1 half joint, and each part has composite structure with cam and links. By continuous and repetitive motion of the structures of transplanting device, the transplanting hopper plants the seedling in the ground with a vertical direction, and the seedling was planted stably. The power is transmitted to the driving part and transplanting device from the engine, and the maximum and minimum plant spacing of the transplanting device were about 900 mm and 350 mm, respectively.

• Journal of the korean academy of Pediatric Dentistry
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• v.49 no.1
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• pp.14-24
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• 2022

The aim of the present study is to evaluate the validity of orthodontic measurements including tooth width, Bolton ratio, overjet and overbite on the digital dental models. Dental models of the subjects aged 12 to 18 were obtained in 3 different forms, which were conventional stone model, digital model created with Freedom HD model scanner, and digital model produced with CS3600 intraoral scanner. After measurements were made on the models, reliability and reproducibility of the measurements were evaluated by using intraclass correlation coefficient, while validity was assessed with paired t-test. As a result, significant reliability and reproducibility were verified, with intraclass correlation coefficient exceeding 0.750 in all groups. Measurements of the model scanned group showed an adequate validity in overall and anterior Bolton ratio, overjet, and overbite. Intraoral scanned models showed an adequate validity in anterior Bolton ratio, and overjet. Measurement on intraoral scanned digital models can be considered as an alternative for young children who have difficulty in taking impression. Furthermore, careful considerations on measurement error should be made in clinical situations.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.638-643
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• 2004

소형화된 기계가공시스템은 사용재료의 다양화와 에너지 및 공간의 감소와 같은 장점을 가지고 작고 정밀한 부품을 가공할 수 있는 시스템으로 주목받고 있다. 이러한 시스템이 비록 그 크기가 일반적인 가공시스템에 비해 작지만 정렬 및 조립공정, 기계요소의 불완정성에 의한 기하학적 오차는 여전히 존재한다. 기하학적 오차 평가는 기계시스템의 정밀도를 효과적으로 적은 비용으로 향상시킬 수 있는 오차보정기술을 적용할 수 있는 토대가 된다. 일반적으로, 3 축의 직선축으로 이루어진 공작기계는 21 개의 오차요소를 가진다. 레이져간섭계는 이러한 오차요소를 평가하는데 널리 사용되고 있지만 광학계를 정렬하고 설치하는 데 많은 어려움이 있으며 한번의 설치로 한 개의 오차요소만이 측정 가능하다. 또한, 소형공작기계의 경우, 그 크기로 인해 기존의 레이져 간섭계를 직접적으로 적용할 수 없다. 따라서, 본 연구에서는 소형공작기계를 포함한 소형가공시스템의 기하학적 오차 평가를 위한 새로운 다자유도 측정시스템을 제안하였다. 5 개의 정전용량변위센서를 사용하는 이 시스템을 통해 한 축의 움직임에 따른 5 개의 오차요소를 동시에 측정 가능하다. 균질 변환행렬을 이용한 측정알고리듬을 구성하고 이를 모의시험을 통해 평가하였다. 수학적 모델링을 통해 각 센서의 출력값을 유도하고 이를 이용하여 각 오차요소를 계산하기 위한 식을 유도하였다. 여기서, 단순화된 식을 적용한 경우, 임의의 오차에 대한 측정 알고리듬의 정확도를 평가하였다. 또한, 측정 시스템의 설치시 발생하는 셋업오차에 대한 측정 알고리듬의 민감도 분석을 행하였다. 제안하는 측정 시스템은 구조가 간단하고 고가의 부가장비가 필요치 않다. 또한, 적은 비용으로 구성할 수 있으며 높은 측정 정밀도를 가지고 소형가공시스템에 필요한 오차 평가를 행할 수 있다.가 함유된 계란을 생산하고 섭취하였을 때 특정항체들의 결합을 통해 병원성 미생물의 성장이나 군체를 형성하는 것을 무력화시켜 결과적으로 병원균을 감소시키거나 억제시킨다는 점이다. 오늘날 약물에 내성을 지닌 박테리아의 출현으로 질병감염을 막는데 항생제의 사용효과가 점차 감소하고 있기 때문에 이러한 항생제를 대체할 수 있는 방안으로 계란항체를 이용할 수 있다.한 중공 플랜지 형상의 단조 방법 중 보다 적절한 단조방법인 압조 단조에 있어서 일반적으로 사용되고 있는 SM10C에 대한 유한요소 해석을 수행하였으며, 제품의 형상비에 따라 폴딩 결함의 발생 유무를 검토하고, 폴딩 결함 없이 단조하기 위한 중공 플랜지의 형상한계 비를 제시하였다.도 경미하게 나타났으나, 경련이 나타난 쥐에서는 KA만을 투여한 흰쥐와 구별되지 않았다. 이상의 APT의 항산화 효과는 KA로 인한 뇌세포 변성 개선에 중요한 인자로 작용할 것으로 사료되나, 보다 명확한 APT의 기전을 검색하고 직접 임상에 응응하기 위하여는 보다 다양한 실험 조건이 보완되어야 찰 것으로 생각된다. 항우울약들의 항혈소판작용은 PKC-기질인 41-43 kD와 20 kD의 인산화를 억제함에 기인되는 것으로 사료된다.다. 것으로 사료된다.다.바와 같이 MCl에서 작은 Dv 값을 갖는데, 이것은 CdCl$_{4}$$^{2-}$ 착이온을 형성하거나 ZnCl$_{4}$$^{2-}$ , ZnCl$_{3}$$^{-}$같은 이온과 MgCl$^{+}$, MgCl$_{2}$같은 이온종을 형성하기 때문인것 같다. 한편 어떠한 용리액에서던지 NH$_{4}$$^{+}$의 경