• Proceedings of the Korean Society for Agricultural Machinery Conference
• /
• v.10 no.2
• /
• pp.264-267
• /
• 2005

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.339-342
• /
• 1996

In this paper, the method for controlling PUMA robot using F/T sensor is described. In the part of the setup automation, robot is used. The F/T sensor is located at robot end-effector and various experiments are executed such as peg in hole, gripping objects, tool changing, etc.

• 제어로봇시스템학회:학술대회논문집
• /
• 2002.10a
• /
• pp.104.1-104
• /
• 2002

$\textbullet$ Proper definition of manipulability ellipsoid $\textbullet$ Volume and directional measures of manipulability $\textbullet$ Kinematic modeling as a serial connection $\textbullet$ Configuration dependent singularity $\textbullet$ Effect of nonholonomy on manipulability $\textbullet$ Effect of end-effector positioning on manipulability $\textbullet$ Effect of serial cooperation on manipulability

• 제어로봇시스템학회:학술대회논문집
• /
• 1986.10a
• /
• pp.317-320
• /
• 1986

A co-operative position control is proposed for two robot manipulators with 5 degree of freedoms to transfer an object following a specified trajectory, where each manipulator is assumed to change the posture of its end effector without releasing the object.

• Journal of the Korean Institute of Telematics and Electronics
• /
• v.24 no.4
• /
• pp.577-582
• /
• 1987

A co-operative position control is proposed for two robots manipulation with five degrees of freedom to transfer an object following a specified trajectory, where each manifulator is assumed to change the postrue of its end effector without releasing the object.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1995.04a
• /
• pp.631-636
• /
• 1995

A robotic wrist with three rolling motion is considered. It has the gear trains with three independent input parameters and mechanical interference in their motion. This paper presents dervation of basic kinematic equations that relate the input parameters and the orientation of the end-effector, determination of singularities in its motion, and the computational procedure of the inverse kinematics.

• Molecules and Cells
• /
• v.28 no.3
• /
• pp.183-188
• /
• 2009

TSAd/Lad is a T cell adaptor molecule involved in $p56^{lck}$-mediated T cell activation. To investigate the functions of TSAd in T cells, we generated transgenic (TG) mice expressing the SH2 domain of TSAd (TSAd-SH2) under the control of the $p56^{lck}$ proximal promoter. In T cells from TSAd-SH2 TG mice, T cell receptor (TCR)-mediated early signaling events, such as $Ca^{2+}$ flux and ERK activation, were normal; however, late activation events, such as IL-2 production and proliferation, were significantly reduced. Moreover, TCR-induced cell adhesion to extracellular matrix (ECM) proteins and migration through ECM proteins were defective in T cells from TSAd-SH2 TG mice. Furthermore, the contact hypersensitivity (CHS) reaction, an inflammatory response mainly mediated by T helper 1 (Th1) cells, was inhibited in TSAd-SH2 TG mice. Taken together, these results show that TSAd, particularly the SH2 domain of TSAd, is essential for the effector functions of T cells.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
• /
• 2004.05a
• /
• pp.204-209
• /
• 2004

This paper describes dynamic manipulability analysis of robotic arms moving in viscous fluid. The Manipulability is a functionality of manipulator system in a given configuration and under the limits of joint ability with respect to the tasks required to bt performed. To investigate the manipulability of underwater robotic arms, a modeling and analysis method are presented. The dynamic equation of motion of underwater manipulator is derived from the Lagrange - Euler equation considering with the hydraulic forces caused by added mass, buoyancy and hydraulic drag. The hydraulic drag term in the equation: is established as analytical form using Denavit - Hartenberg (D-H) link coordination of manipulator. Two analytical approaches based on Manipulability Ellipsoid are presented to visualize the manipulability of robotic arm moving in viscous fluid. The one is scaled ellipsoid which transforms the boundary of joint torque to acceleration boundary of end-effector by normalizing the torque in joint space while the other is shifted ellipsoid which depicts total acceleration boundary of end-effector by shifting the ellipsoid in work space. An analysis example of 2-link manipulator with proposed analysis scheme is presented to validate the method.

• IMMUNE NETWORK
• /
• v.9 no.4
• /
• pp.122-126
• /
• 2009

Transforming growth factor-$\beta$ (TGF-$\beta$) is a highly pleiotropic cytokine playing pivotal roles in immune regulation. TGF-$\beta$ facilitates tumor cell survival and metastasis by targeting multiple cellular components. Focusing on its immunosuppressive functions, TGF-$\beta$ antagonists have been employed for cancer treatment to enhance tumor immunity. TGF-$\beta$ antagonists exert anti-tumor effects through #1 activating effector cells such as NK cells and cytotoxic $CD8^+$ Tcells (CTLs), #2 inhibiting regulatory/suppressor cell populations, #3 making tumor cells visible to immune cells, #4 inhibiting the production of tumor growth factors. This review focuses on the effect of TGF-$\beta$ on T cells, which are differentiated into effector T cells or newly identified tumor-supporting T cells.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.1593-1597
• /
• 2003

The home service robot supports human beings by performing various kinds of works at home. This paper presents a simple control method for opening a door from the viewpoint of the mobile manipulation. The simulation shows various results of path planning and motion planning for opening a door. The joint trajectories were generated by the simulation system. In general, a six-axis force/torque sensor at an end-effector is needed in order to maintain the static equilibrium of the manipulator. But we show another method. From three components of applied forces which was directly obtained by the three-axis force sensor and three components of applied forces which was indirectly estimated by the joint-torque sensors, all of joint torques that will exactly balance forces at the end-effector in the static situation can be found. It is more practical method than using a six-axis force sensor in a wrist. Experimental results have shown that the opening a door can be realized more effectively from the suggested control method of mobile manipulation.