• Journal of the Korean Society for Precision Engineering
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• v.20 no.2
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• pp.184-191
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• 2003

A parallel manipulator has high stiffness and all the joint errors on the device are not accumulated at the end -effector unlike a serial manipulator. These are the reasons why the parallel manipulator has been widely used in many fields of industry. In the parallel manipulator, it is very important to predict the exact pose of the end-effector when we want to control the end-effector motion. Installation errors have to be determined in order to predict and control the actual position and pose of the end-effector. This paper presents an algorithm to find the whole 36 joint error components with joint clearance errors and measurement errors considered, when a link length measurement sensor is used and data more than 36 times are acquired for 36 different configurations. A simulation test using this algorithm is performed with a Matlab program which uses the Levenberg-Marquardt method that is known to be efficient for non-linear optimization.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.13 no.6
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• pp.104-110
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• 2014

This paper presents a non-contact inspection system for automatically measuring the thickness of an aircraft wing rip product. In order to conduct the inspection of the wing rib thickness automatically, a non-contact laser displacement sensor, end-effector, and a robot were selected for use. The non-contact type inspection system was evaluated by measuring the measurement deviation of the rotation direction of a C-type yoke end-effector and the transfer direction of a V-slim end-effector. In addition, the non-contact inspection system for wing rib thickness measurements was validated through thickness measurements of a web, flange, and stiffener.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.19 no.4
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• pp.449-454
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• 2010

The force control of a constrained flexible manipulators has been one of the major research topics. However, a little effort has been devoted for the relation between friction force and elastic deflection of end-effector for a constrained flexible manipulator. So, the aim of this paper is to clarify the friction mechanism of a constrained spatial multi-link flexible manipulator by changing the material and connected method of end-effector. In this study, a concise hybrid position/force control scheme is applied to the control of a flexible manipulator, and the experimental results for the constrained vertical motion and constrained horizontal motion is presented. Finally a comparison between these results are presented to show the reduction of vibration of link and friction force.

• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.311-317
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• 2019

Direct teaching is an essential function for collaborative robots for easy use by non-experts. For most robots, direct teaching is implemented only in joint space because the realization of Cartesian space direct teaching, in which the orientation of the end-effector is fixed while teaching, requires a measurement of the end-effector force. Thus, it is limited to the robots that are equipped with an expensive force/torque sensor. This study presents a Cartesian space direct teaching method for torque-controlled collaborative robots without either a force/torque sensor or joint torque sensors. The force exerted to the end-effector is obtained from the external torque which is estimated by the disturbance observer-based approach with the friction model. The friction model and the estimated end-effector force were experimentally verified using the robot equipped with joint torque sensors in order to compare the proposed sensorless approach with the method using torque sensors.

• Proceedings of the Korean Society Of Semiconductor Equipment Technology
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• 2003.05a
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• pp.80-87
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• 2003

On this study, an End-Effector for the 300mm wafer transfer robot System is newly suggested. It is a mechanical type with $180^{\circ}$ rotating ranges and is composed of 3-point arms, two plate springs and single-axis DC motor. It is controlled by microchip for the DC motor control. To design, relationships on the gripping force and the wafer deformation is analyzed by FEM analysis. Criterion on gripping force of a suggested End-Effector is confirmed as $255 ~ 274g_f$ from experimental results. From experimented results on repeatable position accuracy, gripping force and gripping cycle times in a wafer cleaning system, we confirmed that the suggested End-Effector is well satisfied on the required performance for 300mm wafer transfer robot system.

• Parasites, Hosts and Diseases
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• v.38 no.4
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• pp.209-236
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• 2000

The last two decades witnessed significant advances in the efforts of immune-parasitologists to elucidate the nature and role of the host mucosal defence mechanisms against intestinal nematode parasites. Aided by recent advances in basic immunology and biotechnology with the concomitant development of well defined laboratory models of infection, immunoparasitologists have more precisely analyzed and defined the different immune effector mechanisms during the infection; resulting in great improvement in our current knowledge and understanding of protective immunity against gastrointestinal (GI) nematode parasites. Much of this current understanding comes from experimental studies in laboratory rodents, which have been used as models of livestock and human GI nematode infections. These rodent studies, which have concentrated on Heligmosomoides polygyrus, Nippostrongylus brasiliensis, Strongyloides ratti/5. venezuelensis. Trichinella spiralis and trichuris muris infections in mice and rats, have helped in defining the types of T cell responses that regulate effector mechanisms and the effector mechanisms responsible for worm expulsion. In addition, these studies bear indications that traditionally accepted mechanisms of resistance such as eosinophilia and IgE responses may not play as important roles in protection as were previously conceived. In this review, we shall, from these rodent studies, attempt an overview of the mucosal and other effector responses against intestinal nematode parasites beginning with the indices of immune protection as a model of the protective immune responses that may occur in animals and man.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1396-1401
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• 2004

In recent years, robot has been used widely in industrial field and has been expanded as a result of continous research and development for high-speed and miniaturization. The goal of this paper is to design the special serial manipulator through the understanding of the structure, mobility, and analysis of serial manipulator. Thereafter we control the position and orientation of end-effector with respect to time. In general, a structure of industrial robot consists of several links connected in series by various types of joints. Typically revolute and prismatic joints. The movement of these joints is determined in inverse kinematic analysis. Compared to the complicated structure of parallel and hybrid robot, open loop system retains the characteristic that each link is independent and is controlled easily by AC servomotor that is used to place the robot end-effector toward the accurate point with the desired speed and power while it is operated by position control algorithm. The robot end-effector should trace the given trajectory within the appropriate time. The trajectory of 3D end-effector model made by OpenGL can be displayed on the monitor program simultaneously

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2000-2003
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• 2003

In recent years, robots have been used widely in industrial field and have been expanded as a result of continuous research and development for high-speed and miniaturization. The goal of this paper is to design the serial manipulator through kinematic analysis and to control the position and orientation of end-effector with respect to time. In general, a structure of industrial robot consists of several links connected in series by various types of joints, typically revolute and prismatic joints. The movement of these joints is determined in inverse kinematic analysis. Compared to the complicated structure of parallel and hybrid robot, open loop system retains the characteristic that each link is independent and is controlled easily. AC servo motor is used to place the robot end-effector toward the accurate point with the desired speed and power while it is operated by position control algorithm. The robot end-effector should trace the given trajectory within the appropriate time. The trajectory of end-effector can be displayed on the monitor of general personal computer through Opengl program.

• Journal of Microbiology and Biotechnology
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• v.27 no.3
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• pp.610-615
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• 2017

When Shigella infect host cells, various effecter molecules are delivered into the cytoplasm of the host cell through the type III secretion system (TTSS) to facilitate their invasion process and control the host immune responses. Among these effectors, the S. flexneri effector OspF dephosphorylates mitogen-activated protein kinases and translocates itself to the nucleus, thus preventing histone H3 modification to regulate expression of proinflammatory cytokines. Despite the critical role of OspF, the mechanism by which it localizes in the nucleus has remained to be elucidated. In the present study, we identified a potential small ubiquitin-related modifier (SUMO) modification site within OspF and we demonstrated that Shigella TTSS effector OspF is conjugated with SUMO in the host cell and this modification mediates the nuclear translocation of OspF. Our results show a bacterial virulence factor can exploit host post-translational machinery to execute its intracellular trafficking.

• The Plant Pathology Journal
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• v.26 no.3
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• pp.209-215
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• 2010

Plant pathogenic oomycetes, such as Phytophthora spp., are the causal agent of the most devastating plant diseases. During infection, these pathogens accomplish parasitic colonization of plants by modulating host defenses through an array of disease effector proteins. These effectors are classified in two classes based on their target sites in the host plant. Apoplastic effectors are secreted into the plant extracellular space, and cytoplasmic effectors are translocated inside the plant cell, through the haustoria that enter inside living host cell. Recent characterization of some oomycete Avr genes showed that they encode effector protein with general modular structure including N-terminal conserved RXLR-DEER motif. More detailed evidences suggest that these AVR effectors are secreted by the pathogenic oomycetes and then translocated into the host plant cell during infection. Recent findings indicated that one of the P. infestans effector, Avrblb2, specifically induces hypersensitive response (HR) in the presence of Solanum bulbocastanum late blight resistance genes Rpi-blb2. On the other hand, another secreted RXLR protein PexRD8 originated from P. infestans suppressed the HCD triggered by the elicitin INF1. In this review, we described recent progress in characterized RXLR effectors in Phytophthora spp. and their dual functions as modulators of host plant immunity.