• The Transactions of the Korean Institute of Electrical Engineers P
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• v.56 no.4
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• pp.161-167
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• 2007

This paper introduces a dynamic walking control of biped walking robot using intelligent sensor interface and shows an intelligent control method for biped walking robot. For the dynamic walking control of biped walking robot, serious motion controllers are used. They are main controller(using INTEL80C296SA MPU), sub controller(using TMS320LF2406 DSP), sensor controller(using Atmega128 MPU) etc. The used sensors are gyro sensor, tilt sensor, infrared sensor, FSR sensor etc. For the feasibility of a dynamic walking control of biped walking robot, we use the biped walking robot which has twenty-five degrees of freedom(D.O.F.) in total. Our biped robot is composed of two legs of six D.O.F. each, two arms of five D.O.F. each, a waist of two D.O.F., a head of one D.O.F.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.9
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• pp.1341-1349
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• 2001

In this paper, 3 D.O.F. actuator, which has three degrees of freedom in one joint, is proposed. The proposed 3 D.O.F. spherical actuator is composed of the rotor and atator. The upper plate of the stator supports the rotor and five electromagnets are located at the base of the stator. The rotor has two permanent magnets, and each rotational axis of the rotor gimbal system is supported by the bearing. To find out the governing equations for the torque generation, Coulombs law and Lorentz force with respect to magnetism is applied. As the experimental results, if the distance between electromagnet and permanent maget is far enough, the force between these magnets can be expressed from current of coils and z-axial distance. For the purpose of control 3 D.O.F. actuator, PID control law is applied. The experimental results are presented to show the validity of the proposed 3 D.O.F. actuator.

• Horticultural Science & Technology
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• v.34 no.4
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• pp.564-577
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• 2016

Salinity stress limits plant cultivation in many areas worldwide; however, persimmon (Diospyros spp.) has high tolerance to salt. Five accessions of Diospyros [three of Diospyros lotus (accession numbers 824, 846, and 847); one of Diospyros kaki var. sylvestris (869); and one of Diospyros virginiana (844)] were chosen for analysis of salinity stress. We compared the effects of salt stress on plant growth, relative water content (RWC), malondialdehyde (MDA), electrolyte leakage (EL), hydrogen peroxide content ($H_2O_2$), and antioxidative enzyme activities (superoxide dismutase, SOD; catalase, CAT; peroxidase, POD; and ascorbate peroxidase, APX) in leaves of healthy potted seedlings from each of the five accessions after salt treatment for 25 days. Salt stress affected the growth of plants in all five accessions, with all three D. lotus accessions showing the most severe effect. Salt stress increased membrane lipid peroxidation in all accessions, but a stronger increase was observed in the three D. lotus accessions. Moreover, accumulation of $H_2O_2$ was faster in salt-sensitive D. lotus compared to salt-tolerant D. virginiana 844. The activities of all antioxidant enzymes increased in D. virginiana 844 and in D. kaki var. sylvestris 869; the activities of SOD, CAT, and APX were at similar levels in D. virginiana 844 and D. kaki var. sylvestris 869, but POD activity was stimulated to a greater extent in D. virginiana 844. The activities of all antioxidant enzymes (except POD) decreased in D. lotus 824 and increased (except for SOD) in D.lotus 846. The activities of SOD and APX decreased in D. lotus 847, whereas POD and CAT activities both increased. Relative water content decreased significantly in D. lotus. No significant changes in lipid peroxidation or relevant antioxidant parameters were detected in any of the accessions in controls treated with 0.0% NaCl. D. virginiana 844 had higher antioxidant capacity in response to salinity compared to other persimmon rootstocks. These results indicate that changes of these key physiological variables are related to salinity resistance in different accessions of persimmon.

• Journal of the Korean Society of Industry Convergence
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• v.25 no.1
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• pp.87-99
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• 2022

We propoes a study on the dynamic characteristics analysis and position control of 5-degree multi-joint manipulators for untact remote working at construction sites and manufacturing plants. The main frame of freedom multi-joint manipulator consists of five elements, boom cylinder, boom cylinder, arm cylinder, bucket cylinder, and rotation joint and link. In addition, the main purpose of the proposed system is to realize the work of the manufacturing process or construction site by remote control. Motion control of the entire system is a servo valve control method by hydraulic servo cylinders for one to four joints, and a servo motor control method is applied for five joints. The reliability of the proposed method was verified through performance experiments by computer simulation.

• Korean Journal of Medicinal Crop Science
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• v.13 no.2
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• pp.80-84
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• 2005

Five known anthraquinones, physcion (1), I-O-methylemodin (2), emodin (3), $physcion-8-O-{\beta},-D-glucopyranoside$ (5), $emodin-8-O-{\beta},-D-glucopyranoside$ (6) and two known stilbenes, trans-resveratrol (4), $trans-resveratrol-3-O-{\beta},-D-glucopyranoside$ (7) were isolated from MeOH extract of Reynoutria sachalinensis (Polygonaceae). All structures were unambiguously established by 1D and 2D NMR and MS data and the compounds were evaluated for their cytotoxicity against L1210, HL-60, BI6F10 tumor cell lines in MTT assay. Among the compounds, trans-resveratrol (4) exhibited significant cytotoxic activity with $IC_{50}$ values of 9.2, 6.7 and $9.8\;{\mu}g/ml$, against the test cell lines respectively, but compounds 1-3 exhibited the moderate cytotoxic activity.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.82.2-82
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• 2001

In this paper, when we design and implement an internet-based teleoperation control, some important points that should be considered (e.g., transmission characteristics, time delay prediction and transmission protocol are inspected and simulated. First, we will investigate data transmission characteristics at the Internet, and build a model for the transmission delay and packet loss through the characteristics of that effect. And then, we inspect how to predict transmission delay, and examine transmission protocols which are proper for the control-oriented Internet protocol. Finally, we apply it to a force-reflective teleoperation control system that consists of a six d.o.f haptic interface and a five d.o.f manipulator via the Internet.

• Bulletin of the Korean Chemical Society
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• v.21 no.1
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• pp.9-22
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• 2000

Optical-optical double resonance experiments have been used to identify and characterize five ion-pair states and several of the bound and repulsive valence states of ClF. This report provides a description of these experiments for $^{35}CIF$ and $^{37}CIF$, and a summary of the current knowledge of the valence and ion-pair states. The important role of perturbations among the rovibronic levels of the bound valence states and their utilization in the double resonance technique is discussed. The ion-pair states of the same symmetry, ${\Omega}$=$0^+$ (E and f) and 1( $\beta$ and G) interact very strongly and the spectroscopy of these states is anomalous and, hence, interesting. Comparison is made to some recent ab initio calculations for ClF. One possible explanation of the irregular vibrational energy levels and rotational constants of the ion-pair states of $O^+$ and 1 symmetry is a crossing of the diabatic potentials of these states. Some currently unresolved questions about ClF spectroscopy are posed for future work. Where appropriate, analogy is made between the electronic states of ClF and the corresponding valence and ion-pair states of $Cl_2.$.

• Journal of the Korean Chemical Society
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• v.38 no.5
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• pp.359-365
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• 1994

The crystal stucture of hexapotassium undecahydrogen tetratungsto hexaantimonate(V) tetrahydrate has been determined from single crystal X-ray diffraction data. Crystal data are as follows: $K_6H_{12}[Sb_6W_4O_{36}]{\cdot}4H_2O$, Fw = 2360.62, tetragonal, I$4_1$/a, a = 10.799(1) ${\AA}$, c = 35.244(5) ${\AA}$, V = 4110.1(7) ${\AA}^3$, Z = 4, $D_x$ = 3.82 g$cm^{-3}$, $\mu(MoK\alpha)$ = 160.15 $cm^{-1}$, T = 293 K, final R = 0.0356 for 2400($F_0 > 3\sigma(F_0))$ independent reflections. The $[H_{12}Sb_6W_4O_{36}]^{-6}$ polyanion independently consists of one tungsten, two antimony, and nine oxygen atoms and belongs to the $\bar4(S_4)$ point group. This polyanion is formed by two open octahedra five membered ring of Sb(3)$O_6-W(1)O_6-Sb(2)O_6-W(1)O_6-Sb(3)O_6$ which is connected at right angle. The Sb-W, Sb-O, and W-O bond distances range from 3.2304(9) to 3.2403(5) $\AA$, 1.745(8) to 2.334(6) $\AA$, and 1.914(7) to 2.039(7) $\AA$, respectively.

• Journal of Mechanical Science and Technology
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• v.20 no.8
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• pp.1159-1168
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• 2006

In this paper, a new revolute mobile robot arm with five degree of freedom (d.o.f) was developed for autonomous moving robots. As a control system for the robot arm, a distributed control system composed of the main controller and five motor controllers for arm joints was developed. The main controller and the motor controllers w ε re developed using the ARM microprocessor and the TMS320c2407 microprocessor, respectively. A new trajectory tracking algorithm for the motor controllers was devised employing pre-generated off-line trajectory data. Also, a 3-D simulator based on the openGL software to simulate the motion of the robot arm was developed. To validate the performance of the robot system, experiments to track a specified trajectory were performed.

• Asian-Australasian Journal of Animal Sciences
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• v.16 no.6
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• pp.873-879
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• 2003

The study was conducted to improve the nutritive value of defatted rice polishing (DRP). DRP was treated with various concentrations of HCl, NaOH, $H_2O_2$ and Kemzyme-H $F^{(R)} and the effect on its chemical composition and nutritive value in broiler chicks was observed. The treatments levels of 0.4 N HCl, 0.2 N NaOH and 6% $H_2O_2$ were selected from many concentrations of HCl, NaOH and $H_2O_2$ tried earlier on DRP. The selection was made on the basis of release of nutrients from DRP. The Kemzyme-H $F^{(R)} was used at rate of 0.1% of DRP. The selected concentrations of HCl, NaOH, and $H_2O_2$ were then used for treatment of DRP that was used in biological experiments. Two hundred and forty, day-old Hubbard male broiler chicks (38-40 g) were randomly divided into 48 experimental units with five chicks each. Each chemically treated DRP was incorporated into broiler diets at 10, 20 or 30% levels replacing yellow corn from the control feed and thus sixteen experimental feeds were prepared. These feeds were randomly assigned to 48 experimental units such that there were three replicates of chicks on each diet. The results of the study suggest that DRP can be effectively used in broiler diets at 20% level. The best weight gain and feed conversion ratio were observed with diet containing 20% level of DRP treated with 6% $H_2O_2$. The diets containing 30% levels of treated DRP were uneconomical, as excess use of oil was required to compensate the energy needs of the birds.