• 산업공학
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• 제11권2호
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• pp.79-92
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• 1998

For the PCB inspection by computer vision, in some cases, the MRLC file should prepared. The MRLC file contains a RLC(Run Length Code) and a direction flag. In this paper, a generating method of MRLC is described. It is composed of two procedure as followings; (i) rasterizing Gerber file which is a vectorized image of PCB panel, and (ii) calculating a MRLC that is useful for the inspection as a template image. The suggested procedures are written in C-language and executable on Windows 95 and Windows NT.

• The Korean Journal of Physiology and Pharmacology
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• 제15권3호
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• pp.171-177
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• 2011

Tonic smooth muscle exhibit the latch phenomenon: high force at low myosin regulatory light chains (MRLC) phosphorylation, shortening velocity (Vo), and energy consumption. However, the kinetics of MRLC phosphorylation and cellular activation in phasic smooth muscle are unknown. The present study was to determine whether $Ca^{2+}$-stimulated MRLC phosphorylation could suffice to explain the agonist- or high $K^+$-induced contraction in a fast, phasic smooth muscle. We measured myoplasmic [$Ca^{2+}$], MRLC phosphorylation, half-time after step-shortening (a measure of Vo) and contractile stress in rabbit urinary bladder strips. High $K^+$-induced contractions were phasic at both $22^{\circ}C$ and $37^{\circ}C$: myoplasmic [$Ca^{2+}$], MRLC phosphorylation, 1/half-time, and contractile stress increased transiently and then all decreased to intermediate values. Carbachol (CCh)-induced contractions exhibited latch at $37^{\circ}C$: stress was maintained at high levels despite decreasing myoplasmic [$Ca^{2+}$], MRLC phosphorylation, and 1/half-time. At $22^{\circ}C$ CCh induced sustained elevations in all parameters. 1/half-time depended on both myoplasmic [$Ca^{2+}$] and MRLC phosphorylation. The steady-state dependence of stress on MRLC phosphorylation was very steep at $37^{\circ}C$ in the CCh- or $K^+$-depolarized tissue and reduced temperature flattend the dependence of stress on MRLC phosphorylation compared to $37^{\circ}C$. These data suggest that phasic smooth muscle also exhibits latch behavior and latch is less prominent at lower temperature.

• 제어로봇시스템학회논문지
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• 제12권10호
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• pp.1029-1034
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• 2006

In this paper, the tracking control of an automatic pipe cutting robot, called APCROM, with a magnetic binder is studied. Using magnetic force APCROM, a wheeled robot, binds itself to the pipe and executes unmanned cutting process. The gravity effect on the movement of APCROM varies as it rotates around the pipe laid in the gravitational field. In addition to the varying gravity effect other types of nonlinear disturbances including backlash in the driving system and the slip between the wheels of APCROM and the pipe also cause degradation in the cutting process. To maintain a constant velocity and consistent cutting performance, the authors adopt a repetitive learning controller (MRLC), which learns the required effort to cancel the tracking errors. An angular-position estimation method based on the MEMS-type accelerometer is also used in conjunction with MRLC to compensate the tracking error caused by slip at the wheels. Experimental results verify the effectiveness of the proposed control scheme.

• 생명과학회지
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• 제21권5호
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• pp.621-626
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• 2011

AMPK는 catalytic ${\alpha}$ subunit과 regulatory ${\beta}$ 및 ${\gamma}$ subunit으로 구성된 인산화 효소로, 그 동안 생체 내 중요 대사 조절자로써 연구되어 왔으나, 최근 유전학 연구를 통해 지금까지 밝혀지지 아니한 새로운 생체기능을 가짐이 밝혀졌다. 본 연구에서 초파리 유전학 기법을 활용하여 AMPK ${\gamma}$ subunit 유전자가 결손된 모델 초파리를 제작 하여 연구한 결과, AMPK ${\gamma}$ 유전자 결손 시 초파리 embryo의 표피형성이 심각하게 저해됨을 발견하였고, 조직학적 실험을 통해 표피세포의 극성이 AMPK ${\gamma}$ 유전자 결손 초파리에서 손상되어 있음을 확인하였다. 또한 세포극성을 조절하는 중요 분자인 MRLC의 인산화 또한 AMPK ${\gamma}$ 유전자 결손 시 저해되었으며, AMPK ${\gamma}$ 유전자 재도입 시 MRLC인산화와 표피세포의 극성이 모두 회복됨이 확인되어, 초파리 표피세포의 극성유지에 AMPK ${\gamma}$ 유전자가 필수적 임을 확인하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.541-546
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• 2005

Tracking control of an automatic pipe cutting robot (APCROMB) is studied. Using magnetic force APCROMB, which is designed and developed in Kyung Hee University, binds itself to the pipe and executes unmanned cutting process. The gravity effect on the movement of APCROMB varies as it rotates around the cylindrical pipe laid in the gravitational field. To maintain a constant velocity and consistent cutting performance against the varying gravitational effect, the authors adopt a multi-rate repetitive learning controller (MRLC), which learns the required effort to cancel the repetitive tracking errors caused by nonlinear effect. In addition to the varying gravity effect other types of nonlinear disturbances including backlash in the driving system and the slip between the wheels of APCROMB and the pipe also cause degradation in the cutting process. In order to identify those nonlinear disturbances the position estimation based on the encoder attached at the motor is not good enough. To identify the absolute angular position of APCROMB the authors propose the angular position estimation based on the signals from a MEMS-type two-axis accelerometer mounted on APCROMB. The tracking performances of APCROMB with a MRLC using the encoder-based position estimation is experimentally measured and results are shown. Also the difference between the encoder-based angular displacement measurement and the accelerometerbased angular displacement measurement is included.