• The Journal of Korea Robotics Society
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• v.5 no.1
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• pp.48-54
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• 2010

Ankle-foot orthosis with a pneumatic rubber actuator, which is intended for the assistance and the enhancement of ankle muscular activities was developed. In this study, the effectiveness of the system was investigated during plantarflexion motion of ankle joint. To find a effectiveness of the system, the subjects performed maximal voluntary isokinetic plantarflexion contraction on a Biodex-dynamometer. Plantarfexion torque of the ankle joint is assisted by subject's soleus muscle that is generated when ankle joint do plantarflexion motion. We used the muscular stiffness signal of a soleus muscle for feedback control of ankle-foot orthosis as physiological signal. For measurement of this signal, we made the muscular stiffness force sensor. We compared a muscular stiffness force of a soleus muscle between with feedback control and without it and a maximal plantarflexion torque between not wearing a ankle-foot orthosis, without feedback control wearing it and with feedback control wearing it in each ten elderly adults. The experimental result showed that a muscular stiffness force of a soleus muscle with feedback control was reduced and plantarflexion torque of an ankle joint only wearing ankle-foot orthosis was reduced but a plantarflexion torque with feedback control was increased. The amount of a increasing with feedback control is more higher than the amount of a decreasing only wearing it. Therefore, we confirmed the effectiveness of the developed ankle-foot orthosis with feedback control.

• Biotechnology and Bioprocess Engineering:BBE
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• v.11 no.2
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• pp.146-153
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• 2006

A passive microfluidic delivery system using hydrophobic valving and pneumatic control was devised for microfluidic handling on a chip. The microfluidic metering, cutting, transport, and merging of two liquids on the chip were correctly performed. The error range of the accuracy of microfluid metering was below 4% on a 20 nL scale, which showed that microfluid was easily manipulated with the desired volume on a chip. For a study of the feasibility of biochemical reactions on the chip, a single enzymatic reaction, such as ${\beta}-galactosidase$ reaction, was performed. The detection limit of the substrate, i.e. fluorescein $di-{\beta}-galactopyranoside$ (FDG) of the ${\beta}-galactosidase$ (6.7 fM), was about 76 pM. Additionally, multiple biochemical reactions such as in vitro protein synthesis of enhanced green fluorescence protein (EGFP) were successfully demonstrated at the nanoliter scale, which suggests that our microfluidic chip can be applied not only to miniaturization of various biochemical reactions, but also to development of the microfluidic biochemical reaction system requiring a precise nano-scale control.

• Journal of Welding and Joining
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• v.28 no.1
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• pp.66-71
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• 2010

With large specific strength and outstanding corrosion resistance and erosion resistance in sea water, titanium and titanium alloy are widely used in heat exchanger production. In particular, pure titanium demonstrates outstanding molding performance and may be considered optimal for production of heat exchanger. Since titanium is very vulnerable to oxidation and embrittlement during welding, processes with less heat input are widely used, and laser welding is widely applied by considering production performance and shield etc in atmosphere. So far, 1st report and 2nd report compared and analyzed embrittlement degrees by bead colors of weldment through oxygen and nitrogen quantitative analysis and hardness measurement, and evaluated welding performance and mechanical properties of butt welding. This study evaluated field applicability of lap welding to heat exchange plate of LPG re-liquefaction device for ships through tensile stress test, hardness test and internal pressure test etc after deducing optimal weding condition and applying to actual heat exchange plate. In bead overlap area, the experiment produced sound welds with no porosity or defect by increasing and decreasing laser power, and tensile-shear test results indicated virtually the same tension and yield strength as base metal. As a result of measuring hardness at lateral cross section and bead overlap zone of actual heat exchanger welds, hardness difference within 20Hv was produced at base metal, HAZ and weldment, and as a result of pneumatic and hydraulic pressure test, no leakage occurred.

• Smart Structures and Systems
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• v.5 no.2
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• pp.153-171
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• 2009

In this paper, the analytical fault detection and diagnosis (FDD) is presented using model-based and signal-based methodology with wavelet analysis on signals obtained from sensors and sensor networks. In the model-based FDD, we present the modeling of contact interface found in soft materials, including the biomedical contacts. Fingerprint analysis and signal-based FDD are also presented with an experimental framework consisting of a mechanical pneumatic system typically found in manufacturing automation. This diagnosis system focuses on the signal-based approach which employs multi-resolution wavelet decomposition of various sensor signals such as pressure, flow rate, etc., to determine leak configuration. Pattern recognition technique and analytical vectorized maps are developed to diagnose an unknown leakage based on the established FDD information using the affine mapping. Experimental studies and analysis are presented to illustrate the FDD methodology. Both model-based and wavelet-based FDD applied in contact interface and manufacturing automation have implication towards better quality of life by applying theory and practice to understand how effective diagnosis can be made using intelligent FDD. As an illustration, a model-based contact surface technology an benefit the diabetes with the detection of abnormal contact patterns that may result in ulceration if not detected and treated in time, thus, improving the quality of life of the patients. Ultimately, effective diagnosis using FDD with wavelet analysis, whether it is employed in biomedical applications or manufacturing automation, can have impacts on improving our quality of life.

• Journal of IKEEE
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• v.21 no.3
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• pp.174-184
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• 2017

This paper proposes a torque predictive control for dynamic performance improvement of clamping force in electro-mechanical brake (EMB) for railroad cars. In general, pneumatic braking system (PBS) is used for railroad cars. It is sensitive depending on environmental changes and it has increasing idle running time because of slow dynamic response. Additionally, the PBS has low braking efficiency in case braking torque more than standard value is applied to the brake system such as emergency braking. In order to overcome these disadvantages of the PBS, the EMB is used for the railroad cars. The EMB for railroad cars has advantages that increasing the fuel efficiency and design flexibility because it is able to decrease vehicle weight of railroad cars and secure space for design. In this paper, control method for dynamic performance improvement of clamping force in EMB for railroad car is proposed. The effectiveness of the proposed control method is verified by the simulation results.

• Proceedings of the KIEE Conference
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• 2006.07c
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• pp.1629-1630
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• 2006

This paper describes a micro total analysis system ($\mu$ TAS) for detecting and digesting the target protein which includes a bead based temperature controllable microchip and computer based controllers for temperature and valve actuation. We firstly combined the temperature control function with a bead based microchip and realized the on-chip sequential reactions using two kinds of beads. The PEG-grafted bead, on which RNA aptamer was immobilized, was used for capturing and releasing the target protein. The target protein can be chosen by the type of RNA aptamer. In this paper, we used the RNA aptamer of HCV replicase. The trypsin coated bead was used for digesting the released protein prior to the matrix assisted laser desorption ionization time of flight mass spectrometer (MALDI TOF MS). Heat is applied for release of the captured protein binding on the bead, thermal denaturation and trypsin digestion. PDMS microchannel and PDMS micro pneumatic valves were also combined for the small volume liquid handling. The entire procedures for the detection and the digestion of the target protein were successfully carried out on a microchip without any other chemical treatment or off-chip handling using $20\;{\mu}l$ protein mixture within 20 min. We could acquire six matched peaks (7% sequence coverage) of HCV replicase.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.9
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• pp.179-190
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• 1999

To automate the polishing process, a polishing robot with two axes which is attached to a machining center with three axes has been developed by our previous research. This automatic polishing robot is able to keep the polishing tool normal to the curved surface of die and is able to maintain a constant pneumatic pressure. Therefore, in the case of a curved surface die, the surface roughness to be polished by the system with five axes is improved superior than the surface by a three-axis machining center. However, because the polishing robot was big and heavy, a polishing workspace was limited and then it was difficult to attach the robot to machining center. In this study, the smaller and lighter polishing robot than the previous has been designed to improve defects due to the magnitude and weight of the robot. And the sliding mode control ins applied to polishing robot to improve the tracking performance. To obtain switching parameters of sliding mode control, the signal compression method is used. Code separation program to separate the date for a three-axis machining center and a two-axis polishing robot from a five-axis NC data is improved for users to check conveniently the separated trajectory and to handle many data by using the graphic user interface. To evaluate the polishing performance of the developed robot, the polishing experiment for shadow mask was carried out. The result shows the automatic polishing robot has a good trajectory tracking performance and obtains a good polished workpiece efficiently under recommended polishing conditions.

• Agricultural and Biosystems Engineering
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• v.4 no.1
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• pp.8-15
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• 2003

In Korea, quality evaluation of dried oak mushrooms are done first by classifying them into more than 10 different categories based on the state of opening of the cap, surface pattern, and colors. And mushrooms of each category are further classified into 3 or 4 groups based on its shape and size, resulting into total 30 to 40 different grades. Quality evaluation and sorting based on the external visual features are usually done manually. Since visual features of mushroom affecting quality grades are distributed over the entire surface of the mushroom, both front (cap) and back (stem and gill) surfaces should be inspected thoroughly. In fact, it is almost impossible for human to inspect every mushroom, especially when they are fed continuously via conveyor. In this paper, considering real time on-line system implementation, image processing algorithms utilizing artificial neural network have been developed for the quality grading of a mushroom. The neural network based image processing utilized the raw gray value image of fed mushrooms captured by the camera without any complex image processing such as feature enhancement and extraction to identify the feeding state and to grade the quality of a mushroom. Developed algorithms were implemented to the prototype on-line grading and sorting system. The prototype was developed to simplify the system requirement and the overall mechanism. The system was composed of automatic devices for mushroom feeding and handling, a set of computer vision system with lighting chamber, one chip microprocessor based controller, and pneumatic actuators. The proposed grading scheme was tested using the prototype. Network training for the feeding state recognition and grading was done using static images. 200 samples (20 grade levels and 10 per each grade) were used for training. 300 samples (20 grade levels and 15 per each grade) were used to validate the trained network. By changing orientation of each sample, 600 data sets were made for the test and the trained network showed around 91 % of the grading accuracy. Though image processing itself required approximately less than 0.3 second depending on a mushroom, because of the actuating device and control response, average 0.6 to 0.7 second was required for grading and sorting of a mushroom resulting into the processing capability of 5,000/hr to 6,000/hr.

• Journal of IKEEE
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• v.24 no.1
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• pp.33-39
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• 2020

In this paper, we propose the design technique of the vehicle's load weight measuring system using tire pressure, which is one of the physical elements of tires. The proposed technique consists of four processes: noise correction by load and vibration, gas flow correction, data mixer and weight conversion. Noise correction by load and vibration eliminates noise that increases the tire's internal pressure due to external shocks and vibrations produced by the vehicle while it is in motion. In the gas flow correction process, the noise of the internal pressure of the tire is increased due to the temperature rise of the ground with respect to the data obtained through the noise correction process due to the load and vibration. In the data mixer process, the load and pressure on the tolerances the empty, median and the full load are classified according to the change in pressure of the tire that is delivered perpendicular to the tire in the event of cargo. In the weight conversion process, weight is expressed by weight through weight conversion algorithms using noise correction results by load and vibration and gas flow correction. The weight conversion algorithm calculates the weight conversion factor, which is the slope of the linear function with respect to the load and pressure change, and converts the weight. In order to evaluate the accuracy of the loading weight measurement system of the vehicle using the tire pneumatic system technique proposed in this paper, we propose the design technique of the vehicle's load weight measuring system using tire pressure, which is one of the physical elements of tires.. Noise correction results by load and vibration and gas flow data correction results showed reliable results. In addition, repeated weight precision test showed better weight accuracy than the standard value of 90% of domestic companies.

• Journal of Korean Tunnelling and Underground Space Association
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• v.20 no.6
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• pp.1147-1159
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• 2018

This study focuses on the verification of a rapid protection automation system using an inflatable structure. The inflatable structure is an automatic rapid protection system against human and material damage when the subsea tunnel is flooded. Especially, it is essential for construction and operation of subsea tunnels. In this study, we have experimentally verified the rapid protection automation system using the inflatable structure designed for this problem. In order to verify this, a model tunnel with a 40: 1 reduction ratio was constructed, and air pressure of 0.1 bar and 0.15 bar was injected to divide the tunnel according to the expansion rate at 10 sec and 20 sec. According to the results of the study, the protection efficiency was better at 0.15 bar than 0.1 bar when the expansion structure was expanded, and the protection efficiency and influent control efficiency were different according to the pneumatic injection time of the inflating structure. As a result of this study, it was found that the higher the internal air pressure of the inflated structure and the faster the inflation of rate, the more effectively the inflated structure was inflated. As a result of this study, it is necessary to further study the wedge type structure which is useful for the storage method of expansion structure, shape and expansion derivative, inhibition of expansion structure during protection and control of inflow water.