• 제어로봇시스템학회논문지
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• 제13권9호
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• pp.883-895
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• 2007

In this work, we present the development of a patrol robot which is intended to navigate outdoor rough terrain. Proposed mechanism consists of six legs for overcoming an obstacle, and six wheels for traveling. Also, in order to absorb vibration in rough terrain effectively, the slide-spring system and tubed type tire are adopted to each leg and each wheel. The control system of robot consists of several imbedded boards for management of lots of diverse devices such as sensors designed for rough terrain, motor controllers, camera, micro controller and so on. And the base system of the robot is designed to operate in real time and to surveille in the vicinity of the robot, and the robot system is controlled by wireless LAN connected to GUI-based remote control system, while CAN communication connects the control board and the device controllers for sensors and motor controllers. For operating this robot system efficiently, we propose the control algorithms for autonomous navigation using GPS, stabilization maintenance by posture control, obstacle-avoidance by impedance control, and obstacle-overcoming with interference-avoidance between wheels. The performance of the robot and the proposed algorithms are tested and proved by a set of experiments in outdoor rough terrain.

• The Plant Pathology Journal
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• 제19권1호
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• pp.34-42
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• 2003

The ascomycete Magnaporthe grisea is a pathogen of rice blast and is known to form specialized infection structures called appressoria for successful infection into host cells. To understand the molecular mechanism underlying infection process, appressorium-related genes were identified through global approaches including EST sequencing, differential hybridization, and sup-pression subtractive hybridization. EST database was generated on >2,000 cDNA clones randomly selected from appressorium stage cDNA library. Large number of ESTs showed homology to known proteins possibly involved in infection-related cellular development (attachment, germination, appressorium formation, and colonization) of rice blast fungus. The 1051 ESTs showing significant homology to known genes were assigned to 11 functional categories. Differential hybridization and suppression subtractive hybridization were applied to identify genes showing an appressorium stage specific expression pattern. A number of genes were selected as up-regulated during appressorium formation compared with the vegetative growing stage. Clones from various cDNA libraries constructed in different developmental stages were arrayed on slide glass for further expression profiling study. functional characterization of genes identified from these global approaches may lead to a better understand-ing of the infection process of this devastating plant disease, and the development of novel ways to protect host plant.

• Design & Manufacturing
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• 제2권2호
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• pp.25-28
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• 2008

Micro fabrication of biochip such like lab-on-a-chip becomes increasingly important. In this study, we designed and manufactured of new molds which were main factors for forming process in order to mass produce of biochip using forming process. Forming analysis of biochip was performed by Moldflow software. Results of this study are able to design and manufacture the mold which can be easy to eject the workpiece by using the slide mechanism for biochip.

• Biomolecules & Therapeutics
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• 제7권1호
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• pp.22-28
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• 1999

Induction of apoptosis is considered to be the underlying mechanism that accounts for the efficiency of chemotherapeutic drugs. It has recently been proposed that doxorubicin (DOX) can induce apoptosis in human leukemic cells via the Fas/Fas Ligand (FasL) system. Comparison of Fas and FasL mRNA expression between drug- and anti-Fas antibody(Fas-Ab)- induced apoptosis was analyzed for examining the role of Fas/FasL system in the mediation of drug-induced apoptosis. After HL-60 cells were routinely cultured, MTT assay was performed for cytotoxicity test. Giemsa staining was carried out to monitor the apoptosis morphologically. By semiquantitative RT-PCR analysis, the expression of Fas and FasL at 4, 10, 24 hours was determined after DOX and Fas-Ab treatment. Dose-dependent cytotoxicity was induced by DOX-treatment, while Fas-Ab treatment showed the similar dose-dependent pattern but the cytotoxicity is not reached at LD$_{50}$ at 100 ng/ml concentration of Fas-Ab. In the 10ng/m1 DOX and 10ng/m1 Fas-Ab treated group, typical apoptotic cell morphology was shown such as fragmented nuclei and cell membrane budding in the Giemsa-stained slide. Fas mRNA expression was not changed significantly in the both groups. But, FasL mRNA expression was induced significantly at initial period of apoptosis. In this study, Fas/FasL interaction assumed to be involved in drug-induced apoptosis.s.

• 제어로봇시스템학회논문지
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• 제17권8호
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• pp.814-823
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• 2011

Nowadays many neurological diseases such as stroke and Parkinson diseases are continually increasing. Orthotic devices as well as exoskeletons have been widely developed for supporting movement assistance and therapy of patients. Robotic knee orthosis can compensate stiff-knee gait of the paralyzed limb and can provide patients consistent assistance at wearable environments. With keeping a robotic orthosis wearable, however, it is not easy to develop a compact and safe actuator with fast rotation and high torque for consistent supports of patients during walking. In this paper, we propose a novel kinematic model for a robotic knee orthosis to drive a knee joint with independent actuation during swing and stance phases, which can allow an actuator with fast rotation to control swing motions and an actuator with high torque to control stance motions, respectively. The suggested kinematic model is composed of a hamstring device with a slide-crank mechanism, a quadriceps device with five-bar/six-bar links, and a patella device for knee covering. The quadriceps device operates in five-bar links with 2-dof motions during swing phase and is changed to six-bar links during stance phase by the contact motion to the patella device. The hamstring device operates in a slider-crank mechanism for entire gait cycle. The kinematics and velocity/force relations are analyzed for the quadriceps and hamstring devices. Finally, the adequate actuators for the suggested kinematic model are designed based on normal gait requirements. The suggested kinematic model will allow a robotic knee orthosis to use compact and light actuators with full support during walking.

• Geomechanics and Engineering
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• 제25권3호
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• pp.233-243
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• 2021

Rib spalling is a major issue affecting the safety of steeply inclined coal seam. And the failure coal face and support system can be affected with each other to generate a vicious cycle along with inducing large-scale collapse of surrounding rock in steeply inclined coal seam. In order to analyze failure mechanism and propose the corresponding prominent control measures of steeply inclined coal working face, mechanical model based on coal face-support-roof system and mechanical model of coal face failure was established to reveal the disaster mechanism of rib spalling and the sensitive analysis of related factors was performed. Furthermore, taking 3402 working face of Chen-man-zhuang coal mine as engineering background, numerical model by using FLAC3D was built to illustrate the propagation of displacement and stress fields in steeply inclined coal seam and verify the theory analysis as mentioned in this study. The results show that the coal face slide body in steeply inclined working face can be observed as the failure height of upper layer smaller than that of lower layer exhibiting with an irregular quadrilateral pyramid shape. Moreover, the cracks were originated from the upper layer of sliding body and gradually developed to the lower layer causing the final rib spalling. The influence factors on the stability of coal face can be ranked as overlying strata pressure (P) > mechanical parameters of coal body (e.g., cohesion (c), internal fraction angle (φ)) > support strength (F) > the support force of protecting piece (F') > the false angle of working face (Θ). Moreover, the corresponding control measures to maintain the stability of the coal face in the steeply inclined working face were proposed.

• 대한기계학회논문집A
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• 제34권2호
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• pp.167-174
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• 2010

본 논문에서는 사무용 의자의 틸트 동작시 요추지지 기능과 등의 미끄럼을 평가함으로써 등판 회전중심의 최적 위치를 연구하였다. 이를 위해 인체와 의자로 이루어진 수학적 모델을 이용하여 틸트 동작 시뮬레이션을 수행하였다. 착석된 인체 모델의 측면 상에서 고관절 중심을 포함한 42개의 위치에 등판 회전축 위치를 설정하고 각각 시뮬레이션을 수행하였다. 또한 등판의 회전중심이 고관절에 위치한 의자 시작품과 좌판하부에 위치한 기존의 의자에 대해 동작분석 실험도 함께 수행하였다. 시뮬레이션 결과 등판의 회전중심이 고관절 중심에 가까이 위치할수록 틸트시 요추각도 변화량과 등의 미끄럼거리는 작아졌다. 한편 실험결과 착석자의 등과 등판사이의 이격변위와 미끄럼변위는 등판의 회전중심이 고관절 위치에 설계된 시작품에서 더 작게 측정되었다. 시뮬레이션과 실험결과로부터 등판의 회전중심이 인체의 고관절 위치에 가깝게 설계되면 틸트시 착석자의 요추를 효과적으로 지지해 줄 수 있음을 알 수 있었고 이때 착석자는 보다 편안하고 건강한 착석자세를 유지할 수 있다. 이 결과는 사무용 의자에서 등판 회전축 위치의 인간공학적 설계를 위한 가이드라인을 제공한다.

• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 2000년도 THE THIRD INTERNATIONAL CONFERENCE ON AGRICULTURAL MACHINERY ENGINEERING. V.II
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• pp.489-497
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• 2000

Since Chinese cabbages weigh 3 to 5kgf and are big in size at the time of harvest, handling operations such as harvesting, loading and unloading including transportation require the highest labor demand among all other cultivation processes. Recently, though several cabbage harvesters were developed in Japan and Europe, those harvesters were not suitable for Chinese cabbages cultivated in Korea because of the size and shape. The cabbage harvester is almost meaningless without any proper cabbage piling and pallet unloading mechanism. Most harvesters developed so far adopted a sort of slide and free falling way in collecting cabbages into the pallet. Three or four labors are usually required for cleaning incoming cabbages and loading those in the pallet. Because of the required time for piling cabbages without severe damage and the required space capacity to carry empty and loaded pallets, harvesting speed should be adjusted in accordance with time required for consecutive operations. Up to now, any automatic or semi-automatic collecting device has not been developed in the world to pile cabbages on the layer one by one into the pallet in the ordered way with little damage and to unload pallet from the harvester continuously during the harvest process. To compromise system expenses and function, Semi-automatic cabbage piling and pallet unloading mechanism was devised and it required one labor. The foldable mesh pallet with a size of 1050mm x 1050mm x 1000mm and holding capacity of around 70 cabbages was utilized. The prototype for piling and unloading mechanism was composed of three parts such as feeding device, automatic piling device with retractable bellows, and pallet unloading device. Prior to developing the prototype, the geometric properties and the amount of the damage of the cabbage caused during the piling operation were investigated. Considering the height of the pallet, a series of cabbage carrying plates were mounted to the bracket chain to lift and to carry cabbages to the loading device. Indoor laboratory experiments showed that the cabbage carrying chain conveyor worked successfully. Considering the conveying speed 0.46m/sec of the pull up belt from the cabbages on the ground, the speed of cabbage carrying chain conveyor worked property in the range of 0.26m/sec to 0.36m/sec. The system allowed the operator to modify the position of cabbage slightly. Overall system worked successfully resulting into almost same capacity without severe damage to the cabbage as human did.

• Geomechanics and Engineering
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• 제22권4호
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• pp.319-328
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• 2020

This paper investigates the effect of the width of failure and tension crack (TC) on the stability of cohesive-frictional soil slopes in three dimensions. Working analytically, the slip surface and the tension crack are considered to have spheroid and cylindrical shape respectively, although the case of tension crack having planar, vertical surface is also discussed; the latter was found to return higher safety factor values. Because at the initiation of a purely rotational slide along a spheroid surface no shear forces develop inside the failure mass, the rigid body concept is conveniently used; in this respect, the validity of the rigid body concept is discussed, whilst it is supported by comparison examples. Stability tables are given for fully drained and fully saturated slopes without TC, with non-filled TC as well as with fully-filled TC. Among the main findings is that, the width of failure corresponding to the minimum safety factor value is not always infinite, but it is affected by the triggering factor for failure (e.g., water acting as pore pressures and/or as hydrostatic force in the TC). More specifically, it was found that, when a slope is near its limit equilibrium and under the influence of a triggering factor, the minimum safety factor value corresponds to a near spherical failure mechanism, even if the triggering factor (e.g., pore-water pressures) acts uniformly along the third dimension. Moreover, it was found that, the effect of tension crack is much greater when the stability of slopes is studied in three dimensions; indeed, safety factor values comparable to the 2D case are obtained.

• 한국철도학회논문집
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• 제12권5호
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• pp.700-706
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• 2009

고속철도 개통 후 고속철도 혜택을 받지 못하는 지역의 형평성을 고려하고, 철도와 타 교통수단간의 경쟁력 증진을 위해 기존 철도의 속도 향상이 필요한 것이 틸팅열차 기술개발의 원동력이 되었다고 볼 수 있다. 틸팅열차는 곡선부를 주행할 때 원심력을 줄이기 위해서 열차를 곡선부 안쪽으로 약간 기울이는 것을 의미하는데, 실제로 틸팅열차는 승객의 승차감을 향상시키면서 결과적으로 속도 향상의 효과를 기대할 수 있다. 이에 틸팅열차를 이용한 기존선의 속도향상에 대한 많은 연구가 추진되어 왔으며, 우리나라와 같이 노선에 곡선부가 많은 경우 곡선통과 속도를 향상시켜 노선의 운행시간을 단축시키고 평균속도를 향상하는데 상당히 효과적일 수 있다. 본 논문의 목적은 이렇게 효과적인 수단으로 인식되는 틸팅열차의 운행에 따른 새로운 편익 및 효과의 정량차 방안을 연구하고자 하는 것이며, 이를 위해서는 기존 틸텅열차 연구시 계량화가 가능했던 편익이외에 추가적인 편익항목의 정량적 정성적 분석과정을 도출하고자 한다.