• Journal of Advanced Marine Engineering and Technology
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• v.32 no.5
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• pp.724-729
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• 2008

Umbilical cord blood has been recently considered an attractive potential alternative as a source of stem cell transplantation to curing diseases such as leukemia, cancers, immune disorders. Normally the stored system of the umbilical cord blood specimen is equipped with a computer-controlled robotic arm that enables the samples to locate the identification places in liquid nitrogen tank at regulated temperature as about $-196^{\circ}C$. As the half of robotic arm is in the air and the rest part is submerged in liquid nitrogen, the temperature of robotic arm varies from ambient to liquid nitrogen temperature. In this study the temperature variation of upper part of arm above tank lid was thermally analysed by using the commercial code of Ansys. The result of analysis was that the upper part of robotic arm was seriously frozen due to heat transfer from liquid nitrogen as low as -$120^{\circ}C$. In order to solve the frost problem of robotic arm, small PTFE tube block as resistance material was introduced into the lower part of tank lid instead of the whole stainless steel(SUS) robotic arm. The results showed that the temperature of robotic arm above the lid was higher enough, and this method would be one of the very effective measure to solve the problem.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.20 no.9
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• pp.24-31
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• 2006

This study developed a human robot mast arm, which has a structure similar to the human arm, with the objective of taking over human works. The robot arm was structured to reproduce human actions using three axes on each of the shoulder and the wrist based on mechanics, and the actuator of each axis adopted an ordinary DC motor. The servo system of the actuator is a one body type employing an amp for electric power, and it was designed to be small and lightweight for easy installation. We examined the posture control characteristics of the developed robot mast arm in order to test its interlocking, continuous motions and reliability.

• Journal of the Korean Society of Safety
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• v.8 no.1
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• pp.64-70
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• 1993

Serious injuries and deaths due to multi-jointed robot occur when a man mispercepts. especially during robot teaching and maintenance work. Since industrial robots often operate with unpredictable motion patterns, establishment of safe speed limit of robot arm is indispensable. An experimental emergency conditions were simulated with a multi-jointed robot. and response characteristics of human operators were measured. The result showed that failure type, robot arm axis. and robot arm speed had significant effects on human reaction time. The reaction time was slightly increased with robot arm speed. though it showed somewhat different pattern owing to failure type. Furthermore the reaction time to the axis which could flex or extend. acting on a workpiece directly. was fastest and its standard deviation was small. The robot arm speed limit securing a‘possible contact zone’based on overrun distance was about 25cm/sec. and in this sense the validity of safe speed limits suggested by many precedent researchers were discussed.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.547-551
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• 1996

In this paper, robust vibration control of a one-link flexible robot arm based on variable structure system is discussed. We derive dynamic equations of it using a Lagrangian assumed modes method based on Bernoulli-Euler Beam theory. The optimal sliding surface is designed and the problem of chattering is also solved by the adoption of a continuous control law within a small neighborhood of the switching hyperplane.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2159-2163
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• 2003

Hand carried computing machinery and tools have been developed into an embedded system which the small footprint operating system is contained internally. Windows CE which is one of imbedded operating system is a lightweight, multithreaded operating system with an optional graphical user interface. Its strength lies in its small size, its Win32 subset API, and its multiplatform support. Therefore we choose to port this OS on Arm based board that is provided high performance, low cost, and low power consumption. In this paper, we describe the architecture of ARM based board, the feature of Windows CE, techniques and steps involved in this porting process.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.6
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• pp.1179-1185
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• 2010

This paper deals with a robust controller design problem for a small one-link robot arm system subject to input time delay and load variations. The uncertain parameters of the system are considered as a disturbance input. A disturbance observer(DOB) has been designed to alleviate disturbance effects and to compensate performance degradation owing to the time-delay. This paper employs a new DOB structure for non-minimum phase systems together with the Smith predictor. We propose a new controller for reducing the both effects of disturbance and time-delay. In order to test the performance of proposed controller, four different other control laws are compared with the proposed one by computer simulations. The simulation results show the effectiveness of the proposed control method.

• Journal of the Korea Institute of Military Science and Technology
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• v.8 no.2 s.21
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• pp.30-37
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• 2005

In this paper, we propose how to design a fire control system main control board for individual combat weapons using a small and low power processor. To design an electric board of small weapon systems, Size and power consumption are very important factors. We solved the problem using selection of an adaptive processor, introduction of MicroChipPackaging method, and separate design of a main board Also we applied these methods to make the fire control system for small arms.

• Radiation Oncology Journal
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• v.20 no.2
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• pp.116-122
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• 2002

Purpose : A randomized prospective study was conducted to compare the efficacy of early or late alternating schedules of radiotherapy, and carboplatin and ifosfamide chemotherapy in patients with limited-disease small cell lung cancer. Materials and Methods: From August 1993 to August 1996, a total of 44 patients with newly diagnosed, limited-disease small cell lung cancer, PS $H0\~2$, wt $loss<10\%$ were enrolled in a randomized trial which compared early alternating radiotherapy (RT)/chemotherapy (CT) and late alternating RT/CT. The CT regimen included ifosfamide $1.5\;g/m^2$ IV, d1-5 and carboplatin AUC 5/d IV, d2 peformed at 4 week intervals for a total of 6 cycles. RT (54 Gy/30 fr) was started after the first cycle of CT (early arm, N=22) or after the third cycle of CT (late arm, N=22) with a split course of treatment. Results : The pretreatment characteristics between the two arms were well balanced. The response rates in the early $(86\%)$ and late $(85\%)$ arm were similar. The median survival durations and 2-year survival rates were 15 months and $22.7\%$ in the early arm, and 17 months and $14.9\%$ in the late arm (p=0.47 by the log-rank test). The two-year progression free survival rates were $19.1\%$ in the early arm and $19.6\%$ in the late arm (p=0.52 by the log-rank test). Acute grade 3 or 4 hematologic and nonhematologic toxicities were similar between the two arms. Eighteen patients $(82\%)$ completed 6 cycles of CT in the early arm and 17 $(77\%)$ in the late arm. Four patients received less than 45 Gy of RT in the early arm and two in the late arm. There was no significant difference in the failure patterns. The local failure rate was $43\%$ in the early arm and $45\%$ in the late arm. The first site of failure was the brain in $24\%$ of the early arm patients compared to $35\%$ in the late arm (p=0.51). Conclusion : There were no statistical differences in the overall survival rate and the pattern of failure between the early and late alternating RT/CT in patients with limited-disease small cell lung cancer.

• Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
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• 2007.05a
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• pp.300-305
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• 2007

This study developed a human robot master arm, which has a structure similar to the human arm, with the object of taking over human works. The robot arm was structured to reproduce human actions using three axes on each of the shoulder and the wrist based on mechanics, and the actuator of each axis adopted an ordinary DC motor. The servo system of the actuator is a one body type employing an amp for electric power, and it was designed to be small and lightweight for easy installation. We examined the posture control characteristics of the developed robot master arm in order to test its interlocking, continuous notions and reliability.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.2
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• pp.146-158
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• 1996

This paper develops a robot arm for propeller blade grinding. The grinding work requires a high stiffness robot arm to reduce deformation and vibration which are generated during machining operation. Conventional articulated robots have serial connecting links from the base to the gripper. Thus, they have very weak structure to the stiffness for grinding operation. Stewart Platform is a typical parallel robotic mechanism with very high stiffness but it has small work space and large installation space. This research proposes a new grinding robot arm by combining parallel mechanism with serial mechanism. Therefore, the robot has large range of work space as well as high stiffness. This paper introduces the automatic system for propeller grinding utilizing the robot and the design of proposed robot arm.