• Journal of Institute of Control, Robotics and Systems
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• v.15 no.5
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• pp.538-542
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• 2009

Industrial manipulators have been mostly used in large companies such as automakers and electronics companies. In recent years, however, demands for industrial manipulators from small and medium-sized enterprises are on the increase because of shortage of manpower and high wages. Since these companies cannot hire robot engineers for operation and programming of a robot, intuitive teaching and playback techniques of a robot manipulator should replace the robot programming which requires substantial knowledge of a robot. This paper proposes an intuitive teaching and playback algorithm used in assembly tasks. An operator can directly teach the robot by grasping the end-effector and moving it to the desired point in the teaching phase. The 6 axis force/torque sensor attached to the manipulator end-effector is used to sense the human intention in teaching the robot. After this teaching phase, a robot can track the target position or trajectory accurately in the playback phase. When the robot contacts the environment during the teaching and playback phases, impedance control is conducted to make the contact task stable. Peg-in-hole experiments are selected to validate the proposed algorithm since this task can describe the important features of various assembly tasks which require both accurate position and force control. It is shown that the proposed teaching and playback algorithm provides high positioning accuracy and stable contact tasks.

• Journal of Microbiology and Biotechnology
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• v.34 no.7
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• pp.1544-1549
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• 2024

This study presents a fluorescent mechanism for two-step amplification by combining two widely used techniques, exponential amplification reaction (EXPAR) and catalytic hairpin assembly (CHA). Pseudomonas aeruginosa (P. aeruginosa) engaged in competition with the complementary DNA in order to attach to the aptamer that had been fixed on the magnetic beads. The unbound complementary strand in the liquid above was utilized as a trigger sequence to initiate the protective-EXPAR (p-EXPAR) process, resulting in the generation of a substantial quantity of short single-stranded DNA (ssDNA). The amplified ssDNA can initiate the second CHA amplification process, resulting in the generation of many double-stranded DNA (dsDNA) products. The CHA reaction was initiated by the target/trigger DNA, resulting in the release of G-quadruplex sequences. These sequences have the ability to bond with the fluorescent amyloid dye thioflavin T (ThT), generating fluorescence signals. The method employed in this study demonstrated a detection limit of 16 CFU/ml and exhibited a strong linear correlation within the concentration range of 50 CFU/ml to 10⁵ CFU/ml. This method of signal amplification has been effectively utilized to create a fluorescent sensing platform without the need for labels, enabling the detection of P. aeruginosa with high sensitivity.

• Bulletin of the Korean Chemical Society
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• v.35 no.5
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• pp.1279-1284
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• 2014

The binding of TATA-binding protein (TBP) to the TATA-box containing promoter region is aided by many other transcriptional factors including TFIIA and TFIIB. The mechanistic insight into the assembly of RNA polymerase II preinitation complex (PIC) has been gained by either directly altering a function of target protein or perturbing molecular interactions using drugs, RNAi, or aptamers. Aptamers have been found particularly useful for studying a role of a subset of PIC on transcription for their ability to inhibit specific molecular interactions. One major hurdle to the wide use of aptamers as specific inhibitors arises from the difficulty with traditional assays to validate and determine specificity, affinity, and binding epitopes for aptamers against targets. Here, using a technique called the bio-layer interferometry (BLI) designed for a label-free, real-time, and multiplexed detection of molecular interactions, we studied the assembly of a subset of PIC, TBP binding to TATA DNA, and two distinct classes of aptamers against TPB in regard to their ability to inhibit TBP binding to TFIIA or TATA DNA. Using BLI, we measured not only equilibrium binding constants ($K_D$), which were overall in close agreement with those obtained by electrophoretic mobility shift assay, but also kinetic constants of binding ($k_{on}$ and $k_{off}$), differentiating aptamers of comparable KDs by their difference in binding kinetics. The assay developed in this study can readily be adopted for high throughput validation of candidate aptamers for specificity, affinity, and epitopes, providing both equilibrium and kinetic information for aptamer interaction with targets.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.35 no.11
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• pp.1036-1042
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• 2007

It is rather difficult to improve flight control computer(FLCC) hardware(H/W) development schedule due to lack of commercial off-the-self(COTS) tools or target specific tools. Thus, it is suggested to develop an enhanced process utilizing modeling, simulation and virtual reality tools. This paper presents H/W design process enhancement tool(PET) for FLCC design requirements such as FLCC input/output(I/O) signal flow, I/O fault detection, failure management algorithm, circuit logic, PCB assembly configuration and installation utilizing simulation and visualization in virtual space. New tool will provide simulation capability of various FLCC design configuration including shop replaceable unit(SRU) level assembly/dis-assembly utilizing open flight format 3-D modeling data.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.41 no.4
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• pp.91-100
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• 2018

The setting of values on door hinge mounting compensation for door assembly tolerance is a constant quality issue in vehicle production. Generally, heuristic methods are used in satisfying appropriate door gap and level difference, flushness to improve quality. However, these methods are influenced by the engineer's skills and working environment and result an increasement of development costs. In order to solve these problems, the system which suggests hinge mounting compensation value using CAE (Computer Aided Engineering) analysis is proposed in this study. A structural analysis model was constructed to predict the door gap and level difference, flushness through CAE based on CAD (Computer Aided Design) data. The deformations of 6-degrees of freedom which can occur in real vehicle doors was considered using a stiffness model which utilize an analysis model. The analysis model was verified using 3D scanning of real vehicle door hinge deformation. Then, system model which applying the structural analysis model suggested the final adjustment amount of the hinge mounting to obtain the target door gap and the level difference by inputting the measured value. The proposed system was validated using the simulation and showed a reliability in vehicle hinge mounting compensation process. This study suggests the possibility of using the CAE analysis for setting values of hinge mounting compensation in actual vehicle production.

• Biomaterials Research
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• v.22 no.4
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• pp.290-302
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• 2018

Background: The main purpose of drug delivery systems is to deliver the drugs at the appropriate concentration to the precise target site. Recently, the application of a thin film in the field of drug delivery has gained increasing interest because of its ability to safely load drugs and to release the drug in a controlled manner, which improves drug efficacy. Drug loading by the thin film can be done in various ways, depending on type of the drug, the area of exposure, and the purpose of drug delivery. Main text: This review summarizes the various methods used for preparing thin films with drugs via Layer-by-layer (LbL) assembly. Furthermore, additional functionalities of thin films using surface modification in drug delivery are briefly discussed. There are three types of methods for preparing a drug-carrying multilayered film using LbL assembly. First methods include approaches for direct loading of the drug into the pre-fabricated multilayer film. Second methods are preparing thin films using drugs as building blocks. Thirdly, the drugs are incorporated in the cargo so that the cargo itself can be used as the materials of the film. Conclusion: The appropriate designs of the drug-loaded film were produced in consideration of the release amounts and site of the desired drug. Furthermore, additional surface modification using the LbL technique enabled the preparation of effective drug delivery carriers with improved targeting effect. Therefore, the multilayer thin films fabricated by the LbL technique are a promising candidate for an ideal drug delivery system and the development possibilities of this technology are infinite.

• Journal of the Korean Society of Radiology
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• v.6 no.5
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• pp.403-408
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• 2012

Prompt gamma ray from the natural Indium sample was measured by using an assembly of BGO($Bi_4Ge_3O_{12}$) scintillation detectors in the neutron energy region from 1 to 300 eV. The assembly was composed of pieces of BGO. The spectrometer was composed geometrically as total energy absorption detector. 46-MeV electron linear accelerator which is located at Research Reactor Institute, Kyoto University used for neutron sources from photonuclear reaction. The measurement of the neutron capture resonances was performed to below neutron energy 1 keV, because of strong X-ray effect from photonuclear reaction in Ta target and short distance from the target to an assembly of detector. The distance of neutron flight path is $12.7{\pm}0.02m$. The large neutron capture resonances were measured from 1 to 400 eV. The energy in the capture resonance was compared with the evaluated values. The large resonances were seen in the present measurement. General agreement can be seen between the present measurement and the previous evaluated data in relevant energy region. In the present study, we measured the continues resonance structure above 1 keV neutron energy region. 91.49 eV new neutron capture resonance was found in present measurement.

• Economic and Environmental Geology
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• v.42 no.5
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• pp.501-507
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• 2009

Ordered single-walled hollow aluminogermanate (ALGE) nano-balls(NBs) and nano-tubes(NTs) have been self-assembled from the ALGE precursors having an Al/Ge ratio of 1.33 using simple pH-control. The hollow ALGE NBs with average monodisperse diameters of 5 nm and chemistry of Al/Ge=1.5~1.6 were formed through structural assembly in the ALGE solution (Al/Ge=1.33) highly basified to pH=13(Na/Al=28~30) and followed by immediate acidification to pH=9. When the basified solution(pH=13) were acidified to pH=4, ALGE S-NTs (Short-fiber nano-tubes) with diameters of 3.3 nm, 15~20 nm in length, and chemistry of Al/Ge=2.6~2.8 were successfully synthesized. Whereas the solution was basified to pH=9, and subsequently acidified to pH=4, L-NTs(Long-fiber nano-tubes) with >100 nm in length were synthesized for the first time. The self-assembly of the hollow NBs, S-NTs, and L-NTs form the ALGE precursors can be explained by the degree of $H^+$-dissociation of the -Ge-OH inner surfaces, which was controlled by amount of $Na^+$ and pH conditions of ALGE precursor solutions. This results indicate that target forms of ALGE nanomaterials can be synthesized by simple pH controls.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.1
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• pp.99-106
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• 2003

Uninterrupted power supply has become indispensable during the maintenance task of active electric power lines as a result of today's highly information-oriented society and increasing demand of electric utilities. The maintenance task has the risk of electric shock and the danger of falling from high place. Therefore it is necessary to realize an autonomous robot system. In order to realize these tasks autonomously, the there dimensional position of target object such as electric line and the stand of insulator must be recognized accurately and rapidly. The insertion task of an electric line into a sleeve is selected as the typical task of the maintenance of active electric power distribution lines in this paper. A modified hough transform is applied to the recognition of the center of electric line and optimal target position calculation method is newly derived in order to recognize the center 3 dimensional position of the electric line. By the proposed method, it is proved that the center position of the electric line can be recognized without respect to the noise of image and the shape of electric lines and the insertion task of an electric tine is realized.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.15 no.4
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• pp.46-50
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• 2016

A laser head was designed for micro-scale patterning and joining applications. The target feature size of the pattern was $100{\mu}m$, and optics were designed to perform the target. Two singlet lenses were combined to minimize the chromatic aberration, and the geometry of the lenses was calculated by using the raytracing method with a commercial software program. As a restriction of lens design, the focal length was set at 100mm, and the maximum diameter of the lens or beam size was limited to 10mm for the assembly in the limited cage size. The maximum temperatures were calculated to be $1367^{\circ}C$, $1508^{\circ}C$, and $1905^{\circ}C$ for 10, 12, and 15 Watts of power, respectively. A specially designed laser head was used to compensate for the distance between the object and the lens. The detailed design mechanism and 3D data were presented. The optics design and detailed performance of the lens were analyzed by using MTF and spot diagram calculation.