• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.185-190
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• 1993

The POSTECH Hand adopting coupled tendon driven technique with planar two fingers is developed. The hand is designed to emulate principal motions of the human hand which has two and three joints respectively. Its kinematic parameters are determined through a parameter optimizing technique to aim at improving the isotropy of fingertip motions with new criterion functions of design. For the control of the hand, tension and torque control algorithms are developed. Based on the virtual stiffness concept, we develop the stiffness control method of a grasped object with redundant finger mechnism and investigate experimentally.

• 한국미생물·생명공학회지
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• 제20권2호
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• pp.178-182
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• 1992

Cephalosporium acremonium CSA-2.8A3 변이주로 부터 생성된 cephaloporin C를 정제하여 산업적 이용을 위해 ultrafiltration으로 균체를 제거하고 수종의 수지공정을 통하여 소디움염 형태의 cephalosporin C를 정제하였으며 역삼투막에 의한 농축과 분무건조를 행하였다. WA-30, HO-20, XAD-2000, SK-1B column chromatography를 통해 90% 이상의 높은 수율과 순도를 얻을 수 있었고, 특히 상기 수지들을 직렬로 연결하여 사용합으로써 수율은 96%까지 올릴 수 있었다.

• 도시과학
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• 제11권2호
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• pp.19-24
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• 2022

Conventional RC beams for crossing small and medium-sized rivers do not have a cross-sectional area, so the floating debris is accumulated and disasters such as damage to bridges occur. To improve this, the PSC method was invented. However, this also had problems such as transverse curvature, increase in dead weight due to cross-sectional shape, and negative moment generated during serialization, so it was necessary to develop a new type of girder. Therefore, it was intended to propose a LIT(Leton Interaction Thrust) girder bridge that is safer and has better performance than the conventional PSC girder with improved section efficiency. Unlike existing girder bridges, the LIT girder has the feature that the change in the strands of the entire girder occurs only in the vertical direction when the first tension is applied because the tendon arrangement is symmetrical by applying the raised portion. In addition, slab continuation generates a secondary moment that is advantageous to the continuous point, effectively controlling the negative moment and preventing the corrosion of the tendon. The dimensions of the cross section were determined, and the arrangement of the strands was designed to conduct structural analysis and detailed analysis. As a result of the structural analysis, the stress of the girder showed results within the allowable compressive stress, and the deflection showed the result within the allowable deflection. showed results. In addition, a detailed analysis was performed to examine the stress distribution around the girder body and the anchorage area and the stress distribution of the embossed portion, and as a result, the stress of the girder body due to the tension force showed a stable level.