• 한국정밀공학회지
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• 제26권5호
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• pp.96-103
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• 2009

This paper describes a humanoid robot's intelligent foot with two six-axis force/moment sensors. The developed humanoid robots didn't get the intelligent feet for walking on uneven surface safely. In order to walk on uneven surface safely, the robot should measure the reaction forces and moments applied on the sales of the feet, and they should be controlled with the measured the forces and moments. In this paper, an intelligent foot for a humanoid robot was developed. First, the body of foot was designed to be rotated the toe and the heel to all directions, second, the six-axis force/moment sensors were manufactured, third, the high-speed controller was manufactured using DSP(digital signal processor), fourth, the humanoid robot's intelligent foot was manufactured using the body of foot, two six-axis force/moment sensors and the high-speed controller, finally, the characteristic test of the intelligent foot was carried out. It is thought that the foot could be used for a humanoid robot.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2011년도 춘계학술대회 논문집
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• pp.218-223
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• 2011

Seated human subjects have been exposed to vertical vibration so as to investigate six-axis biodynamic response. Sixteen males were exposed to random vertical vibration in the frequency range(3~40Hz) at one vibration magnitude(0.224m/$s^2$ r.m.s.). Forces were measured in the vertical, fore-and-aft, lateral, roll, pitch and yaw direction on the seat. The median of cross-axis apparent mass magnitude in the fore-and-aft direction could reach up to 20% of the apparent mass magnitude at resonance frequency. And the median of apparent eccentric mass magnitude in the roll direction could reach up to 15% of the apparent eccentric mass magnitude in the pitch direction at resonance frequency. But cross-axis apparent mass in the lateral direction and apparent eccentric mass in the yaw direction showed very small.

• 한국소음진동공학회논문집
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• 제15권12호
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• pp.1327-1331
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• 2005

This Paper addresses what amount of whole-body vibration is exposed to Korean pilots of UH60 helicopters during their mission flight. To measure the expose4 whole-body vibration, the 12-axis whole-body vibration measurement system was used. It enables the direct measurement of whole-body vibration exposed from the body contact area consisting of the feet, hip and back. The measured 12-axis vibration signals were used to evaluate the vibration comfort level experienced by the pilots of UH60 helicopters. The evaluated vibration comfort level is found to be closeto 0.74-0.79m/s, which is equivalent to the semantic scale of 'fairly uncomfortable'. To assess the health effects of whole-body vibration exposed to Korean pilots of UH60 helicopters during their mission flight, the rms-based and VDV(vibration dose value)-based evaluation schemes, recommended by ISO 2631-1:1977, were exploited in this work. The evaluated results indicate that Korean pilots cannot avoid the fatigue-decreased proficiency limit after two-hour continuous flight. The whole-body vibration level exposed from the UH60 helicopters during continuous 10-hours mission flight is found to reach to the vibration exposure limit.

• 한국정밀공학회지
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• 제15권11호
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• pp.100-107
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• 1998

This paper presents the development of estimation model and control method based on the new robot vision. This proposed control method is accomplished using the sequential estimation scheme that permits placement of the rigid body in each of the two-dimensional image planes of monitoring cameras. Estimation model with six parameters is developed based on the model that generalizes known 4-axis scara robot kinematics to accommodate unknown relative camera position and orientation, etc. Based on the estimated parameters, depending on each camera the joint angle of robot is estimated by the iteration method. The method is experimentally tested in two ways, the estimation model test and a three-dimensional rigid body placement task. Three results show that control scheme used is precise and robust. This feature can open the door to a range of application of multi-axis robot such as assembly and welding.

• 한국동물생명공학회지
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• 제36권1호
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• pp.25-34
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• 2021

Kisspeptin is a key player in the central control of reproductive axis. Central administration of kisspeptin has been shown to advance puberty in rats. Stimulation of hypothalamic GnRH pulse generating mechanism by kisspeptin has been proposed to be the mechanism behind the onset of puberty. We hypothesized that chronic high doses of kisspeptin administration suppresses the reproductive axis and hence delays the pubertal onset. Hence, we investigated the effect of peripheral administration of chronic high doses of kisspeptin on pubertal onset, feed intake and body weight in female rats. Rats were treated with saline or kisspeptin (100 nmoles per day; intraperitoneal) for 26 days (day 25 to day 50 postnatal) and the day of vaginal opening was marked as day of puberty. Kisspeptin treated rats had delayed pubertal onset and reduced feed intake and body weight. Gonadal GPR54 mRNA was reduced suggesting that chronic high doses of kisspeptin may suppress the reproductive functions possibly by downregulation of GPR54 receptor. However, delay in puberty due to reduction in feed intake and body weight could not be ruled out in this study. Further, our study emphasizes the importance of dosage and duration of kisspeptin administration in the manipulation of reproductive axis. Our study, for the first time, suggests that kisspeptin and its analogues, if proven beneficial, could be used to treat precocious puberty in children. It appears that, though a promising tool for enhancing fertility, kisspeptin acts as a double-edged sword and has to be cautiously used to manipulate reproduction.

• 대한수의학회지
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• 제37권1호
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• pp.59-69
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• 1997

The histological and histochemical study of the body of axis and 1st intervertebral disc in the Korean native cattle fetus was attempted to early developmental process. The experimental animals used in this study were collected from fetus of the Korean native cattle ranging from 50mm to 180mm in Crown-Rump length(CR-length). The results were summerized as follows: 1. The ossification centers appeared centrum 1 and centrum 2 of the axis in 110mm CR-length fetus of the Korean native cattle. The centrum 2 was formed little earlier than the centrum 1. 2. The histochemical reactions for collagenous fibers in the axis revealed negative in 50mm CR-length, mild positive in 90mm CR-length, and strong positive in 110mm CR-length, respectively. 3. Dense collagenous fibers were observed in the notochord through the centrum 2, and intervertebral disc developed into cuneiform dorsoventrally, It's contour looks like an annual ring. These fiber bundle arranged lamellar formation. 4. The intervertabral disc of 50mm CR-length fetus was composed mainly mesenchymal cells, and these cell showed aggregation in the central portion. The intervertebral disc of 110mm CR-length fetus was consisted of pricipally fibroblast, and notochordal sheath formed with two layers in the center.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1747-1753
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• 2004

CMG(Control Momentum Gyro) is a control device being used for spacecraft attitude control constructing relatively large amount of torque compared to conventional body-fixed reaction wheels. The CMG produces gyroscopic control torque by continuously varying the angular momentum vector direction with respect to the spacecraft body. The VSCMG(Variable Speed Control Momentum Gyro) has favorable advantages with variable speed to lead to better control authority as well as singularity avoidance capability. Attitude dynamics with a VSCMG mounted on a two-axis gimbal system are derived in this study. The dynamic equation may be considered as an extension of the single-axis counterpart. Also, a feedback control law design is addressed in conjunction with the dynamic equations of motion.

• 소음진동
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• 제7권1호
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• pp.143-152
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• 1997

This paper introduces experimental results of the ride qulaity characteristics of automotive seats fixed on the vibration table that is noving simultaneously to the three-axis in a similar way to the real running condition. Vibration experiment was carried out for five different automotive seats and four Korean individuals. The assessment of the ride quality characteristics for each seat and indiviual was made not only from the analysis of vibration measurements but also from the evaluation of weighied vibration signals, which were obtained using the frequency weighting function and the multiplication factor dependent on the position and axis of vibration exposure to wehole-body. The usefulness of those assessment results in analysis of the ride quality of seats is discussed and their limitation is also pointed out in this paper.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 추계학술대회논문집
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• pp.37-43
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• 2002

In this paper, we analyse and present mechanical dynamic characteristics of a micro-machined vibrating silicon ring gyroscope which can measure angular velocities about three orthogonal axes. The ring gyroscope has a ring connected to the gyroscope main body by support-ligaments which are arranged with cyclic symmetry. The natural modes of its vibration can be distinguished into the in-plane motion and the out-of-plane motion which are coupled by the gyro-effect due to the rotation of the gyroscope main body. The equations of motion, the response to angular velocities, and the relationships between the natural modes of vibration are derived and compared with the previous studies for the design of a micro three-axis ring gyroscope.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.474-478
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• 1992

The non-rational transfer function of a Bernoulli-Euler beam, as an important component of a flexible structure, is analyzed. The true pattern of zeros of that transfer function is investigated as a function of sensor and actuator seperation. Translational displacement sensors are used for two cases in which a force input and a moment input are seperately applied. When the displacement sensor is located at a certain point, the first pair of zeros on the real axis of the s-plane arrive at the origin and cancel the rigid-body mode. The location of the translational displacement sensors on the beamat which the rigid-body mode of the beam is unobservable is analyzed as the center of percussion and is uniquely located for each case. If sensor is moved beyond such a point, a pair of zeros appear on the imaginary axis and move away from the origin along the imaginary axis of the s-plane.