• 한국IT서비스학회지
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• 제12권3호
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• pp.95-109
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• 2013

This paper discussed about creativity and knowledge management variables as for effect factors on the management performance of IT service firms. Specially the mediation effects of knowledge management variables between the creativity and management performance were examined. To prove empirically the related hypothesis, the statistical analysis were based on the response from the 160 Korean IT Service firms. As an analysis results, it was found that the creativity of organizations was not the direct effector on the management performance. But the virtue of knowledge which are accumulated from knowledge management activity and shared in organizations was the direct effector. Also, the knowledge management activity is mediator on the in the relationship between the creativity and management performance. So this paper suggests that knowledge management activity and knowledge's virtue in the related the creativity in organizations are the important mediate factors for enhancement of IT service firm's performance.

• International Journal of Control, Automation, and Systems
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• 제2권2호
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• pp.238-246
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• 2004

In displaying a virtual wall using a passive haptic device equipped with passive actuators such as electric brakes, unsmooth motion frequently occurs. This undesirable behavior is attributed to time delay due to slowness in the virtual environment update and force approximation due to the inability of a brake to generate torque in arbitrary directions. In this paper a new control scheme called direct control is proposed to achieve smooth display on the wall-following task with a passive haptic device. In direct control, brakes are controlled so that the normal component of a resultant force at the end-effector vanishes, based on the force analysis at the end-effector of the passive haptic device using the passive FME (Force Manipulability Ellipsoid). Various experiments have been conducted to verify the validity of the direct control scheme with a 2-link passive haptic system.

• Journal of Applied Biological Chemistry
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• 제50권3호
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• pp.109-114
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• 2007

Sar1p is a ras-related GTP-binding protein that functions in intracellular protein transport between the endoplasmic reticulum (ER) and the Golgi complex. The effector domain of Ras family proteins is highly conserved and this domain is functionally interchangeable in plant, yeast and mammalian Sar1. Using a recombinant Brassica sar1 protein (Bsar1p) harboring point mutations in its effector domain, we here investigated the ability of Sar1p to bind and hydrolyze GTP and to interact with the two sar1-specific regulators, GTPase activating protein (GAP) and guanine exchange factor (GEF). The T51A and T55A mutations impaired Bsar1p intrinsic GTP-binding and GDP-dissociation activity. In contrast, mutations in the switch domain of Bsar1 did not affect its intrinsic GTPase activity. Moreover, the P50A, P54A, and S56A mutations affected the interaction between Bsar1p and GAP. P54A mutant protein did not interact with two regulating proteins, GEF and GAP, even though the mutation didn't affect the intrinsic GTP-binding, nucleotide exchange or GTPase activity of Bsar1p.

• Journal of Microbiology and Biotechnology
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• 제21권7호
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• pp.679-685
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• 2011

Xanthomonas oryzae pv. oryzae (Xoo) produces a putative effector, XoAvrBs2. We expressed XoAvrBs2 homologously in Xoo with a TAP-tag at the C-terminus to enable quantitative analysis of protein expression and secretion. Addition of rice leaf extracts from both Xoo-sensitive and Xoo-resistant rice cultivars to the Xoo cells induced expression of the XoAvrBs2 gene at the transcriptional and translational levels, and also stimulated a remarkable amount of XoAvrBs2 secretion into the medium. In a T3SS-defective Xoo mutant strain, secretion of the TAPtagged XoAvrBs2 was blocked. Thus, we elucidated the transcriptional and translational expressions of the XoAvrBs2 gene in Xoo was induced in vitro by the interaction with rice and the induced secretion of XoAvrBs2 was T3SSdependent. It is the first report to measure the homologous expression and secretion of XoAvrBs2 in vitro by rice leaf extract. Our system for the quantitative analysis of effector protein expression and secretion could be generally used for the study of host-pathogen interactions.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2004년도 학술대회지
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• pp.204-209
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• 2004

This paper describes dynamic manipulability analysis of robotic arms moving in viscous fluid. The Manipulability is a functionality of manipulator system in a given configuration and under the limits of joint ability with respect to the tasks required to bt performed. To investigate the manipulability of underwater robotic arms, a modeling and analysis method are presented. The dynamic equation of motion of underwater manipulator is derived from the Lagrange - Euler equation considering with the hydraulic forces caused by added mass, buoyancy and hydraulic drag. The hydraulic drag term in the equation: is established as analytical form using Denavit - Hartenberg (D-H) link coordination of manipulator. Two analytical approaches based on Manipulability Ellipsoid are presented to visualize the manipulability of robotic arm moving in viscous fluid. The one is scaled ellipsoid which transforms the boundary of joint torque to acceleration boundary of end-effector by normalizing the torque in joint space while the other is shifted ellipsoid which depicts total acceleration boundary of end-effector by shifting the ellipsoid in work space. An analysis example of 2-link manipulator with proposed analysis scheme is presented to validate the method.

• 제어로봇시스템학회논문지
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• 제11권8호
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• pp.688-695
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• 2005

This paper describes dynamic manipulability analysis of robotic arms moving in viscous fluid. The manipulability is a functionality of manipulator system in a given configuration under the limits of joint ability with respect to the task required to be performed. To investigate the manipulability of underwater robotic arms, a modeling and analysis method is presented. The dynamic equation of motion of underwater manipulator is derived based on the Lagrange-Euler equation considering with the hydrodynamic forces caused by added mass, buoyancy and hydraulic drag. The hydrodynamic drag term in the equation is established as analytical form using Denavit-Hartenberg (D-H) link coordination of manipulator. Two analytical approaches based oil manipulability ellipsoid are presented to visualize the manipulability of robotic arm moving in viscous fluid. The one is scaled ellipsoid which transforms the boundary of joint torque to acceleration boundary of end-effector by normalizing the torques in joint space, while the other is shifted ellipsoid which depicts total acceleration boundary of end-effector by shifting the ellipsoid as much as gravity and velocity dependent forces in work space. An analysis example of 2-link manipulator with proposed analysis scheme is presented to validate the method.

• 한국정밀공학회지
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• 제16권5호통권98호
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• pp.200-208
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• 1999

The statics relation of the Stewart platform has been investigated from the viewpoint of the forward and inverse force transmission analyses. Two eigenvalue problems corresponding to the forward and inverse force transmission analyses have been formulated. The forward force transmission analysis is to determine the ranges of the magnitudes of the force and moment generated at the end-effector for the given magnitude of linear actuator forces. In reverse order, the inverse force transmission analysis is to find the range of the magnitude of actuator forces for the given ranges of the magnitudes of the force and moment at the end-effector. The inverse force transmission analysis is important since it can provide a designer with a valuable information about how to choose the linear actuators. It has been proved that two eigenvalue problems have a reciprocal relation, which implies that solving either of the eigenvalue problems may complete the forward/inverse force transmission analysis. A numerical example has been also presented.

• 로봇학회논문지
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• 제11권2호
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• pp.73-82
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• 2016

This paper focuses on the vibration analysis of planar cable-driven parallel robots on their configurations. Despite of many advantages of the cable robots, elasticity of the cables may cause the vibration at the existence of external disturbance, resulting in deterioration of positioning accuracy. According to the vibration theory, having high first order natural frequency can prevent resonance with low frequency disturbance from the surrounding environment. A series of simulations showed that choosing frame / end-effector shape and cable connection method affects robots' natural frequency. For the precise simulation, the cables are modeled as linear springs and axial vibration of cables is mainly considered. Aspect ratios of the frame and end-effector are defined as non-dimensional parameters while their areas are fixed. It was shown that vibration analysis guides to design a planar cable robot in terms of high capacity to reduce vibration.

• 한국정밀공학회지
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• 제10권3호
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• pp.133-140
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• 1993

In this paper, we prpose a method for tracking optimally a spatial trajectory of the end-effector of flexible robot arms with multiple joints. The proposed method finds joint trajectories and joint torques necessary to produce the desired end-effector motion of flexible manipulator. In inverse kinematics, optimized joint trajectories are computed from elastic equations. In inverse dynamics, joint torques are obtained from the joint euqations by using the optimized joint trajectories. The equations of motion using finite element method and virtual work principle are employed. Optimal control is applied to optimize joint trajectories which are computed in inverse kinematics. The simulation result of a flexible planar manipulator is presented.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1679-1683
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• 2005

This paper suggests the new type of a joint torque sensor which is attached at each joint of a manipulator for making compliance. Previous six axis force/torque sensors are high cost and installed end-effector of the manipulator. However, torque on links of previous an end-effector cannot be measured. We design a joint torque sensor that can be fully integrated with an actuator in order to measure applying torque of the manipulator. The sensor system is designed through the structural analysis. The proposed joint torque sensors are installed to the 6 DOF manipulator of a mobile robot for hazardous works and we implemented experiments of measuring applied torque to the manipulator. By the experiment, we proved that the proposed low-cost joint torque sensor gives acceptable performance when we control a manipulator.