• 한국생산제조학회지
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• 제7권1호
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• pp.104-111
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• 1998

This study solves the inverse kinematics problem of industrial FANUC robot. Because every joint angle of FANUC robot is dependent on the position of end-effector and the direction of approach vector, arm metrix T6 is very complicated and each joint angle is a function of other joint angles. Therefore, the inverse kinematics problem can not be solved by conventional methods. Noticing the fact that if one joint angle is known, the other joint angles are calculated by the algebraic methods. $ heta$1 is calculated using neumerical analysis method, and solves inverse kinematics problem. This proposed method, in this study, is more simpler and faster than conventional methods and is very useful in the real-time control of the manipulator.

• 한국정밀공학회지
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• 제18권6호
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• pp.87-92
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• 2001

An error analysis is very important for a precision machine to estimate its performances. This study proposes a new parallel device, cubic parallel manipulator. Errors of the proposed cubic parallel manipulator include upper and down universal joint errors, due to the directional changes in the forces in the links, and actuation errors. An error analysis is presented based on an error model formed through the relation between the universal joint errors of the cubic parallel manipulator and the end effector accuracy. The analysis shows that the method can be used in predicting the accuracy of other cubic parallel devices.

• The Plant Pathology Journal
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• 제36권1호
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• pp.98-105
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• 2020

Venturia nashicola is a fungal pathogen causing scab disease in Asian pears. It is particularly important in the Northeast Asia region where Asian pears are intensively grown. Venturia nashicola causes disease in Asian pear but not in European pear. Due to the highly restricted host range of Venturia nashicola, it is hypothesized that the small secreted proteins deployed by the pathogen are responsible for the host determination. Here we report the whole genome based phylogenetic analysis and predicted secretomes for V. nashicola isolates. We believe that our data will provide a valuable information for further validation and functional characterization of host determinants in V. nashicola.

• 한국건설관리학회논문집
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• 제6권4호
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• pp.142-151
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• 2005

최근 국내 $\cdot$ 외의 경우 기성 콘크리트 파일(PHC) 두부정리 작업의 생산성, 안전성 및 품질 향상을 위해 자동화 장비를 개발중에 있다. 그러나 기존에 개발된 두부정리 자동화 장비는 두부정리 전 작업과정 중 파일 파쇄만을 자동화 대상 작업으로 하고 있고, 파일 파쇄를 위한 말단장치(end-effector) 설계의 오류로 종 방향 균열을 발생시키는 등 문제점이 있는 것으로 분석되었다. 기존 두부정리 자동화 장비가 PHC 파일에 종 방향 균열을 발생시키는 원인은 PHC 파일의 물리적 특성을 고려한 자동화 장비 말단장치의 설계 및 제작, 배치가 제대로 이루어지지 못했기 때문인 것으로 분석되었다. 따라서 본 연구의 목적은 최근 국내에서 개발 중인 PHC 파일 두부정리 자동화 장비의 파일롯타입(pilot type)을 대상으로 다양한 형태의 말단장치를 설계 및 제작하고, 실험실 실험을 통해 최적의 말단장치 조합을 제안함으로써 종 방향 균열 없이 PHC 파일 두부를 효과적으로 그라인딩하고 파쇄할 수 있도록 하는 자동화 장비의 프로토타입을 제시하는 것이다. 본 연구를 통해 제시된 PHC 파일 두부정리 자동화 장비가 개발되어 현장에 적용될 경우, 기존 두부정리 작업의 생력화를 통한 품질, 안전성, 생산성 향상 및 이를 통한 경제성 확보가 가능할 것으로 기대된다.

• 생명과학회지
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• 제27권2호
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• pp.164-171
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• 2017

본 연구에서는 인간 자궁경부암세포주에서 S-allylcysteine (SAC)이 세포자멸경로에 중요한 역할을 담당하는 initiator caspase의 하나인 caspase-9와 effector caspase에 속하는 caspase-3 및 caspase-7 그리고 DNA 복구에 관여하는 poly ADP-ribose polymerase (PARP)의 발현조절에 미치는 영향과, SAC에 의한 이러한 세포자멸 및 DNA 복구 관련 단백질의 발현변화가 세포증식억제를 통한 기능적 작용을 유발하는지를 조사하였다. 단백질 발현분석 결과, 특히 50 mM의 SAC로 48시간 동안 처리하였을 경우, procaspase-3, -7, -9 및 PARP의 발현은 각각 94%, 38%, 95% 및 64% 감소되었으며, 이와 반대로 caspase-3, -7, -9 및 cleaved-PARP의 발현은 현저히 증가되었다. 또한 cell proliferation assay 결과, 20 mM 이상의 SAC 처리는 6, 12, 24 및 48시간에서 농도 및 시간 의존적인 세포증식 억제효과를 나타내었다. 이러한 결과는 SAC 처리가 자궁경부암세포의 증식을 억제하며, 이에 대한 가능한 분자적 작용기전들 중의 하나로 세포자멸과정 중 initiator caspase의 하나인 caspase-9의 활성을 유도하고 이에 따른 effector caspase인 caspase-3과 caspase-7의 활성을 촉진시킬 뿐만 아니라 DNA 복구에 관여하는 PARP의 불활성화를 초래함으로써 세포자멸 유도에 관여하는 것으로 사료된다.

• 한국공작기계학회논문집
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• 제16권2호
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• pp.8-13
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• 2007

The purpose of this study is to reduced the weight of ladder boom and to improve the manufactor process by the section modification. The Conventional model consists of integral section stiffener, while the proposed model consists of truss type stiffener to reduce the weight of ladder boom and wind effector. In the two analysis models, one is based on the single boom, and the other is based in the coupling model of two booms. We present the analysis results for the case when applying the weight, bending and twisting moment and wind pressure. Finally, a comparison between these results is presented to show the performance of our method.

• 한국군사과학기술학회지
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• 제14권5호
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• pp.753-759
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• 2011

In this paper, we propose the direction of development for EOD robot. We collected and analyzed the opinions of EOD teams. In order to verify the opinions, we conducted QFD(Quality Function Deployment) analysis. Based on the QFD analysis, we work out the priority of EOD robot development. And we establish the goal of development(target system) and suggest the development direction of EOD robot on each issue.

• 대한기계학회논문집A
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• 제20권11호
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• pp.3398-3407
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• 1996

In this paper, we derive an algorithm and develope a computer program which analyze rapidly and precisely the inverse kinematics of robotic mechanism with spatial complex chain structure based on the relative coordinates. We represent the inverse kinematic problem as an optimization problem with the kinematic constraint equations. The inverse kinematic analysis algorithm, therefore, consists of two algorithms, the main, an optimization algorithm finding the motion of independent joints from that of an end-effector and the sub, a forward kinematic analysis algorithm computing the motion of dependent joints. We accomplish simulations for the investigation upon the accuracy and efficiency of the algorithm.

• 한국정밀공학회지
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• 제15권1호
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• pp.60-68
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• 1998

Parallel link manipulators have an ability of more precise positioning than serial open-loop manipulators. However. general parallel link manipulators have been restricted to the real applications since they have limited workspace due to interference among actuators. In this study, we suggest a closed-loop manipulator with 6 degrees-of-freedom and with enlarged workspace. It consists of two parts for minimizing the interference among actuators. One part is lower structure with planar 3 degrees-of-freedom and the other is upper one with spatial 3 degrees-of-freedom. Forward kinematics and inverse kinematics are solved, research about singularity points are carried out and workspace is evaluated. The comparison of workspace between Stewart platform, which is the typical parallel link manipulator, and the suggested manipulator shows that the workspace of the latter is wider than that of the former. Especially, simulation results also show that the suggested manipulator is more suitable when there needs rotation in the end-effector.

• Journal of Microbiology and Biotechnology
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• 제24권4호
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• pp.563-567
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• 2014

Pseudomonas syringae pv. syringae (Psy) is a major bacterial pathogen of many economically important plant species. Despite the severity of its impact, the genome sequence of the type strain has not been reported. Here, we present the draft genome sequence of Psy ATCC 19310. Comparative genomic analysis revealed that Psy ATCC 19310 is closely related to Psy B728a. However, only a few type III effectors, which are key virulence factors, are shared by the two strains, indicating the possibility of host-pathogen specificity and genome dynamics, even under the pathovar level.