• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.7 no.1
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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.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.6
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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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• v.36 no.1
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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.

• Korean Journal of Construction Engineering and Management
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• v.6 no.4 s.26
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• pp.142-151
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• 2005

Several advanced countries have been continually developed PHC pile cutting automation machines for improving productivity, safety and quality of the conventional PHC pile cutting work. However, the target work of the previously developed PHC pile cutting automation machines is only crushing the head of PHC pile. Dangerous grinding work is still performed by workers with seven inch hand grinder. In domestic construction industry, the PHC pile cutting work is usually performed by a crusher and three to four skilled workers. Recent analysis results of the PHC pile cutting work reveal that it frequently makes a lot of cracks which significantly reduce the strength of the pile and is labor-intensive work. The primary objective of this study is to propose the end-effector which can effectively break PHC pile without any longitudinal cracks and to develop an automated pile cutting machine having unified grinder and crusher parts through a wide variety of laboratory and field tests. It is anticipated that the development of the automated pile cutting machine would be able to bring improvements in safety, productivity, quality as well as cost saving.

• Journal of Life Science
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• v.27 no.2
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• pp.164-171
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• 2017

Our previous study suggested that S-allylcysteine (SAC) inhibits the proliferation of the human cervical cancer cell line, HeLa, at least in part through the induction of apoptosis and cell cycle arrest. To further analyze the specific molecular mechanism(s) by which SAC mediates its antiproliferative effects, this study examined the role of SAC in regulating the protein expression of initiator caspase (caspase-9), effector caspases (caspase-3 and caspase-7), and poly-ADP-ribose polymerase (PARP) in HeLa. Western blot analysis showed that when cells were treated with 50 mM SAC for 48 hr, the expression of procaspase-3, -7, and -9 and PARP was reduced by 94%, 38%, 95%, and 64%, respectively, as compared to the untreated control. In contrast, the expression of caspase-3, -7, and -9 and cleaved-PARP was markedly increased by SAC treatment. The SAC-mediated changes in the expression of these proteins were correlated with the concomitant inhibition of cellular proliferation by SAC. The cell proliferation assay showed that HeLa treatment with more than 20 mM SAC for 6-48 hr resulted in both concentration- and time-dependent inhibition of cellular proliferation. These results indicate that the SAC-induced antiproliferative effect in HeLa may be mediated at least in part through the activation of caspase-9, followed by the activation of caspase-3 and caspase-7 as well as the inactivation of PARP, thus leading to cellular apoptosis.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.16 no.2
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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.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.5
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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.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.11
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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.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.1
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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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• v.24 no.4
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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.