• Journal of Microbiology and Biotechnology
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• 제21권12호
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• pp.1257-1263
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• 2011

This paper is dedicated to the study on the external and internal mass transfers of glucose for succinic acid fermentation under substrate and product inhibitions using a bioreactor with stirred bed of immobilized Actinobacillus succinogenes cells. By means of the substrate mass balance for a single particle of biocatalysts, considering the kinetic model adapted for both inhibitory effects, specific mathematical models were developed for describing the profiles of the substrate concentration in the outer and inner regions of biocatalysts and for estimating the substrate mass flows in the liquid boundary layer surrounding the particle and inside the particle. The values of the mass flows were significantly influenced by the internal diffusion velocity and rate of the biochemical reaction of substrate consumption. These cumulated influences led to the appearance of a biological inactive region near the particle center, its magnitude varying from 0 to 5.3% of the overall volume of particles.

• 제어로봇시스템학회논문지
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• 제15권10호
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• pp.1029-1038
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• 2009

This paper proposes a gain switching algorithm for joint position control of a hydraulic humanoid robot. Accurate position control of the lower body is one of the basic requirements for robust balance and walking control. Joint position control is more difficult for hydraulic robots than it is for electric robots because of an absence of reduction gear and better back-drivability of hydraulic joints. Backdrivability causes external forces and torques to have a large effect on the position of the joints. External ground reaction forces therefore prevent a simple proportional-derivative (PD) controller from realizing accurate and fast joint position control. We propose a state feedback controller for joint position control of the lower body, define three modes of state feedback gains, and switch the gains according to the Zero Moment Point (ZMP) and linear interpolation. Dynamic equations of hydraulic actuators were experimentally derived and applied to a robot simulator. Finally, the performance of the algorithm is evaluated with dynamic simulations.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2006년도 춘계학술대회논문집
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• pp.1212-1217
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• 2006

This study is concerned with static and sinusoidal disturbance rejection for a single periodic input disturbance with known period. In the area of active elimination of a disturbance force, the control input should have two different kinds of gains: one is to deliver a stable control and the other is a force component to cancel the external disturbance force. In this paper we employ a simple state feedback control law to make the balance beam stable and employ a linear observer to estimate the states which represent the external disturbance force components. Simulation results verify our proposed control method to reject a static and sinusoidal disturbance force.

• Molecules and Cells
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• 제43권2호
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• pp.188-197
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• 2020

Cells are designed to be sensitive to a myriad of external cues so they can fulfil their individual destiny as part of the greater whole. A number of well-characterised signalling pathways dictate the cell's response to the external environment and incoming messages. In healthy, well-ordered homeostatic systems these signals are tightly controlled and kept in balance. However, given their powerful control over cell fate, these pathways, and the transcriptional machinery they orchestrate, are frequently hijacked during the development of neoplastic disease. A prime example is the Wnt signalling pathway that can be modulated by a variety of ligands and inhibitors, ultimately exerting its effects through the β-catenin transcription factor and its downstream target genes. Here we focus on the interplay between the three-member family of RUNX transcription factors with the Wnt pathway and how together they can influence cell behaviour and contribute to cancer development. In a recurring theme with other signalling systems, the RUNX genes and the Wnt pathway appear to operate within a series of feedback loops. RUNX genes are capable of directly and indirectly regulating different elements of the Wnt pathway to either strengthen or inhibit the signal. Equally, β-catenin and its transcriptional co-factors can control RUNX gene expression and together they can collaborate to regulate a large number of third party co-target genes.

• Advances in aircraft and spacecraft science
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• 제5권3호
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• pp.349-362
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• 2018

A non-linear numerical simulation technique for predicting the unsteady performances of an airbreathing engine is developed. The study focuses on the simulation of integrated propulsion systems, where a closer coupling is needed between the airframe and the engine dynamics. In fact, the solution of the fully unsteady flow governing equations, rather than a lumped volume gas dynamics discretization, is essential for modeling the coupling between aero-servoelastic modes and engine dynamics in highly integrated propulsion systems. This consideration holds for any propulsion system when a full separation between the fluid dynamic time-scale and engine transient cannot be appreciated, as in the case of flow instabilities (e.g., rotating stall, surge, inlet unstart), or in case of sudden external perturbations (e.g., gas ingestion). Simulations of the coupling between external and internal flow are performed. The flow around the nacelle and inside the engine ducts (i.e., air intakes, nozzles) is solved by CFD computations, whereas the flow evolution through compressor and turbine bladings is simulated by actuator disks. Shaft work balance and rotor dynamics are deduced from the estimated torque on each turbine/compressor blade row.

• 문화기술의 융합
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• 제5권3호
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• pp.257-262
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• 2019

최근 드론 같은 무인 이동체에 대한 관심과 일상생활에 활용이 늘어나면서 많은 다양한 분야에서 이를 이용하는 응용 사례가 급속도로 확산되고 있다. 하지만 이러한 무인 이동체는 쉽게 외부 환경 요인으로 인한 균형 이탈이나 추락 등의 사고로 이어질 수 있는 많은 위험 요인을 내포하고 있다. 이러한 무인 이동체의 안전한 운용을 위하여 안정적인 자세 제어 알고리즘은 매우 중요한 부분을 차지하고 있으며 현재 널리 사용되고 있는 PID 제어 알고리즘은 거의 완벽한 단계의 자세 제어 기술을 선보이고 있다. 본 연구에서는 기존의 자세 제어 방법과는 달리 보다 외부 환경적인 요인으로 부터 안정적이고 지속적인 자세 제어를 할 수 있는 퍼지 로직을 기반으로 하는 스마트 자세 제어 알고리즘을 제안하고 모의실험을 통하여 기존의 방법과 그 성능을 비교 분석하고자 한다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제15권1호
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• pp.216-239
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• 2021

The present work addresses the challenging problem of coordinating power allocation with interference management in multi-robot networks by applying the promising expansion capabilities of multiple-input multiple-output (MIMO) and full duplex systems, which achieves it for maximizing the throughput of networks under the impacts of Doppler frequency shifts and external jamming. The proposed power allocation with interference coordination formulation accounts for three types of the interference, including cross-tier, co-tier, and mixed-tier interference signals with cluster head nodes operating in different full-duplex modes, and their signal-to-noise-ratios are respectively derived under the impacts of Doppler frequency shifts and external jamming. In addition, various optimization algorithms, including two centralized iterative optimization algorithms and three decentralized optimization algorithms, are applied for solving the complex and non-convex combinatorial optimization problem associated with the power allocation and interference coordination. Simulation results demonstrate that the overall network throughput increases gradually to some degree with increasing numbers of MIMO antennas. In addition, increasing the number of clusters to a certain extent increases the overall network throughput, although internal interference becomes a severe problem for further increases in the number of clusters. Accordingly, applications of multi-robot networks require that a balance should be preserved between robot deployment density and communication capacity.

• 한국운동역학회지
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• 제22권3호
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• pp.325-332
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• 2012

This study aimed to analyze the effects of external load between male and female on angular velocity, moment, and absorbed energy of the lower-extremity joints during drop landing. The study subjects were 9 male($mass=70.82{\pm}4.64kg$, $height=1.71{\pm}0.04m$, $age=24.5{\pm}1.84years$), 9 female($mass=50.14{\pm}4.09kg$, $height=1.61{\pm}0.03m$, $age=23.6{\pm}2.62years$), without any serious musculoskeletal, coordination, balance, or joint/ligament problems for 1 year before the study. The angular velocity, flexion/extension and abduction/adduction moments, and absorbed energy of the lower-extremity joints were compared between the men and women during drop landing under 4 different conditions of external load(0%, 8%, 16%, and 24%) by using two-way repeated ANOVA(p < .05). The women landed with a greater peak angular velocity of the ankle joint, greater peak inversion moment, and lower peak hip-extension moment than the men did, under all 4 conditions. Additionally, the landing characteristics of the women were distinct from those of the men; the women showed a greater peak knee-adduction moment and greater absorbed energy of the knee joint. These differences indicate that anterior cruciate ligament(ACL) strain was greater in the women than in the men and therefore, women may be at a higher potential risk for noncontact injuries of the ACL with an increase in external load.

• 대한간호학회지
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• 제29권3호
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• pp.467-484
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• 1999

The main objectives of this study were to investigate the concept of family function from the perspective of the contemporary Korean family, and to construct model of change of family function with chronic illness. The hybrid model approach was applied in which three phases(theoretical phase, empirical phase, and analytic phase) of concept development were explored for family functioning. The study was conducted from 1997 to 1998. In empirical phase, two groups of purposive samples were drawn : normal family group composed of six families without ill family member, and ill family group composed of seven families of which wives have rheumatoid arthritis. Only families with child(or children) in primary or secondary schools were included in the study. The results were as follows : In theoretical phase, six dimensions of family concept were emerged : affective, structural, control, cognitive, financial, and reproductive dimension. In order to analyse the Korean normal family function in middle class with middle-aged women, financial and reproductive dimension were not included. In empirical phase, five dimensions(affective, structural, control, cognitive, and external relationship) were found from the normal family data. External relationship dimension is very important factor as a resource of the support, especially when their parents or siblings had no help or support to them. In the affective dimension, Korean family emphasized harmony and balance rather than affective expression between couples and between parents and children. They also showed common goals of the families to solve their problems to control the family members. The priority of the goals was getting into the higher education of their children or helping their unhealthy parents or family members. Six dimensions (affective, structural, control, cognitive, external relationship, and financial) of family functions were emerged from the ill family data. From the analysis of ill family data, types of restructuring house chore after wives illness were developed : (a) negociated, (b) accomodated, and (c) isolated, enduring types. Although the dimensions of family functioning identified in this study are similar to the conceptualizations that exist in the western literature, there were distinct differences in the nature of major themes and subconcepts under these family function dimensions.

• 대한물리의학회지
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• 제10권3호
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• pp.95-100
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• 2015

PURPOSE: The purpose of this study is to investigate the effects of the angles of the knee and heel-off on the muscle activity during a bridge exercise. METHODS: 15 healthy adult men and women with the balance ability and joint working range required for performing a bridge exercise participated in this study, in which $120^{\circ}$, $90^{\circ}$ and $60^{\circ}$ angles of the knee-flexion and heel-off were applied during the bridge exercise. RESULTS: Our data showed that there were significant differences in muscle activities of elector spinae and rectus abdominis when $120^{\circ}$ and $60^{\circ}$ angles of the knee were applied, of internal oblique when $120^{\circ}$ and $60^{\circ}$ were applied, and external oblique when $90^{\circ}$ and $60^{\circ}$ were applied. When heel-off was applied, there were significant differences in muscle activities of elector spinae and rectus abdominis when $120^{\circ}$ and $60^{\circ}$ were applied, of internal oblique when $120^{\circ}$ and $60^{\circ}$ were applied, and external oblique when $90^{\circ}$ and $60^{\circ}$ were applied. CONCLUSION: In this study on an application of heel-off to the bridge exercise, we showed that the effect of the angles of the knee on the muscle activities of elector spinae, rectus abdominis, internal oblique and external oblique were all similar to the regular bridge exercise, but overall muscle activities were increased with heel-off when compared with the regular bridge exercise.