• Journal of the Korean Society for Precision Engineering
• /
• v.12 no.6
• /
• pp.105-111
• /
• 1995

The inverse dynamic equations for 5 link robot including a closed chain have been derived. The closed chain is virtually cut open, and the kinematics and dynamics of the virtual open chain robot are analyzed. The constraints are applied to the virtually cut joints by the Jacobian matrix which represents the configuration of the closed chain. The topology of tree structrued open chain robot is described by a FATHER array. The FATHER array of a link indicates the link tha tis connected in the direction of base link. Based on the inverse dynamic equations, the torque sensitivity models of the 5 link robot have been developed. The sensitivity models characterize the sensitivity of the driving torque with respect to the link parameters. All the procedures are illustrated through the 2 link robot.

• Korean Membrane Journal
• /
• v.6 no.1
• /
• pp.37-43
• /
• 2004

Comb-type graft hydrogels composed of alginate and poly(N-isopropylacrylamide) (PNIPAAm) were prepared to manifest rapid temperature and pH sensitivity. To appear the electro-sensitivity, the polyaniline, conducting polymer, was added into the matrix. The swelling kinetics and ratios were compared under the various compositions of polyaniline. The swelling behaviors revealed that conducting polymer/hydrogel composites could control the swelling ratio and kinetics. The addition of polyaniline in the matrix improved the thermal stability in comparison with that of the hydrogel without polyaniline. In temperature sensitivity, the adding the polyaniline into the matrix decreased the degree of change in the swelling ratio. The swelling ratios continuously increased with increasing pH values. The drug release rate from the hydrogel increased with the adding the polyaniline and the applying the direct voltage to the hydrogels.

• Food Science of Animal Resources
• /
• v.37 no.1
• /
• pp.147-152
• /
• 2017

A bioluminescent Lactobacillus plantarum (pLuc2) strain was constructed. The luminescent signal started to increase during the early exponential phase and reached its maximum in the mid-exponential phase in a batch culture of the strain. The signal detection sensitivity of the strain was the highest in PBS (phosphate buffered saline), followed by milk and MRS broth, indicating that the sensitivity was influenced by the matrix effect. The strain was used in millet seed fermentation which has a complex matrix and native lactic acid bacteria (LAB). The luminescent signal was gradually increased until 9 h during fermentation and abolished at 24 h, indicating that the strain could be specifically tracked in the complex matrix and microflora. Therefore, the bioluminescent labeling system can be used for monitoring LAB in food and dairy sciences and industries.

• Korean Journal of Clinical Laboratory Science
• /
• v.36 no.2
• /
• pp.127-130
• /
• 2004

Analytical sensitivity on TDM test is the lowest concentration that can be distinguished from background noise. The aim of study was to evaluate analytical sensitivity that is also referred to as the lower limit of detection(LLD) about difference between zero calibrator and isotonic saline sample. We tested for 10 days with zero calibrators and 0.85% saline samples while running trilevel control samples under control. Raw data divided by two groups calculated mean and standard deviation from two sample populations and analytical sensitivity by ${\bar{X}}+2SD$. In comparison with isotonic saline samples and zero calibrators, there were significant differences in phenytoin, phenobarbital and vancomycin, etc. Especially analytical sensitivity on phenytoin is at the same level as the upper limit of analytical measurement range with $40{\mu}g/mL$. We think the cause of this is matrix interference. In conclusion, we were sure that standard protocol for analytical sensitivity as lower limit of analytical measurement range on TDM test must be measured with zero standard rather than an isotonic saline sample and type 1 reagent DW for reducing matrix effects within interactions between different materials in a mixture.

• Bulletin of the Korean Chemical Society
• /
• v.26 no.12
• /
• pp.1991-1995
• /
• 2005

Sensitivity factors of elements by a glow discharge mass spectrometry (GD-MS) were intensively investigated and compared with a laser ablation inductively coupled plasma-mass spectrometry (ICP-MS). In case of copper matrix, the sensitivity factor by GD-MS generally decreases with the increase of the mass number of element. The details are a little different between each data measured by Faraday and multiplier detectors. The factor by a multiplier detector drastically decreases with the mass increase in the region of low mass as in Faraday detector’s case, but slowly in the high mass region. On the contrast, the sensitivity factor of solution standard by a conventional ICP-MS slowly increases with the increase of elemental mass number even though there are some exceptions such as gold and also the sensitivity factor by a laser ablation ICP MS generally increases with mass number of element in the specimen of glass type. In case of steel matrix, any definite trends could not be shown in the relationship between the GD-MS’s sensitivity factor and elemental mass.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2003.05a
• /
• pp.59-64
• /
• 2003

The parameter modification of the initial FEM model to match it with the experimental results needs the modal information and the modal sensitivity matrix to the parameter change. There are two cases this methodology is ill-equip to deal with; the deficiency of the necessary modal information and the ill-conditioning of the sensitivity matrix. In this research, a novel concept of the feedback exciter that uses the summation of the white noise and the signals from the measurement sensors multiplied with feedback gains as the reference signal is proposed. There are 2 advantages using this external feedback excitation. First, we can use the change of the system response such as modal data by the active energy Path from the sensor to the exciter. This change of the system response can be additional clues to the system dynamics that we want to know. Secondly, the external energy Path alternates the offset of the Parameter change to the system response. That means the modal sensitivity of the parameters becomes different from the original sensitivities by the feedback excitation. Through the feedback loop, we can change the similar modal sensitivities of some updating parameters and consequently discriminate the parameters using the closed-loop modal data. To demonstrate the discrimination performance, the parameter estimation of an indeterminate structure by use of the feedback method is introduced.

• The Transactions of the Korean Institute of Power Electronics
• /
• v.23 no.5
• /
• pp.345-351
• /
• 2018

A distributed control method is proposed to improve the power sharing performance of bidirectional distributed generators and the voltage regulation performance of a DC bus in a DC microgrid. Voltage sensitivity analysis based on power flow analysis is conducted to analyze the structural characteristics of a DC microgrid. A distributed control method using a voltage sensitivity matrix is proposed on the basis of this analysis. The proposed method uses information received through the communication system and performs the droop gain variation method and voltage shift method without additional PI controllers. This approach achieves improved power sharing and voltage regulation performance without output transient states. The proposed method is implemented through a laboratory-scaled experimental system consisting of two bidirectional distributed generators, namely, a load and a non-dispatchable distributed generator in a four-bus ring-type model. The experimental results show improved power sharing accuracy and voltage regulation performance.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.60 no.5
• /
• pp.929-935
• /
• 2011

Customers hardly change to electric prices in old days because electricity is essential commodity, while demand changes with price after deregulation. It's explained by price-based demand response with demand-elasticity matrix. Also all of the customers have had identical demand-price elasticity matrix till now. But in a practical power system, various customers are present with taking a variety of demand-price elasticity. Therefore this paper proposes demand-price sensitivity to represent different demand-price elasticity. Also as proposing demand-reliability sensitivity, it is modeling various customers' characteristics to reliability. And then this paper calculates total expected interruption cost of customer from the customer interruption cost and the demand-reliability sensitivity. A total expected interruption cost of system is shown as opportunity cost of a generation cost.

• Proceedings of the KIEE Conference
• /
• summer
• /
• pp.345-347
• /
• 2004

In small signal stability analysis of power systems, eigenvalue analysis is the most useful method and the detailed modeling of generator has an important effect to the eigenvalues. Generator full model is used for precise dynamic analysis of generators and controllers while two-axis model is used for multi-machine systems because of the reduced order of the state matrix. Also, the eigenvalue sensitivity coefficients are used for optimizing controller parameters to improve system stability. This paper compare the first and second order eigenvalue sensitivity coefficients of controllers using generator full model with those of two-axis model. As a result of an example, the estimated eigenvalues using the first and the second eigenvalue sensitivity coefficients using generator full model is very close to those of state matrix. Also the error ratios throughout a wide range of controller parameters is less than $1\%$.

• Proceedings of the KIEE Conference
• /
• 2003.07a
• /
• pp.119-121
• /
• 2003

In small signal stability analysis of power systems, eigenvalue analysis is the most useful method and the detailed modeling of generator gives an important effect to the eigenvalues. Generator full model is used for precise dynamic analysis of generators and controllers while two-axis model is used for multimachine systems because of the reduced order of the state matrix. Also, the eigenvalue sensitivity coefficients are used for optimization of controller parameters to improve system stability. This paper compare the first order eigenvalue sensitivity coefficients of controllers in case of generator full model with those of two-axis model. As a result of an example the estimated eigenvalues using sensitivity coefficients in case of generator full model is very close to those of state matrix within 1% error ratios.