• 한국지능시스템학회논문지
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• 제21권2호
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• pp.159-164
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• 2011

본 연구에서는 4절 링크 이론(four-bar linkage mechanism)과 얀센 메커니즘(Jansen mechanism)을 기반으로 다관절 보행 로봇(multi-legged walking robot)인 게(crab) 로봇을 제작하고, 게 로봇의 움직임에 대하여 기구학적인 해석을 제시한다. 제작된 게 로봇은 영상 획득을 위하여 카메라를 장착하였고, 장애물 회피를 위하여 3조의 초음파 센서를 가지고 있다. 또한 RF통신으로 외부에 영상 정보를 전달하며, Blue-tooth 통신 모듈을 장착하여 외부로부터 부여된 임무를 수행할 수 있다. 게 로봇의 설계와 제작을 하기 위해서 필요로 하는, 로봇 다리의 움직임을 알기 위해서는 관절 변수와 다리 끝단의 위치 및 자세와의 관계를 얻어야 한다. 따라서, 제안된 기구학적 해석은 로봇의 설계와 제작에 있어서 많은 도움을 주며 중요한 과정이다.

• Journal of Mechanical Science and Technology
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• 제19권spc1호
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• pp.320-327
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• 2005

A new mechanism for hyper redundant manipulator (HRM) is presented, which comprises of serially assembled compound three-bar linkages (CTL). The CTL mechanism has some unique properties. This paper presents the forward and inverse kinematics of this mechanism and shows the simulation of the HRM havig 9 CTL units. The recursive algorithm of the inverse kinematics that the author originally developed is employed. It is fast and stable ; moreover, it enables us to obtain a solution in which the end-point of the HRM is controlled by a portion of joints. It also presents the method of the dynamical analysis. There exist kinematical constraints in the proposed closed linkage mechanism. In the dynamic analysis constraints are sufficiently sustained by the constraint stabilization method that the author developed. The mechanical structure of the HRM having some CTL units that is under construction is shown.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2009년도 춘계학술대회 논문집 에너지변화시스템부문
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• pp.97-99
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• 2009

In this paper, a new type of electromagnetic actuator, an electro magnetic force driving actuator (EMFA) is developed and analyzed, applicable to air circuit breaker (ACB). Transient analysis is performed in order to obtain the dynamic characteristics of the EMFA. The distribution of static magnetic flux is obtained using the finite element method (FEM). The coupled problems of electrics and mechanics governing equations are solved using the time difference method (TDM). Also according to interception rate of each contactor, investigation about load condition of contactor spring is conducted, applied it to three-link system. And comparison about dynamic characteristics of three-link simulation and experiment data are performed.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 추계학술대회
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• pp.766-771
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• 2004

In this paper, new exploration mobile robot is presented. This mobile robot, called Robhaz-6W, is able to overcome hazardous terrains, recognize three dimensional terrain information and generate a path toward the destination by itself. We develop the passive four bar linkage mechanism adoptable to such terrain without any active control and the real time stereo vision system for obstacle avoidance, a remote control and a path planning method. And the geometrical information is transmitted to the operator in the remote site via wireless LAN equipment. And finally, experimental results for the passive mechanism, the real time stereo vision system, the path planning are reported, which show the versatility of the proposed mobile robot system to carry out some tasks.

• 제어로봇시스템학회논문지
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• 제14권1호
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• pp.62-69
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• 2008

A specialized anthropomorphic robot hand which can be attached to the biped humanoid robot MAHRU-R in KIST, has been developed. This built-in type hand consists of three fingers and a thumb with total four DOF(Degrees of Freedom) where the finger mechanism is well designed for grasping typical objects stably in human's daily activities such as sphere and cylinder shaped objects. The restriction of possible motions and the limitation of grasping objects arising from the reduction of DOF can be overcome by reflecting a typical human finger's motion profile to the design procedure. As a result, the developed hand can imitate not only human hand's shape but also its motion in a compact and efficient manner. Also this novel robot hand can perform various human hand gestures naturally and grasp normal objects with both power and precision grasping capability.

• 로봇학회논문지
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• 제17권4호
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• pp.484-492
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• 2022

This paper presents a simple and robust under-actuated robotic finger mechanism that enables self-adaptive grip, fingertip pinch, and caging grasp functions. In order to perform daily activities using hands, the fingers should be able to perform adaptive gripping and pinching motion, and the caging grasp function is required to realize natural gripping motions and improve grip reliability. However, general commercial prosthetic hands cannot implement all three functions because they use under-actuation mechanism and simple mechanical structure to achieve light-weight and high robustness characteristic. In this paper, new mechanism is proposed that maintains structural simplicity and implements all the three finger functions with simple one degree-of-freedom control through a combination of a four-bar linkage mechanism and a wire-driven mechanism. The basic structure and operating principle of the proposed finger mechanism were explained, and simulation and experiments using the prototype were conducted to verify the gripping performance of the proposed finger mechanism.

• The Plant Pathology Journal
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• 제35권3호
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• pp.189-199
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• 2019

In this research, the relationships among the 31 microsatellite markers with charcoal rot disease resistance related indices in 130 different soybean cultivars and lines were evaluated using association analysis based on the general linear model (GLM) and the mixed linear model (MLM) by the Structure and Tassel software. The results of microsatellite markers showed that the genetic structure of the studied population has three subpopulations (K=3) which the results of bar plat also confirmed it. In association analysis based on GLM and MLM models, 31 and 35 loci showed significant relationships with the evaluated traits, respectively, and confirmed considerable variation of the studied traits. The identified markers related to some of the studied traits were the same which can probably be due to pleiotropic effects or tight linkage among the genomic regions controlling these traits. Some of these relationships were including, the relationship between Sat_252 marker with amount of charcoal rot disease, Satt359, Satt190 and Sat_169 markers with number of microsclerota in stem, amount of charcoal rot disease and severity of charcoal rot disease, Sat_416 marker with number of microsclerota in stem and amount of charcoal rot disease and the Satt460 marker with number of microsclerota in stem and severity of charcoal rot disease. The results of this research and the linked microsatellite markers with the charcoal rot disease-related characteristics can be used to identify the suitable parents and to improve the soybean population in future breeding programs.

• 대한기계학회논문집A
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• 제35권12호
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• pp.1585-1591
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• 2011

본 연구에서는 사용자의 손에 장착하여 손의 움직임을 측정하고 힘의 반영이 가능한 새로운 형태의 데이터 글로브(data glove)를 제안한다. 본 연구의 데이터 글로브는 인간의 외골격 구조의 분석이 기반하고 있으며 하나의 손가락 모듈은 4절기구의 조합을 통하여 1자유도로 구동이 되도록 고안되어 있다. 데이터 글로브는 펴기(extension)와 구부리기(flexion)를 할 수 있으며 내전(adduction)/외전(abduction)을 위해서 두 개의 유니버설 관절을 이용한 새로운 metacarpal joint 메커니즘을 고안하였다. 동 데이터 글로브의 유효성을 평가하기 위하여 검지손가락을 위한 구동회로와 센서를 포함한 전체 시스템을 제작하였으며 가상공간에 동적 시뮬레이션을 통해서 나타낸 물체를 조작하는 실험을 수행하였다.

• 한국발생생물학회:학술대회논문집
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• 한국발생생물학회 2001년도 발생공학 국제심포지움 및 학술대회 발표자료집
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• pp.14-17
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• 2001

Positional clonging (map-based cloning) of mutations or genetic variations has been served as an invaluable tool to understand in-vivo functions of genes and to identify molecular components underlying phenotypes of interest. Mice homozygous for the cerebellar deficient folia (cdf) mutation are ataxic, with cerebellar hypoplasia and abnormal lobulation of the cerebellum. In the cdf mutant cerebellum approximately 40% of Purkinje cells are ectopically located within the white matter and the inner granule cell layer (IGL). To identify the cdf gene, a high-resolution genetic map for the cdf-gene-encompassing region was constructed using 1997 F2 mice generated from C3H/HeSnJ-cdf/cdf and CAST/Ei intercross. The cdf gene showed complete linkage disequilibrium with three tightly linked markers D6Mit208, D6Mit359, and D6Mit225. A contig using YAC, BAC, and P1 clones was constructed for the cdf critical region to identify the gene. A deletion in the cdf critical region on chromosome 6 that removes approximately 150 kb of DNA selection. cdf mutant mice with the transgenic copy of the identified gene restored the brain abnormalities of the mutant mice. The positional cloning of cdf gene provides a good example showing the identification of a gene could lead to finding a new component of important molecular pathways.

• 한국정밀공학회지
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• 제22권12호
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• pp.108-116
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• 2005

Transplanting accuracy of a rice transplanter mainly depends on the trajectory of the hoe for picking, conveying and transplanting of seedlings as well as the return motion. The trajectory can be decided and prescribed to be suitable in treating seedlings fur a prevailing soil condition. For the purpose of the transplanting accuracy, the design of a transplanting mechanism would be carried out using a planetary-gear-train system instead of the four bar linkage system. In this study, a design method of transplanting mechanism is theoretically proposed by synthesizing a noncircular planetary-gear-train system fur the tool (hoe) to trace a prescribed trajectory. The method utilizes an optimization approach to decide the lengths of an arm and a tool, the inverse kinematics to figure out the configuration angles of the two links, the roll contact condition in transmitting motion between the gears, and a linearization approach to obtain the shapes of the gears. Based on the proposed method, the shapes of the gears and the lengths of the tools of the planetary-gear-train system are determined fur three prescribed trajectories. A kinematical simulation with a commercialized package program is also carried out to confirm that the gear-train system synthesized with the proposed method is able to trace the prescribed trajectory.