• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.10a
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• pp.219-224
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• 2002

This paper aims to derive a mathematical model of the dynamics of handling tasks in robot finger which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of area-contacts of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of area-contact is discussed. Finally, it is shown that even in the simplest case of dual single D.O.F manipulators there exists a sensory feedback from sensing data of the rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes secure grasping of the object, provided that the object is of rectangular shape and motion is confined to a horizontal plane.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.2
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• pp.187-193
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• 1998

This paper proposes an advanced visual tracking algorithm for the stable grasping of a moving target(2D). This algorithm is programmed to find grasping points of an unknown polygonal object and execute visual tracking. The Kalman Filter(KF) algorithm based on the SVD(Singular Value Decomposition) is applied to the visual tracking system for the tracking of a moving object. The KF based on the SVD improves the accuracy of the tracking and the robustness in the estimation of state variables and noise statistics. In addition, it does not have the numerical unstability problem that can occur in the visual tracking system based on Kalman filter. In the grasping system, a parameterized family is constructcd, and through the family, the grasping system finds the stable grasping points of an unknown object through the geometric properties of the parameterized family. In the previous studies, many researchers have been studied on only 'How to track a moving target'. This paper concern not only on 'how to track' but also 'how to grasp' and apply the grasping theory to a visual tracking system.

• The Journal of Korea Robotics Society
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• v.14 no.2
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• pp.94-103
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• 2019

The optimal grasping point of the object varies depending on the shape of the object, such as the weight, the material, the grasping contact with the robot hand, and the grasping force. In order to derive the optimal grasping points for each object by a three fingered robot hand, optimal point and posture have been derived based on the geometry of the object and the hand using the artificial neural network. The optimal grasping cost function has been derived by constructing the cost function based on the probability density function of the normal distribution. Considering the characteristics of the object and the robot hand, the optimum height and width have been set to grasp the object by the robot hand. The resultant force between the contact area of the robot finger and the object has been estimated from the grasping force of the robot finger and the gravitational force of the object. In addition to these, the geometrical and gravitational center points of the object have been considered in obtaining the optimum grasping position of the robot finger and the object using the artificial neural network. To show the effectiveness of the proposed algorithm, the friction cone for the stable grasping operation has been modeled through the grasping experiments.

• Annual Conference of KIPS
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• 2020.11a
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• pp.858-861
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• 2020

로봇이 사람과 같이 다양하고 복잡한 사물 조작을 하기 위해서 휴먼형 로봇손의 사물 파지 작업이 필수적이다. 자유도 (Degree of Freedom, DoF)가 높은 휴먼형(anthropomorphic) 로봇손을 학습시키기 위하여 사람 데모(human demonstration)가 결합된 강화학습 최적화 방법이 제안되었다. 본 연구에서는 강화학습 최적화 방법에 사람 데모가 결합된 Demonstration Augmented Natural Policy Gradient(DA-NPG)와 NPG 의 성능 비교를 통하여 행동 복제의 효율성을 확인하고, DA-NPG, DA-Trust Region Policy Optimization (DA-TRPO), DA-Proximal Policy Optimization (DA-PPO)의 최적화 방법의 성능 평가를 위하여 6 종의 물체에 대한 휴먼형 로봇손의 사물 조작 작업을 수행한다. 그 결과, DA-NPG 와 NPG를 비교한 결과를 통해 휴먼형 로봇손의 사물 조작 강화학습에 행동 복제가 효율적임을 증명하였다. 또한, DA-NPG 는 DA-TRPO 와 유사한 성능을 보이면서 모든 물체에 대한 사물 파지에 성공하여 가장 안정적이었다. 반면, DA-TRPO 와 DA-PPO 는 사물 조작에 실패한 물체가 존재하여 불안정한 성능을 보였다. 본 연구에서 제안하는 방법은 향후 실제 휴먼형 로봇에 적용하여 휴먼형 로봇 손의 사물조작 지능 개발에 유용할 것으로 전망된다.

• Microbiology and Biotechnology Letters
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• v.46 no.4
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• pp.326-333
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• 2018

In this study, we identified methods to improve heat stability and skin permeability of functional protein biopolymers, such as growth factors, enzymes, and peptides. The biopolymers participate in cellular activation and catalytic functions in vivo. Therefore, when applied to cosmetics, their efficacies are expected to be helpful for skin care. However, they have disadvantages that include instability to heat and low skin permeability due to their high molecular weight. To overcome these problems, we searched for a composition that increases heat stability. Stability was improved using a polymeric humectant having a long polyethylene glycol length, compared with a mono-molecular structure humectant. Next, to enhance skin permeation, a permeation enhancing peptide was selected from a phage library. The permeation enhancing peptide can be commonly used to promote the permeation of growth factors, enzymes, and peptides. Screening was performed on the polymeric humectant formulation. One dominant peptide from the modified-screening method was identified. Furthermore, it was confirmed that the permeability of the peptide was better than that of the peptide developed through a screening system based on phosphate-buffered saline. The data indicate that the polymeric humectant formulation will be helpful for increasing the heat stability of protein ingredients and that skin permeability could be increased by a formulation-specific, penetration-enhancing peptide.

• Journal of The Korean Society of Agricultural Engineers
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• v.55 no.6
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• pp.1-9
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• 2013

미래 기후 정보를 이용한 수문 환경의 단기 미래 예측은 안정적 수자원 공급을 위한 필수적 과제이다. 미국 플로리다 주 중서부 템파지역에서는 주요 수자원 중 하나인 지하수의 효과적 활용을 위해 지하수위 인공신경망 모델 (GWANN)을 개발하여 피압 대수층과 비피압 대수층에 대한 주 단위 평균 지하수위를 월별로 예측하고 그 결과를 수자원 공급 의사 결정에 반영하고 있다. 본 논문은 템파지역에 대한 GWANN 모델을 이용한 지하수위 예측 시스템을 소개하고 모델의 기후 입력 자료의 민감도를 분석함으로써 양질의 기후 정보에 대한 현 시스템의 활용성을 검토하였다. 2006년과 2007년에 대한 연구 결과, 관측 자료를 최적 예측 시나리오 (the best forecast)로 가정하여 적용한 결과는 지하수위 관측 지점에 따라 큰 차이를 보였지만 일반적으로 현 시스템 (현 시점의 실시간 주 단위 평균 강우량을 향후 4주간 동일하게 적용함) 에 비해 예측 성능이 개선되는 것으로 나타났다. 더불어 강우 관측 자료의 백분위 (percentile forecast; 20분위, 50분위, 80분위)를 강우 예측 자료로 활용한 경우에도 현 시스템과 비교하여 일부 나은 결과를 보여주었다. 그러나 지하수위 예측 모델을 활용하지 않고 현 시점의 지하 수위가 지속된다고 가정하는 경우 (na$\ddot{i}$ve model) 향후 2주간의 예측 결과가 best forecast 경우에 비해 높은 정확도를 보이는 등, GWANN 모델의 단기 예측에 대한 양질의 강우 예측 정보의 활용성은 낮으며, 향후 3주 이상에 대한 예측 성능에 있어 best forecast결과가 na$\ddot{i}$ve model 결과에 비해 높은 정확도를 보이기 시작하는 것으로 나타났다. 또한 GWANN 모델의 예측 성능은 적용 기간과 지역 및 지하대수층의 특성에 따라 큰 다양성을 가지는 단점을 보여 강우 예측 자료 활용에 앞서 모델 개선의 필요성이 있다고 판단된다. 본 연구는 단기수자원 공급 계획 수립을 위하여 사용되는 지역 모델링 시스템에 대한 기후 예측정보의 활용성 평가를 위한 방법론으로 고려될 수 있을 것으로 기대된다.

• Korean Journal of Microbiology
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• v.38 no.1
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• pp.13-18
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• 2002

Effects of divalent cations such as $Mg^{2+}$, $Mn^{2+}$ and $Zn^{2+}$ on the self-splicing inhibition of the T4 phage thymidylate synthase (td) intron by the coenzyme thiamine pyrophosphate have been investigated. The splicing activity increased in proportion to the concentration of $Mg^{2+}$ up to 30 mM. Without $Mg^{2+}$in the splicing reaction the $Zn^{2+}$ ion tested in the range of 0.1-6 mM concentration only produced the splicing activity about 20% that of the normal splicing rate. A majority of the splicing products were I-E2 and E2 but El-E2 ligation product, Cl and Ll were not detected. Similar patterns of splicing products were also observed with $Mn^{2+}$. At 6 mM $Zn^{2+}$the intron RNA was hydrolyzed. $Mn^{2+}$produced a little higher splicing activity than that of $Zn^{2+}$over the range of concentrations used and at 8 mM about 28% splicing activity was observed. In contrast, $Mn^{2+}\;and\;Zn^{2+}$ ions promoted the splicing activity about 35-40% on an average in the presence of 10 mM $Mg^{2+}$. Of all divalent cations tested, $Mg^{2+}$exhibited the maximum activation effect to counteract the splicing inhibition by thiamine pyrophosphate. This appears to be due to the stabilizing effect of td intron ribozyme structure essential for the catalytic function by $Mg^{2+}$.

• Journal of Life Science
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• v.26 no.1
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• pp.59-67
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• 2016

Platycodon grandiflorum A. De Candolle (Korean name, ‘Doraji’) is a perennial plant containing various triterpenoid saponins. The roots of this plant have traditionally been used as a food material in Korea. Here, we prepared a fermented P. grandiflorum extract (PG). Although it was previously reported that P. grandiflorum A. extract has a variety of physiological functionalities, including anti-inflammatory and anti-oxidant activities, little is known about its vascular functions. In this study, we executed a series of experiments to identify the effect of PG on endothelial cells. PG at a high concentration (100 μg/ml) was found to induce cell detachment, whereas PG at a low concentration (0.1 μg/ml) appeared to promote cell proliferation and migration in bovine aortic endothelial cells. The cell detachment induced by the high concentration was not associated with cell death, such as apoptosis, necrosis, and autophagy. In addition, we found that PG at the high concentration formed a small vesicular structure called an endothelial microparticle (EMP). The EMP was prepared by centrifugal fractionation and determined with flow cytometry and a microscope. Interestingly, PG-induced cell detachment was found to be mediated by EMP. We furthermore determined that PG at the low concentration activated Akt, a crucial cell-signaling molecule, and then controlled cell proliferation and migration. Overall, our findings suggest that PG at low doses maintains vascular stability by promoting endothelial cell proliferation, and enhances the efficacy of wound healing by cell proliferation and migration activity.