• Journal of the Korean Society for Precision Engineering
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• v.30 no.9
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• pp.961-968
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• 2013

In this paper, we propose an optimal design for starfish capturing manipulator module with four-bar linkage mechanism. A tool link with compliance is attached on the four-bar linkage, and the tool repeats detaching starfish from the ground and putting it into the storage box. Since the tool is not rigid and the manipulator is operating underwater, the trajectory of the tool tip is determined by its dynamics as well as kinematics. We analyzed the trajectory of the manipulator tool tip by quasi-static analysis considering both kinematics and dynamics. In optimization, the lengths of each link and the tool stiffness are considered as control variables. To maximize the capturing ability, capturing stroke of the four-bar manipulator trajectory is maximized. Reaction force and reaction moment, and other kinematic constraints were considered as inequality constraints.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.9
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• pp.833-839
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• 2010

In this paper, a novel 1 DOF hand rehabilitation robot is proposed in consideration of ADL training for stroke patients. To perform several ADL trainings, the proposed robot can move the thumb part and the part of 4 fingers simultaneously and realize the full ROM (Range of Motion) in grasp. Based on these characteristics, the proposed robot realizes several types of grasp such as cylindrical grasp, lateral grasp, and pinch grasp by using a passive revolute joint that can change the thumb movement direction. The movement of the thumb is driven by a cable mechanism and the part of 4 fingers is moved by a four-bar linkage mechanism.

• The Journal of the Convergence on Culture Technology
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• v.9 no.1
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• pp.525-530
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• 2023

Although double-stage hanger is used in many homes for its space utilization and ease of installation, it is inconvenient for users to take off clothes hung on the upper bar due to its high height. Therefore, this paper proposes a new type of double-stage hanger that allows users to easily hang or take out clothes hung on the upper bar while maintaining the function of the existing double-stage hanger. 4-bar link mechanism is applied so that the upper bar can come down to a convenient height with one operation. In addition, an appropriate link shape, length, and joint type are selected so that the height is adjusted three-dimensionally to prevent overlapping of clothes hanging on upper/lower bars. FEA analysis is performed to ensure that the presented hanger shape can support the load of clothes during height adjustment and the feasibility of the three-dimensional height adjustment hanger is verified through fabrication.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.7
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• pp.851-858
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• 2011

Nanopositioning technologies play an important role in the progress of electronics, optics, bio-engineering and various nano-scale technologies. As a result, various practical nanopositioning methods have been successfully introduced. Flexure mechanism is a valuable method in nanopositioning because of smooth and friction-free motion and the infinitesimal movement near to sub-nm. In this study a modularized nanopositioner based on parallelogram four-bar linkage structure with right-circular flexure hinge was developed. The positioning performance of a single axis nanopositioner and a XY nanopositioner which was extended from single axis one were demonstrated using control experiments. Consequently, it was shown that the developed single axis nanopositioner possessed high performance and could be extended to various multi-axis nanopositioners.

• Transactions of the Korean Society of Mechanical Engineers
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• v.14 no.2
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• pp.288-297
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• 1990

The method of analyzing flexible mechanisms with clearances was studied considering flexibility of beams in the mechanism using finite elements. Both ends of a beam were modeled as free following Dubowsky's impact pair model. Instead some force constraints were imposed at imposed at the connections between adjoining links. Coulomb model has been developed using dry frictions in place of tangential damping forces in the impact pair model and the contact compliance and damping coefficient approximated in a form of root function were used. As examples, impacts of a rigid ball in a cylinder, impact beam model and four-bar mechanisms made up of three flexible links with clearance connections were simulated numerically. The results from examples showed similar but a little bit smaller magnitude of impact forces compared with published studies.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.713-718
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• 2003

Decubitus ulcer is a pressure-induced ulceration of the skin occurring in persons confined to bed for long periods of time. In order to prevent decubitus ulcer, the medical bed mechanism to minimize pressure, friction, and shear forces acting between bed and patient had been developed. Air mattress also can be effective for reducing pressure over bony prominence. In this study, motion analysis was performed to examine whether this bed mechanism functioned properly in case of using air mattress, which was much thicker than common hospital mattress. We found that the patient on the air mattress above the medical bed for preventing decubitus ulcer slipped upward and downward excessively as the general motored-bed. New bed mechanisms were synthesized kinematically using simple 4-bar and 6-bar linkages so as to reduce sliding between the bed and the patient on the air mattress for preventing decubitus ulcer.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.63-64
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• 2006

In this paper, design modification was performed to improve the structure of ex-developed 12 D.O.F Biped walking robot, KUBIR-1 similar with human beings. The motion of KUBIR-1 was slow and had a limited walking space. Hence I designed an improved BWR named KUBIR-2 with 12 degree of freedom. KUBIR-2 was designed to solve the following problems of KUBIR-1. First, KUBIR-2 was more simply designed in the four-bar-link mechanism, and its weight was reduced. Second, it had the built-in controller and motor driver. Third, walking velocity of KUBIR-2 was increased by improvement of speed and motion joint angle range. In addition to these, we modified the structure of the foot for more stable walking.

• Magazine of the Korean Society of Agricultural Engineers
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• v.17 no.3
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• pp.3885-3893
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• 1975

This work was intended to study the cutting graph and vibratory phenomina of a newly developed mower which may be suitable for mowing agricultural product having large and hard stems like corn and sugar beet. The system consists of cutter-bar having Curvilinear-translation motion, which attached to drag-crank mechanism. The motion of equation developed for experimental vibratory system which equipped with the cutter-bar system was established and the parameters defining the system's vibratory motion were experimentally determined. The optimum balancing weight for the cutter-bar am vibratory characteristics of the cutter-bar for various counterweight were analyzed to provide the design and operational conditions. The results of the study are summarized as follows; (1) The cutting graph by the new cutter-bar system depends upon the magnitude of ratio of forward travel(Vm) to crank speed (R$\omega$); The cutting pitch for Vm/R$\omega$ 1 (whole cycle cutting) and Vm/R$\omega$=2/$\pi$ (a half cycle cutting) are 2$\pi$ Vm and 4R, respectively. (2) The experimental vibratory system had been proved to function adequately so that it can be used in determining the required counterweight to minimize the vibratory motion of cutter-bar. (3) Experimentally determined counterweight to give the least vibratory motion was a little greater than the theoretically determined one. With the optimum counterweight it was possible to reduce up to about 87% of the amplitude without counterweight, which may be considered to be within safe operational region. (4) To avoid the actual operation of the cutter-bar at resonance which occured in low frequency ratio, it was considered that the rotational speed of the crank for a specific design of mower should be determined separately in connection with the desired cutting graph.

• Journal of the Korea Institute of Building Construction
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• v.4 no.1
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• pp.119-126
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• 2004

Generally, reinforced concrete is one of the most commonly used structural materials and it prevents corrosion of steel bar by high pH of interior, But, as time elapsed, reinforced concrete structure become deteriorated by many of combined deterioration factors and environmental conditions. And, there are large number of deteriorate mechanism of the reinforced concrete structure and it acts complexly. It is recognized that steel bar corrosion is the main distress behind the present concern regarding concrete durability. In this study, to institute combined deterioration environments, established acceleration condition and cycle for combined deterioration environments has a resemblance to environments which are real structures placed. After that to confirm corrosion properties of reinforced concrete due to permeability with covering depth and types of surface cover under combined deterioration environments, measured carbonation velocity coefficients, chloride ion diffusion coefficients, water absorption coefficients, air permeability coefficients and electric potential, corrosion area ratio, weight reduction, corrosion velocity of steel bar. The results showed that an increase in age also decrease carbonation velocity coefficients, increase Chloride ion diffusion coefficients and increases water absorption coefficients. As well, an increase in age also increases corrosion of steel bar. Data on the development of corrosion velocity of steel bar with types of surface cover made with none, organic B, organic A, inorganic B, and inorganic A is shown. As well, permeability and corrosion velocity of steel bar with covering depth is superior to 10mm than 20mm. And it is confirmed permeability and corrosion properties of steel bar are closely related.

• Korean Journal of Plant Tissue Culture
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• v.26 no.4
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• pp.281-287
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• 1999

Codonopsis lanceolata ("Deoduck" in Korea) is a perennial herb, and belongs to family, Campanulaceae. Its taproot is used a good source of a wild vegetable as well as an herbaceous medicine. In this study, to develop a bialaphos-resistant transgenic Codonopsis, seed germination mechanism and somatic embryogenesis of the plant were investigated, and Agrobacterium-mediated transformation with bar gene encoding phosphinothricin acetyltransferase (PAT) was performed. Attempt were made to regenerate plant from cells via somatic embryogenesis. When the cotyledons, nodes and leaf disks were cultured on MS medium containing 2,4-D and zeatin, embryogenic calli were induced. Upon transferring the somatic embryos to N6 solid medium without plant growth regulators, they developed into plantlets under continuous illumination. All plants were dead on MS basal medium containing 10 mg/L phosphinothricin (PPT) and Basta, respectively. The explants did not produce calli in the medium containing 200 mg/L kanamycin. The explants were cocultured with Agrobacterium tumefaciens for 2 days, and transformants were selected in MS basal medium containing 1.0 mg/L 2,4-D, 100 mg/L kanamycin and 500 mg/L carbenicillin. After the selection, embryogenic calli were induced and then somatic embryos were produced by subsequent subculturing. The somatic embryos were germiated on N6 basal medium containing 200 mg/L kanamycin and 500 mg/L carbenicillin. PCR analysis showed that nptII and bar genes were introduced in the Deoduck transformants. After the confirmation of bar gene expression in RNA and protein level, the transgenic Deoduck will be used to study the genetics of filial generation with the herbicide control gene, bar.gene, bar.