• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.174-178
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• 1991

In this paper, we present a unified approach for the control of manipulator motions and active forces based on the operational space formulation. The end-effector dynamic model is used in the development of a control system in which the generalized operational space end-effector forces are selected as the command vector. A "generalized position and force specification matrix" is used for the specification of space of motions and forces in which manipulator is to be controlled. Flexibility in the force sensor, end-effector, and environment are discussed.discussed.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 추계학술대회 논문집 학회본부 A
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• pp.425-433
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• 1999

This paper describes a simulation model and a scaled hardware model to analyze the dynamic performance of Unified Power Flow Controller, which can flexibly adjust the active and reactive power flow through the ac transmission line. The design of control system was developed using vector control method. The results of simulation and scaled hardware test show that the developed control system works accurately. And both models are very effective to analyze the dynamic performance of the Unified Power Flow Controller.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 추계학술대회 논문집 학회본부A
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• pp.131-133
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• 1998

This paper, proposed the p-q-r coordinate system where the instantaneous active power p, and the two instantaneous reactive powers $q_{q}$, $q_{r}$ were defined. The three power components are linearly independent, so the compensation for the two instantaneous reactive powers leads to control the two components of the current space vector. With the theory, the neutral current of the three-phase four-wire system can be eliminated by only compensating the instantaneous reactive power using no energy storage element.

• 한국신재생에너지학회:학술대회논문집
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• 한국신재생에너지학회 2006년도 춘계학술대회
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• pp.253-256
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• 2006

This paper shows operating characteristics of DFIG(Double Fed Induction Generator) for wind turbine. The back to back PWM voltage-fed inverter connected between the rotor and grid network operated sub and super-synchronous operating mode, and the vector-controlled DFIG enables the decoupling between active and reactive power as well as between torque and power factor. This paper is validated by simulations and experimental results.

• Journal of Microbiology and Biotechnology
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• 제18권4호
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• pp.639-647
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• 2008

The heat-inducible expression vectors for Corynebacterium glutamicum and C. ammoniagenes were constructed by using the ${\lambda}O_L1$ and the cryptic promoters, CJ1 and CJ4 that express genes constitutively in C. ammoniagenes. Although the promoters were isolated from C. ammoniagenes, CJ1 and CJ4 were also active in C. glutamicum. To construct vectors, the $O_L1$ from the ${\lambda}P_L$ promoter was isolated and fused to the CJ1 and CJ4 promoters by recombinant PCR. The resulting artificial promoters, CJ1O and CJ4O, which have one ${\lambda}O_L1$, and CJ1OX2, which has two successive ${\lambda}O_L1$, were fused to the green fluorescent protein (GFP) gene followed by subcloning into pCES208. The expression of GFP in the corynebacteria harboring the vectors was regulated successfully by the temperature-sensitive cI857 repressor. Among them, C. ammoniagenes harboring plasmid pCJ1OX2G containing GFP fused to CJ1OX2 showed more GFP than the other ones and the expression was tightly regulated by the repressor. To construct the generally applicable expression vector using the plasmid pCJ1OX2G, the His-tag, enterokinase (EK) moiety, and the MCS were inserted in front of the GFP gene. Using the vector, the expression of pyrR from C. glutamicum was tried by temperature shift-up. The results indicated that the constructed vectors (pCeHEMG) can be successfully used in the expression and regulation of foreign genes in corynebacteria.

• Journal of Microbiology and Biotechnology
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• 제14권4호
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• pp.789-795
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• 2004

A promoter-probe shuttle vector pSK1Cat was constructed for the isolation of transcriptional signal sequences from Corynebacterium glutamicum. Besides conferring resistance to kanamycin in Escherichia coli and C. glutamicum, the vector carried a promoterless cat gene to confer resistance to chloramphenicol upon insertion of the appropriate transcriptional signals in the multiple cloning site. By utilizing the vector, a series of transcriptionally active fragments were isolated from the genome of C. glutamicum. The clones, ranging from 200 bp to 1 kb in size, were grouped into 3 classes of strong, medium, and weak, based on the chloramphenicol acetyltransferase (CAT) activity and sensitivity to the chloramphenicol of the clone-carrying C. glutamicum cells. C. glutamicum cells carrying the $P_{19}$ clone, a representative in the strong class, were able to grow on minimal agar plates containing over $40 mg/mell$ chloramphenicol, and showed CAT activity of 10 m㏖/mgㆍmin, performing slightly better than the cells carrying $P_{tac}$ , a strong E. coli promoter. Subcloning analysis of the $P_{19}$ clone identified a 180 bp intergenic fragment ($P_{180}$), which was located upstream of a gene encoding a hypothetical membrane protein. The expression conferred by $P_{180}$ was not affected by either the kinds of carbon sources or changes in temperature. These properties make the $P_{180}$ clone useful for the deregulated expression of biosynthetic genes in C. glutamicum during amino acid fermentation.

• 한국미생물·생명공학회지
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• 제26권1호
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• pp.34-39
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• 1998

본 연구에서는 안정성이 보장된 효모를 숙주로 하여 이미 lysozyme 생산능이 확인된 저 copy수의 YCp type인 pHK101의 생산능을 높이기 위해 고발현 벡터인 다 copy 수의 YEp type인 pHK501을 구축하였다. pHK501과 pHK101형질전환체의 M. luteus를 기질로 한 lysoplate assay 비교에서 확실한 생산량의 증가를 생육저지환을 통해 확인하였다. 또한 E. coli에서 peptidoglycan만을 추출하여 기질로 사용한 lysoplate assay에서도 pHK501형질전환체의 배양액 중에는 정상적 인 HLY의 생산을 직접 확인할 수 있었다. 플라스크 배양에서 배양시간에 따른 HLY의 최대 생산량은 81시간만에 pHK501형질전환체가 55 units/$m\ell$에 도달됨으로써 pHK101(7 units/$m\ell$)에 비해 약 8배 증가됐다. 발효조규모에서의 HLY 생산은 24시간만에 26.8 units/$m\ell$(1.12 units/$m\ell$/h)에 도달하였고 전체 생산성은 플라스크배양(0.625 units/$m\ell$/h)에 비해 약 1.8배 정도 증가되었다.

• 한국항공우주학회지
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• 제43권3호
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• pp.282-287
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• 2015

현대전에서 적 방공망 제압 임무는 과거에 비해 그 중요성이 점차 부각되고 있다. 그러나 본 임무는 적의 방공망에 아군의 항공기와 조종사가 노출되는 위험을 안고 있어, 아군의 피해를 최소화하면서 효과적으로 임무를 수행할 수 있도록 하는 연구가 활발히 진행되고 있다. 본 논문에서는 이러한 연구의 일환으로써, 벡터필드 유도기법을 이용하여, 다수 무인기의 적 방공망 제압 임무를 설계하였다. 벡터필드 유도기법은 다른 유도기법들에 비하여 계산 량이 적고 쉽게 응용이 가능한 이점이 있어, 다수 무인기 운용에 해당 기법을 적용하는 경우 무인기간의 상호 협동을 통한 다양한 형태의 임무를 계획할 수 있다. 따라서 벡터필드 유도기법을 이용한 다수 무인기의 적 방공망 제압 임무의 설계방법을 제시함과 동시에, 비행실험을 통하여 그 운용 가능성을 확인해 보았다.

• 대한의용생체공학회:의공학회지
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• 제28권6호
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• pp.713-720
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• 2007

In image-guided surgery, automatic bone segmentation of Computed Tomography (CT) images is an important but challenging step. Previous attempts include intensity-, edge-, region-, and deformable curve-based approaches [1], but none claims fully satisfactory performance. Although active contour (AC) techniques possess many excellent characteristics, their applications in CT image segmentation have not worthily exploited yet. In this study, we have evaluated the automaticity and performance of the model of Chan-Vese Multiphase AC Without Edges towards knee bone segmentation from CT images. This model is suitable because it is initialization-insensitive and topology-adaptive. Its segmentation results have been qualitatively compared with those from four other widely used AC models: namely Gradient Vector Flow (GVF) AC, Geometric AC, Geodesic AC, and GVF Fast Geometric AC. To quantitatively evaluate its performance, the results from a commercial software and a medical expert have been used. The evaluation results show that the Chan-Vese model provides superior performance with least user interaction, proving its suitability for automatic bone segmentation from CT images.

• Journal of Mechanical Science and Technology
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• 제16권12호
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• pp.1633-1642
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• 2002

Uninterrupted power supply has become indispensable during the maintenance task of active electric power lines as a result of today's highly information-oriented society and increasing demand of electric utilities. The maintenance task has the risk of electric shock and the danger of falling from high place. Therefore it is necessary to realize an autonomous robot system using electro-hydraulic manipulator because hydraulic manipulators have the advantage of electric insulation. Meanwhile it is relatively difficult to realize autonomous assembly tasks particularly in the case of manipulating flexible objects such as electric lines. In this report, a discrete event control system is introduced for automatic assembly task of electric lines into sleeves as one of the typical task of active electric power lines. In the implementation of a discrete event control system, LVQNN (linear vector quantization neural network) is applied to the insertion task of electric lines to sleeves. In order to apply these proposed control system to the unknown environment, virtual learning data for LVQNN is generated by fuzzy inference. By the experimental results of two types of electric lines and sleeves, these proposed discrete event control and neural network learning algorithm are confirmed very effective to the insertion tasks of electric lines to sleeves as a typical task of active electric power maintenance tasks.