• Journal of Institute of Control, Robotics and Systems
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• v.5 no.2
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• pp.208-219
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• 1999

Springs have been employed in a wide range of mechanical systems. This work deals with the concept of an adaptable spring mechanism which can arbitrarily modulate its spring characteristics. The adaptable spring is desired for enhancing performances of various mechanical systems employing springs. We demonstrate that such adaptable springs can be realized by adapting anthropomorphic musculoskeletal structures of the human upper-extremity, which possesses highly nonlinear kinematic-coupling among redundant muscles existing in its structures. This phenomenon has been explained by several human arm models. Based on the analysis results, we propose multi-degree-of-freedom spring mechanisms resembling the musculoskeletal structure of the human upper-extremity, and verifiy the applicability of these mechanisms through simulation.

• Journal of the Korean Society for Precision Engineering
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• v.6 no.2
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• pp.65-76
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• 1989

The objective of this paper is to design the variable structure system(VSS) controller for the tracking control of excavator which is driven by electro-hydraulic servomechansim. It is generally agreed that the dynamic characteristics of the robot arm such as excavator are coupled, time varying, and highly nonlinear, and also hydraulic system contains nonlinear characteristics in itself, so performing exact position control and trajectory tracking control need remarkable consideration. To solve this porblem, this system was designed as a variable structure system. The salient feature of VSS is that the sliding mode occur on a switching surface. While in sliding mode, the system remains insensitive to parameter variations and disturbances. This control algorithm was applied to a hydraulic excavator by simulaltion and to a simulator by experiment. And its effectiveness was verified. And the results of VSS for the electro-hydraulic excavator was compared with that of the PID when load disturbances and system parameter variations exist.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2003.04a
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• pp.327-339
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• 2003

In this paper, a self-organizing fuzzy controller(SOFC) for the industrial robot manipulator with a actuator located at the base is studied A fuzzy login composed of linguistic conditional statements is employed by defining the relations of input-output variable of the controller, In the synthesis of a FLC, one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult SOFC is proposed for a hierarchical control structure consisting of basic level and high level that modify control rules. The proposed SOFC scheme is simple in structure, fast in computations and suitable for implementation of real-time control. Performance of the SOFC is illustrated by simulation and experimental results for robot with low joints.

• Journal of Korea Foundry Society
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• v.11 no.5
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• pp.398-405
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• 1991

Al-Li alloy has a high strength with low density. Practically this alloy should use by the material which made from the rapid solidification. Therefore we examine the solidification structures of alloy with cooling rate. According to cooling rate increased, grain size and secondary dendrite arm spacing were smaller. Also grain size was further smaller by Zr added. To obtain more fine solidification structure, rapid solidification by single roll melt spinning was performed. According to higher wheel speed, cooling rate increased and cell size was smaller. Because of locally different cooling rate, different cell size was obtained in same specimen. More than cooling rate $10^6^{\circ}C$ /sec, zone A(insensible zone to corrosion)was obtained.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.30B no.6
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• pp.9-19
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• 1993

This paper presents a new concept of a reconfigurable manipulator system which adjusts its mechanical structure to suit the kinematic characteristics of a given task. A highly redundant manipulator designed as a general purpose manipulator needs to be reconfigured for a specific task. A general task can be decomposed of motion and force components with different control requirements: either gross motion control or fine motion control. Each of these task components are distributed to each part of the manipulator based on the control requirements and the structure of the manipulator. Through the reconfiguration, a redundant manipulator is decomposed into two local arms, and the kinematic characteristics of each local arm is adjusted to suit the assigned task. The reconfigured redundant manipulator has two local arms well-configured for the local tasks and cooperating in serial for a given task. This globally enhances the performance of a redundant manipulator to execute a specific task. The simulation results are shown.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.10a
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• pp.241-249
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• 2002

In this paper, a self-organizing fuzzy controller(SOFC) for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy login composed of linguistic conditional statements is employed by defining the relations of input-output variable of the controller, In the synthesis of a FLC, one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult SOFC is proposed for a hierarchical control structure consisting of basic level and high level that modify control rules. The proposed SOFC scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance of the SOFC is illustrated by simulation and experimental results for robot with tow joints.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.19 no.3
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• pp.307-312
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• 2010

In this study, advanced computational technique for mechatronic analysis has been developed for the efficient design and test of typical machine tool models. Flexible multi-body dynamic (FMBD) analysis method combined with motion controller including control logics is used to simulate typical operation conditions. The present FMBD machine tool model is composed of flexible column structure, rigid body spindle, vertical motion guide (arm) and screw elements. Driving motor clement with rotating degree-of-freedom is interconnected and governed by the designed Matlab Simulink control logic, and then the position of the spindle is feedback into the control logic. It is practically shown from the results that the investigation of designed machine tools with controller can be effectively conducted and verified.

• Fisheries and Aquatic Sciences
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• v.27 no.2
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• pp.111-121
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• 2024

Particulate matter (PM) is a mixture of microscopic solid inhalable particles including airborne liquid droplets, and it is implicated with several diseases. The eye does not have a protective barrier among the human organs, consequently it get directly exposed to environmental substances such as PM. The scarcity of treatments for damage to the eyesight and the vision and eye structure being closely related to the structure and function of the central nervous system highlights the cruciality of novel therapeutics. In this study was conducted using in vivo zebrafish vertebrate model which is a useful model due to the conserved genes between human. We found that protective effect of Octopus minor extract against particulate matter-induced adverse effects on eye development in zebrafish (Danio rerio) embryos by regulating antioxidant and anti-inflammatory mRNA expression.

• Geophysics and Geophysical Exploration
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• v.12 no.1
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• pp.41-48
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• 2009

Natural magnetic fields are attenuated by electrically conductive water. For that reason, marine magnetotelluric surveys have collected data at long periods (1000-100 000 s). The mantle structure has been the main target of seafloor magnetotelluric measurements. To ascertain crustal structure, however, electromagnetic data at shorter periods are important, e.g. in investigations of megathrust earthquake zones, or in natural resource surveys. To investigate of the former, for example, electromagnetic data for periods of less than 1000 s are necessary. Because no suitable ocean bottom electromagnetometer (OBEM) has been available, we have developed a small OBEM and ocean bottom electrometer (OBE) system with a high sample rate, which has an arm-folding mechanism to facilitate assembly and recovering operations. For magnetic observation, we used a fluxgate sensor. Field observations were undertaken to evaluate the field performance of our instruments. All instruments were recovered and their electromagnetic data were obtained. Results of the first experiment show that our system functioned well throughout operations and observations. Results of other field experiments off Tottori support the claim that the electromagnetic data obtained using the new OBEM and OBE system are of sufficient quality for the survey target. These results suggest that this device removes all instrumental obstacles to measurement of electromagnetic fields on the seafloor.

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.44 no.4
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• pp.63-72
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• 2007

In this paper, we propose a novel reconfigurable coprocessor for multimedia mobile terminals. Because most of multimedia operations require fast operations of large amount of data in the limited clock frequency, it is necessary to enhance the performance of the embedded processor that is widely used in current multimedia mobile terminals. Therefore, we proposed and have designed the coprocessor which had the ability of fast operations of multimedia data. The proposed coprocessor was not only reconfigurable, but also flexible and expandable. The proposed coprocessor has been designed by using VHDL and compared with previous reconfigurable coprocessors and a commercial embedded processor in architecture and speed. As a result of the architectural comparison, the proposed coprocessor had better structure in terms of hardware size and flexibility. Also, the simulation results of DCT application showed that the proposed coprocessor was 26 times faster than a commercial ARM processor and 11 times faster than the ARM processor with fast DCT core.