• Journal of the Korean Society of Industry Convergence
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• v.20 no.1
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• pp.34-48
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• 2017

This study proposes a new approach to control a trajectory control of vertical type articulated robot arm with six revolution joints by computed torque method for manufacturing process automation. The proposed control scheme takes advantage of the properties of the fuzzy controllers. The proposed method is suitable to control of the trajectory and path control in cartesian space for vertical type articulated robot manipulator for forging manufacturing process automation. The results is illustrated that the proposed fuzzy computed torque controller is more stable and robust than the conventional computed torque controller. This study is included with an analytical methodology of inverse kinematic computation for 6 DOF manipulators. And an intelligent PID based on feed forward fuzzy control structure is applied to control the working path control with disturbances caused by uncertainty parameters of the manipulator dynamic model. Lastly, the validity of proposed is verified by simulations and experiments.

• Journal of Life Science
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• v.23 no.4
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• pp.501-509
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• 2013

Formaldehyde (FA) is widely used in industries, and it is an indoor and outdoor pollutant. Exposure to FA may cause inflammation and respiratory oxidative stress. Studies have demonstrated that FA can cause cancer in animal models. During the regeneration process of injured starfish (Asterina pectinifera), several changes have been observed in the expression of cytokines. In particular, higher TGF-${\beta}1$ expression has been detected in arm cut starfish extract after eight days. The current study was designed to elucidate the in-vitro and the in-vivo pharmacological effects of starfish extract on FA exposure. We investigated the protective effects of intact starfish extract and arm cut starfish extract on an IMR-90 cell line and on mouse lung injury in response to FA exposure. In the presence of FA, inhalation of the arm cut starfish extract was associated with more promising cell proliferation, TNF-${\alpha}$, NF-${\kappa}B$ decrement, and $I{\kappa}-B{\alpha}$ increment. In the experimental group, the pulmonary structure of the arm cut starfish extract-treated group in the presence of FA exposure was similar to the control group, whereas the FA exposure group showed damage to the pulmonary structure. Moreover, the arm cut starfish extracts was more effective than the intact starfish extracts in terms of the expression of TNF-${\alpha}$, NF-${\kappa}B$, $I{\kappa}-B{\alpha}$, and surfactant protein A. The results obtained in this study demonstrate that arm cut starfish extracts are more effective in protecting pulmonary structure and function against FA exposure than intact starfish extracts.

• Food Science and Preservation
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• v.19 no.5
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• pp.767-773
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• 2012

The purpose of this study was to investigate the anxiolytic-like effect of the methanol extract of Sophorae fructus (MESF) using elevated plus-maze (EPM), open field test, and horizontal wire test in mice. MESF was orally administered at doses of 50, 100, 200, or 400 mg/kg to ICR mice 1 h before behavioral evaluation. The control group was given an equal volume of 10% Tween 80, and the positive control group was given diazepam (1 mg/kg, i.p.). The administration of MESF significantly increased the percentage of time spent in open arms and the entries into the open arms of the EPM compared with the 10% Tween 80-treated control group (p < 0.05). In addition, the anxiolytic-like activities of MESF were antagonized by flumazenil (a GABAA antagonist, 10 mg/kg) but not by WAY-100635 (a 5-HT1A antagonist, 0.3 mg/kg). Futhermore, there were no changes in the locomotor activity and myorelaxant effects of the experimental group, as opposed to the 10% Tween 80-treated control group. Therefore, these findings suggest that MESF promotes the anxiolytic-like activity mediated by the GABAergic nervous system in mice.

• Journal of the Korean Society of Safety
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• v.25 no.6
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• pp.169-179
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• 2010

The aim of this study was to investigate occupational and individual risk factors and working conditions in relation to musculoskeletal symptoms in street cleaners. Investigation was conducted through a survey of 395 male street cleaners employed by the government office in Seoul, Gyeonggi and Chung-Nam from July to August of 2009. The control group was comprised of 143 male drivers and security guards. Risk factors for musculoskeletal symptoms in street cleaners were investigated by multiple logistic regression analysis and also evaluated ergonomic risk factors by assessing working conditions of 4 street cleaners. As a result of symptom questionnaires, all of the prevalent rates of musculoskeletal symptoms in street cleaners had significantly higher results than those of the control group(p<0.05). On binary logistic regression analysis of musculoskeletal symptoms, street cleaners showed significant higher odds ratio as 18.84(95%CI: 6.56-54.12) in the arm/elbow, 10.49(95%CI: 4.29-25.65) in the hand/wrist compared to the control group. Both absence of rest breaks and exposure to ergonomic risk factors showed to be important internal risk factors of musculoskeletal symptoms among street cleaners. The exposure levels of QEC(Quick exposures checklist) in street cleaners were revealed to be higher on the shoulder/arm, wrist/hand, and neck than back, or from stress. The findings appear to show that street cleaners were high-risk group of work-related musculoskeletal disorders. Therefore street cleaners require a holistic interventional strategy, including adequate arrangement of rest breaks, improvement of working tools and control of individual risk factors such as obesity and smoking.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1520-1524
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• 2004

This paper describes the development of a robotic maintenance system for use in a maintenance operation of the nozzle dam in a water chamber of a steam generator at the Kori nuclear power plant in Korea. The robotic maintenance system was designed to minimize the personnel exposure to a hazardous radioactive environment. This robotic maintenance system is operated by a teleoperated control which was designed to perform the nozzle dam maintenance tasks in a remote manner without endangering the human workers. Specific maintenance tasks involve the transportation, insertion, and removal of nozzle dams in a water chamber inside a steam generator via a narrow man-way entrance port. The developed robotic maintenance system has two major subsystems: a two degrees of freedom guiding device acting as the main guiding arm and a master-slave manipulator with a kinematic dissimilarity. The mechanical design considerations, control system, and capabilities of the robotic maintenance system are presented. Finally, a graphical representation of the nozzle dam maintenance processes in a simulated work environment are also demonstrated.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.628-632
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• 2003

An intelligent miniature humanoid robot system is designed and implemented as a platform for researching walking algorithm. The robot system consists of a mechanical robot body, a control system, a sensor system, and a human interface system. The robot has 6 dofs per leg, 3 dofs per arm, and 2 dofs for a neck, so it has total of 20 dofs to have dexterous motion capability. For the control system, a supervisory controller runs on a remote host computer to plan high level robot actions based on the vision sensor data, a main controller implemented with a DSP chip generates walking trajectories for the robot to perform the commanded action, and an auxiliary controller implemented with an FPGA chip controls 20 actuators. The robot has three types of sensors. A two-axis acceleration sensor and eight force sensing resistors for acquiring information on walking status of the robot, and a color CCD camera for acquiring information on the surroundings. As an example of an intelligent robot action, some experiments on playing soccer are performed.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.65 no.10
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• pp.1655-1663
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• 2016

Recently the researches on Modular Multi-level Converter (MMC) are being highlighted because high quality and efficient power transmission are key issues in the High Voltage Direct Current (HVDC) transmission system. This paper proposes an improved pre-charging method for the sub-module capacitors in MMC that operates in Nearest Level Control (NLC) modulation. The proposed method does not require additional circuits or Pulse Width Modulation (PWM) techniques. The feasibility of proposed method was verified through computer simulations for a scaled 3-phase 10kVA MMC with 12 sub-modules per each arm. Hardware experiments with a scaled prototype were performed in the lab to confirm the simulation results.

• The Journal of the Korea Contents Association
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• v.14 no.1
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• pp.24-29
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• 2014

This paper proposes a kinect-based human motion recognition model for the 3D contents control after tracking the human body gesture through the camera in the infrared kinect project. The proposed human motion model in this paper computes the distance variation of the body movement from shoulder to right and left hand, wrist, arm, and elbow. The human motion model is classified into the movement directions such as the left movement, right movement, up, down, enlargement, downsizing. and selection. The proposed kinect-based human motion recognition model is very natural and low cost compared to other contact type gesture recognition technologies and device based gesture technologies with the expensive hardware system.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.3
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• pp.203-211
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• 2013

This paper presents the implementation and control of two arms of an indoor service robot for floor tasks. The robot arms are designed to have 6 degrees-of-freedom (DOF), but actually built to have 5 DOF. Forward and inverse kinematics of two arms are analyzed and simulated to confirm the kinematic analysis. Two arms are actually controlled based on the inverse kinematics. The right and left arms are separately controlled to follow different trajectories in order to make sure the functionality of both arms. Experimental studies are conducted to confirm the kinematic analysis and proper operation of two arms.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.4
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• pp.320-326
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• 2000

The real-time simulator of a pneumatic actuation system that is composed of differential PWM signal generator, charge solenoid valve, discharge solenoid valve, actuator, load, and rotational potentiometer is developed using a DSP board and a PC. The simulator receives the control signals from the external controller through the A/D converter, updates the state and output variables of the Pneumatic actuation system responding to the input signals every sampling time, and sends out the output signals through the D/A converter in real time. The user can observe the displacements, velocities, pressures, and mass flows representing the operation of pneumatic actuation system through the PC monitor in real time. Also the user can see the moving images between the pistons and rotating arm realistically in real time. The accuracy of the real-time simulator is verified by the good agreement of the real-time simulation results and the experimental results of the pneumatic actuation system.