• Journal of Institute of Control, Robotics and Systems
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• v.15 no.1
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• pp.99-104
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• 2009

This article describes the analysis of stable grasping for multi-fingered robot. An analysis method of stable grasping, which is based on the three-dimensional acceleration convex polytope, is proposed. This method is derived from combining dynamic equations governing object motion and robot motion, force relationship and acceleration relationship between robot fingers and object's gravity center through contact condition, and constraint equations for satisfying no-slip conditions at every contact points. After mapping no-slip condition to torque space, we derived intersected region of given torque bounds and the mapped region in torque space so that the intersected region in torque space guarantees no excessive torque as well as no-slip at the contact points. The intersected region in torque space is mapped to an acceleration convex polytope corresponding to the maximum acceleration boundaries which can be exerted by the robot fingers under the given individual bounds of each joints torque and without causing slip at the contacts. As will be shown through the analysis and examples, the stable grasping depends on the joint driving torque limits, the posture and the mass of robot fingers, the configuration and the mass of an object, the grasp position, the friction coefficients between the object surface and finger end-effectors.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2014.10a
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• pp.36-41
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• 2014

Electro-Mechanical Actuator installed on aircraft consists of a decelerator which magnifies the torque to rotate an axis connected with aircraft control surface, a control section which controls the motor assembly through receiving orders from cockpit and a motor assembly which rotates the decelerator. EMA controls aircraft attitued, position, landing, takeoff, etc. It is important part of a aircraft. Aircraft maneuvering make vibration of EMA. Vibration may cause the vibration fatigue. For that reason, it is necessary to analyze the system safety. In this paper, first EMA is modeled in finite element method and analyzed the response from input vibration. second EMA is tested and analyzed from modal experimental data. third EMA Fe model is updated and re analyzed. and EMA is verified safety with $3{\sigma}$ stress and S/N curves.

• The Journal of Korea Robotics Society
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• v.5 no.2
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• pp.110-119
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• 2010

This paper aims to add the autonomous driving capability to the inverted pendulum system which maintains the inverted pendulum upright stably. For the autonomous driving from the starting position to the goal position, the motion control algorithm is proposed based on the dynamics of the inverted pendulum robot. To derive the dynamic model of the inverted pendulum robot, a three dimensional robot coordinate is defined and the velocity jacobian is newly derived. With the analysis of the wheel rolling motion, the dynamics of inverted pendulum robot are derived and used for the motion control algorithm. To maintain the balance of the inverted pendulum, the autonomous driving strategy is derived step by step considering the acceleration, constant velocity and deceleration states simultaneously. The driving experiments of inverted pendulum robot are performed while maintaining the balance of the inverted pendulum. For reading the positions of the inverted pendulum and wheels, only the encoders are utilized to make the system cheap and reliable. Even though the derived dynamics works for the slanted surface, the experiments are carried out in the standardized flat ground using the inverted pendulum robot in this paper. The experimental data for the wheel rolling and inverted pendulum motions are demonstrated for the straight line motion from a start position to the goal position.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.10a
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• pp.649-652
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• 2005

It is reported that semi-solid forming process takes many advantages over the conventional forming process, such as long die lift, good mechanical properties and energy saves. Rheology material has a thixotropic, pseudo-plastic and shear-thinning characteristic. Therefore, general plastic or fluid dynamic analysis is not suitable for the behavior of rheology material. So it is difficult for a numerical simulation of the rheology process to be performed because complicated processes such as the filling to include the state of the free surface and solidification in the phase transformation must be considered. Moreover, it is important to predict the deformation behavior for optimization of net shape forging process with semi-solid materials and to control liquid segregation for mechanical properties of materials. In this study, so, molecular dynamics simulation was performed for the control of liquid segregation in compression experiment as a part of study on analysis of rheology forming process.

• Journal of Power Electronics
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• v.17 no.4
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• pp.1048-1057
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• 2017

An indirect matrix converter (IMC) is a modern power generation system that enables a direct ac/ac conversion without the need for any bulky and limited lifetime electrolytic capacitor. This system also allows four-quadrant operation, generation of sinusoidal output voltage waveforms with variable frequency and amplitude, and control of input power factor. This study proposes a pulse-width modulation-based sliding-mode controller to achieve unity input-power factor operation of the IMC independently of the active power exchanged with the grid, as well as a fast dynamic response. The designed equivalent control law determines, at each sampling period, the appropriate q-axis component of the modulated input current to be injected into the grid through the LC input filter. An integral term of the error is included in the expression of the sliding surface to increase the accuracy of the control method. A double space vector modulation method is used to synthesize the direction of the space vector of the input currents as required by the sliding-mode controller and the space vectors of the target output voltages. Simulation and experimental results are provided to show the effectiveness and evaluate the performance of the proposed control method.

• Journal of Dental Rehabilitation and Applied Science
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• v.35 no.3
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• pp.160-169
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• 2019

Purpose: The purpose of this study was to evaluate the antimicrobial effects of a toothbrush with light-emitting diodes (LEDs) on periodontitis-associated dental biofilm attached to a zirconia surface by static and dynamic methods. Materials and Methods: Zirconia disks (12 mm diameter, 2.5 mm thickness) were inserted into a 24-well plate (static method) or inside a Center for Disease Control and Prevention (CDC) biofilm reactor (dynamic method) to form dental biofilms using Streptococcus gordonii and Fusobacterium nucleatum. The disks with biofilm were subdivided into five treatment groups-control, commercial photodynamic therapy (PDT), toothbrush alone (B), brush with LED (BL), and brush with LED+erythrosine (BLE). After treatment, the disks were agitated to detach the bacteria, and the resulting solutions were spread directly on selective agar. The number of viable bacteria and percentage of bacterial reduction were determined from colony counts. Scanning electron microscopy (SEM) was performed to visualize alterations in bacterial morphology. Results: No significant difference in biofilm formation was observed between dynamic and static methods. A significant difference was observed in the number of viable bacteria between the control and all experimental groups (P < 0.05). The percentage of bacterial reduction in the BLE group was significantly higher than in the other treated groups (P < 0.05). SEM revealed damaged bacterial cell walls in the PDT, BL, and BLE groups, but intact cell walls in the control and B groups. Conclusion: The findings suggest that an LED toothbrush with erythrosine is more effective than other treatments in reducing the viability of periodontitis-associated bacteria attached to zirconia in vitro.

• Journal of the Korean Society for Nondestructive Testing
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• v.25 no.5
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• pp.391-399
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• 2005

Laser-generated ultrasonic inspection system is a non-contact scanning inspection device with high spatial resolution and wide bandwidth. The amplitude of laser-generated ultrasound is varied according to the energy of pulse laser and the surface conditions of an object where the CW measuring laser beam is pointing. In this paper, we correct the generating errors by measuring the energy of pulse laser beam and correct the measuring errors by extracting the gain information of laser interferometer at each time. h dynamic stabilizer is developed to stably scan on the surface of an object for an laser-generated ultrasonic inspection system. The developed system generates ultrasound after adaptively finding the maximum gain time of an laser interferometer and processes the signal in real time after digitization with high speed. In this paper, we describe hardware configuration and control algorithm to build a stable laser-generated ultrasonic inspection system. Also, we confirmed through experiments that the proposed correction method for the generating errors and measuring errors is effective to improve the performance of a system.

• Journal of Physiology & Pathology in Korean Medicine
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• v.16 no.4
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• pp.788-800
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• 2002

Aging is characterized by an age-dependent reduction in bone density. Pronounced bone loss by postmenopausal estrogen deficiency induces a bad effect on dynamic balance of bone metabolism. When the bone density is reduced to the level below the fracture threshold, the risk for fracture is greatly increased. The purpose of this study is to examine what are the effects of the Yuklinzu(YLZ: 毓麟珠) on the ovariectomized rat model of postmenopausal osteoporosis. The results of the experiment are as follows: Body weight in control group showed significant increase in comparison with sham, but that in YLZ-treated showed no change in comparison with control. The level of serum albumin in control group showed significant decrease in comparison with sham. That in YLZ-treated was slightly decreased in comparison with control. The level of serum ALP activity in control group showed significant increase in comparison with sham, but that in YLZ-treated was significantly decreased in comparison with control. The level of serum phosphorous in control group showed significant increase in comparison with sham, but that in YLZ-treated showed no change in comparison with control. The level of serum calcium in control group showed no change in comparison with sham, but that in YLZ-treated was significantly decreased in comparison with control. The level of serum GOT in control group showed no change in comparison with sham, but that in YLZ-treated was significantly decreased in comparison with control. The level of serum GPT did not significant change among the three groups. The level of serum estrogen in control group showed slightly increased in comparison with sham, but that in YLZ-treated showed no change in comparison with control. The level of serum T3 in control group showed no change in comparison with sham, and that in YLZ-treated showed no change in comparison with control. The level of serum T4 in control group showed significant increase in comparison with sham, but that in YLZ-treated was significantly decreased in comparison with control. Mechanical strength of the femur neck in control group showed significant decrease in comparison with sham. That in YLZ-treated showed slightly increased in comparison with control. Trabecular bone area as well as trabecular thickness in control group showed significant decrease in comparison with sham. Those in YLZ-treated showed significant increase in comparison with control. Trabecular number and did not significant change among the three groups. Trabecular separation only in YLZ-treated showed significant decrease in comparison with control. Osteoclast number and oseoblast surface in control group showed significant increase in comparison with sham. Those in YLZ-treated showed slightly decreased in comparison with control. According to the above these results, YLZ has shown to be capable of preventing and curing osteoporosis caused by old-aged and postmenopause.

• Composites Research
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• v.24 no.1
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• pp.45-50
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• 2011

Transparent and conductive carbon nanotube on polyethylene terephthalate (PET) were prepared by dip-coating method for self-sensing multi-functional nanocomposites. The changes in the electrical and optical properties of CNT coating mainly depended on the number of dip-coating, concentration of CNT solution. Consequently, the surface resistance and transmittance of CNT coating were sensitively controlled by the processing parameters. Surface resistance of CNT coating was measured using four-point method, and surface resistance of coated CNT could be better calculated by using the dual configuration method. Optical transmittance of PET film with CNT coating was evaluated using UV spectrum. Surface properties of coated CNT investigated by wettability test via static and dynamic contact angle measurement were consistent with each other. As dip-coating number increased, surface resistance of coated CNT decreased seriously, whereas the transmittance exhibited little lower due to the thicker CNT networks layer. Interfacial microfailure properties were investigated for CNT and indium tin oxide (ITO) coatings on PET substrates by electrical resistance measurement under cyclic loading fatigue test. CNT with high aspect ratio exhibited no change in surface resistance up to 2000 cyclic loading, whereas ITO with brittle nature showed a linear increase of surface resistance up to 1000 cyclic loading and then exhibited the level-off due to reduced electrical contact points based on occurrence of many micro-cracks.

• The Journal of the Korea institute of electronic communication sciences
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• v.13 no.2
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• pp.349-356
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• 2018

In this study, the synchronous control system is designed to restrain the speed difference generated between two propellers, namely, synchronous error in a dual electric propulsion system of unmanned surface vehicle, fish finder boat, etc. The control system based on coupling structure is composed of pre-filters and speed controllers for each propulsion system and a synchronous controller cross-coupled between two propulsion systems. The pre-filter and speed controller are designed in order that the propulsion system may follow the speed reference without overshoot and input saturation. And the synchronous controller is designed in consideration of damping and quickness of the synchronous controller system after analyzing effect of the skew disturbance and mismatched dynamic characteristics on synchronous error. Finally, the simulation results show that the designed control system is effective for elimination of synchronous error.