• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.2 s.233
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• pp.188-200
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• 2005

Control of a multi-fingered robotic hand is usually based on the theoretical analysis for kinematics and dynamics of fingers and of object. However, the implementation of such analyses to robotic hands is difficult because of errors and uncertainties in the real situations. This article presents the control method for estimating the kinematic constraint of an unknown object by active sensing. The experimental system has a two-fingered robotic hand suspended vertically for manipulation in the vertical plane. The fingers with three degrees-of-freedom are driven by wires directly connected to voice-coil motors without reduction gears. The fingers are equipped with three-axis force sensors and with dynamic tactile sensors that detect slippage between the fingertip surfaces and the object. In order to make an accurate estimation for the kinematic constraint of the unknown object, i.e. the constraint direction and the constraint center, four kinds of the active sensing and feedback control algorithm were developed: two position-based algorithms and two force-based algorithms. Furthermore, the compound and effective algorithm was also developed by combining two algorithms. Force sensors are mainly used to adapt errors and uncertainties encountered during the constraint estimation. Several experimental results involving the motion of lifting a finger off an unknown object are presented.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.4
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• pp.371-379
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• 2006

Increasing requirements for the high quality of industrial robot performance made the vibration control issue very important because the vibration makes it difficult to achieve quick response of robot motion and may bring mechanical damage to the robot. This paper presents a vibration control solution for industrial robots which have flexible joints. The joint flexibility is modeled as a two-mass system. And we analyze the vibration problem of a classical P-PI controller when it used for the flexible joints of industrial robots. Then a state feedback controller is designed for vibration suppression of the two-mass system. Finally, a gain-scheduling method is designed for maintaining control performance in spite of the time-varying nature of each joint's load side inertia. Simulation and experimental results show effective vibration suppression and uniform properties in overshoot in spite of the variation of load. The result of this study can be applied to the appropriate gain manipulation of many other mechatronic devices which have the two-mass system with varying load side inertia.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.196-201
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• 2004

In biometric and biomedical applications, a special transporting mechanism must be designed for the ${\mu}$TAS (micro total analysis system) to move samples and reagents through the microchannels that connect the unit procedure components in the system. An important issue for this miniaturization and integration is microfluid management technique, i.e., microfluid transportation, metering, and mixing. In view of this, this study presents an optimal fuzzy sliding-mode control (OFSMC) design based on the 8051 microprocessor and implementation of a complete microfluidic manipulated system implementation of biochip system with a pneumatic pumping actuator, a feedback-signal photodiodes and flowmeter. The new microfluid management technique successfully improved the efficiency of molecular biology reaction by increasing the velocity of the target nucleic acid molecules, which increases the effective collision into the probe molecules as the target molecules flow back and forth. Therefore, this hybridization chip was able to increase hybridization signal 6-fold and reduce non-specific target-probe binding and background noises within 30 minutes, as compared to conventional hybridization methods, which may take from 4 hours to overnight. In addition, the new technique was also used in DNA extraction. When serum existed in the fluid, the extraction efficiency of immobilized beads with solution flowing back and forth was 88-fold higher than that of free-beads.

• Journal of Acupuncture Research
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• v.21 no.3
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• pp.179-191
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• 2004

It is well known that acupuncture is effective for treatment of gastric disease in human. For years, we have been utilizing a electro-acupuncture(EA) in attempt to manage gastric symptoms. However, the data on clinical effectiveness is conflicting and the action of acupoints is unclear. The purpose of this study was to investigate the effects of manual and electro acupuncture(EA) at acupoints of ST 36 and GB 34 on the serum gastrin level by radioimmunoassay in rats. All of acupuncture treatment was applied to the acupoints for 30 min during 3 days. Manual acupuncture with both acupoints resulted in increased gastrin serum level when compare to control group treated with only anesthesia. Either high (100 Hz) and low (2 Hz) frequency EA at ST 36 decreased gastrin serum level compared with control group, but EA at GB 34 conversely increased. In EA with device was designed stimulating only acupoint(New EA), either low frequency on ST 36 and high frequency on GB 34 unusually increased gastrin serum level compared to control group. The results of this experiment suggest that many factors, such as the selection of acupoints, the manipulation and the specification of acupuncture device, are capable of affecting acupuncture effects.

• Journal of Environmental Science International
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• v.20 no.5
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• pp.647-653
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• 2011

Sediment cell is renewable energy which produces electric energy using immanent ingredients or reducing power of marine sediment as natural resources. Also the cell has an advantage that environmental pollution can be reduced through conversion of organic and inorganic contaminants into inert matter with generation of the energy. In this paper, we compared characteristics of electricity generation of the two different sediment cells, and investigated the regeneration effect of the sediment cells with manipulation of the sediment such as mixing and re-positioning. The results showed that 14.1 $W/m^2$ of power was obtained with the aluminum electrode, and the mixing of the sediment could increase the power by 4 $W/m^2$ compared to the control. Also, mixing the sediment has kept electricity for 4 weeks at a relatively constant level, which implied 'fuel regeneration effect'. Meanwhile, the sediment cell was proved to be effective in reduction of COD, which was up to 28.6%.

• Transactions of the Korean Society of Mechanical Engineers
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• v.11 no.6
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• pp.1014-1025
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• 1987

This paper proposes an approach of building an expert system for designing gear drives. In terms of gear drives the relationship between expert systems and data base systems is explained and a data base system for design, failure detection, and trouble-shooting of gear drives is built on a personal computer by the data manipulation language of dBASE III. This paper proposes a method how to build a data base system and what to consider to build a data base system for gear drives and two kinds of data base systems of design and failure detection of gear drives and trouble-shooting for noise and vibration of gear drives are built. The two data base systems are very effective for the retrieval of information for the gear design, and they will be considerably helpful for the gear design.

• Journal of Chest Surgery
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• v.26 no.4
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• pp.255-259
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• 1993

The efficacy of the autotransfusion system is a reducing the need of intraoperative and postoperative transfusion in cardiovascular surgery. Between January 1990 and December 1991, we experienced 23 cases of autotransfusion using Haemonetic Cell Saver in cardiovascular surgery [Experimental group]. Another 13 cases which were taken similiar operations without Cell Saver during same period [Control group]. The amounts of blood transfused are 4.23 1.84 units in Control group, 2.82 1.84 units in Experimental group. Postoperatively, both groups showed decreased platelet counts, mild prolongation of prothrombin and partial thromboplastin time compred to preoperative value [P<0.001], but there were no significant differences between two group [P=NS]. Plasma hemoglobin was markedly increased in Experimental group compared with Control group [p<0.05]. In Experimental group, amount of average processed blood by Cell Saver was 700ml of which composition was hemoglobin 17mg/dl, hematocrit 50.0%, RBC 5,590,000/ml, WBC 7500/ml, and platelet 40,000/ml. The culture of the processed blood revealed no growth of the organisms. Conclusively, Cell Saver autotransfusion system is a simple, safe, and cost effective method especially in the cases associated with massive bleeding. However, it requires familiarity with system, gentle manipulation of suction tip, and careful selection of candidates to obtain maximal benefits .

• Near Infrared Analysis
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• v.1 no.1
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• pp.31-35
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• 2000

Near-infrared reflectance spectroscopy(NIRS) was used to determine the humic acids in soil samples from the fields of different crops and land-use over Youngnam and Honam regions in Korea. An InfraAlyzer 500 scanning spectrophotometer was obtained near infrared relectance spectra of soil at 2-nm intervals from 1100 to 2500nm. Multiple linear regression(MLR) or partial least square regression (PLSR) was used to evaluate a NIRS method for the rapid and nondestructive determination of humic acid, fulvic acid and its total contents in soils. The raw spectral data(log 1/R) can be used for estimating humic acid, fulvic acid and its total contents in soil by MLR procedure between the content of a given constituent and the spectral response of several bands. In which the predicted results for fulvic acid is the best in the constituents. The new spectral data are converted from the raw spectra by PLSR method such as the first derivative of each spectrum can also be used to predict humic acid and fulvic acid of the soil samples. A low SEC, SEP and a high coefficient of correlation in the calibration and validation stages enable selection of the best manipulation. But a simple calibration and prediction method for determining humic acid and fulvic acid should be selected under similar accuracy and precision of prediction. NIRS technique may be an effective method for rapid and nondestructive determination for humic acid, fulvic acid and its total contents in soils.

• Archives of Plastic Surgery
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• v.36 no.3
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• pp.322-326
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• 2009

Purpose: Severe type of inverted nipple (cannot be pulled out above the areola plane by manipulation, grade III) usually cannot be corrected by a relatively simple purse - string suture technique. Most patients want to avoid visible scars. To treat the severe case and avoid visible stigma, we introduce this invisible dermal flap method. Methods: This new surgical procedure makes bilateral incisions on the sidewall of nipple and dissections vertically to free the ducts from the contracted tissues. After dissection, the tunnel is formed. We insert "dermal flaps" into the tunnel underneath nipple base. Then through - and - through sutures are performed vertically (6 o'clock and 12 o'clock positions) and the purse - string suture is added with 4 - 0 nylon. Results: We had treated 35 primary inverted nipples (grade III) in 27 patients and 13 recurrent nipples in 7 cases. The results were excellent in 45 nipples (93.7%). All but 3 recurred cases was fully or very satisfied with the results. Conclusion: This technique is effective for the correction of severe inverted nipples and recurrent cases. We can avoid the visible scars on the areola surface.

• BMB Reports
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• v.32 no.5
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• pp.497-501
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• 1999

Biotinylation of recombinant proteins is a powerful tool for the detection and analysis of proteins of interest in a large variety of assay systems. The recent development of in vivo biotinylation techniques in E. coli has opened new possibilities for the production of site-specifically biotinylated proteins without the need for further manipulation after the isolation of the recombinantly expressed proteins. In the present study, a novel vector set was generated which allows the convenient cloning and expression of proteins of interest fused with an N-terminal in vivo biotinylated thioredoxin (TRX) protein. These vectors were derived from the previously reported pBIOTRX vector into which was incorporated part of the pBluescript II+phagemid multiple cloning site (MCS), amplified by PCR using a pair of sophisticated oligonucleotide primers. The functionality of these novel vectors was examined in this system by recombinant expression of rat transforming growth factor-$\beta$. Western-blot analysis using TRX-specific antibodies or peroxidase-conjugated streptavidin confirmed the successful induction of the fusion protein and the in vivo conjugation of biotin molecules, respectively. The convenience of molecular subcloning provided by the MCS and the effective in vivo biotinylation of proteins of interest makes this novel vector set an interesting alternative for the production of biotinylated proteins.