• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.539-542
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• 1996

The forces exerted on an object by the end-effectors of multi-manipulators are decomposed into the motion-inducing force and the internal force. Motion-inducing force effects the motion of an object and internal force can't effect it. The motion of an object can't track exactly the desired motion because of internal force component, therefore internal force component must be considered. In this paper using the resolved acceleration control method and the fact that internal force lies in the null space of jacobian matrix, we construct independently the position, motion-inducing force and internal force controller. Secondly we construct the robust controller to preserve the robustness with respect to the uncertainty of manipulator parameters.

• 제어로봇시스템학회논문지
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• 제5권8호
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• pp.955-960
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• 1999

This paper describes the effect of impact configurations on a single robot manipulator. The effect of different configurations of kinematically redundant arms on impact forces at their end effectors during contact with the environment is investigated. Instead of the well-known impact ellipsoid, I propose an analytic method on the geometric configuration of the impact directly from the mathematical definition. By calculating the length along the specified motion direction and volume of the geometry, we can determine the characteristics of robot configurations in terms of both the impact along the specified direction and the ability of the robot withstanding the impact. Simulations of various impact configurations are discussed at the end of this paper.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2154-2159
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• 2005

This paper presents the kinematic analysis of two robots, an exoskeleton type master robot and a human like slave robot with two arms. Two robots are designed and built to be equivalent as motion following robots. The operator wears the exoskeleton robot to generate motions, then the slave robot is required to follow after the motion of the master robot. However, different kinematic configuration yields position mismatches of the end-effectors. To synchronize motions of two robots, kinematic analysis of mapping is analyzed. The forward and inverse kinematics have been simulated and the corresponding experiments are also conducted to confirm the proposed mapping analysis.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.100.6-100
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• 2002

The crane and the master-slave manipulators (MSM) are widely used as a remote handling device in nuclear facilities such as the hot cell. The equipment to be installed in the hot cell should be optimally placed within the workspace of the wall-mounted slave manipulator for the maintenance operation. Also, the slave manipulator with the end effectors should be properly positioned and oriented for the dedicated maintenance operation. Hence, the workspace and the motion of the slave manipulator, as well as, the remote operation task should be analyzed before installing the manipulators and the hot cell equipment. For this purpose, the 3D graphic simulator, which simulates the remote operation o...

• BMB Reports
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• 제35권1호
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• pp.106-115
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• 2002

The serine/threonine kinase Akt has been intensely studied for its role in growth factor-mediated cell survival for the past 5 years. On the other hand, the ongoing research effort has recently uncovered novel regulatory mechanisms and downstream effectors of Akt that demonstrate the involvement of Akt in other cellular functions such as cell cycle progression, angiogenesis, and cancer cell invasion/metastasis. Furthermore, recent studies using whole model organisms suggest additional roles for Akt in important diseases such as aging and diabetes. The following review addresses these recent advances in the understanding of Akt function.

• BMB Reports
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• 제53권3호
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• pp.125-132
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• 2020

Transient receptor potential (TRP) channels comprise a diverse family of ion channels, the majority of which are calcium permeable and show sophisticated regulatory patterns in response to various environmental cues. Early studies led to the recognition of TRP channels as environmental and chemical sensors. Later studies revealed that TRP channels mediated the regulation of intracellular calcium. Mutations in TRP channel genes result in abnormal regulation of TRP channel function or expression, and interfere with normal spatial and temporal patterns of intracellular local Ca²⁺ distribution. The resulting dysregulation of multiple downstream effectors, depending on Ca²⁺ homeostasis, is associated with hallmarks of cancer pathophysiology, including enhanced proliferation, survival and invasion of cancer cells. These findings indicate that TRP channels affect multiple events that control cellular fate and play a key role in cancer progression. This review discusses the accumulating evidence supporting the role of TRP channels in tumorigenesis, with emphasis on prostate cancer.

• 로봇학회논문지
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• 제6권2호
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• pp.141-146
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• 2011

In the TV manufacturing industry, a demand for chic design of TVs is increasing. As a reult of this trend in TV design, more curved surfaces in a TV cabinet are introduced, which enforces the use of fixers to combine a front cabinet with a TV main body. In this paper, we introduce a robot system for attaching various types of fixers to a TV cabinet. The developed system consists of three main blocks. The first one is the dispensing block, in which transferred cabinet is centered and UV adhesives are dispensed on the cabinet. The second one is the fixer attaching block, in which a cabinet is centered again and fixers are attached to pre-determined places on a cabinet by a robot with several end effectors. The last one is the UV hardening block, in which very strong ultraviolet rays are applied to the cabinet for attaching fixers tightly to the cabinet. The developed system is successfully adopted in a TV manufacturing process.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.607-608
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• 2006

This article deals the development of Agile and Intelligent Manufacturing System(AIM) for the assembly automation of a tiny ultrasonic actuator used in camera phones and PDAs. The system consists of multi-vision modules, end-effectors, a standard base frame, dispensers, jigs and modular manipulators. Subsystems are a vision system, a force control system and a virtual reality system. Experimental results show that the assembly process for the small components in the various IT applications can be realized by the AIM system.

• Biomolecules & Therapeutics
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• 제8권4호
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• pp.285-292
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• 2000

The effects of the members of the same nuclear receptor superfamily (all-trans retinoic acid (RA), thyroid hormone(T3) or hydrocortisone) on proliferation and differentiation in the SK-N-SH neuroblastoma (NB) cell lines were studied. NB cells were treated with RA, T3, or hydrocortisone at concentration of 10$^{-6}$ M or 10$^{-8}$ M for 3 days or 7 days. RA induced concentration- and time-dependent morphologic differentiation(neurite outgrowth and microtubule-associated protein expression) and growth inhibition in NB cells. Treatment of 10$^{-7}$ M T3 for 7 days increased viability and differentiation of NB cells. Treatment of 10$^{-6}$ M hydrocortisone for 7 days increased viability of NB cells. Although these three effectors are members of the same receptor superfamily, the regulation of brain development may be carried out in a different manner.

• Journal of Electrical Engineering and information Science
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• 제2권3호
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• pp.51-60
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• 1997

A practically applicable collision free trajectory planning technique for tow robot systems is proposed. The robot trajectories considered in this work are composed of many segments, an at the intersection points between segments robots stop to assemble, weld, ordo other jobs by the attached a end-effectors. The proposed method is based on the Planning-Coordination Decomposition where planning is to find a trajectory of each robot independently according to their tasks and coordination is to find a velocity modification profile to avoid collision with each other. To fully utilize the independently planned trajectories and to ensure no geometrical path deviation after coordination, we develop a simple technique added the minimal delay time to avoid collision just before moving along path segments. We determine the least delay time by the graphical method in the Coordination space where collisions and coordinations are easily visualized. We classify all possible cases into 3 group and derive the optimal solution for each group.