• The Journal of Korean Institute of Communications and Information Sciences
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• v.39B no.7
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• pp.479-490
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• 2014

A lower extremity exoskeleton is a robot device that attaches to the lower limbs of the human body to augment or assist with the walking ability of the wearer. In order to improve the wearer's walking ability, the robot senses the wearer's walking locomotion and classifies it into a gait-phase state, after which it drives the appropriate robot motions for each state using its actuators. This paper presents a method by which the robot senses the wearer's locomotion along with a novel classification algorithm which classifies the sensed data as a gait-phase state. The robot determines its control mode using this gait-phase information. If erroneous information is delivered, the robot will fail to improve the walking ability or will bring some discomfort to the wearer. Therefore, it is necessary for the algorithm constantly to classify the correct gait-phase information. However, our device for sensing a human's locomotion has very sensitive characteristics sufficient for it to detect small movements. With only simple logic like a threshold-based classification, it is difficult to deliver the correct information continually. In order to overcome this and provide correct information in a timely manner, a probabilistic gait-phase classification algorithm is proposed. Experimental results demonstrate that the proposed algorithm offers excellent accuracy.

• Maritime Security
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• v.1 no.1
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• pp.215-240
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• 2020

In 2017, the U.S. DARPA coined 'mosaic warfare' as a new way of warfighting. According to the Timothy Grayson, director of DARPA's Strategic Technologies Office, mosaic warfare is a "system of system" approach to warfghting designed around compatible "tiles" of capabilities, rather than uniquely shaped "puzzle pieces" that must be fitted into a specific slot in a battle plan in order for it to work. Prior to cover mosaic warfare theory and recent development, it deals analyze its background and several premises for better understanding. The U.S. DoD officials might acknowledge the current its forces vulnerability to the China's A2/AD assets. Furthermore, the U.S. seeks to complete military superiority even in other nation's territorial domains including sea and air. Given its rapid combat restoration capability and less manpower casualty, the U.S. would be able to ready to endure war of attrition that requires massive resources. The core concept of mosaic warfare is a "decision centric warfare". To embody this idea, it create adaptability for U.S. forces and complexity or uncertainty for the enemy through the rapid composition and recomposition of a more disag g reg ated U.S. military force using human command and machine control. This allows providing more options to friendly forces and collapse adversary's OODA loop eventually. Adaptable kill web, composable force packages, A.I., and context-centric C3 architecture are crucial elements to implement and carry out mosaic warfare. Recently, CSBA showed an compelling assessment of mosaic warfare simulation. In this wargame, there was a significant differences between traditional and mosaic teams. Mosaic team was able to mount more simultaneous actions, creating additional complexity to adversaries and overwhelming their decision-making with less friendly force's human casualty. It increase the speed of the U.S. force's decision-making, enabling commanders to better employ tempo. Consequently, this article finds out and suggests implications for Korea armed forces. First of all, it needs to examine and develop 'mosaic warfare' in terms of our security circumstance. In response to future warfare, reviewing overall force structure and architecture is required which is able to compose force element regardless domain. In regards to insufficient defense resources and budget, "choice" and "concentration" are also essential. It needs to have eyes on the neighboring countries' development of future war concept carefully.

• The Journal of Korea Robotics Society
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• v.19 no.2
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• pp.221-228
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• 2024

As the importance of cardiovascular health is highlighted, research on its correlation with blood pressure, the most important indicator, is being actively conducted. Therefore, extensive clinical data is essential, but the measurement of the central arterial blood pressure waveform must be performed invasively within the artery, so the quantity and quality are limited. This study suggested a mock circulatory robot and artificial aorta to reproduce the blood pressure waveform generated by the overlap of forward and reflected waves. The artificial aorta was fabricated with biomimetic silicone to mimic the physiological structure and vascular stiffness of the human. A pressurizing chamber was implemented to prevent distortion of the blood pressure waveform due to the strain-softening of biomimetic silicone. The reproduced central arterial blood pressure waveforms have similar magnitude, shape, and propagation characteristics to humans. In addition, changes in blood pressure waveform due to aging were also reproduced by replacing an artificial aorta with various stiffness. It can be expanded to construct a biosignal database and health sensor testing platform, a core technology for cardiovascular health-related research.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1998.06a
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• pp.320-325
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• 1998

Underwater robotic vehicles (URVs) have been an important tool for various underwater tasks because they have greater speed, endurance, depth capability, and safety than human divers. As the use of such vehicles increases, the vehicle control system becomes one of the most critical subsytems to increase autonomy of the vehicle. The vehicle dynamics are nonlinear and their hydrodynamic coefficients are often difficult to estimate accurately. In this paper a new type of fuzzy model-based controller based on Takagi-Sugeno-Kang fuzzy model is designed and applied to the control of of an underwater robotic vehicle. The proposed fuzzy controller : 1) is a nonlinear controller, but a linear state feedback controller in the consequent of each local fuzzy control rule ; 2) can guarantee the stability of the closed-loop fuzzy system ; 3) is relatively easy to implement. Its good performance as well as its robustness to the change of parameters have been shown and compared with the re ults of conventional linear controller by simulation.

• Journal of the Korean Magnetic Resonance Society
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• v.22 no.3
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• pp.64-70
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• 2018

Human Tid1, belonging to the family of the Hsp40/DnaJ, functions as a co-chaperone of cytosolic and mitochondrial Hsp70 proteins. In addition, the conserved J-domain and G/F-rich region of Tid1 has been suggested to interact with the p53 tumor suppressor protein, to translocate it to the mitochondria. Here, backbone NMR assignments were achieved for the putative p53-binding domain of Tid1. The obtained chemical shift information identified five ${\alpha}$-helices including four helices characteristic of J-domain, which are connected to a short ${\alpha}$-helix in the G/F-rich region via a flexible loop region. We expect that this structural information would contribute to our progressing studies to elucidate atomic structure and molecular interaction of the domain with p53.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.295-296
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• 2006

We developed wire frame drive unit based on SMA for the 3D Shape display. Our basic concept is wire frame combination connected with a chain form which can create various shapes and it compared with pin array mechanism which is not able to display mushroom shape. It imitates antagonist mechanism of human musculoskeletal system. we create similar motion using repair-relaxation mechanism and locking mechanism by SMA. Therefore, in this paper, we propose SMA control solution for actuating repair-relaxation mechanism and locking mechanism. In our control system. we use optical sensor and quantitative angle between wire frames for closed loop control. And we supply amplified current for SMA by circuit composed of transistor and apply PWM signal to circuit for efficient control. So, wire frame drive unit enable diversity angle control based on sensor data. And then combination of wire frame drive units will create various objects.

• 한국신재생에너지학회:학술대회논문집
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• 2010.11a
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• pp.75.1-75.1
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• 2010

This research presents a fuel cell simulator for control logic verification and operator training. Nowadays, power industries are focusing on clean energy as a response to new policy. The fuel cell can be the solution for clean energy, but operating technology is not well developed compared to other conventional power plans because of its short history. Therefore we need a simulator to verify the new control strategy and train operators, because the price of a real fuel cell system is too high and mechanically weak to be used for these kind of purposes. To develop the simulator, a 300 KW MCFC(Molten Carbonate Fuel Cell) system was modeled with stack, BOPs(pre-reformer, steam generator, etc) and mechanical components(valves, pipes, pumps, blowers, etc). The process model was integrated to emulated control system and HMI(Human Machine Interface). A static load and open loop tests were conducted for verifying the accuracy of the process model, since it is the most important part in the simulation. After verifying the process model, an automatic load change and start-up tests were conducted to verify the performance of a new control strategy(logic and functional loops).

• Journal of the Korean Society of Food Science and Nutrition
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• v.32 no.3
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• pp.437-443
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• 2003

Epidemiological data suggest that lycopene has anticancer activities in humans. Insulin-like growth factor-I receptor (IGF-IR) is a transmembrane tyrosine kinase that mediates the biological actions of IGFs and may play an active role in cancer progression. Because our previous in vitro studies have indicated lycopene inhibits HT-29 cell growth, the aim of this study was to determine whether lycopene induces apoptotic cell death and the inhibitory effect of lycopene on HT-29 cell growth is related to changes in IGF-IR levels and the receptor's intracellular signalling pathways. HT-29 cells were incubated for 4 days in serum-free medium in the presence of 0, 25, 50, or 100 $\mu$M lycopene, and the DNA fragmentation assay was performed. Cells treated with lycopene produced a distinct oligonucleosomal ladder with different sizes of DNA fragments, a typical characteristic of cells undergoing apoptosis. HT-29 cells were cultured for 4 days in serum-free medium in the presence of 0~100 $\mu$M lycopene and IGF-I (10nM) was added for 0~60 minutes immediately prior to lysate preparations. Western blot analysis of total lysates revealed that lycopene decreased the levels of IRS-1, Akt, phosphatidylinositol 3-kinase (PI3K), and IGF-IR $\beta$-subunit, and increased the levels of the IGF-IR precursor dose dependently. Lycopene also decreased IGF-I-induced phosphorylation of IGF-IR$\beta$, IRS-1 and Akt, which were, at least in part, due to decreased expression of these proteins. These results suggest that lycopene induces apoptosis of HT-29 cells by inhibiting IGF-IR signaling thereby interfering with an IGF-II-driven autocrine growth loop, which is known to exist in this cell line.

• Progress in Superconductivity
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• v.5 no.1
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• pp.50-54
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• 2003

We have fabricated $∂^2$$B_{z}$ /$∂x^2$ type planar gradiometers and studied their properties in operation under various field conditions. $YBa_2$$Cu_3$$O_{7}$ film was deposited on $SrTiO_3$ (100) substrate by a pulsed laser deposition (PLD) system and patterned into a device by the photolithography with ion milling technique. The device consists of 3 pickup loops designed symmetrically Inner dimension and the width of the square side loops are 3.6 mm and 1.2 mm, respectively, and the corresponding dimensions of the center loop are 2.0 mm and 1.13 mm. The length of baseline gradiometer is 5.8 mm. Step-edge junction width is 3.0 $\mu\textrm{m}$ and the hole size of the SQUID loop is 3 $\mu\textrm{m}$ ${\times}$ 52 $\mu\textrm{m}$. The SQUID inductance is estimated to be 35 pH. The device was formed on a 20 mm ${\times}$ 10 mm substrate. We have tested the behavior of the device in various field conditions. The unshielded gradiometer was stable under extremely hostile conditions on a laboratory bench. Noise level 0.45 pT/$\textrm{cm}^2$/(equation omitted)Hz and 0.84 pT/$\textrm{cm}^2$/(equation omitted)Hz at 1 Hz for the shielded and the unshielded cases, which correspond to equivalent field noises of 150 fT/(equation omitted)Hz and 280 fT/(equation omitted)Hz, respectively. In spite of the short baseline of 5.8 mm, the high common-mode-rejection-ratio of the gradiometer, $10^3$, allowed us to successfully record magnetocardiogram of a human subject, which demonstrates the feasibility of the design in biomagnetic studies.

• The Journal of Korean Institute of Next Generation Computing
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• v.13 no.6
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• pp.124-131
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• 2017

Recently, drone is extending its range of usability. For example, the delivery, agriculture, industry, and entertainment area take advantage of drone mobilities. To control real drones, it needs huge amount of drone control training steps. However, it is risky; falling down, missing, destroying. The virtual drone system can avoid such risks. We reason that what kinds of technologies are required for building the virtual drone system. First, it needs that the virtual drone authoring tool that can assemble drones with the physical restriction in the virtual environment. We suggest that the drone assembly method that can fulfill physical restrictions in the virtual environment. Next, we introduce the virtual drone simulator that can simulate the assembled drone moves physically right in the virtual environment. The simulator produces a high quality rendering results more than 60 frames per second. In addition, we develop the physics engine based on SILS(Software in the loop simulation) framework to perform more realistic drone movement. Last, we suggest the virtual drone controller that can interact with real drone controllers which are commonly used to control real drones. Our virtual drone system earns 7.64/10.0 user satisfaction points on human test: the test is done by one hundred persons.