• 대한기계학회논문집A
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• 제29권2호
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• pp.176-187
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• 2005

This paper presents an evaluation of joint configurations of a robotic finger based on kinematic analysis. The evaluation is based on an assumption that the current control methods for the fingers require that the contact state specified by the motion planner be maintained during manipulation. Various finger-joint configurations have been evaluated for different contact motions. In the kinematic analysis, the surface of the manipulated object was represented by B-spline surface and the surface of the finger was represented by cylinders and a half ellipsoid. Three types of contact motion, namely, 1) pure rolling, 2) twist-roiling, and 3) slide-twist-rolling are assumed in this analysis. The finger-joint configuration best suited for manipulative motion is determined by the dimension of manipulation workspace. The evaluation has shown that the human-like fingers are suitable for maintaining twist-rolling and slide-twist-rolling but not for pure rolling. A finger with roll joint at its fingertip link, which is different from human fingers, proved to be better for pure rolling motion because it can accommodate sideway motions of the object. Several kinds of useful finger-joint configurations suited for manipulating objects by fingertip surface are proposed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1396-1401
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• 2004

In recent years, robot has been used widely in industrial field and has been expanded as a result of continous research and development for high-speed and miniaturization. The goal of this paper is to design the special serial manipulator through the understanding of the structure, mobility, and analysis of serial manipulator. Thereafter we control the position and orientation of end-effector with respect to time. In general, a structure of industrial robot consists of several links connected in series by various types of joints. Typically revolute and prismatic joints. The movement of these joints is determined in inverse kinematic analysis. Compared to the complicated structure of parallel and hybrid robot, open loop system retains the characteristic that each link is independent and is controlled easily by AC servomotor that is used to place the robot end-effector toward the accurate point with the desired speed and power while it is operated by position control algorithm. The robot end-effector should trace the given trajectory within the appropriate time. The trajectory of 3D end-effector model made by OpenGL can be displayed on the monitor program simultaneously

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2000-2003
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• 2003

In recent years, robots have been used widely in industrial field and have been expanded as a result of continuous research and development for high-speed and miniaturization. The goal of this paper is to design the serial manipulator through kinematic analysis and to control the position and orientation of end-effector with respect to time. In general, a structure of industrial robot consists of several links connected in series by various types of joints, typically revolute and prismatic joints. The movement of these joints is determined in inverse kinematic analysis. Compared to the complicated structure of parallel and hybrid robot, open loop system retains the characteristic that each link is independent and is controlled easily. AC servo motor is used to place the robot end-effector toward the accurate point with the desired speed and power while it is operated by position control algorithm. The robot end-effector should trace the given trajectory within the appropriate time. The trajectory of end-effector can be displayed on the monitor of general personal computer through Opengl program.

• Genomics & Informatics
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• 제18권1호
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• pp.3.1-3.8
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• 2020

Patient-derived xenograft (PDX) mouse models are frequently used to test the drug efficacy in diverse types of cancer. They are known to recapitulate the patient characteristics faithfully, but a systematic survey with a large number of cases is yet missing in lung cancer. Here we report the comparison of genomic characters between mouse and patient tumor tissues in lung cancer based on exome sequencing data. We established PDX mouse models for 132 lung cancer patients and performed whole exome sequencing for trio samples of tumor-normal-xenograft tissues. Then we computed the somatic mutations and copy number variations, which were used to compare the PDX and patient tumor tissues. Genomic and histological conclusions for validity of PDX models agreed in most cases, but we observed eight (~7%) discordant cases. We further examined the changes in mutations and copy number alterations in PDX model production and passage processes, which highlighted the clonal evolution in PDX mouse models. Our study shows that the genomic characterization plays complementary roles to the histological examination in cancer studies utilizing PDX mouse models.

• 말소리와 음성과학
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• 제1권2호
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• pp.95-103
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• 2009

We investigated the perceptual structure of Korean consonants by analyzing the confusion among consonants in various vowel contexts. The 36 CV syllable types combined by 18 consonants and 2 vowels (/i/ and /u/) were presented with masking noises or in degraded intensity. The confusion data were analyzed by the INDSCAL (Individual Difference Scaling), ADCLUS (Additive Clustering) and the probability of the transmitted information. The results were compared with those of a previous study with /a/ vowel context (Bae and Kim, 2002). The overall results showed that the laryngeal features-aspiration, lax and tense-are the most salient features in the perception of Korean consonant regardless of vowel contexts, but the perceptual saliency of place features varies across vowel conditions. In high vowel (front and back vowel) contexts, sibilant consonants were perceptually salient compared to in low vowel contexts. In back vowel contexts, grave (labial and velar) consonants were perceptually salient. These findings imply that place features and vowel features strongly interact in speech perception as well as in speech production. All statistical measures from our confusion data ensured that the perceptual structure of Korean consonants correspond to the hierarchical structure suggested in the feature geometry (Clements, 1991). We discuss the link between speech perception and production as the basis of phonology.

• Journal of Information Technology Applications and Management
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• 제12권4호
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• pp.133-155
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• 2005

This Paper makes an attempt to suggest a process of automatically generating application software based on the Entity-Relationship model 1. The designer develops an E-R model of an real-world system. 2. The designer inputs the entity and relationship types, and attributes shown in the E-R model, and also the basic operations of the application system to the software generator. 3. The application generator produces database schema and link information between application programs, and then automatically generates a stereo-type application system. In order for the automated application generator to build the application system in a systematic way, four basic program generation rules have been suggested. A set of computer programs have been developed in order to show the applicability of the automated software generation process suggested in this paper. By following each rule with the generator, the designer can build an application in an efficient manner compared with traditional (manual programming) approaches. It has been demonstrated from the case study that the idea of applying an automated generator in systems development based upon the E-R model is feasible.

• 한국조경학회지
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• 제31권2호
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• pp.48-57
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• 2003

The objective of this study is to review and verify whether the functions and effect of roadside trees generally hewn in theory are actually realized in urban roads and how well they are performed if the function and effect are realized. The study was conducted with a focus on 3 functions and effects including roadside tree's urban landscape improvement function (green area visibility ratio), effect of introducing green area within a city, and urban green network building function. The major study results are as follows: First, the average green area visibility ratio of 41 study areas is currently about 25.90%. The green area visibility ratio of commercial area within downtown was lowest among 5 road types. It showed that it is possible to raise the average green area visibility ratio up to 32.49% through roadside tree management and additional plantation. Second, in a section between Paldal Mountain and Suwon City Hall where there is no forest fragments and parks at all, a green area of 4,826 roadside trees represented 2.4% of total area and served as the only linear green area. Third, an analysis of 15 cities in Kyonggi province showed that urban forests are concentrated in outskirts. The suey showed that because forest fragments and parks exist in a form of points in urban areas, roadside trees are the only green areas that link each other and build a network.

• BMB Reports
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• 제48권12호
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• pp.647-654
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• 2015

Energy homeostasis in our body system is maintained by balancing the intake and expenditure of energy. Excessive accumulation of fat by disrupting the balance system causes overweight and obesity, which are increasingly becoming global health concerns. Understanding the pathogenesis of obesity focused on studying the genes related to familial types of obesity. Recently, a rare human genetic disorder, ciliopathy, links the role for genes regulating structure and function of a cellular organelle, the primary cilium, to metabolic disorder, obesity and type II diabetes. Primary cilia are microtubule based hair-like membranous structures, lacking motility and functions such as sensing the environmental cues, and transducing extracellular signals within the cells. Interestingly, the subclass of ciliopathies, such as Bardet-Biedle and Alström syndrome, manifest obesity and type II diabetes in human and mouse model systems. Moreover, studies on genetic mouse model system indicate that more ciliary genes affect energy homeostasis through multiple regulatory steps such as central and peripheral actions of leptin and insulin. In this review, we discuss the latest findings in primary cilia and metabolic disorders, and propose the possible interaction between primary cilia and the leptin and insulin signal pathways which might enhance our understanding of the unambiguous link of a cell's antenna to obesity and type II diabetes.

• Journal of Mechanical Science and Technology
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• 제16권12호
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• pp.1633-1642
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• 2002

Uninterrupted power supply has become indispensable during the maintenance task of active electric power lines as a result of today's highly information-oriented society and increasing demand of electric utilities. The maintenance task has the risk of electric shock and the danger of falling from high place. Therefore it is necessary to realize an autonomous robot system using electro-hydraulic manipulator because hydraulic manipulators have the advantage of electric insulation. Meanwhile it is relatively difficult to realize autonomous assembly tasks particularly in the case of manipulating flexible objects such as electric lines. In this report, a discrete event control system is introduced for automatic assembly task of electric lines into sleeves as one of the typical task of active electric power lines. In the implementation of a discrete event control system, LVQNN (linear vector quantization neural network) is applied to the insertion task of electric lines to sleeves. In order to apply these proposed control system to the unknown environment, virtual learning data for LVQNN is generated by fuzzy inference. By the experimental results of two types of electric lines and sleeves, these proposed discrete event control and neural network learning algorithm are confirmed very effective to the insertion tasks of electric lines to sleeves as a typical task of active electric power maintenance tasks.

• Journal of information and communication convergence engineering
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• 제12권3호
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• pp.154-160
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• 2014

The address resolution protocol (ARP) provides dynamic mapping between two different forms of addresses: the 32-bit Internet protocol (IP) address of the network layer and the 48-bit medium access control (MAC) address of the data link layer. A host computer finds the MAC address of the default gateway or the other hosts on the same subnet by using ARP and can then send IP packets. However, ARP can be used for network attacks, which are one of the most prevalent types of network attacks today. In this study, a new ARP algorithm that can prevent IP spoofing attacks is proposed. The proposed ARP algorithm is a broadcast ARP reply and an ARP notification. The broadcast ARP reply was used for checking whether the ARP information was forged. The broadcast ARP notification was used for preventing a normal host's ARP table from being poisoned. The proposed algorithm is backward compatible with the current ARP protocol and dynamically prevents any ARP spoofing attacks. In this study, the proposed ARP algorithm was implemented on the Linux operating system; here, we present the test results with respect to the prevention of ARP spoofing attacks.