• The Journal of Korea Robotics Society
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• v.11 no.3
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• pp.183-192
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• 2016

Generating motion of center of mass for biped robots is a challenging issue since biped robots can easily lose balance due to limited contact area between foot and ground. In this paper, we propose force control method to generate high-speed motion of the center of mass for horizontal direction without losing balancing condition. Contact consistent multi-body dynamics of the robot is used to calculate force for horizontal direction of the center of mass considering balance. The calculated force is applied for acceleration or deceleration of the center of mass to generate high speed motion. The linear inverted pendulum model is used to estimate motion of the center of mass and the estimated motion is used to select either maximum or minimum force to stop at goal position. The proposed method is verified by experiments using 12-DOF torque controlled human sized legged robot.

• KSBB Journal
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• v.24 no.2
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• pp.177-181
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• 2009

This study was initiated to investigate the impacts of media types and other components on the callogenensis and cell mass production of Panax vietnamensis in the first step of the cell biomass procedure. Four media were checked: Murashige-Skoog (MS), White, Gamborg and Nitch-AII. All the four media were shown potential media for Panax vietnamensis callogenensis and cell mass production, in which the MS medium showed the best results: the successful callogenensis ratio and cell mass formation were 30% and 62,93 ${\pm}$ 3,63 mg (DW) respectively, the Nitch medium showed the lowest results: the successful callogenensis ratio and cell mass formation were 15% and 27,10 ${\pm}$ 2,24 mg (DW) respectively. The results showed that the MS medium is the most suitable medium for Panax vietnamensis callogenensis and cell mass production.

• Advances in concrete construction
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• v.7 no.3
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• pp.131-141
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• 2019

Irregular distribution of mass in elevation is regarded as a structural irregularity by which the modes with high energy levels are excited and in addition, it can lead the structure to withstanding concentration of nonlinear deformations and consequently, suffer from unpredictable local or global damages. Accordingly, with respect to the lack of knowledge and insight towards the performance of concrete buildings making use of tunnel-form structural system in seismic events, it is of utmost significance to assess seismic vulnerability of such structures involved in vertical mass irregularity. To resolve such a crucial drawback, this papers aims to seismically assess vulnerability of RC tunnel-form buildings considering effects of irregular mass distribution. The results indicate that modal responses are not affected by building's height and patterns of mass distribution in elevation. Moreover, there was no considerable effect observed on the performance levels under DBE and MCE hazard scenarios within different patterns of irregular mass distribution. In conclusion, it appears that necessarily of vertical regularity for tunnel-form buildings, is somehow drastic and conservative at least for the buildings and irregularity patterns studied herein.

• Bioinformatics and Biosystems
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• v.1 no.2
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• pp.89-94
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• 2006

Mass spectrometry (MS) is widely applied for high throughput proteomics analysis. When large-scale proteome analysis experiments are performed, it generates massive amount of data. To search these proteomics data against protein databases, fully automated database search algorithms, such as Mascot and SEQUEST are routinely employed. At present, it is critical to reduce false positives and false negatives during such analysis. In this review we have focused on aspects of automated protein identification using tandem mass spectrometry (MS/MS) spectra and validation of the protein identifications of two most common automated protein identification algorithms Mascot and SEQUEST.

• Imaging Science in Dentistry
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• v.32 no.1
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• pp.55-59
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• 2002

A 78-year-old woman was referred to Chonbuk National University Dental Hospital complaining of facial palsy and palpable mass on the right parotid gland area. Clinical examination showed non-specific findings of the intraoral region, but showed asymmetrical facial appearance. Panoramic view showed a large amorphous calcified mass on the posterior to the mandibular ramus and thin cortical plate of the posterior ramus. Sialogram showed constriction of the main duct and no further filling of striated, intercalated ducts and parenchymal areas. CT scans demonstrated an irregular, infiltrating mass with slight enhancement in the right parotid gland. The mass showed necrotic areas and calcifications. Bone scan showed marked accumulation of /sup 99m/Tc-MDP on the right posterior maxilla. Microscopic findings demonstrated the minimal morphologic alterations and rare mitotic figures within tumor cells, and diagnosed as adenocarcinoma (NOS, Grade II). This report could be aid in the diagnosis of calcified lesions of the salivary gland.

• The Journal of Korea Robotics Society
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• v.9 no.4
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• pp.250-257
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• 2014

In this paper, a new mobile robot, so called a rollerbot, is presented, which has single body and rugby-ball shaped roller wheel. A rollerbot has single point contact on ground and low energy consumption in motion because of the reduced friction. By changing center of mass using a balancing weight, a rollerbot is able to get steering force. The vertical position of mass center of the rollerbot in this paper is designed to lie inside radius of the roller wheel, so that to have stable equilibrium position. Thus, the posture and the steering control of the rollerbot can be easily done by changing the center of mass. Kinematics of the rollerbot is derived by transformation of differential motion in this paper.

• Mass Spectrometry Letters
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• v.4 no.4
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• pp.83-86
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• 2013

A new interface for coupling CIEF and MS using a four-way cross has been developed in a single mechanical system. This new interface could be operated without the electric discontinuity and reinstallation of lines. Additionally, a bare fused silica capillary was facilitated as a spray needle to produce electrospray and to guide catholyte or sheath liquid. Focusing for CIEF was completed in a hanging droplet at the end of spray needle. This capillary spray needle also provided stable spray, enhanced the ionization efficiency and increased sensitivity. Results with carbonic anhydrase I showed that focusing and spraying were well completed with the new interface and the new spray needle.

• Analytical Science and Technology
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• v.8 no.4
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• pp.465-468
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• 1995

Matrix assisted laser desorption ionization in mass spectrometry is a fast and accurate method to determine the molecular weight of natural and synthetic polymers. Unknown peptides such as elastase inhibitor and $\small{D}$-hydantoinase were analyzed using sinapinic acid as matrix and their molecular weights were compared with the results from protein sequencer and gel filtration chomatography, respectively. Synthetic polymers such as polyethyleneglycol, polypropyleneglycol, polydimethylsiloxane, and polystyrene were analyzed using matrices such as 2,5-dihydroxybenzoic acid, 4-hdroxyazobenzenecarboxylic acid, and 2-nitrophenyl octyl ether. Average molecular weights of polystyrene were compared with molecular weights by gel permeation chromatography.

• Journal of Astronomy and Space Sciences
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• v.9 no.1
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• pp.11-29
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• 1992

In 1963, Toomre built up classes of mass models for the highly flattened galaxies which have free parameters n, $a_n$ and $C_n$. In order to keep the universal dimension, we adopt parameters $b_n({C_n}^2={a_n}^{2n}+^2{b_n}^2/(n-1)!)$ insteal of $C_n$. Series of the normalized Toomre's mass models (G = $V_{max}$ =$R_{max}$ = 1, n = 1 to 7) are derived and the normalized parameters $a_n$ and $b_n$ are determined by the iteration method. Replacing parameters $a_n$ and $b_n$ to ${a_n}^l(=a_nr_{max})$ and ${b_n}^l(=b_n\cdotV_{max}/r_{max})$, we can get the generalization of Toomre's mass model.

• International Journal of Air-Conditioning and Refrigeration
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• v.10 no.4
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• pp.211-219
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• 2002

In this study, in-situ performance test of a wet surface finned-tube evaporator of an air source heat pump which has a rating capacity of 20 RT is carried out. Since test conditions, such as indoor and outdoor air conditions cannot be controlled to satisfy the standard test conditions, experiments are done with the inlet air conditions as they exist. From the experimental data, air side heat and mass transfer coefficients were calculated by the well known heat and mass transfer analogy and tube-by-tube method. Since current procedure underpredicted the experimental sensible heat factor (SHF), a proper empirical parameter was introduced to predict the experimental data with satisfactory results. This study provides the method of evaluating the heat and mass transfer coefficients of a wet surface finned-tube evaporator of which in-situ performance test is necessary.