• Journal of Microbiology and Biotechnology
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• 제11권3호
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• pp.534-538
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• 2001

The xynA gene encoding an alikali-tolerant endo-1,4-${\beta}$-xylanase (XYN) was cloned from the alkalophilic Bacillus pumilus A-30. The nucleotide sequence of a 974-bp DNA fragment containing the xynA was determined. An ORF of 684 nucleotides that encoded a protein of 228 amino aicds was detected. Asparagine-71 of XYN from B. Pumilus A-30 showed to be highly conservative in alkaline xylanases of family G/11, upon comparing the amino acid sequences of 17 family G/11 xylanases. Site-directed mutation of N71D of the xynA gene resulted in a decrease of 12.4% in the specific acitivity and a significant decline in the enzyme activity in the alkaline pH range.

• 대한전기학회논문지:시스템및제어부문D
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• 제54권3호
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• pp.131-140
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• 2005

Fault-tolerant gait generation of a hexapod robot with crab walking is proposed. The considered fault is a locked joint failure, which prevents a joint of a leg from moving and makes it locked in a known position. Due to the reduced workspace of a failed leg, fault-tolerant crab walking has a limitation in the range of heading direction. In this paper, an accessible range of the crab angle is derived for a given configuration of the failed leg and, based on the principles of fault-tolerant gait planning, periodic crab gaits are proposed in which a hexapod robot realizes crab walking after a locked joint failure, having a reasonable stride length and stability margin. The proposed crab walking is then applied to path planning on uneven terrain with positive obstacles. i.e., protruded obstacles which legged robots cannot cross over but have to take a roundabout route to avoid. The robot trajectory should be generated such that the crab angle does not exceed the restricted range caused by a locked joint failure.

• Journal of Power Electronics
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• 제6권1호
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• pp.8-17
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• 2006

In this paper, we propose a fault-tolerant control system for the position control and vibration suppression of a flexible arm robot. The proposed control system has a strain gauge sensor signal observer based on a reaction force observer and detects a fault by monitoring an estimated error. In order to improve the estimation accuracy, the plant parameters included in the sensor signal observer are updated by using the strain gauge sensor signal in normal time through the adaptive law. After fault detection, the proposed control system exchanges the faulty sensor signal for the estimated one and switches to a fault mode controller so as to maintain the stability and the control performance. We confirmed the effectiveness of the proposed control system through several experiments.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2005년도 추계종합학술대회
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• pp.332-335
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• 2005

본 논문은 홍채의 움직임을 추적하여 화면커서를 실시간으로 제어하기 위한 연구이다. 홍채의 중심좌표가 이동한 거리와 방향에 따라 화면의 커서를 이동한다. 실험에 의해 홍채의 이동과 화면거리 및 크기에 대해 서로 일치시키기 위한 최적값을 구해 오차범위 줄인다.

• 한국염색가공학회지
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• 제9권6호
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• pp.51-57
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• 1997

The lightness, chroma and hue tolerances with respect to the standard colour position in the CIELAB space have been studied in detail using the various existing data sets and the set form this study. The lightness tolerance showed a clear dependency upon the metric lightness for medium to light colour, but in the case of dark colours there was a discrepancy between the data sets. Both the chroma and hue tolerances showed dependency upon both the chroma and hue-angle and not the single dependency upon the metric chroma, as assumed in the CIE94 formula. New weighting functions were derived from the above experimental evidence, and finally a new formula, LCD(Leeds Colour Difference) was proposed. The LCD formula is nearly as simple and flexible as CIE94 but smoothes the individual weighting functions, especially for lightness tolerances for light colours and chromaticity discrimination near the blue region.

• 대한치과의사협회지
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• 제57권5호
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• pp.288-295
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• 2019

Sleep-disordered breathing (SDB) is defined as a disturbed breathing during sleep caused by repetitive upper airway collapse. Complete collapse causes a cessation of breathing, known as obstructive sleep apnea (OSA) and snoring can arise from partial collapse. Undiagnosed and untreated OSA means recurrent intermittent hypoxemia and leads to a variety of cardiovascular disorders, disturbed neurocognition, and excessive daytime sleepiness. Various behavioral modalities have been suggested for treating snoring and sleep apnea including changing the sleep position, avoiding alcohol, and weight loss. Until now continuous positive airway pressure (CPAP) therapy is one of effective treatment for patients with OSA, but its discomfort causes less tolerance and compliance. Therefore, clinical effectiveness and convenience for oral appliance have emerged and the role of dentists has become more important in the management of OSA.

• 한국산업융합학회 논문집
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• 제25권6_1호
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• pp.953-959
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• 2022

In this paper, the design result of robotic tools and the development of robot control system for chemical coupler assembly are presented. This research aims to eliminate the risk of chemicals exposed to human operators by developing the robotic tools and robot automation system for chemical tank lorry unloading that were done manually. Due to tight tolerance between couplers, even small pose error may result in very large internal force. In order to resolve the problem, the 6-axis compliance device is employed, which can provide not only enough compliance between couplers but also F/T sensing. The 6-axis compliance device having large force and moment capacity is designed. A simple linear gripper with rack-and-pinion is designed to grasp two sizes of couplers. The proposed robot automation system consists of 6-DOF collaborative robot with offset wrist, 6-axis compliance device with F/T sensing, linear gripper, and two robot visions.

• 한국광학회지
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• 제17권3호
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• pp.248-255
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• 2006

본 논문에서는 결합 변환 상관 평면에 이동 변위에 따른 위상 성분의 영향을 또 다른 암호화 매개변수로 이용하여 무작위 위상 영상과 매개 변수 값을 암호화요소로 사용하는 광 암호화방법을 제안하였다. 암호화과정 시 사용자만이 알고 있는 이동 변위 수치를 원 영상에 더하여 위상 변조한 후, 위상 변조한 무작위 위상과 공간 영역에서 곱한다. 곱해진 영상을 푸리에 변환을 하여 최종 암호화 영상을 생성하며, 이 때 키 영상은 무작위 위상 영상을 푸리에 변환하여 얻는다. 생성된 암호화 영상은 원 영상을 재생 시키 영상과 이동 변위 수치 정보가 동시에 필요로 하며, 키 영상은 복소함수로 세기 검출기로 쉽게 복제가 힘들뿐만 아니라 설사 키 영상이 복제하거나 도난 또는 분실된 경우에도 불법 사용자는 이동 변위 정보를 획득해야만 원 영상 정보를 재생할 수 있으므로, 좀 더 높은 암호화 수준으로 원 영상 정보를 보호할 수 있다. 복호화 과정은 결합 변환 상관 평면에 암호화 영상과 키 영상을 암호화 시 사용한 이동 변위 값에 따라 위치시켜 간단히 구현할 수 있으며, 간섭계 구조나 4-f 상관기 구조를 이용하지 않으므로 광축 정렬이나 외부 환경 변화에 영향을 받지 않고 원 영상을 재생할 수 있다.

• The Korean Journal of Physiology
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• 제30권2호
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• pp.237-247
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• 1996

This study was carried out to determine the effect of $-6^{\circ}$ head-down bedrest on the cardiovascular and hormonal responses to orthostasis and to evaluate the mechanism of orthostatic intolerance. Ten healthy young men were changed the body position from $-6^{\circ}$ head-down or supine bedrest for 2 hr to $70^{\circ}$ head-up tilt for 20 min. During the bedrest, there were no differences in hemodynamic and hormonal changes between the head-down and the supine positions. However, the tendency of decreased end-diastolic volume and increased cardiac contractility during the later period of 2 hr showed that the cardiovascular adaptation could be accelerated within a relatively short period in the head-down bedrest. During the head-up tilt, presyncopal signs were developed in five subjects of the supine bedrest, and one of the same subjects of the head-down bedrest. In the tolerant subjects, the increase in cardiac contractility and plasma epinephrine level during the bend-up tilt was greater following the head-down bedrest than that following the supine bedrest to compensate for reduced venous return. The intolerant subjects showed the greater decrease in end-diastolic and stroke volume, and the greater increase in heart rate during the head-up tilt than the tolerant subjects. Cardiac contractility and plasma epinephrine level were remarkably increased. However, arterial pressure was not maintained at the level for the appropriate compensation of the reduced venous return. It seems that the tolerance to orthostasis is more effective after the short-term head-down bedrest than after the supine bedrest, and the secretion of epinephrine induces the higher cardiac performance as a compensatory mechanism fur the reduced venous return during the orthostasis following the head-down bedrest than the supine bedrest.

• 전자공학회논문지SC
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• 제43권3호
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• pp.16-24
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• 2006

본 논문에서는 비평탄 지형을 보행하기 위한 육족 보행 로봇의 내고장성 걸음새 계획을 제안한다. 본 논문에서 고려하고 있는 고장은 관절고착고장으로 로봇 다리의 관절 하나가 어떤 위치에 고착되어서 보행이 끝날 때까지 움직일 수 없는 상태를 말한다. 기존에 제안되었던 평탄 지형 보행을 위한 내고장성 세다리 걸음새 계획을 바탕으로 본 논문에서는 육족 보행 로봇이 관절고착고장이 발생한 후에도 이차원 착지 불가능 영역이 존재하는 비평탄 지형을 걸을 수 있도록 하는 내고장성 FTL(Follow-The-Leader) 걸음새를 구현한다. 제안된 FTL 걸음새는 고장 난 다리의 착지점에서 로봇이 가질 수 있는 최대한의 보폭을 낼 수 있으며, 기존 내고장성 걸음새보다 착지 불가능 영역을 뛰어넘는 능력이 더 우수하다. 컴퓨터 시뮬레이션을 통해서 제안된 FTL 걸음새의 응용가능성을 검증한다.