• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.24 no.4 s.175
• /
• pp.848-857
• /
• 2000

A pick-and-place operation in 3-dimensional environment is basic operation for human and multi-purpose manipulators. However, there may be a difficult problem for such manipulators. Especially, if the object cannot be moved with a single grasp, regrasping, which can be a time-consuming process, should be carried out. Regrasping, given initial and final pose of the target object, is a construction of sequential transition of object poses that are compatible with two poses in the point of grasp configuration. This paper presents a novel approach for solving regrasp problem. The approach consists of a preprocessing and a planning stage. Preprocessing, which is done only once for a given robot, generates a look-up table which has information of kinematically feasible task space of end-effector through all the workspace. Then, using the table planning automatically determines possible intermediate location, pose and regrasp sequence leading from the pick-up to put-down grasp. Experiments show that the presented is complete in the total workspace. The regrasp planner was combined with existing path.

• Journal of Mechanical Science and Technology
• /
• v.18 no.9
• /
• pp.1590-1603
• /
• 2004

In this study the optimization of plate-fin type heat sink with vortex generator for the thermal stability is performed numerically. The optimum solutions in the heat sink are obtained when the temperature rise and the pressure drop are minimized simultaneously. Thermal performance of heat sink is influenced by the heat sink shape such as the base-part fin width, lower-part fin width, and basement thickness. To acquire the optimal design variables automatically, CFD and mathematical optimization are integrated. The flow and thermal fields are predicted using the finite volume method. The optimization is carried out by means of the sequential quadratic programming (SQP) method which is widely used for the constrained nonlinear optimization problem. The results show that the optimal design variables are as follows; B$_1$=2.584 mm, B$_2$=1.741 mm, and t=7.914 mm when the temperature rise is less than 40 K. Comparing with the initial design, the temperature rise is reduced by 4.2 K, while the pressure drop is increased by 9.43 Pa. The relationship between the pressure drop and the temperature rise is also presented to select the heat sink shape for the designers.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.20 no.1
• /
• pp.124-130
• /
• 2012

An injection mold cooling circuit for an automotive front bumper was optimally designed in order to simultaneously minimize the average of the standard deviations of the temperature and the difference in mean temperatures of the upper and lower molds for uniform cooling. The temperature distribution for a specified design was evaluated by Moldflow Insight 2010, a commercial injection molding analysis tool. For efficient design, PIAnO (Process Integration, Automation and Optimization), a commercial PIDO tool, was used to integrate and automate injection molding analysis procedure. The weighted-sum method was used to handle the multi-objective optimization problem and PQRSM, a function-based sequential approximate optimizer equipped in PIAnO, to handle numerically noisy responses with respect to the variation of design variables. The optimal average of the standard deviations and difference in mean temperatures were found to be reduced by 9.2% and 56.52%, respectively, compared to the initial ones.

• Journal of Korean Society of Water and Wastewater
• /
• v.19 no.1
• /
• pp.16-24
• /
• 2005

Mathematical model was developed to verify a sequential particle removal taking place in a granular media gravity filter. Consequential multi-layer filtration cycle model was applied to verify the fraction of filter effluent particles that are filter influent particles that were never removed as well as the fraction of filter effluent particles that were detached after deposition were performed through laboratory experiments. Three sizes of marker particles were injected ahead of the filter column as a pulse in the presence of four sizes of polystyrene particles that were used as a primary source of particles in the raw suspension to investigate particle attachment alone in contrast to net removal from attachment and detachment. Microscopic counting of filter effluent particles was assumed to reflect attachment. Experimental results indicated that particle detachment is significant beginning from the early phase of filtration. For each size of fluorescent microspheres at one filter depth, fluorescent microsphere removal increased with filter runtime to a maximum due to ripening. The detached fraction of effluent particles increased with particle size and filter depth. The presence of detached particles and the increasing fraction of detached particles in deeper bed were confirmed.

• Korean Journal of Biological Psychiatry
• /
• v.23 no.2
• /
• pp.37-40
• /
• 2016

Treatment-resistant depression (TRD) is a major public health problem. It is estimated that about 30% of patients with major depressive disorder do not show substantial clinical improvement to somatic or psychosocial treatment. Most of studies for TRD have focused on the subjects already known as TRD. Patients with unipolar depressive episodes that do not respond satisfactorily to numerous sequential treatment regimens were included in the TRD studies. Such post hoc experimental design can be regarded only as consequences of having TRD, rather than as causal risk factors for it. Although informative, data derived from such studies often do not allow a distinction to be made between cause and effect. So, we should shift paradigm toward examining the risk for developing TRD in untreated depressed patients. To deal with this problem, untreated depressed patients should be enrolled in the study to identify biological markers for treatment resistance. The peripheral or central biological markers should be explored before starting treatment. Subsequent systematic administration of treatments with appropriate monitoring in the subjects can determine the risk for developing treatment resistance in untreated individuals. Such information could give a cue to improve the initial diagnosis and provide more effective treatment for TRD.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.28 no.9
• /
• pp.1314-1319
• /
• 2004

In this study, parameter optimization of micro-static mixer with a cantilever beam was accomplished for maximizing the mixing efficiency by using successive response surface approximations. Variables were chosen as the length of cantilever beam and the angle between horizontal and the cantilever beam. Sequential approximate optimization method was used to deal with both highly nonlinear and non-smooth characteristics of flow field in a micro-static mixer. Shape optimization problem of a micro-static mixer can be divided into a series of simple subproblems. Approximation to solve the subproblems was performed by response surface approximation, which does not require the sensitivity analysis. To verify the reliability of approximated objective function and the accuracy of it, ANOVA analysis and variables selection method were implemented, respectively. It was verified that successive response surface approximation worked very well and the mixing efficiency was improved very much comparing with the initial shape of a micro-static mixer.

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.12 no.4
• /
• pp.114-122
• /
• 2013

This study introduces an optimization methodology for the determination of gate location that ensures the melt flow balance within a part cavity of injection mold. A new sequential direct-search scheme based on the recursive reduction of the designer-specified gate design area is developed, and it is integrated with a commercial flow simulation tool for optimization. To quantify the level of melt flow balance, we employ the maximum difference among the fill times for the melt fronts to reach the boundary elements of part cavity as objective function. The proposed methodology is successfully applied in the case study of melt flow balancing in molding of a bar code scanner model. The result shows that the melt flow balance at the optimized gate positions is significantly improved from that for the initial gate position.

• Journal of Microbiology and Biotechnology
• /
• v.29 no.11
• /
• pp.1749-1759
• /
• 2019

Aspergillus ochraceus biofilm, developed on an inert support, can produce tannase in Khanna medium containing 1.5% (w/v) tannic acid as the carbon source, at an initial pH of 5.0, for 72 h at 28℃. Addition of 0.1% (w/v) yeast extract increased enzyme production. The enzyme in the crude filtrate exhibited the highest activity at 30℃ and pH 6.0. At 50℃, the half-life (T50) was 60 min and it was 260 min at pH 6.0. In general, addition of detergents and surfactants did not affect tannase activity significantly. Tannase has potential applications in various biotechnological processes such as the production of propyl gallate and in the treatment of tannin-rich effluents. The content of tannins and total phenolic compounds in effluents from leather treatment was reduced by 56-83% and 47-64%, respectively, after 2 h of enzyme treatment. The content of tannins and total phenolic compounds in the sorghum flour treated for 120 h with tannase were reduced by 61% and 17%, respectively. Interestingly, the same A. ochraceus biofilm was able to produce tannase for three sequential fermentative process. In conclusion, fungal biofilm is an interesting alternative to produce high levels of tannase with biotechnological potential to be applied in different industrial sectors.

• Journal of Institute of Control, Robotics and Systems
• /
• v.17 no.8
• /
• pp.747-752
• /
• 2011

HMMs (Hidden Markov Models) are widely used for biological signal, such as EEG (electroencephalogram) sequence, analysis because of their ability to incorporate sequential information in their structure. A recent trends of research are going after the biological interpretable HMMs, and we need to control the complexity of the HMM so that it has good generalization performance. So, an automatic means of optimizing the structure of HMMs would be highly desirable. In this paper, we described a procedure of classification of motor imagery EEG signals using HMM. The motor imagery related EEG signals recorded from subjects performing left, right hand and foots motor imagery. And the proposed a method that was focus on the validation of the HSA (Harmony Search Algorithm) based optimization for HMM. Harmony search algorithm is sufficiently adaptable to allow incorporation of other techniques. A HMM training strategy using HSA is proposed, and it is tested on finding optimized structure for the pattern recognition of EEG sequence. The proposed HSA-HMM can performs global searching without initial parameter setting, local optima, and solution divergence.

• 한국전기화학회:학술대회논문집
• /
• 1998.12a
• /
• pp.7-27
• /
• 1998

In order to design capacity of lithium ion battery, some calculations were carried out based on the characteristics of materials by the given battery shape and dimension. The principle of design was built by the interpretation of the correlation of material, electrochemical and battery factors. Parameters of materials are fundamental physical properties of constituent such as cathode. separator, anode, current collectors and electrolyte. Electrochemical factor includes potential pattern as a function of specific capacity, specific discharge capacity(or initial irreversible specific capacity or Ah efficiency) as a function of specific charge capacity and material balancing. Parameters of battery are dimension, construction hardware and performance. Battery capacity was simulated for a lithium cobalt dioxide as cathode and a hard carbon as anode to achieve 1100 mAh for the charge limit voltage of 4.2V, the weight ratio(+/-) of 2.4 and ICR18650. A fabricated test cell (ICR18650) which have weight ratio(+/-) of 2.4 discharged to 1093 mAh for the charge limit voltage of 4.2V. The sequential discharge capacity show good correspondence with designed capacity.