• 제어로봇시스템학회논문지
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• 제18권5호
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• pp.487-495
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• 2012

In this paper, a Smart Home Service Robot, McBot II, which performs mess-cleanup function etc. in house, is designed much more optimally than other service robots. It is newly developed in much more practical system than McBot I which we had developed two years ago. One characteristic attribute of mobile platforms equipped with a set of dependent wheels is their omni- directionality and the ability to realize complex translational and rotational trajectories for agile navigation in door. An accurate coordination of steering angle and spinning rate of each wheel is necessary for a consistent motion. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A specialized anthropomorphic robot manipulator which can be attached to the housemaid robot McBot II, is developed in this paper. This built-in type manipulator consists of both arms with 4 DOF (Degree of Freedom) each and both hands with 3 DOF each. The robotic arm is optimally designed to satisfy both the minimum mechanical size and the maximum workspace. Minimum mass and length are required for the built-in cooperated-arms system. But that makes the workspace so small. This paper proposes optimal design method to overcome the problem by using neck joint to move the arms horizontally forward/backward and waist joint to move them vertically up/down. The robotic hand, which has two fingers and a thumb, is also optimally designed in task-based concept. Finally, the good performance of the developed McBot II is confirmed through live tests of the mess-cleanup task.

• 한국산학기술학회논문지
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• 제12권11호
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• pp.5219-5226
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• 2011

본 논문에서는 홈서비스 로봇인 맥봇 II(McBot II)의 빌트인(Built-in) 로봇 팔과 핸드를 설계한다. 이 빌트인 타입의 로봇 머니퓰레이터는 각각 3 DOF(Degree-of-Freedoms)의 로봇팔과 3 DOF의 로봇핸드로 구성되어 진다. 제한된 공간에서 인간과 함께 생활하는 홈서비스 로봇에 탑재되는 머니퓰레이터는 최소의 로봇 크기와 최대의 작업 공간이라는 상반된 설계 스펙이 요구되어 진다. 즉, 최소의 질량과 팔 길이에도 불구하고 효율적 작업을 위한 공간 확보가 필요한 것이다. 본 논문에서는 이와 같은 상반된 문제를 해결하기 위하여 수직 방향으로 움직이는 로봇 허리 구조와 수평방향의 전후방으로 이동할 수 있는 어깨 관절을 이용한 태스크 기반의 설계 방법을 제안한다. 또한, 양손 협업시스템인 로봇 핸드도 4절 링크 핑거를 이용한 작업 기반 설계를 시도한다. 끝으로 본 논문에서는 구현된 빌트인 머니퓰레이터의 실제 동작 실험을 통하여 그 성능을 확인한다.

• 대한기계학회논문집B
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• 제20권4호
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• pp.1376-1384
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• 1996

Measuring the velocity of fluid flow, semiconductor flow sensors are widely used in the various fields of engineering and science such as the semiconductor manufacturing processes and electronic control engines for automobiles. In the near future, this type of sensors will replace present hot wire type sensors or other type flow sensor due to its low price, easy handling and small size. To develop the advanced semiconductor flow sensor, it is necessary to obtain characteristics of the flow and the heat transfer around the sensor in advance. In the present study, the theoretical analysis including mathematical modeling and numerical calculation to predict the characteristics of heat transfer and flow field around the sensor was carried out. The main parameters for optimum design of the flow sensor are the free stream velocity, the heat generation rate of silicon arm and the distance between arms. Effects of these parameters on flow and heat transfer around the sensor and the temperature difference between arms are examined.

• 천문학회보
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• 제36권1호
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• pp.63.2-63.2
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• 2011

We present a photometric study of star clusters in three nearby barred spiral galaxies NGC 1300, NGC 1672 and NGC 6217. We use the Hubble Heritage CCD images taken with Advanced Camera for Surveys (ACS) of Hubble Space Telescope (HST) in several filters. We have selected hundreds of star clusters with V $\leq$ 24 mag in each galaxy, based on the morphological parameters and visual inspection. Most of the blue star clusters with B-V $\leq$ 0.5 are strongly concentrated in spiral arms. A significant fraction of these star clusters are distributed in ansae (the joint between spiral arms and bar structure). Some of the blue star clusters are also found in the nuclear starburst region, especially in NGC 1672. A small number of star clusters are found in the bar region. In contrast, the red star clusters with B-V < 0.5 are relatively uniformly located over the entire field of galaxy, and show some central concentration around the bulge. We discuss the physical properties of these star clusters with the expected results from simulations.

• Current Optics and Photonics
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• 제5권6호
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• pp.606-616
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• 2021

A photonic integrated interferometric imaging system possesses the characteristics of small-scale, low weight, low power consumption, and better image quality. It has potential application for replacing conventional large space telescopes. In this paper, the principle of photonic integrated interferometric imaging is investigated. A novel lenslet array arrangement and lenslet pairing approach are proposed, which are helpful in improving spatial frequency coverage. For the novel lenslet array arrangement, two short interference arms were evenly distributed between two adjacent long interference arms. Each lenslet in the array would be paired twice through the novel lenslet pairing approach. Moreover, the image reconstruction model for optical interferometric imaging based on compressed sensing was established. Image simulation results show that the peak signal to noise ratio (PSNR) of the reconstructed image based on compressive sensing is about 10 dB higher than that of the direct restored image. Meanwhile, the normalized mean square error (NMSE) of the direct restored image is approximately 0.38 higher than that of the reconstructed image. Structural similarity index measure (SSIM) of the reconstructed image based on compressed sensing is about 0.33 higher than that of the direct restored image. The increased spatial frequency coverage and image reconstruction approach jointly contribute to better image quality of the photonic integrated interferometric imaging system.

• 대한임베디드공학회논문지
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• 제19권1호
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• pp.1-8
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• 2024

Robotic arms have been widely utilized in various labor-intensive industries such as manufacturing, agriculture, and food services, contributing to increasing productivity. In the development of industrial robotic arms, camera sensors have many advantages due to their cost-effectiveness and small sizes. However, estimating object positions is a challenging problem, and it critically affects to the robustness of object manipulation functions. This paper proposes a method for estimating the 3D positions of objects, and it is applied to a pick-and-place task. A deep learning model is utilized to detect 2D bounding boxes in the image plane, and the pinhole camera model is employed to compute the object positions. To improve the robustness of measuring the 3D positions of objects, we analyze the effect of lens distortion and introduce a false positive filtering process. Experiments were conducted on a real-world scenario for moving medicine bottles by using a camera-based manipulator. Experimental results demonstrated that the distortion removal and false positive filtering are effective to improve the position estimation precision and the manipulation success rate.

• 한국기계가공학회지
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• 제17권3호
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• pp.148-154
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• 2018

When shooting small arms, the inner surface temperature is heated up to about $700{\sim}1,000^{\circ}C$ by the friction of the bullet and the inner wall of the barrel and the combustion of propellant. High-temperature propellant gas and high-speed movement of the bullet cause corrosion of the inner wall, which is noticeable immediately in front of the chamber. In this study, the mechanical properties of Cr-Mo-V steel, which is the base material, were tested using Taguchi experimental design to find the best nitriding treatment conditions. For the nitriding process, the working time, salt bath temperature, and salt concentration were combined as three conditions and placed in the $L_9(3^4)$, orthogonal array table. The thicknesses of the white layer and the nitrogen diffusion layer were measured after nitriding under each condition in a salt bath furnace. Durability was evaluated by measuring the degree of dispersion through actual shooting because it was difficult to evaluate the mechanical properties of the cylinder inner structure. As a result, it was confirmed that the durability was optimal at $565^{\circ}C$, 1 hour, 0.5%. These optimal conditions were selected by the statistical analysis of the Minitab program(ver.17).

• Asian Pacific Journal of Cancer Prevention
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• 제16권15호
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• pp.6621-6626
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• 2015

Purpose: To evaluate effects of metformin on clinical outcome of non-diabetic patients with stage IV NSCLC. Materials and Methods: A prospective, randomized, open-label, controlled pilot study was conducted on patients with stage IV NSCLC with an Eastern Cooperative Oncology Group Performance Status (ECOG PS) of 0-2, excluding patients with diabetes and lactic acidosis. Thirty chemo-$na\ddot{i}ve$, non-diabetic patients with stage IV NSCLC were enrolled. Fifteen patients received intravenous gemcitabine/cisplatin regimen alone (arm B) while fifteen patients received the same regimen plus daily oral metformin 500mg (arm A). The effect of metformin on chemotherapy-response rates, survival, and adverse events in these patients was evaluated. Results: Objective response rate (ORR) and median overall survival (OS) in arms A and B were 46.7% versus 13.3% respectively, p=0.109 and 12 months versus 6.5 months, respectively, p=0.119. Median progression free survival (PFS) in arms A and B was 5.5 months versus 5 months, p=0.062. No significant increase in toxicity was observed in arm A versus arm B. Percentage of patients who experienced nausea was significantly lower in arm A versus arm B, at 26.7% versus 66.7% respectively, p=0.028. Conclusions: Metformin administration reduced occurrence of chemotherapy induced-nausea. Non-statistically significant improvements in the ORR or OS were observed. Metformin had no effect on PFS.

• Asian Pacific Journal of Cancer Prevention
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• 제14권5호
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• pp.2879-2883
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• 2013

Objective: To investigate differences in mutations of epidermal growth factor receptor (EGFR) gene and relationships with clinicopathological features in patients with non-small cell lung cancer (NSCLC) between Uygur and Han ethnic groups. Methods: The Scorpions amplification refractory mutation system (Scorpions ARMS) was used to measure mutations in exons 18, 19, 20 and 21 of the EGFR gene in paraffin-embedded tumor tissue from NSCLC cases, and statistical analysis was performed to investigate links with clinicopathological features in different histological types of NSCLC. Results: Results from ARMS testing showed EGFR mutations in tumor tissues from six (6) of 50 NSCLC patients of Uygur ethnic group, with a positive rate of 12.0%; four of them (4) had exon 19 deletion in EGFR, and two (2) had L858R point mutation in exon 21 of EGFR. Statistically significant difference was noted in EGFR genetic mutation between adenocarcinoma and non-adenocarcinoma (P < 0.05), but no differences with gender, age group, smoking status, or stage (P > 0.05). EGFR mutations were detected in tumor tissues from 27 of 49 NSCLC patients of Han ethnic group, with a positive rate of 55.1%; 19 of them had exon 19 deletions, seven (7) had L858R point mutations in exon 21 of EGFR and one (1) had mutations in both exon 18 G719X and exon 20 T790M of EGFR. Statistically significant differences were noted in EGFR genetic mutations between genders and between adenocarcinoma and non-adenocarcinoma (P<0.05), but not with age group, smoking status, or stage (P > 0.05). Conclusion: Statistically significant differences were noted in the positive rates of EGFR genetic mutations in NSCLC patients between Uygur and Han ethnic groups, with lower positive rates for the Uygur cases.

• 한국의류학회지
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• 제27권5호
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• pp.485-495
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• 2003

This study was to compare and analyze the clothing pressure according to arms movements of 4 brands jacket for middle-aged women group by measuring clothing pressure of each brand. The results were as follows: 1. According to the analysis of jackets of 4 brands, in general, jacket C had the largest ease amount. while jacket A had a large ease amount in waist, hip areas compared with bust area. Also jacket B had a small ease amount in bust, waist areas and jacket D had a small ease amount in hip areas. Therefore the ease amount is different between each brand, each size even though jacket designs are similar. 2. It was found that clothing pressure was affected by arm movements than jackets. Since this study was limited to the arm movement for motion variation, it was recognized that a significant difference among each jacket and each movement at shoulder, waist parts existed with relation to this motion. 3. Parts showing a significant difference among each size were bust point, abdomen point, center back point of abdomen level, angulus superior scapulae point and center back point of waist level. Also clothing pressure of size B91 was bigger than size B88 except Center back point of waist level. 4. Clothing pressure in shoulder point, front armpit point, back armpit point, upper arm point areas increased as the angle of the arms movement increased. Also, individual variation of clothing pressure in front armpit point, back armpit point, armpit point and upper arm point was large, and clothing pressure in abdomen point was high in M5(sitting posture).