• ALGAE
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• v.35 no.2
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• pp.177-187
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• 2020

Cyanobacteria have been widely reported to produce a variety of UV-absorbing mycosporine-like amino acids (MAAs). Herein, we reported production of the unusual MAA, mycosporine-glycine-alanine (MGA) in the cyanobacterium Sphaerospermopsis torques-reginae ITEP-024 using a newly developed UHPLC-DAD-MS/HRMS (ultra-high performance liquid chromatography-diode array detection-high resolution tandem mass spectrometry) method. MGA had previously been first identified in a red-algae, but S. torques-reginae strain ITEP-024 is the first cyanobacteria to be reported as an MGA producer. Herein, the chemical structure of MGA is fully elucidated from one-dimensional / two-dimensional nuclear magnetic resonance and HRMS data analyses. MAAs are unusually produced constitutively in S. torques-reginae ITEP-024, and this production was further enhanced following UV-irradiance. It has been proposed that MAA biosynthesis proceeds in cyanobacteria from the pentose phosphate pathway intermediate sedoheptulose 7-phosphate. Annotation of a gene cluster encoded in the genome sequence of S. torques-reginae ITEP-024 supports these gene products could catalyse the biosynthesis of MAAs. However, addition of glyphosate to cultures of S. torques-reginae ITEP-024 abolished constitutive and ultra-violet radiation induced production of MGA, shinorine and porphyra-334. This finding supports involvement of the shikimic acid pathway in the biosynthesis of MAAs by this species.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.7
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• pp.688-694
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• 2010

This paper presents a gravity compensator for the manipulator of a service robot. The manipulator of a service robot is operated with low velocity for the safety reason in most cases. In this situation gravitational torques generated by the mass of links are often much greater than dynamic torques for motion. A gravity compensator can counterbalance the gravitational torques, thereby enabling to utilize relatively low power motors. In this paper the gravity compensation for the roll-pitch rotation is considered which is often used for the shoulder joints of the manipulator of a service robot or humanoid robot. A gimbals is implemented and two 1-dof gravity compensators are equipped at the base. One compensates the gravitational torque at the roll joint and another provides the compensational torque for the gimbals. Various analyses showed that the proposed compensator can counterbalance the gravitational torques of 87% at the pitch joint and 50% at the roll joint. It is verified from dynamic simulations that the proposed compensator effectively counterbalances the gravitational torques.

• Journal of Electrical Engineering and Technology
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• v.13 no.3
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• pp.1185-1201
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• 2018

This paper presents a sensorless direct torque control (DTC) combined with sliding mode approach (SM) and space vector modulation (SVM) to achieve mainly a high performance and reduce torque and flux ripples of a parallel-connected two five-phase permanent magnet synchronous machine (PMSM) drive system. In order to increase the proposed drive robustness and decrease its complexity and cost, the rotor speeds, rotor positions, fluxes as well as torques are estimated by using a sliding mode observer (SMO) scheme. The effectiveness of the proposed sliding mode observer in conjunction with the sliding mode control based DTC is confirmed through the application of different load torques for wide speed range operation. Comparison between sliding mode control and proportional integral (PI) control based DTC of the proposed two-motor drive is provided. The obtained speeds, torques and fluxes responses follow their references; even in low and reverse speed operations, load torques changes, and machines parameters variations. Simulation results confirm also that, the ripples of the torques and fluxes are reduced more than 3.33% and 16.66 %, respectively, and the speed overshoots and speed drops are reduced about 99.85% and 92.24%, respectively.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.291-294
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• 2004

Many researches have been focused on optimal designs of a pole shape in order to reduce cogging torques, which are generated between permanent magnets and slots. In this paper, an adaptive controller is proposed for reducing the effect of cogging torques in servo motors. The controller stabilizes the control system and shows an excellent trajectory tracking performance compared to the conventional PD controller.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.6 s.171
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• pp.70-75
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• 2005

Many researches have been focused on optimal designs of a pole shape in order to reduce cogging torques, which are generated between permanent magnets and slots. In this paper, an adaptive controller is proposed fur reducing the effect of cogging torques in servo motors. The controller stabilizes the control system and shows an excellent trajectory tracking performance compared to the conventional PD controller.

• Tribology and Lubricants
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• v.13 no.4
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• pp.47-52
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• 1997

Friction torques, electrical contact resistances and bearing temperatures were measured on high speed angular contact ball beatings for the spindle of machine tools. The test bearings ran with oil-air lubrication at the thrust loads from 320 N to 1920 N and at the rotational speed of up to 12000 rpm. Electrical contact resistances between balls and races were measured to evaluate the formation of the lubricant film in the contact area. The test results with sufficient lubrication showed that the variations of friction torques were sensitive to the thrust loads and the rotational speeds, and that the friction torques were higher than those with insufficient lubrication. With insufficient lubrication and high thrust loads, the collapse of the lubricant film was detected even at a high rotational speed. It was concluded that these high speed beatings to run in condition of fluid lubrication should require monitoring not only the temperature increase of the bearing but also the lubricant film formation in contact areas resulting from the change in the applied load and the lubricant amount.

• The Journal of Advanced Prosthodontics
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• v.11 no.6
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• pp.350-357
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• 2019

PURPOSE. This study aims to evaluate the loosening torque on the implant fixture, and to assess the accuracy of difference electronic torque drivers. MATERIALS AND METHODS. Three electronic torque drivers were used to measure the loosening torque on the implant system (AnyOne; MegaGen). The implant fixtures were divided among the 3 electronic torque driver types (W&H, SAESHIN, and NSK group) and 9 for each group. The screws were fastened at the implant fixture by three electronic torque drivers using the tightening torques recommended by the manufacturers of the drivers. After 10 minutes, the screws were again fastened at the implant fixture with equal torque. Then, the loosening torques were measured with an MGT12 torque gauge (MARK-10, Inc.). This measurement procedure was repeated 10 times under loosening torques of 15 Ncm, 25 Ncm, and 35 Ncm. In the statistical analysis, all values of loosening torque were analyzed with the one-way ANOVA and Kruskal-Wallis test (α=.05) for comparative evaluation. RESULTS. There were significant inter-group differences at loosening torques of 15 Ncm and 25 Ncm (P<.05). The accuracy of the NSK driver was the highest, followed by SAESHIN and W&H. There was no significant difference between NSK and W&H at 35 Ncm (P>.05). The SAESHIN driver showed the closest loosening torque at 35 Ncm. CONCLUSION. The most accurate loosening torques were SAESHIN at 35 Ncm, and NSK at 15 Ncm and 25 Ncm. Since the loosening torque may vary depending on the tightening torques and electronic torque drivers, periodic calibration of the electronic torque driver is recommended.

• Journal of the Korean Magnetics Society
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• v.25 no.1
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• pp.1-3
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• 2015

We demonstrate here an optical measurement technique to quantify the spin-orbit torques. The magnetization dynamics induced by the spin-orbit torques with a sinusoidal current injection is measured by use of polar magneto-optical Kerr effect. The measured signal is then analyzed based on the Landau-Lifhshitz-Gilbert equation with consideration of the spin-orbit torques. The present measurement technique is applied to Pd/Co/Pt films and then, the longitudinal and transverse components of the spin-orbit torques are successfully quantified. The present optical technique provides an alternative way to quantify the spin-orbit torques.

• Journal of the Chungcheong Mathematical Society
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• v.19 no.3
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• pp.219-224
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• 2006

In this article, we prove that a properly embedded minimal surface in $R^3$ of genus zero must be one of Riemann's minimal examples if outside of a solid cylinder it is the union of planar ends with the same torques at all integer heights.

• Aerospace Engineering and Technology
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• v.2 no.1
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• pp.54-62
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• 2003

The satellite in space has a tiny size but is subject to the disturbance torques caused by various sources. The presence of environmental disturbance torques significantly affects the orient as well as the orbital motion of satellite. The sources of environmental effects on LEO Satellite attitude dynamics are various. Four of these, gravity gradient, Earth's magnetic field, solar radiation pressure and aerodynamic are dominant and deterministic. In this study, we describe the model of environmental disturbance torques acting on LEO Satellite and the effects of environmental disturbance torques on LEO Satellite attitude dynamics in detail.