• Proceeding of EDISON Challenge
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• 2016.03a
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• pp.501-505
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• 2016

In this study, a robot is implemented in H/W based on four-bar linkage mechanism and Jansen mechanism. Our goal is to finish the given path using given terms. The various programs was used to understand the mechanism in more detail. DISON m.Sketch, EDISON Designer, Theo Jansen Mechanism Optimization Solver. Using these programs, we can design the robot in more dtails and reduce errors and trials. For the design and implementation of a robot, it is need to get joint variable, a foot point, and their relation. Thus, the proposed kinematic analysis is very important process for the design and implementation of legged robots.

• Proceedings of the KIEE Conference
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• 2009.04b
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• pp.97-99
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• 2009

In this paper, a new type of electromagnetic actuator, an electro magnetic force driving actuator (EMFA) is developed and analyzed, applicable to air circuit breaker (ACB). Transient analysis is performed in order to obtain the dynamic characteristics of the EMFA. The distribution of static magnetic flux is obtained using the finite element method (FEM). The coupled problems of electrics and mechanics governing equations are solved using the time difference method (TDM). Also according to interception rate of each contactor, investigation about load condition of contactor spring is conducted, applied it to three-link system. And comparison about dynamic characteristics of three-link simulation and experiment data are performed.

• Annual Conference of KIPS
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• 2020.11a
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• pp.945-948
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• 2020

최근 코로나 사태로 인하여 한국에서는 사람 간에 거리를 두는 사회적 거리 두기와 생활 속 거리두기를 시행하고 있다. 또 식당에서의 지출 중 가장 큰 비율을 차지하고 있다. 인건비를 절감하기 위해 본 연구는 2D Lidar 센서를 사용하여 식당에서의 사람과의 접촉이 가장 큰 서빙의 역할을 로봇이 직접 하는 것을 목표로 하였다. Lidar 센서를 이용해서 SLAM을 구현하였고 안드로이드 앱을 사용하여 주문 결제를, Four Bar Linkage를 사용하여 음식 전달 부분을 구현하였다.

• Annual Conference of KIPS
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• 2020.05a
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• pp.551-554
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• 2020

본 논문은 주행 로봇의 h/w에 관련된 연구로서, 기존의 험난한 지형을 극복하기 위해 1-자유도 반의 4-bar linkage 구조인 deformation wheel로 로봇 자체 지능을 통해 바퀴 변형을 수행한다. 바퀴변형을 통해 평지뿐만 아니라 비평지 지형도 극복하는 로봇을 제시한다. 또한, 로봇 몸체 중간에 관절로 다이나믹셀을 삽입해 deformation wheel로 극복하지 못하는 장애물을 관절이 로봇 body를 들어 올려줘서 장애물의 키기에 대한 관절의 각도 조절 방법에 대해 제시한다.

• The Plant Pathology Journal
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• v.35 no.3
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• pp.189-199
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• 2019

In this research, the relationships among the 31 microsatellite markers with charcoal rot disease resistance related indices in 130 different soybean cultivars and lines were evaluated using association analysis based on the general linear model (GLM) and the mixed linear model (MLM) by the Structure and Tassel software. The results of microsatellite markers showed that the genetic structure of the studied population has three subpopulations (K=3) which the results of bar plat also confirmed it. In association analysis based on GLM and MLM models, 31 and 35 loci showed significant relationships with the evaluated traits, respectively, and confirmed considerable variation of the studied traits. The identified markers related to some of the studied traits were the same which can probably be due to pleiotropic effects or tight linkage among the genomic regions controlling these traits. Some of these relationships were including, the relationship between Sat_252 marker with amount of charcoal rot disease, Satt359, Satt190 and Sat_169 markers with number of microsclerota in stem, amount of charcoal rot disease and severity of charcoal rot disease, Sat_416 marker with number of microsclerota in stem and amount of charcoal rot disease and the Satt460 marker with number of microsclerota in stem and severity of charcoal rot disease. The results of this research and the linked microsatellite markers with the charcoal rot disease-related characteristics can be used to identify the suitable parents and to improve the soybean population in future breeding programs.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.4
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• pp.389-395
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• 2016

Wheel loaders are utilized not only on construction sites, but also for general purposes, such as manufacturing and transportation. Therefore, during the basic design stage of this type of working device equipment, the designer should consider specifications as well as working performance. In this research, a characteristic analysis program was developed for use in the basic design stage of construction equipment using multibody dynamics analysis. In addition, through the optimization of its links, improvements to the lifting capability of a Z-bar-linkage-type wheel loader were suggested. Using the developed program and process, it is possible to reduce the time required for the basic design of the working device.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.12
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• pp.1585-1591
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• 2011

In this paper, we present a new exoskeleton-type data glove that can sense the movement of the human finger and reflect the force to the finger. The data glove is designed on the basis of the skeletal structure of the human hand, and the finger module has 1 degree-of-freedom because it includes three four-bar mechanism joints in series and a wire-coupling mechanism. In addition, the transmission ratio of the finger module is maintained at 1:1.4:1 over the entire movement range, and hence, the module can perform both extension and flexion. In addition, to enable adduction/abduction motion of the human hand, a unique MCP joint is designed by using two universal joints. To validate the feasibility of the data glove, master-slave control experiments based on force-position control between the data glove and the robot hand are conducted.

• Proceedings of the Korean Society of Developmental Biology Conference
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• 2001.10a
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• pp.14-17
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• 2001

Positional clonging (map-based cloning) of mutations or genetic variations has been served as an invaluable tool to understand in-vivo functions of genes and to identify molecular components underlying phenotypes of interest. Mice homozygous for the cerebellar deficient folia (cdf) mutation are ataxic, with cerebellar hypoplasia and abnormal lobulation of the cerebellum. In the cdf mutant cerebellum approximately 40% of Purkinje cells are ectopically located within the white matter and the inner granule cell layer (IGL). To identify the cdf gene, a high-resolution genetic map for the cdf-gene-encompassing region was constructed using 1997 F2 mice generated from C3H/HeSnJ-cdf/cdf and CAST/Ei intercross. The cdf gene showed complete linkage disequilibrium with three tightly linked markers D6Mit208, D6Mit359, and D6Mit225. A contig using YAC, BAC, and P1 clones was constructed for the cdf critical region to identify the gene. A deletion in the cdf critical region on chromosome 6 that removes approximately 150 kb of DNA selection. cdf mutant mice with the transgenic copy of the identified gene restored the brain abnormalities of the mutant mice. The positional cloning of cdf gene provides a good example showing the identification of a gene could lead to finding a new component of important molecular pathways.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.12 s.177
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• pp.108-116
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• 2005

Transplanting accuracy of a rice transplanter mainly depends on the trajectory of the hoe for picking, conveying and transplanting of seedlings as well as the return motion. The trajectory can be decided and prescribed to be suitable in treating seedlings fur a prevailing soil condition. For the purpose of the transplanting accuracy, the design of a transplanting mechanism would be carried out using a planetary-gear-train system instead of the four bar linkage system. In this study, a design method of transplanting mechanism is theoretically proposed by synthesizing a noncircular planetary-gear-train system fur the tool (hoe) to trace a prescribed trajectory. The method utilizes an optimization approach to decide the lengths of an arm and a tool, the inverse kinematics to figure out the configuration angles of the two links, the roll contact condition in transmitting motion between the gears, and a linearization approach to obtain the shapes of the gears. Based on the proposed method, the shapes of the gears and the lengths of the tools of the planetary-gear-train system are determined fur three prescribed trajectories. A kinematical simulation with a commercialized package program is also carried out to confirm that the gear-train system synthesized with the proposed method is able to trace the prescribed trajectory.

• Journal of Astronomy and Space Sciences
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• v.29 no.4
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• pp.413-422
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• 2012

In recent years, a number of missions have been planned and conducted worldwide on the planets such as Mars, which involves the unmanned robotic exploration with the use of rover. The rover is an important system for unmanned planetary exploration, performing the locomotion and sample collection and analysis at the exploration target of the planetary surface designated by the operator. This study investigates the development of mobility system for the rover ground model necessary to the planetary surface exploration for the benefit of future planetary exploration mission in Korea. First, the requirements for the rover mobility system are summarized and a new mechanism is proposed for a stable performance on rough terrain which consists of the passive suspension system with 8 wheeled double 4-bar linkage (DFBL), followed by the performance evaluation for the mechanism of the mobility system based on the shape design and simulation. The proposed mobility system DFBL was compared with the Rocker-Bogie suspension system of US space agency National Aeronautics and Space Administration and 8 wheeled mobility system CRAB8 developed in Switzerland, using the simulation to demonstrate the superiority with respect to the stability of locomotion. On the basis of the simulation results, a general system configuration was proposed and designed for the rover manufacture.