• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1668-1672
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• 2005

This paper presents the wall following control of a small indoor airship (blimp). The purpose of the wall following control is that a blimp maintains its position and pose and flies along the wall. A blimp has great inertia and it is affected by temperature, atmospheric pressure, disturbance and air flow around blimp. In order to fly indoors, a volume of blimp should be small. The volume of a blimp becomes small then the buoyancy of a blimp should be smaller. Therefore, it is difficult to attach additional equipments on the blimp which are necessary to control blimp. For these reasons, it is difficult to control the pose and position of the blimp during the wall following. In our research, to cope with its defects, we developed new blimp. Generally, a blimp is controlled by using rudders and elevators, however our developed blimp has no rudders and elevators, and it has faster responses than general blimps. Our developed blimp is designed to smoothly follow the wall by using low-cost small ultra sonic sensors instead of high-cost sensors. Finally, the controller is designed to robustly control the pose and position of the blimp which could control in spite of arbitrary disturbance during the wall following, and the effectiveness of the controller is verified by experiment.

• Journal of Mechanical Science and Technology
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• v.18 no.11
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• pp.1941-1948
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• 2004

This paper presents a novel design of indoor airship having a passive wheeled mechanism and its stationary position control. This wheeled blimp can work both on the ground using wheeled vehicle part and in the air using the floating capability of the blimp part. The wheeled blimp stands on the floor keeping its balance using a caster-like passive wheel mechanism. In tele-guidance application, stationary position control is required to make the wheeled blimp naturally communicate with people in standing phase since the stationary blimp system responds sensitively to air flow even in indoor environments. To control the desired stationary position, a computed torque control method is adopted. By performing a controller design through dynamic analysis, the control characteristics of the wheeled blimp system have been found and finally the stable control system has been successfully developed. The effectiveness of the controller is verified by experiment for the real wheeled blimp system.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.117.4-117
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• 2002

This paper describes a stationary position control of a wheeled blimp. The wheeled blimp is composed of a blimp filled with helium gas and a wheeled vehicle part. The wheeled blimp is designed to enable both flying in the air and standing on the floor. The wheeled blimp stands on the floor keeping its balance. However, it is difficult for the wheeled blimp to maintain a stationary position in standing phase since the stationary blimp system responds sensitively to air current even in indoor environments. In order to keep the stationary position restraining motion caused by an uncertain airflow, a position controller for the wheeled blimp is needed. Controller design based on dynamic m...

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.30.5-30
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• 2001

This paper describes a new design of blimp having wheeled vehicle part. This system can work both on the ground using wheeled vehicle and in the air using the floating capability of the blimp part. The passive wheeled mechanism in the vehicle part enables the stable taking off, landing on as well as it is greatly helpful to keep a stationary position on the floor. On the other hand, the floating capability enables the wheeled blimp to fly freely regardless of the ground condition or obstacles. The wheeled blimp can be used as an agent robot for the tole-presence application. Using multimedia devices such as camera, speaker, LCD and microphone mounted on the blimp surface, this system can get necessary information at the local site and communicate with person from a distance. As a typical tele-presence application, the wheeled blimp is currently being developed to a tole-guidance robot working in public indoor areas such 35 exhibition halls, departments, hospitals, etc ...

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1917-1920
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• 2003

Automatic tracking of a moving object such as a person is a demanding technique especially in surveillance. This paper describes an experimental system for tracking a moving object on the ground by using a visually controlled aerial robot. A blimp is used as the aerial robot in the proposed system because of its locality in motion and its silent nature. The developed blimp is equipped with a camera for taking downward images and four rotors for controlling the progression. Once a camera takes an image of a specified moving object on the ground, the blimp is controlled so that it follows the object by the employment of the visual information. Experimental results show satisfactory performance of the system. Advantages of the present system include that images from the air often enable us to avoid occlusion among objects on the ground and that blimp’s progression is much less restricted in the air than, e.g., a mobile robot running on the ground.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.996-1000
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• 2003

In this paper, Fly robot with electric power, a kind of Unmanned aerial vehicle (UAV), is considered as an autonomous hovering platform, capable of vertical lift-off, landing and stationary hovering. This aircraft has four rotor and DC motors of electrical Power, which is capable of omni-direction for indoor application. In the earlier days of vertical flight experimentation developers looked at the intuitively easy control functionality of 4 rotor designs. But we need to obtain design method of suitable structures and adequate components because the existing prototypes of 4 rotor-craft don't analyze the propeller, motor characteristic and propose a methodology to optimize this system. In this paper, we will show the new 4 rotor craft with blimp, analyze design and manufacturing method of 4 rotor craft system. Also we prove propriety of our design and manufacturing method by being based on thrust and motor experiment.

• IMMUNE NETWORK
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• v.20 no.5
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• pp.42.1-42.10
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• 2020

Long-lasting post-switched plasma cells (PCs) arise mainly from germinal center (GC) reactions, but little is known about the mechanism by which GC B cells differentiate into PCs. Based on our observation that the expression of the transcription factor CCAAT/enhancer binding protein β (C/EPBβ) is associated with the emergence of post-switched PCs, we enquired whether a cell-autonomous function of C/EPBβ is involved in the program for PC development. To address this, we generated C/EPBβ-deficient mice in which the Cebpb locus was specifically deleted in B cells after transcription of the Ig γ1 constant gene segment (Cγ1). In response to in vitro stimulation, B cells from these Cebpb^fl/flCγ1^Cre/+ mice had defects in the induction of B lymphocyte-induced maturation protein 1 (Blimp1) and the formation of IgG1⁺ PCs, but not in proliferation and survival. At steady state, the Cebpb^fl/flCγ1^Cre/+ mice had reduced serum IgG1 titers but normal IgG2c and IgM titers. Moreover, upon immunization with T-dependent Ag, the mice produced reduced levels of Ag-specific IgG1 Ab, and were defective in the production of Ag-specific IgG1 Ab-secreting cells. These results suggest that a cell-autonomous function of C/EPBβ is crucial for differentiation of post-switched GC B cells into PCs through a Blimp1-dependent pathway.

• YAKHAK HOEJI
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• v.59 no.5
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• pp.207-214
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• 2015

P2Y receptors, a type of P2 receptor family, are G-protein coupled receptors and 8 subtypes have been characterized ($P2Y_1$, $P2Y_2$, $P2Y_4$, $P2Y_6$, $P2Y_{11-14}$). Recently, several studies have shed light on the role of P2Y receptors in bone biology. Among them, little is known on the role of $P2Y_6$ receptor on osteoclast differentiation. Thus, we investigated the role of $P2Y_6$ receptor on osteoclastogenesis using $P2Y_6$ receptor selective antagonist, MRS 2578. When osteoblasts and bone marrow cells were co-cultured in the presence of $VitD_3$ and $PGE_2$, $P2Y_6$ antagonist increased the formation of TRAP positive osteoclasts. To elucidate the target cells of $P2Y_6$ antagonist, we first checked the effect of MRS 2578 on osteoblasts. Treatment of MRS 2578 did not affect OPG : RANKL mRNA ratio in osteoblasts. Next, we checked the effects of $P2Y_6$ antagonist on osteoclast precursors using mouse bone marrow macrophages (BMMs). Addition of MRS 2578 increased the number of osteoclasts in RANKL-treated BMMs. Although $P2Y_6$ antagonist had no effect on RANKL-induced NFATc1, c-Fos and MafB expression levels, it significantly stimulated RANKL-induced Blimp1 mRNA expression in BMMs. Taken together, these data indicate that $P2Y_6$ antagonist increases osteoclast formation by upregulation of Blimp1 expression.

• International Journal of Aeronautical and Space Sciences
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• v.11 no.2
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• pp.98-109
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• 2010

This paper deals with a new method of unmanned aerial vehicle (UAV) recovery when a UAV fails to get a global positioning system (GPS) signal at an unprepared site. The proposed method is based on the simultaneous localization and mapping (SLAM) algorithm. It is a process by which a vehicle can build a map of an unknown environment and simultaneously use this map to determine its position. Extensive research on SLAM algorithms proves that the error in the map reaches a lower limit, which is a function of the error that existed when the first observation was made. For this reason, the proposed method can help an inertial navigation system to prevent its error of divergence with regard to the vehicle position. In other words, it is possible that a UAV can navigate with reasonable positional accuracy in an unknown environment without the aid of GPS. This is the main idea of the present paper. Especially, this paper focuses on path planning that maximizes the discussed ability of a SLAM algorithm. In this work, a SLAM algorithm based on extended Kalman filter is used. For simplicity's sake, a blimp-type of UAV model is discussed and three-dimensional pointed-shape landmarks are considered. Finally, the proposed method is evaluated by a number of simulations.

• Proceedings of the KSRS Conference
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• 2002.10a
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• pp.750-750
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• 2002

The Airship PKNU is a roughly 12 m (32 ft) long blimp, filled with helium, whose two-gasoline power(3hp per engine) are independently radio controlled. The motors and propellers can be tilted and are attached to the gondola through an axle and supporting braces. Four stabilizing fins are mounted at the tail of the airship. To fill in the helium, a valve is placed at the bottom of the hull. The inaugural flight was on jul. 31.2002 at the Pusan, S.korea Most environment monitoring system\ problem use satellite image. But, Low resolution satellite image (multi-spectral) : 1km ∼ 250 m ground resolutions is lows. So, detail information acquisition is hard at the complex terrain. High resolution satellite image (black and white) 30m : The ground resolution is high. But it is high price, visit cycle and delivery time is long So. We want make high accuracy airship photogrammetry system. This airship can catch picture Multi. spectral Aerial photographing (visible, Near infrared and thermal infrared), and High resolution (over 6million pixel). It can take atmosphere datum (Temperature (wet bulb, dew point, general), Pressure (static, dynamic), Humidity, wind speed). this airship is very Quickness that aircraft install time is lower than 30 minutes, it is compact and that conveyance is easy. High-capacity save image (628 cut per 1time (over 6million and 4band(R,G,B,NIR)) and this airship can save datum this High accuracy navigatin (position and rotate angle) by DGPS tech. and Gyro system. this airship will do monitor about red-tide, sea surface temperate, and CH-A, SS and etc.