• 제어로봇시스템학회논문지
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• 제12권10호
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• pp.1035-1043
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• 2006

In this study, a translational 3-DOF parallel mechanism formed by constraining the Stewart Platform Mechanism is investigated. The translational 3-DOF parallel mechanism has three struts(3-UPS type serial subchains) and in addition, has a PPP type serial subchain in the middle of the mechanism. Firstly, the closed-form forward and reverse position solutions are derived for this mechanism. And analysis on kinematic characteristics using isotropic index of the Jacobian is conducted to examine effects of design parameters for the mechanism. Lastly, a prototype mechanism is implemented and the kinematic performance of the translational 3-DOF parallel mechanism was verified through experimental work.

• 한국정밀공학회지
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• 제15권9호
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• pp.158-166
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• 1998

This paper presents a geometrical approach to the characteristic analysis of parallel mechanism with free joints intended for use as a planar task robot. Solution of the forward and inverse kinematic problems are described. Because the mechanism has only three degree-of-freedom output, constraint equations must be generated to describe the inter-relationship between actuated joints and free joints so as to describe the position and orientation of the moving platform. Once these constraints are incorporated into the kinematics model, a constrained Jacobian matrix is obtained. and it is used for the solution of the forward kinematic equations by Newton-Raphson technique. Another Jacobian matrix was derived to describe the interrelationship between actuated joints and moving platform. The stiffness, velocity transmission ratio, force transmission ratio and dexterity of the mechanism are then determined based on this another Jacobian matrix. The geometrical construction of the mechanism for the best performance was investigated using the characteristic analysis.

• Journal of applied mathematics & informatics
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• 제40권3_4호
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• pp.603-618
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• 2022

In this paper, a numerical solution of the generalized diffusion equation with a delay has been obtained by a numerical technique based on the Galerkin finite element method by applying the cubic B-spline basis functions. The time discretization process is carried out using the forward Euler method. The numerical scheme is required to preserve the delay-independent asymptotic stability with an additional restriction on time and spatial step sizes. Both the theoretical and computational rates of convergence of the numerical method have been examined and found to be in agreement. As it can be observed from the numerical results given in tables and graphs, the proposed method approximates the exact solution very well. The accuracy of the numerical scheme is confirmed by computing L₂ and L_∞ error norms.

• The Korean Journal of Physiology and Pharmacology
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• 제5권6호
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• pp.487-494
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• 2001

During depolarization, extrusion of $Ca^{2+}$ from sarcoplasmic reticulum through forward-mode $Na^+-Ca^{2+}$ exchange was studied in the rat ventricular myocytes patch-clamped in whole-cell configuration. In order to confine the $Ca^{2+}$ responses in a micro-domain by limiting the $Ca^{2+}$ diffusion time, rat ventricular myocytes were dialyzed with high (14 mM) EGTA. $K^+$ current was suppressed by substituting KCl with 105 mM CsCl and 20 mM TEA in the pipette filling solution and by omitting KCl in the external Tyrode solution. $Cl^-$ current was suppressed by adding 0.1 mM DIDS in the external Tyrode solution. During stimulation roughly mimicking action potential, the initial outward current was converted into inward current, $47{\pm}1%$ of which was suppressed by 0.1 mM $CdCl_2.$ 10 mM caffeine increased the remaining inward current after $CdCl_2$ in a cAMP-dependent manner. This caffeine-induced inward current was blocked by $1\;{\mu}M$ ryanodine, $10\;{\mu}M$ thapsigargin, 5 mM $NiCl_2,$ or by $Na^+\;and\;Ca^{2+}$ omission, but not by $0.1\;{\mu}M$ isoproterenol. The $I{\sim}V$ relationship of the caffeine-induced current elicited inward current from -45 mV to +3 mV with the peak at -25 mV. Taken together, it is concluded that, during activation of the rat ventricular myocyte, forward-mode $Na^+-Ca^{2+}$ exchange extrudes a fraction of $Ca^{2+}$ released from sarcoplasmic reticulum mainly by voltage-sensitive release mechanism in a micro-domain in the t-tubule, which is functionally separable from global $Ca^{2+}{_i}$ by EGTA.

• 한국시뮬레이션학회논문지
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• 제28권3호
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• pp.49-56
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• 2019

본 논문에서는 선도이자율 모형과 리보이자율 모형 사이의 관계를 이용하여 채권 옵션의 해석적인 해(Analytic Solution; AS)와 몬테 카르로 시뮬레이션(Monte Carlo Simulation; MCS)을 이용한 가격 결정을 다룬다. AS를 이용한 채권 옵션가격 결정은 Ritchken and Sankarasubramanian (RS)의 제한 조건을 이용하여 할인된 채권 가격을 구하는 공식을 유도하고, 선도이자율과 리보이자율 모형의 변동함수 사이의 관계를 활용한다. MCS을 이용한 채권 옵션 가격 결정은 MCS을 이용하여 제시된 조건으로부터 여러 가지 예정된 전개의 시뮬레이션을 활용한다. AS와 MCS을 이용한 가격 결정 방법을 실행하여 얻은 가격을 비교하면 AS와 MCS의 상대오차(Relative Error; RE)를 구할 수 있다. 이때 본 연구의 결과로부터 RE가 약 3.9%가 됨을 확인할 수 있다. 이것은 AS뿐만 아니라 MCS을 이용해도 채권 옵션의 가격을 매우 정확하게 예측할 수 있음을 의미한다.

• 제어로봇시스템학회논문지
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• 제13권6호
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• pp.603-608
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• 2007

In the conventional AOA(angle-of-arrival) positioning utilizing reverse-link wireless channel, each sensor should be equipped with an array antenna to measure the incident angle of signal transmitting from a tag. To perform the complicated signal processing for angle measurements, sensor size and its power consumption will be large. In some applications like mobile robot location, there exists no strict restriction in tag size or in power consumption. Rather, it is desirable that the sensor would be as small as possible. This paper presents a new AOA positioning method utilizing forward-link channel. Under the assumption that the mobile robot is operating on the flat surface, the measurement model for FLAOA(tiJrward-link AOA) is derived first. Two kinds of position estimation algorithms using FLAOA measurements are proposed; Gauss-Newton method and closed-fonn solution method. With the proposed methods, we can ohtain the attitude of robot as well as its position. Positioning performance of proposed methods is compared by computer simulation. Simulation results show that the closed-form solution method using FLAOA measurements is suitable for indoor robot positioning.

• 멤브레인
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• 제33권6호
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• pp.383-389
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• 2023

폴리에틸렌 글라이콜 다이아크릴레이트 (polyethylene glycol diacrylate, PEGDA) 하이드로젤을 정삼투 (forward osmosis, FO) 분리막의 지지체로 사용하여 고성능의 FO 분리막을 제조하였다. 친수성의 PEGDA를 자외선 조사를 통한 중합과 그에 따른 상분리를 이용하여 다공성으로 구조화하였고, 매우 높은 친수성을 가진 하이드로젤 지지체를 얻을 수 있었다. 제조된 친수성 PEGDA 지지체 위에 높은 수투과도와 염 선택도를 확보하기 위해서 일반적인 계면중합 방식이 아닌 톨루엔을 유기 용매로 사용한 계면중합 방식(TIP)으로 선택층을 도입하였다. 제조된 PEGDA 지지체 기반 분리막은 1.0 M NaCl 유도 용액과 증류수 유입수를 통한 FO 성능 측정에서 상용 HTI 분리막들에 비해서 매우 높은 수투과도와 낮은 염 선택도를 나타내었다. 본 연구를 통해, 기존의 소수성 지지체를 추가적으로 개질하는 방식이 아닌 새로운 물질과 제조방식을 사용한 FO 지지체의 가능성을 제시하고자 한다.

• 멤브레인
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• 제28권5호
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• pp.368-377
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• 2018

정삼투 공정에 유용한 유도용질로서 n-nitrilotris(methylene) phosphonic acid (NTPA) 염을 합성하였다. NTPA에 첨가하는 KOH의 함량을 변화시켜 NTPA-4K, NTPA-5K, NTPA-6K 세 종류의 유도용질을 합성하고 $^1H$-NMR, $^{13}C$-NMR을 통하여 확인하였다. 유도용질의 물성을 확인하기 위해 삼투압, 점도, 수투과도, 역염 투과도를 측정하였다. 정삼투 공정에서는 증류수를 유입용액으로 사용하고 0.5 M의 유도용액으로 실험한 결과 각각 수투과도는 35.8, 38.8, 42.2 LMH를 나타내고 5.4, 6.9, 7.4 gMH의 역염 투과도를 나타내었다. 이는 기존의 NaCl 유도용액보다 높은 수투과도와 훨씬 낮은 역염 투과도를 확인하였다. 정삼투 공정 후 묽어진 유도용질의 회수를 위해 나노여과 방식으로 상용막을 사용하여 제거율을 측정한 결과 90% 이상의 높은 성능을 확인하였다.

• 대한기계학회논문집A
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• 제25권8호
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• pp.1206-1212
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• 2001

The kinematic analysis of Stewart platform manipulator(SPM) is carried out in order to reduce the calculation time for its forward kinematic solution when the iterative numerical method is employed. The kinematic equations for three substructures of the 6-3 SPM are newly derived by introducing Denavit-Hartenberg link parameters and using kinematic constraints associated with the SPM and substructure kinematics. It is shown that the forward kinematics can be easily solved from three nonlinear equations with three unknown variables only, leading to a great reduction in calculation time.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.51.5-51
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• 2001

The sliding and/or skidding motions generally occur to a car - like planar mobile robot consisting of four conventional fixed wheels attached on two parallel axles. Thus, the kinematic model of such mobile robot should include the description of skidding and sliding frictional motions. However, most of previous kinematic models do not take these frictional motions into account the kinematic model, as the work done by Muir and Newman [1]. Thus, does it result in least square solution in estimating sensed forward velocity. In this paper, the sensed forward velocity estimation algorithm for mobile robots is proposed, which not only includes those skidding and sliding frictional motions into kinematic model but also utilizes only the minimal set of dependent internal kinematic variables of the mobile robot. Then, ...