• Journal of Chest Surgery
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• v.22 no.6
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• pp.901-913
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• 1989

This study was investigated under the postulation that activation of intracellular calcium- calmodulin complex during ischemia-reperfusion leads to myocardial injury. The protective effects of calcium channel blocker, diltiazem and calmodulin inhibitors, trifluoperazine, flunarizine and calmidazolium from ischemic injury in rat hearts were observed by using Langendorff apparatus when the antagonists were infused for 3 min in the beginning of ischemia. Thereby, an increase in resting tension developed during 30-min ischemia was analyzed with regard to [1] the degree of cardiac functional recovery following 60-min reperfusion, [2] changes in biochemical variables evoked during 30-min ischemia. The results obtained were as follows: l. In the ischemic group, the resting tension was increased by 4.1*0.2 g at 30-min ischemia. However, the increase in resting tension was markedly reduced not only by pretreatment with diltiazem [3.3 p M] but also with calmodulin inhibitors, trifluoperazine [3.3 p M], flunarizine [0.5 p M] and calmidazolium [0.5 p M], respectively. 2. Recovery of myocardial contractility, +dF /dt and coronary flow were much reduced when evoked by reperfusion in the ischemic group. These variables were significantly improved either by pretreatment with diltiazem or with calmodulin inhibitors. 3. The resting tension increment evoked during ischemia was significantly inversely correlated with the degree of cardiac function recovered during reperfusion. 4. Following 30-min ischemia, the production of malondialdehyde and release of lysosomal enzyme were much increased in association with a decrease in creatine kinase activity. 5. The increases in malondialdehyde production and release of free lysosomal enzyme were suppressed by pretreatment with calmodulin inhibitors as well as diltiazem. Likewise, the decrease of creatine kinase activities was prevented by these calcium antagonists. With these results, it is indicated that a increase in resting tension observed during ischemia has an inverse relationship to the cardiac function recovered following reperfusion, and further, the later may be significantly dependent on the degree of biochemical alterations occurred during ischemia such as decrease in creatine kinase activity, increased production of malondialdehyde and increased release of free lysosomal enzyme. Thus it is concluded that calmodulin plays a pivotal role in the process of ischemic injury.

• Korea Trade Review
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• v.41 no.2
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• pp.29-60
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• 2016

Research and Development(R&D) investment is an issue of central importance in any economy. In this paper we analyze the relationship between R&D spillovers and trade-related variables, using a two-stage model where duopolists simultaneously decide on R&D in the first stage and engage in Cournot competition in the second stage. We characterized and compared the free-trade and trade-restriction R&D equilibrium in a two-stage game of R&D investment followed by Cournot market competition. We also assessed the impact of varying the R&D spillover on the equilibrium outcomes and tariff. We showed for both free trade and protection cases that there exists a unique symmetric solution(subgame perfect Nash equilibrium). As the solution, while analytical, cannot be stated in closed form, we resorted to numerical experiments to investigate the equilibrium results. Our estimates indicate for both free trade and protection cases that the level of R&D investment and the rate of R&D expenditure decrease as the degree of R&D spillovers increases, and that there is an inverse relation between the degree of R&D spillovers and level of protection. The latter implies that the larger the degree of R&D spillovers, the lesser the level of protection.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.12
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• pp.1845-1855
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• 2004

This paper presents the forward kinematics of the Casing Oscillator that is a construction machine. The Structure of the Casing Oscillator is similar to those of 4 degree-of-freedom mechanisms with a redundancy. With analytical (geometrical) methods, the solutions of the forward position kinematics problem are significantly found by both solving an 8$^{th}$ -order polynomial equation in one unknown variable and using one over-constraint geometrical equation which can be derived under the condition of a redundancy. The proposed forward kinematics has closed-form solutions and allows Auto-Balancing control of the moving platform in real time. Numerical examples are presented and the results are verified by an inverse kinematics analysis.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.5
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• pp.434-441
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• 2004

In this paper, an exoskeleton-type motion capturing system is designed and implemented. The device is designed to have 12 degree-of-freedom entirely to represent human arm motions. Forward and inverse kinematics of the device are analyzed to make sure of its singular positions. With the designed model parameters, simulation studies are conducted to verify that the designed motion capturing system is effective to represent human motions within the workspace. As a counterpart of the exoskeleton system, a mobile robot is built to follow human motion restrictively. Experimental studies of teleoperation from the exoskeleton device to control the mobile robot are carried out to show feasible application of wireless man-machine interface.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1158-1161
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• 2004

This paper describes the construction of a half sphere screen driving tilting simulator that can perform six degree-of-freedom (DOF) motions simulator to a tilting train. The mathematical equations of Tilting Train dynamics are first derived from the 6-DOF bicycle model and incorporated with the bogie, carbody, and suspension subsystems. The equations of motion are then programmed by visual C++ code. To achieve the simulator functions, a motion platform that is constructed by six electric-driven actuators is designed, and its kinetics/inverse kinetics analysis is also conducted. Driver operation signals such as carbady angle, accelerator, and tilting positions are measured to trigger the Tilting dynamics calculation and further actuate the cylinders by the motion platform control program. In addition, a digital PID controller is added to achieve the stable and accurate displacements of the motion platform. The experiments prove that the designed simulator is adequate in performing some special rail road driving situations discussed in this paper.

• IEMEK Journal of Embedded Systems and Applications
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• v.3 no.2
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• pp.82-90
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• 2008

In this paper, we introduce a biped walking robot which can do static walking with 22 degree-of-freedoms. The developed biped walking robot is 480mm tall and 2500g, and is constructed by 22 RC servo motors. Before making an active algorithm, we generate the motions of robot with a motion simulator developed using C language. The two dimensional simulator is based on the inverse kinematics and D-H transform. The simulator implements various motions as we input the ankle's trajectory. Also the simulator is developed by applying the principle of inverted pendulum to acquisite the center of gravity. As we use this simulator, we can get the best appropriate angle of ankle or pelvic when the robot lifts up its one side leg during the walking. We implement the walking motions which is based on the data(angle) getting from both of simulators. The robot can be controlled by text shaped command through RF signal of wireless modem which is connected with laptop computer by serial cable.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.4 s.247
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• pp.387-392
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• 2006

This paper predicts the modified mass and stiffness of structure using the sensitivity coefficients with the iterative method. The sensitivity coefficients are obtained by the change of the eigenvectors according to structural modification. The method is applied to an examples of a 3 degree of freedom system by modifying mass and stiffness. The predicted mass and stiffness are in good agreement with these from the structural reanalysis using the modified mass and stiffness.

• Proceedings of the KIEE Conference
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• 1991.11a
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• pp.397-400
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• 1991

This paper presents a cartesian space decentralized adaptive controller design for the end effector of the robot manipulator to track the given desired trajectory in the cartesian coordinate. By the cartesian based control scheme, the task related high level motion command is directly executed without solving the complex inverse kinematic equations. The controller does not require the complex manipulator dynamic model, and hence it is computationally very efficient. Each degree of freedom of the end effector on the cartesian space is controlled by a PID feedback controller and a velocity acceleration feed forward conpensation part. Simulation results for a two-link direct drive manipulator conform that the present cartesian based decentralized scheme is feasible.

• Journal of the Korean Society for Precision Engineering
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• v.11 no.6
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• pp.20-27
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• 1994

This paper presents a controller design to coordinate a robot manipulator under unknown system parameters and bounded disturbance inputs. To control the motion of the manipulator, an inverse dynamics control scheme is applied. Since parameters of the robot manipulators such as mass and inertia are not perfectly known, the difference between the actual and estimated parameters works as a disturbance force. To identify the unknown parameters, an improved adaptive control algorithm is directly derived from a chosen Lyapunov's function candidate based on the Lyapunov's Second Method. A robust control algorithm is devised to counteract the bounded disturbance inputs such as contact forces and disturbing forces coming from the difference between the actual and the estimated system parameters. Numerical examples are shown using three degree-of-freedom planar arm.

• Journal of KSNVE
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• v.7 no.3
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• pp.387-392
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• 1997

This paper concerns a SCARA robot with the flexible forearm linked to the rigid upper arm. The equations of motion are derived by the Lagrangian mechanics. For controller design, the perturbation approach is taken to separate the original equations of motion into linear equations describing small perturbed motions and nonlinear equations describing purely rigid motion of the robot. To effect the desired payload motion, open loop control inputs are determined based on the inverse dynamics of the latter. In order to reduce the positional error during maneuver, an active vibration suppression is done. To this end, a feedback control is designed for robustness against disturbance on the basis of the linear equations and the LQR theory modified to have a prescribed degree of stability. The proposed control scheme shows satisfactory performances in experiments as well as in numerical simulations.