• Journal of Biosystems Engineering
• /
• v.38 no.2
• /
• pp.138-148
• /
• 2013

Purpose: Determining an appropriate path is a top priority in order for a robot to maneuver in a dynamically efficient way especially in a pick-and-place task. In a non-standardized work environment, current robot arm executes its motion based on the kinematic displacements of joint variables, though resulting motion is not dynamically optimal. In this research we suggest analyzing and applying motion patterns of the human arm as an alternative to perform near optimum motion trajectory for arbitrary pick-and-place tasks. Methods: Since the motion of a human arm is very complicated and diverse, it was simplified into two links: one from the shoulder to the elbow, and the other from the elbow to the hand. Motion patterns were then divided into horizontal and vertical components and further analyzed using kinematic and dynamic methods. The kinematic analysis was performed based on the D-H parameters and the dynamic analysis was carried out to calculate various parameters such as velocity, acceleration, torque, and energy using the Newton-Euler equation of motion and Lagrange's equation. In an attempt to assess the efficacy of the analyzed human motion pattern it was compared to the virtual motion pattern created by the joint interpolation method. Results: To demonstrate the efficacy of the human arm motion mechanical and dynamical analyses were performed, followed by the comparison with the virtual robot motion path that was created by the joint interpolation method. Consequently, the human arm was observed to be in motion while the elbow was bent. In return this contributed to the increase of the manipulability and decrease of gravity and torque being exerted on the elbow. In addition, the energy required for the motion decreased. Such phenomenon was more apparent under vertical motion than horizontal motion patterns, and in shorter paths than in longer ones. Thus, one can minimize the abrasion of joints by lowering the stress applied to the bones, muscles, and joints. From the perspectives of energy and durability, the robot arm will be able to utilize its motor most effectively by adopting the motion pattern of human arm. Conclusions: By applying the motion pattern of human arm to the robot arm motion, increase in efficiency and durability is expected, which will eventually produce robots capable of moving in an energy-efficient manner.

• The Korean Journal of Food And Nutrition
• /
• v.27 no.3
• /
• pp.414-420
• /
• 2014

This study was performed to increase the yield and to reduce the processing times for the preparation to improve the productivity and quality of rice jochung, a traditional food in Korea. In order to evaluate the quality characteristics and yield of jochung, the viscosity, color value, mineral contents and the sensory evaluation were measured. Jochung is prepared from steamed rice (STR), wet-milled rice flour (WRF) and dry-milled rice flour (DRF) by processing methods of rice and reacting times (6 hours or 13 hours) of liquefaction and saccharification. There is commonly added liquefying enzyme for rice liquefaction (0.4%/10 kg rice, at $85{\sim}90^{\circ}C$ for 1 hour or 4 hours) and saccharogenic enzyme with malt (2.5% or 4.5%/10 kg rice, at $56{\sim}60^{\circ}C$ for 5 hours or 9 hours). The inner structural properties of WRF showed the more distinct shape regular structure of uncombined starch particles but the DRF closely maintained particles of rice flour observed by SEM. If processing times for liquefation and saccharification were reduced from 13 hours to 6 hours, the yield of jochungs prepared with WRF increased 8%, the DRF 7%, and the STR 3% respectively and the sensory evaluation as well as color values and overall desirability received high scores. The viscosity, color a and b values of jochung processed with WRF for 6 hours were lower than that processed for 13 hours. The viscosity and color a, b value and Ca content were decreased in the jochung processed with WRF or DRF for 6 hours, but Mg, P and K were increased than that of STR. Jochung processed by 0.4% liquefying enzyme and 2.5% malt with WRF for 6 hours will increase the yield, save manufacturing times and costs and will thereby enable cost-effective techniques.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.36 no.12B
• /
• pp.1744-1751
• /
• 2011

The concept of the advanced concept technology demonstration (ACTD) has previously been introduced in USA in order to make it possible to rapidly transfer advanced technologies developed in commercial sectors to develop weapon systems in the defense area. Since then in Korea several ACTD programs have been developed and being carried out However, there are few program management methods suitable for the characteristics of the ACTD programs, which requires stringent management of the program requirements and risks due to the radically shortened development time. In this paper such a problem has been addressed and as a solution approach the quality function deployment (QFD) method has been adopted, which is being served as a successful model in various areas such as manufacturing. The QFD method is used in our study to improve communication between various stakeholders involved in the ACTD programs and also to reduce risks related to requirements. Specifically we have developed the ACTD standard templates based on the QFD method and discussed how to use the developed templates. Finally, the application of the study result is demonstrated through the ACTD program of flight information demonstration system and also specific ways are suggested to use the standard templates, to manage requirements, and to reduce risks.

• The Korea Journal of Herbology
• /
• v.23 no.1
• /
• pp.85-92
• /
• 2008

Objectives : This study was performed to efficiently make Black Panax Ginseng (BPG) and evaluate its antitumor activity. Methods : Panax ginseng was steamed at $95^{\circ}C$ for 3 h, dried and steamed again at $115^{\circ}C$ for 6 h. The main ginsenosides of BPG were $Rg_{3}$, $Rk_{1}$ and $Rg_{5}$. Results : Among the saponins in BPG, the amount of ginsenoside $Rg_{3}$ was determined by HPLC method. The 11.48 mg of ginsenoside $Rg_{3}$ was obtained from lg of dried BPG. The crude saponin fraction (CSF) of BPG was tested in vitro for its cytotoxic activities against various human cancer cell lines, such as ACHN, NCI-H23, HCT-15 and PC-3. The CSF of BPG exhibited stronger cytotoxic activity than that of red Panax ginsneng. CSF of BPG exhibited good cytotoxic activities against ACFIN, HCT-15, and PC-3 cell lines with $IC_{50}$ values of 60.3-90.8 ${\mu}g$/ml. However, CSF of BPG did not show any cytotoxic activity against NCI-H23 cell line. Conclusions : BPG produced by new manufacturing is more effective than BPG produced by existing processing in anticancer activity. And new BPG has a possibility of investigation because of high contents of Rg3, Rk1 and Rg5 that have various phisological activities.

• Clean Technology
• /
• v.24 no.2
• /
• pp.105-111
• /
• 2018

This study presents a novel and eco-friendly process that can precisely control the location of the patches on the patch particles. The method of manufacturing these anisotropic hexagram patch particles consists of sequential combinations of two separate methods such as a sequential micromolding technique for fabricating patch particles and a selective localization method for controlling the location of patches on the patch particles. The micromolding technique was carried out using physicochemically stable material as a micromold. In order to fabricate the highly stable patch anisotropic hexagram particles, the perfluoropolyether (PFPE) micromold was used to the process of the micromolding technique because they could prevent the problem of diffusion of hydrophobic monomers while conventional poly(dimethylsiloxane) (PDMS) micromold is limited to prevent the problem of diffusion of hydrophobic monomers. Based on combination methods of the micromolding technique and the selective localization method, the reproducibility and stability have been improved to fabricate 12 different types of anisotropic hexagram patch particles. This fabrication method shows the unique advantages in eco-friend condition, easy and fast fabrication due to less number of process, the feasibility of a mass production. We believe that these anisotropic hexagram patch particles can be widely utilized to the field of the directional self-assembly.

• Journal of Surface Science and Engineering
• /
• v.49 no.6
• /
• pp.513-520
• /
• 2016

Many surface protection methods have been developed to apply to constructional steels which have been used under severe corrosive environments. One of these methods, hot dip galvanizing is being widely used to the numerous constructional steels such as a guard rail of high way, various types of structural steel for manufacturing ship and for some other industrial fields etc.. Recently, the cost of zinc is getting higher and higher, thus, it is considered that improvement of hot dip galvanizing process to reduce the cost of production should be developed possibly. In this study, additives such as acid cleaning solution, $NH_4OH$, $Al(OH)_3$ and $H_2O_2$ were added to flux solution, and omission of water washing treatment after acid cleaning was investigated with some types of flux solutions added with some additives mentioned above. The decrement of pH by adding the acid cleaning solution could be controlled due to neutralization reaction with addition of $NH_4OH$. The flux solution added with both $NH_4OH$ and $Al(OH)_3$ exhibited nearly the same color and pH value as those of orignal flux solution with no added, and the sample dipped to the flux solution which was added with additives mentioned above indicated a relatively good corrosion resistance compared to other samples. However, the flux solution added with $NH_4OH$, $Al(OH)_3$ and $H_2O_2$ exhibited a different color, sediment and a bad corrosion resistance. Consequently, it is considered that omission of water washing treatment may be able to perform by adding optimum additives to the original flux solution.

• Journal of Digital Convergence
• /
• v.12 no.10
• /
• pp.477-484
• /
• 2014

The purpose of this study is to verify the antimicrobial effect of garlic and black garlic against pathogenic bacteria. For the comparative analysis of antibacterial effects of garlic, Ampicillin $10{\mu}g$ (BBL) was used as control antibiotics. Research experiments were conducted on each of November 2013 and January 2014. Susceptibility to the antimicrobial effect was measured through Kirby-Bauer disc diffusion method and verified according to the standard proposed by the CLSI. Antimicrobial effect of fresh garlic was higher regardless of the method to extract than Ampicillin $10{\mu}g$. In contrast, the manufacturing methods of the black garlic had no effective differentiations. In antimicrobial susceptibility test, black garlic showed resistance to all of 4 strains. However, in the ethanol-extract of fermented black garlic(natural aging of 15 days.) was found the small changes of the growth-inhibition-zone against S. aureus (8 mm)and E. coli(7 mm). This study proposes a variety attempts about the extraction methods of black garlic for the possibility of food preservation.

• Proceedings of the Korean Vacuum Society Conference
• /
• 2010.02a
• /
• pp.200-200
• /
• 2010

In recent times, metal oxide semiconductors thin films transistor (TFT), such as zinc and indium based oxide TFTs, have attracted considerable attention because of their several advantageous electrical and optical properties. There are many deposition methods for fabrication of ZnO-based materials such as chemical vapor deposition, RF/DC sputtering and pulsed laser deposition. However, these vacuum process require expensive equipment and result in high manufacturing costs. Also, the methods is difficult to fabricate various multicomponent oxide semiconductor. Recently, several groups report solution processed metal oxide TFTs for low cost and non vacuum process. In this study, we have newly developed solution-processed TFTs based on Ti-related multi-component transparent oxide, i. e., InTiO as the active layer. We propose new multicomponent oxide, Titanium indium oxide(TiInO), to fabricate the high performance TFT through the sol-gel method. We investigated the influence of relative compositions of Ti on the electrical properties. Indium nitrate hydrate [$In(NO^3).xH_2O$] and Titanium isobutoxide [$C_{16}H_{36}O_4Ti$] were dissolved in acetylacetone. Then monoethanolamine (MEA) and acetic acid ($CH_3COOH$) were added to the solution. The molar concentration of indium was kept as 0.1 mol concentration and the amount of Ti was varied according to weighting percent (0, 5, 10%). The complex solutions become clear and homogeneous after stirring for 24 hours. Heavily boron (p+) doped Si wafer with 100nm thermally grown $SiO_2$ serve as the gate and gate dielectric of the TFT, respectively. TiInO thin films were deposited using the sol-gel solution by the spin-coating method. After coating, the films annealed in a tube furnace at $500^{\circ}C$ for 1hour under oxygen ambient. The 5% Ti-doped InO TFT had a field-effect mobility $1.15cm^2/V{\cdot}S$, a threshold voltage of 4.73 V, an on/off current ratio grater than $10^7$, and a subthreshold slop of 0.49 V/dec. The 10% Ti-doped InO TFT had a field-effect mobility $1.03\;cm^2/V{\cdot}S$, a threshold voltage of 1.87 V, an on/off current ration grater than $10^7$, and a subthreshold slop of 0.67 V/dec.

• Journal of Preventive Medicine and Public Health
• /
• v.35 no.4
• /
• pp.282-286
• /
• 2002

Objectives : The level of 4-hydroxyproline (4-Hyp) in human urine was measured using high performance liquid chromatography (HPLC) with a fluorescence detector. This method is useful for medical examinations and investigating the radicals induced by physical, chemical, mental stresses. This method is superior to many published several methods in terms of its low cost and ability to analyze many samples. Methods : The urine from workers in a tire manufacturing company (22 male pre- and post-shift workers) and 18 office-workers as controls were analyzed. Data concerning age, the cumulative drinking amount and the cumulative smoking amount was collected with a questionnaire. The optimum applied amount of dansyl-Cl, the optimum reaction temperature and time, the recoveries and the optimum pH of the eluent and buffer were determined.4-Hyp from human urine was derivatized with dansyl-Cl (dimethylamino-naphthalene-1-sulfonyl chloride) after removing the a-amino acid by a treatment with phthalic dicarboxaldehyde (OPA) and cleaned with Bond Elut C18 column. The 4-Hyp derivatives were separated on a reversed phase column by gradient elution with a phosphate buffer (5 mmol, pH 8.0) and acetonitrile, and detected by fluorescence measurements at 340 nm (excitation) and 538 nm (emission). Results : The detection limit for the urinary free 4-Hyp was $0.364{\mu}mol/l$. The recovery rate of 4-Hyp was 99.7%, and the effective pH of the phosphate buffer and borate buffer were 3.0 and 8.0, respectively. From statistical analysis, age, drinking and smoking did not affect the urinary free 4-Hyp in both the controls and workers. The range of urinary 4-Hyp in the controls, pre-shift, and post-shift workers were 0.33-16.44, N.D-49.06, and $0.32-56.27{\mu}mol/l$. From the pared-sample t-test, the urinary 4-Hyp levels in post-shift workers ($11.82{\pm}6.73\;nmmol/mg\;Cre$) were 2-fold higher than in pre-shift workers ($5.36{\pm}5.53\;nmol;/mg\;Cre$) and controls ($4.91{\pm}4.89\;nmol;/mg\;Cre$). Conclusions : This method was developed with high sensitivity, accuracy, and precision. The present method was effectively applied to analyze the urinary free 4-Hyp in both controls and workers.

• Journal of Ginseng Research
• /
• v.26 no.2
• /
• pp.79-84
• /
• 2002

In this study, cell cracker method as a non-collision method was evaluated for the possibility in manufacturing red ginseng powder. In color value of red ginseng powder, the L values indicating brightness were 68.18 for hammer mill (group A) and 72.08 for cell cracker (group B). The a values (redness) and b values (yellowness) were 4.21 26.56 for group A and 5.73, 28.36 for group B, respectively. As an extraction time increased, the absorbances at 420 nm of water extract of both groups were increased. In the loose bulk density, tapped bulk density and volume reduction radio indication the of powder in group A were less than those in group B. In both groups, the angles of side of red ginseng powder were shown less value than the angles of side of the powder. These two angles in group A were lets than those in group B. In sensory evaluation, the touchness between both groups was, not observed significant difference. In the contrary, the color and flavor, main factors affecting the overall quality of red ginseng powder product of group B were shown superior to those of group A. The overall preference of group B was shown higher than that of group A.