• Journal of Institute of Control, Robotics and Systems
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• v.18 no.4
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• pp.295-301
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• 2012

This paper deals with the design of robust DSMC (Discrete-Time Sliding Mode Control) scheme in order to overcome system uncertainty in steering system with mechanically joined structure. The proposed control scheme is one of robust control schemes based on system dynamics. Therefore, system dynamics required is not obtained from physical law but SCM (Signal Compression Method) through experiment in order to avoid complicate mathematical development and save time. However, SCM has a shortcoming that is the limitation of with $2^{nd}$ order linear model which does not include the dynamic of high-frequency band. Thus, considering system uncertainty, DSMC is designed. In addition, to reduce the chattering problem of DSMC, DSMC is derived from the reaching law and the Lyapunov stability condition. It is found that the proposed control scheme has robustness in spite of the perturbation of system uncertainty through computer simulation.

• International Journal of Control, Automation, and Systems
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• v.2 no.3
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• pp.279-288
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• 2004

This paper presents a novel design for a tubular linear brushless permanent-magnet motor. In this design, the magnets in the moving part are oriented in an NS-NS―SN-SN fashion which leads to higher magnetic force near the like-pole region. An analytical methodology to calculate the motor force and to size the actuator was developed. The linear motor is operated in conjunction with a position sensor, three power amplifiers, and a controller to form a complete solution for controlled precision actuation. Real-time digital controllers enhanced the dynamic performance of the motor, and gain scheduling reduced the effects of a nonlinear dead band. In its current state, the motor has a rise time of 30 ms, a settling time of 60 ms, and 25% overshoot to a 5-mm step command. The motor has a maximum speed of 1.5 m/s and acceleration up to 10 g. It has a 10-cm travel range and 26-N maximum pull-out force. The compact size of the motor suggests it could be used in robotic applications requiring moderate force and precision, such as robotic-gripper positioning or actuation. The moving part of the motor can extend significantly beyond its fixed support base. This reaching ability makes it useful in applications requiring a small, direct-drive actuator, which is required to extend into a spatially constrained environment.

• Elastomers and Composites
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• v.33 no.1
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• pp.27-36
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• 1998

The surface of wiper blade(W/B) rubber was chlorinated by chemical treatment method using the hydrochloric acid(HCI) and sodium hypochlorite(NaOCl). From the results of contact angle measurement, friction coefficient measurement, and ATR-IR spectra, the surface characteristics of chlorinated W/B rubber with time of chlorination were studied. Contact angles for W/B rubber with increasing time of chlorination and chlorine concentration were measured for the water and ethylene glycol. From the results, contact angle fell rapidly with increasing time of chlorination and chlorine concentration, reaching a constant value after about 10min. And the wettability of W/B rubber surface by means of chlorination has been improved. For an unchlorinated W/B rubber, the friction coefficient with time of chlorination decreased from 1.27 to 0.20~0.23 on full chlorination. As the results it was considered that abrasion resistance of W/B rubber surface has been also improved. The values of pH and $Cl^-$ ion concentration in a chlorine treatment solution decreased as the extent of chlorination of W/B rubber surface increased. From the results of ATR-IR spectra, it was observed that C=C double band of W/B rubber surface transformed into C-Cl band, but quantitative determination of the extent of chlorination was not feasible because of the complexity of chlorination reactions.

• Proceedings of the KIEE Conference
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• 2003.11c
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• pp.878-881
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• 2003

To acquire an appointed speaker's clear voice signal from inspect-camera, picture-conference or hands free microphone eliminating interference noises needs to be preceded speaker's position automatically. Presumption of sound source position's basic algorithm is about measuring TDOA(Time Difference Of Arrival) from reaching same signals between two microphones. This main project uses ADF(Adaptive Delay Filter) [4] and CPS(Cross Power Spectrum) [5] which are one of the most important analysis of TDOA. From these analysis this project proposes presumption of real time sound source position and improved model NI-ADF which makes possible to presume both directions of sound source position. NI-ADF noticed that if auditory sense of humankind reaches above to some specified level in specified frequency, it will accept sound through activated nerve. NI-ADF also proposes practicable algorithm, the presumption of real time sound source position including both directions, that when microphone loads to some specified system, it will use sounds level difference from external system related to sounds of diffraction phenomenon. In accordance with the project, when existing both direction adaptation filter's algorithm measures sound source, it increases more than twice number by measuring one way. Preserving this weak point, this project proposes improved algorithm to presume real time in both directions.

• Therapeutic Science for Rehabilitation
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• v.7 no.4
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• pp.79-91
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• 2018

Objective : The purpose of this study was to investigate the short-term effect of robot-assisted therapy to improve upper extremity function in subacute stroke. Method : This study was a retrospective study using the medical record. The subjects were 20 patients who were diagnosis with stroke within 6 months. All patients received general rehabilitation intervention during the experimental period and robot-assisted therapy and task-oriented training. Robot assisted therapy was composed of 1 sessions, 1hour per person and task-oriented training was same. For result analysis, descriptive statistics, paired t-test were used. Results : After intervention, all participants got 3D motion analysis about reaching. For the result, there was statistically significant improvement in smoothness in robot assisted therapy(p<.05). there was no statistically significant difference between robot assisted therapy and task-oriented training in speed, time. In this result, we knew the robot assisted therapy can short term effect in elbow joint during arm reaching. Conclusion : Robot assisted therapy is considered as alternative choice in clinical occupational therapy for improving upper extremity function in subacute stage stroke patients.

• Korean Journal of Animal Reproduction
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• v.9 no.2
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• pp.124-132
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• 1985

The work was conducted to clarify the development of testes and histological changes of the Seminiferous tubules that is the Surface area, diameter, length of the tubules and the process of Spermatic cells growth in Seminal epithelium in relation to Sexual maturity of the meat-type cockerels. In addition the present experiments were planned to gain some basic data helpful for the study of reproductive physiology in meat-type cockerels and also to compare the histological changes Seminiferous tubules between egg and general purpose type cockerels. 1. The growth pattern of body weight, testes and comb was classified into four phase according to age. Body weight increased up to about 2kg at 2nd stage and to 4.3kg at 4th stage while at 3rd stage the growth rate of body weight was slower. The tests developed slowly until 22 weeks of age with no correlation to the growth of body weight. However, it grew rapidly afterwards, reaching 27.79$\pm$9.26gm and 42.46$\pm$5.33 gm at 24 and 28 weeks of age, respectively. The spermatozoa was seen first at 24 weeks of age. On the other hand, comb grew at similar rate to the testes, weighing on the average 21.78$\pm$6.48gm and 41.42$\pm$1.25gm at 24 and 28 weeks of age, respectively. 2. The areal rate of the Seminiferous tubules to interstitial tissues was 66%:34% at 2 weeks of age and the rate of the former increased in comparison to that of the latter as they grew older, becoming 94%:7% between at 24 weeks of age, when the testes weight increased rapidly too. 3. Diameter of Seminiferous tubules at 2 weeks of age was 42.76$\pm$1.04$\mu$m and then it gradually increased as the testes grew until 22 weeks of age, when it grew rapidly, increasing about 2.9 times of those of 2 weeks and at last increased up to 5 times at 24 weeks. 4. Length of Seminiferous tubules was 4.5cm at 2 weeks and then it was gradually increased. At 22 weeks old the length of tubules was icnreased rapidly being 321 meter and increased more than double, being 658 meter at 24 weeks old. 5. The cells of Seminal epithelium developed poorly and the number of cells were relatively few until 16 weeks old. Afterwards the cells increased rapidly in number and at 18 weeks, the number became twice of those of 16 weeks, reaching 140.43$\pm$43.6. At 24 weeks the cells increased more rapidly, reaching to 10 layers and Spermatozoa were first time seen.

• Physical Therapy Korea
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• v.30 no.2
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• pp.128-135
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• 2023

Background: Despite the fact that aquatic exercise is one of the most popular alternative treatment methods for children with cerebral palsy (CP), there are few research regarding its effectiveness. Objects: The purpose of this study was to examine the effects of aquatic exercise on upper extremity function and postural control during reaching in children with CP. Methods: Ten participants (eight males and two females; 4-10 years; Gross Motor Function Classification System levels II-IV) with spastic diplegia were recruited to this study. The aquatic exercise program consisted of four modified movements that were selected from the Halliwick 10-point program to enhance upper extremity and trunk movements. The participants attended treatment two times a week for 6 weeks, averaging 35 minutes each session. The Box and Block Test (BBT), transferring pennies in the Bruininks-Oseretsky Test (BOT), and pediatric reaching test (PRT) scores were used as clinical measures. Three-dimensional motion analysis system was used to collect and analyze kinematic data. Differences in BBT and BOT values among pre-treatment, post-treatment, and retention (after 3 weeks) were analyzed using a Friedman test. In addition, the PRT scores and variables (movement time, hand velocity, straightness ratio, and number of movement units) from the three-dimensional motion analysis were tested using a Wilcoxon signed-rank test. The significance level was established at p < 0.05. When the results appeared to be statistically significant, a post-hoc test for multiple comparisons was performed with the Wilcoxon signed-rank test. Results: All clinical measures, which included BBT, transferring pennies of BOT, and PRT, were significantly increased between pre-intervention and post-intervention scores and between pre-intervention and retention scores after treatment (p = 0.001). Three-dimensional motion analysis mostly were significantly improved after treatment (p = 0.001). Conclusion: Aquatic exercise may help to improve body function, activity, and participation in children with varying types of physical disabilities.

• Journal of Microbiology and Biotechnology
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• v.9 no.4
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• pp.443-449
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• 1999

Bacillus subtilis BK-17 which produces a novel protease with fibrinolytic activity was isolated from soybean paste. Bioreactor production of the enzyme was studied in order to optimize fermentation conditions such as medium concentration, pH, agitation speed, and temperature. Under most cultural conditions, enzyme production initially began when the cell growth stopped. The onset of the enzyme production was indicated by rapid increase in both dissolved oxygen (DO) and pH. Two- to three-times more concentrated medium than the flask optimum medium yielded higher enzyme production in the bioreactor fermentation. When the medium pH was controlled constant, pH 6.5 exhibited the highest activity in the range of 6.0 to 7.5, but the activity was similar to the case when the pH was initially adjusted to 7.5 and subsequently maintained within a relatively wide range of 6.4 to 7.8. Agitation speed did not affect the enzyme production with an exception of DO reaching zero. Fermentation time was reduced when temperature increased within the range of $25^{\circ}C$ to$37^{\circ}C$. However, the highest activity, along with the slow decrease of the enzymatic activity after reaching the maximum value, was observed at $25^{\circ}C$. By shifting the temperature from $37^{\circ}C$ to $25^{\circ}C$immediately after DO reached the minimum level, the high enzyme production of 1,100 U/ml along with the short fermentation period of 13 h could be obtained.

• Journal of Korean Society on Water Environment
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• v.26 no.3
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• pp.491-496
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• 2010

This study aimed to obtain equilibrium concentration on adsorption removal of phosphorus by activated carbon, to express the adsorption characteristics following Freundlich isotherm and also, based on the value obtained, to investigate the relationship between physical properties of activated carbon and dynamics of phosphorus removal by obtaining rate constant and effective pore diffusivity. The results summarized from this study are as follows. Phosphorus adsorption equilibrium reaching time of powdered activated carbon was reduced as the dosage of activated carbon increases, while granular activated carbon despite increased dosage did not have influence on adsorption equilibrium reaching times of phosphorus as well, taking more than 10 hours. It was also noted that powdered activated carbon showed better adsorption ability than granular activated carbon. The value of constant (f) of Freundlich isotherm of powered activated carbon on phosphorus was 4.26 which is bigger than those of granular activated carbon. The adsorption rate constant on phosphorus of powered activated carbon with low effective diameter and iodine number was highest as $8.888hr^{-1}$ and the effective pore diffusivity ($D_e$) was lowest as $2.45{\times}10^{-5}cm^2/hr$, and the value of phosphorus adsorption rate constant of granular activated carbon was $0.174{\sim}0.372hr^{-1}$, It was revealed that, with the same amount of dosage, the adsorptive power of activated carbon with lower effective diameter was better and its rate constant was also high.

• Korean Journal of Agricultural Science
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• v.38 no.3
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• pp.405-411
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• 2011

In this study, we evaluated the changes of fruit quality indices during fruit development and ripening in Korean new pear cultivar 'Wonhwang' and 'Whasan' to determine appropriate harvest time and to enhance the marketability. The fruit of each cultivar harvested from 100 days after full bloom (DAFB) to 135 and 150 DAFB in 'Wonhwang' and 'Whasan', respectively. The fruit growth of both cultivars showed a typical single sigmoidal pattern. Flesh firmness of two cultivars decreased continuously with fruit development and ripening, reaching a final level of about 2.6 kgF at harvest stage. The starch content of fruit sap was much higher in the fruits of early development stage than the later stage of fruit ripening. In 'Wonhwang' pears, the starch level decreased coincide with fruit ripening (130 DAFB), while that of 'Whasan' decreased from very early stage of fruit development (120 DAFB), 30 days before full ripe. 'Whasan' pear showed much lower acidity level of about 0.13% during fruit development and ripening period compared with that of 'Wonhwang'. Therefore, the ratio of soluble solids to total acidity (TSS/acid) increased gradually with fruit development and ripening, reaching a final level of 80 and 98 in 'Wonhwang' and 'Whasan', respectively. There were no climateric rise of fruit respiration during fruit ripening periods in two oriental pear cultivar. The changes of skin color difference including hunter vale $a^*$ which means loss of green color occurred only after onset of ripening in two cultivars.