• 제어로봇시스템학회논문지
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• 제17권7호
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• pp.659-667
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• 2011

The study of bipedal robot is towards similar shape and function with human. In this paper, we propose a human-like walking pattern compatible to the flexible foot with toe and heel structure. The new walking pattern for a bipedal robot consists of ZMP, center of mass (CoM), and ankle trajectory and is drawn by considering human kinesiology. First, the ZMP trajectory moves forward without stopping at a point even in the single support phase. The corresponding CoM trajectory to the ZMP one is derived by solving differential equations. As well, a CoM trajectory for the vertical axis is added by following the idea of human motion. The ankle trajectory closely mimics the rotational motion of human ankles during taking off and landing on the ground. The advantages of the proposed walking pattern are demonstrated by showing improved stability, decreased ankle torque, and the longer step length capability. Specifically, it is interesting to know that the vertical CoM motion is able to compensate for the initial transient response.

• 제어로봇시스템학회논문지
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• 제15권11호
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• pp.1080-1087
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• 2009

This paper presents an algorithm to acquire 3D geometric information using a virtual plane method. The method to measure 3D information on the plane is easy, because it's not concerning value on the z-axis. A plane can be made by arbitrary three points in the 3D space, so the algorithm is able to make a number of virtual planes from feature points on the target object. In this case, these geometric relations between the origin of each virtual plane and the origin of the target object coordinates should be expressed as known homogeneous matrices. To include this idea, the algorithm could induce simple matrix formula which is only concerning unknown geometric relation between the origin of target object and the origin of camera coordinates. Therefore, it's more fast and simple than other methods. For achieving the proposed method, a regular pin-hole camera model and a perspective projection matrix which is defined by a geometric relation between each coordinate system is used. In the final part of this paper, we demonstrate the techniques for a variety of applications, including measurements in industrial parts and known patches images.

• 제어로봇시스템학회논문지
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• 제3권3호
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• pp.297-304
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• 1997

In stereo vision, camera modeling is very important because the accuracy of the three dimensional locations depends considerably on it. In the existing stereo camera models, two camera planes are located in the same plane or on the optical axis. These camera models cannot be used in the active vision system where it is necessary to obtain two stereo images simultaneously. In this paper, we propose four kinds of stereo camera models for active stereo vision system where focal lengths of the two cameras are different and each camera is able to rotate independently. A single closed form solution is obtained for all models. The influence of the stereo camera model to the field of view, occlusion, and search area used for matching is shown in this paper. And errors due to inaccurate focal length are analyzed and simulation results are shown. It is expected that the three dimensional locations of objects are determined in real time by applying proposed stereo camera models to the active stereo vision system, such as a mobile robot.

• 한국지반신소재학회논문집
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• 제20권4호
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• pp.19-32
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• 2021

본 연구에서는 심층혼합처리공법에 관하여 저자들에 의해 수행된 국내/외 설계, 시공 및 품질관리에 대한 평가와 고찰을 수행하였고, 추후 DCM 공법의 발전을 위한 개선 사항들을 제시하였다. 본 연구 결과, 실내배합실험 시 강도에 대한 단면적 보정이 필요하고, 외삽법 적용 시 실제와 다른 결과가 도출될 수 있으므로 주의가 요구됨을 알 수 있었다. 설계 시 개량율과 개량형식 등을 모두 고려하여 적용 가능한 설계법을 선정해야 하며, 안전율이 적용된 허용압축강도는 안정성 검토를 위한 기준치를 의미하는 것이지 설계 지반정수가 아님을 확인하였다. 응력분담비의 경우 관행적인 값을 적용하기 보다는 설계 조건을 반영한 실험 및 이론적 응력분담비를 산정해야 경제적인 설계를 수행할 수 있었다. 시공 시 선천공이 예상되는 경우 증가된 함수비가 원지반 대비 크지 않은 경우 함수비 증가를 고려하지 못한 결과를 사용하여도 큰 문제가 발생하지 않는 경우도 있었다. 또한, 개량길이 대비 선단처리 길이의 비율이 높은 경우 시공 시 단위길이당 설계 시멘트량이 적게 주입될 수 있음을 확인하였다. 품질관리 시 개량체 코어링은 1축 개량체는 D/4~2D/4, 다축 개량체는 D/4 지점이 최적인 것으로 평가되었다. 품질관리를 위한 항목으로 개량체의 일축압축강도와 더불어 TCR을 고려하는 기준이 국내 실정에 더 적합할 것으로 판단된다.

• 대한기계학회논문집A
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• 제40권1호
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• pp.1-8
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• 2016

본 논문에서는 기존의 관성안정화 플랫폼에서 보편적으로 사용됐던 PID 제어에 외란관측기를 적용하는 알고리즘 제안한다. 외란관측기 알고리즘을 적용하기 위하여 직접구동 모터로 구동되는 안정화 플랫폼 축의 관성모멘트와 축 마찰 특성을 실험적으로 구하고, 시뮬레이션과 실험결과를 비교하여 정확도를 검증하였다. 또한 차수와 상대차수가 다른 여러 가지 Q-filter 적용실험을 통하여 필터 특성에 따른 시스템의 안정성을 확인하였다. 본 논문에서 제안한 알고리즘은 6 자유도 시뮬레이터를 이용하여 차량 모션 인가실험을 통해 이중 PID 제어 루프의 결과와 비교/검증하였다.

• Journal of Ginseng Research
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• 제42권1호
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• pp.116-121
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• 2018

Background: Black ginseng (BG) has greatly enhanced pharmacological activities relative to white or red ginseng. However, the effect and molecular mechanism of BG on muscle growth has not yet been examined. In this study, we investigated whether BG could regulate myoblast differentiation and myotube hypertrophy. Methods: BG-treated C2C12 myoblasts were differentiated, followed by immunoblotting for myogenic regulators, immunostaining for a muscle marker, myosin heavy chain or immunoprecipitation analysis for myogenic transcription factors. Results: BG treatment of C2C12 cells resulted in the activation of Akt, thereby enhancing hetero-dimerization of MyoD and E proteins, which in turn promoted muscle-specific gene expression and myoblast differentiation. BG-treated myoblasts formed larger multinucleated myotubes with increased diameter and thickness, accompanied by enhanced Akt/mTOR/p70S6K activation. Furthermore, the BG treatment of human rhabdomyosarcoma cells restored myogenic differentiation. Conclusion: BG enhances myoblast differentiation and myotube hypertrophy by activating Akt/mTOR/p70S6k axis. Thus, our study demonstrates that BG has promising potential to treat or prevent muscle loss related to aging or other pathological conditions, such as diabetes.

• Clinical and Experimental Reproductive Medicine
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• 제21권3호
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• pp.305-314
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• 1994

19-norandrostenedione(19-NORA) is known as an intermediate in the metabolic pathway from androstenedione to estrone. Administration of esterified 19-nortestosterone, anabolic steroid, reduces serum gonadotropin and testosterone concentration, and results in reversible azoospermia in men. 19-NORA have been isolated from testis, but its function in testis is not clear yet. Therefore, this study was designed to determine the effect of 19-NORA on steroidogenesis and on spermatogenesis. 19-NORA was administrated by single intratesticular injection to adult male rats weighing 350-400 g in dose of 1 mg/50${\mu}l$. The serum and testis were collected on 1, 3, 7, 12, 48 hr after injection. The histological differences in testis were observed by routine paraffin method. The concentrations of testosterone and estradiol in serum and in left testis were determined by the conventional radioimmunoassays. One hour after 19-NORA treatment, serum concentrations of testosterone and estradiol increased significantly, compared to those of pre-treated(0 hr) group, and reduced gradually to the control level on 7 hour after injection. The concentration of testosterone in left testis increased slightly 1 hour after injection, and estradiol level increased significantly(p<0.05). Also, testosterone and estradiol level of control group revealed no difference with pre-treated (0 hr) group. Gonad index, structure of seminiferous tubules, and the number of step 7 th spermatid were simillar to control group. The present study suggests that the elevation of testosterone level results from increment of estradiol followed by the rapid metabolism of 19-NORA at 7 hour after injection, and then testosterone concentration may be recovered to control level by feedback mechanism of hypothalamus-hypothysis-testis axis.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.15-19
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• 2001

A dedicated reverse engineering(RE) system for rapid manufacturing of human head in a 3D bust has been developed. The first step in the process is to capture the surface details of a human head and shoulder by three scanners based upon the digital moire fringe technique. Then the multiple scans captured from different angles are aligned and merged into a single polygonal mesh, and the aligned data set is refined by smoothing, subdividing or hole filling process. Finally, the refined data set is sent to a 4-axis computer numerically control(NC) machine to manufacture a replica. In this paper, we mainly describe on the algorithms and software for aligning multiple data sets. The method is based on the recently popular Iterative Closest Point(ICP) algorithm that aligns different polygonal meshes into one common coordinate system. The ICP algorithm finds the nearest positions on one scan to a collection of points on the other scan by minimizing the collective distance between different scans. We also integrate some heuristics into the ICP to enhance the aligning process. A typical example is presented to validate the system and further research work is also discussed.

• Advances in materials Research
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• 제1권1호
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• pp.75-81
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• 2012

In this work, the Co-doped ZnO rods were prepared by the hydrothermal method. The size of these rods can be changed from micro-size to nano-size by using different solutions during the preparation. The results of transmission electron microscopy (TEM) and selected area electron diffraction (SAED) showed that the as-prepared nano-sized Co-doped rods have single-crystal structure. The polarized Raman experiments were presented on an individual micro-sized Co-doped ZnO rod in the $X(YY)\vec{X}$, $X(ZY)\vec{X}$ and $X(ZZ)\vec{X}$ configurations, the results of polarized Raman indicated that these rods are crystallized and their growth direction is parallel to c-axis.

• Journal of the Optical Society of Korea
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• 제9권3호
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• pp.123-128
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• 2005

An electrically controllable fiber Bragg grating inscribed in a hydrogen-loaded standard single-mode fiber with liquid-crystal cladding is presented. Control of the optic axis of liquid crystals by means of external electric fields results in the change of reflectivity and Bragg wavelength of the grating. The increase of surrounding refractive index of a fiber makes effective refractive index of a propagation mode higher, which results in high field confinement and longer Bragg wavelength. The reduction of the fiber diameter by chemical etching process improves the long-range ordering of liquid-crystal molecules and reduces controlling voltage. The tunable ranges of reflectivity and Bragg wavelength of the liquid crystal-cladding fiber Bragg grating were $\~4.6dB\;and\;\~0.3nm$, respectively.