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작업물 정밀 조작을 위한 접촉력 센싱 기능을 가지는 그리퍼 툴팁 개발
정병진(Byung-Jin Jung),김태근(Tae-Keun Kim),김신권(Kim sin kwon),김새한(Sae-han Kim),황정훈(Jung-Hoon Hwang) 대한기계학회 2020 대한기계학회 춘추학술대회 Vol.2020 No.12
Recently, interest in a method of performing sophisticated object manipulation by combining a gripper having a simple mechanism (such as 1 degree of freedom -2 finger) and artificial intelligence is increasing. In order to perform high-level work such as sewing, assembling, and cooking with a simple mechanism or to provide social services, various physical information necessary for work is required. In particular, the measurement of the contact force between the gripping object and the gripper is an essential function for sophisticated manipulation. As a solution to this problem in previous papers, the authors proposed a gripper tooltip that recognizes the twist of the elastic body attached between the gripper contact surface and the joint with an encoder and estimates the contact force. This paper deals with the improvement of the gripping force sensing tooltip developed in the previous paper. The design of enhanced contact force transfer mechanism and spring structure is suggested.
해수 순치 중의 뱀장어, Anguilla japonica에서 나타나는 Vibrio scophthalmi 감염증
이남실 ( Nam Sil Lee ),김대중 ( Dae Jung Kim ),이배익 ( Be Ik Lee ),김신권 ( Sin Kwon Kim ),김명석 ( Myung Suk Kim ),김이청 ( Yi Cheong Kim ) 한국어병학회 2012 한국어병학회지 Vol.25 No.3
Vibriosis is one of the most prevalent fish disease belonging to the genus Vibrio. In present study, Vibrio sp. isolated from Japanese eel was confirmed as Vibrio scophthalmi using analysis of the genomic sequence of 16S rRNA. The major signs were hemorrhage of body surface and inner surface of abdomen, severe enteritis and retention of ascitis. Histopathological examination revealed blood cell degenerations in various organs (gills, liver, spleen, kidney, heart, intestine), exfoliate of intestinal epithelium, and congestion and hemorrhage in intestinal lamina propria. This is the first case report on V. scophthalmi infection in Japanese eel Anguilla japonica.