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김낙인,이종원,Kim, Nak-In,Lee, Jong-Won 대한기계학회 2000 大韓機械學會論文集A Vol.24 No.4
Sliding mode control(SMC) incorporated with perturbation compensation is developed here to reduce the low-frequency tracking error in the presence of wide-band frequency perturbations for a nonlinear dynamic system. The control scheme is designed for estimation of low frequency perturbations with employment of the Time Delay Control and low-pass filter. It is shown that the SMC with perturbation compensation is far superior to the conventional SMC in tracking control of the dynamic systems under model uncertainties and external disturbance conditions.
6-3 스튜워트 플랫폼 운동장치의 새로운 기구학 해석방법
김낙인,이종원,Kim, Nak-In,Lee, Chong-Won 대한기계학회 2001 大韓機械學會論文集A Vol.25 No.8
The kinematic analysis of Stewart platform manipulator(SPM) is carried out in order to reduce the calculation time for its forward kinematic solution when the iterative numerical method is employed. The kinematic equations for three substructures of the 6-3 SPM are newly derived by introducing Denavit-Hartenberg link parameters and using kinematic constraints associated with the SPM and substructure kinematics. It is shown that the forward kinematics can be easily solved from three nonlinear equations with three unknown variables only, leading to a great reduction in calculation time.
김낙인,이종원,Kim, Nak-In,Lee, Chong-Won 대한기계학회 2001 大韓機械學會論文集A Vol.25 No.11
The dynamics of the 6-3 Stewart platform manipulator (SPM) is newly derived based on the kinematic relations particularly developed fur the SPM. The essence of the analysis is to deal with three subsystems of the SPM, each consisting of the command and feedback line links associated with two joined neighboring actuators. The dynamics of the command and feedback line links are first formulated using Lagrange and Newton-Euler method and then combined to derive the dynamic equations of motion fur the SPM. The derived nonlinear equations of motion are so computationally effective that it can be easily applied to real-time high-speed tracking control of 6-3 SPM.
포장가속시험시설의 동역학 힘 예측 및 강도설계에 관한 연구
김낙인,양성철,박용걸,Kim, Nak-In,Yang, Sung-Chul,Park, Yong-Geol 한국강구조학회 2001 韓國鋼構造學會 論文集 Vol.13 No.2
본 연구에서는, 포장가속시험시설이 사용 중 발생 가능한 동역학적 힘을 예측하기 위해, 이미 개발되어 운용중인 모형시험시설을 이용하여 차량 운동방정식을 구하고, 모형시험시설과 포장가속시험시설(KALES : Korea Accelerated Loading and Environmental Simulator)의 상사관계를 이용하여 KALES가 운행 중 발생할 수 있는 동역학적인 힘을 예측하였다. 이를 기반으로 실제 차량 구조부 형상에 대한 상세설계를 전산해석과 피로수명평가 방법을 이용하여 수행하였다. 해석 결과, 동역학적 모형화 및 피로강도 해석기술을 기반으로 설계된 KALES는 시험 중 발생되는 사용하중 이력에 대해서 피로 강도적으로 충분한 안전성이 확보되도록 설계됨을 확인할 수 있었다. The dynamic force estimation and strength design of KALES(Korea Accelerated Loading and Environmental Simulator) are studied. The KALES is continuously rotating the test track and subjected to the dynamic or impact forces during operation since the track is composed of straight and curved line. To estimate the dynamic equation for the model car which was already made is derived with analytical and experimental techniques. Using similarity relationships between the model car and KALES, the dynamic force and stability properties for KALES can be predicted. The stress analysis and fatigue life estimation of KALES is also estimated with the calculated dynamic load. From the stress analysis and fatigue life estimation results, it was found that the design of KALES is safe.
인체 사이토카인과 혼합 림프구 유도 사이토카인이 인조피부 표피의 증식과 분화에 미치는 영향
김낙인,하태영 대한피부과학회 1997 대한피부과학회지 Vol.35 No.4
Background : A living skin equivalent(LSE) is useful as a skin replacement and as a model system for basic studies such as skin physiology and pathology. This system attempts to reproduce in vitro the cell-cell and cell-matrix interactions responsible for cell differentiation. Recently, there have been many studies that cytokines(IL-1, IL-6, IL-8, TGF-β, TNF-α play an important role in proliferating skin disease, especially psoriasis. Hesides, many cytokines can influence the proliferation and differentiation of normal human keratinocytes. Objective and Methods : In the present study, the author investigated the proliferation and differentiation of cytokines in LSE as compared with control skin using histopathological and immunohistochemical staining methods. The author also investigated the proper concentration of cytokines on the proliferation of cultured human keratinocytes. Results : Morphological analysis of LSE showed reorganization of epidermal layers with the appearance of a distinct basal laer and of a hyperkeratotic horny layer. We demonstrated that the fine granules resembling keratchyaline granules were observed in the control and cytokine treated groups(IL-la, IL-2, IL-6, TNF-α). We observed significant epidermal proliferation in the PBMC (25%), IL 6(10ng), TGF-β(20ng) treated groups than in the control group(p$lt;0.01). Immunohistochemical analysis demonstrated that the terminal differentiation marker involucrin was expressed at the level of the prickle cell layer in the cytokine treated groups. Also the cellular proliferation marker PCNA was expressed at the level of the basal layer in the PBMC(25%), IL-2(100ng) and IL-6(10ng) treated groups. Conclusion : The results indicate that cytokine IL-6 and TGF-β can induce a proliferation and differentiation of the epidermis in this in vitro model. (Kor J Dermatol 1997;35(4): 674-683)