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그리핑 성능 향상을 위한 가변강성 소프트 로봇 핸드 개발
함기범(KiBeom Ham),전종균(JongKyun Jeon),박용재(Yong-Jai Park) 한국산학기술학회 2018 한국산학기술학회논문지 Vol.19 No.12
산업용으로 다양한 형태의 로봇팔이 사용되고 있으며, 특히, 다품종 소량생산으로 생산방식의 변화가 이루어지면서 산업현장에서 다양하게 사용이 가능한 그리퍼에 대한 중요성이 높아지고 있다. 이러한 중요성에 기반을 두어 본 연구진은 기존에 연성재질의 비선형성을 이용하여 강성을 변화시킬 수 있는 가변강성 메커니즘 그리퍼를 연구하였다. 시제품을 제작하고 실험을 통해 강성의 변화와 그 유용성을 확인하였다. 그러나 세 개의 가변강성 메커니즘을 배치하여 그리퍼를 설계 및 제작함으로써 물체를 파지하는 상황에 따라 파지를 제대로 하지 못하는 현상이 발생하였다. 또한, 그리퍼 간의 균형이 맞지 않아 물체 파지 시에 파지할 물체가 회전하면서 미끄러지는 경우가 드물게 발생하는 문제가 있었다. 이러한 문제점을 보완하기 위하여 새로운 형태의 그리퍼가 필요하게 되었다. 새로운 형태의 그리퍼를 설계하기 위하여 생체모사기술을 적용하였다. 사람의 손바닥과 파리지옥의 움직임을 통해 영감을 얻어 새롭게 가변강성 소프트 로봇 핸드를 설계하였다. 손바닥이 접히는 메커니즘을 가변강성 그리퍼에 장착된 텐던을 당기는 것과 연동하여 파지 성능을 높일 수 있었다. 가변강성 메커니즘에 파리지옥과 손바닥 형태의 메커니즘을 결합하여 파지 안전성을 높인 소프트 로봇 핸드는 기존의 가변강성 메커니즘 그리퍼보다 다양한 형태와 무게를 가진 물체를 안정적으로 파지하였다. Various types of robotic arms are being used for industrial purposes, particularly with the small production of multi-products, and the importance of the gripper, which can be used in industrial fields, is increasing. This study evaluated a variable stiffness mechanism gripper that can change the stiffness using the nonlinearity of a flexible material. A prototype of the gripper was fabricated and examined to confirm the change in stiffness. The previous gripper was unable to grip objects in some situations with three variable stiffness mechanism. In addition, these mechanisms were not balanced and rarely rotated when the object was gripped. Therefore, a new type of gripper was needed to solve this problem. Inspired by the movements of the human palm and Venus Flytrap, a new type of a variable stiffness soft robot hand was designed. The possibility of grasping could be increased by interlocking the palm folding mechanism by pulling the tendon attached to the variable stiffness mechanism. The soft robotic hand was used to grasp objects of various shapes and weights more stably than the previous variable stiffness mechanism gripper. This new variable stiffness soft robot hand can be used selectively depending on the application and environment to be used.
Bang, Sunhoe,Hyun, Seogang,Hong, Sung-Tae,Kang, Jongkyun,Jeong, Kyunghwa,Park, Joong-Jean,Choe, Joonho,Chung, Jongkyeong Public Library of Science 2011 PLoS genetics Vol.7 No.3
<▼1><P>The ability to respond to environmental temperature variation is essential for survival in animals. Flies show robust temperature-preference behaviour (TPB) to find optimal temperatures. Recently, we have shown that <I>Drosophila</I> mushroom body (MB) functions as a center controlling TPB. However, neuromodulators that control the TPB in MB remain unknown. To identify the functions of dopamine in TPB, we have conducted various genetic studies in <I>Drosophila</I>. Inhibition of dopamine biosynthesis by genetic mutations or treatment with chemical inhibitors caused flies to prefer temperatures colder than normal. We also found that dopaminergic neurons are involved in TPB regulation, as the targeted inactivation of dopaminergic neurons by expression of a potassium channel (Kir2.1) induced flies with the loss of cold avoidance. Consistently, the mutant flies for dopamine receptor gene (DopR) also showed a cold temperature preference, which was rescued by MB–specific expression of DopR. Based on these results, we concluded that dopamine in MB is a key component in the homeostatic temperature control of <I>Drosophila</I>. The current findings will provide important bases to understand the logic of thermosensation and temperature preference decision in <I>Drosophila</I>.</P></▼1><▼2><P><B>Author Summary</B></P><P>Temperature affects almost all aspects of animal development and physiological processes. The dependence of the body temperature of small insects on ambient temperature and other heat sources makes it plausible that neuronal mechanisms for sensing temperature and behavioral responses for maintaining body temperature in a permissive range must exist. By using the fruit fly model system and previously settled paradigms of temperature-preference test, we find that dopamine regulates temperature-preference behaviours. Wild-type flies show a strong temperature preference for 25°C, but inhibition of dopamine biosynthesis by genetic mutations or treatment with chemical inhibitors causes animals to prefer temperatures colder than normal. We also show that dopaminergic neurons are involved in the regulation of temperature-preference behaviours and that dopamine signalling in mushroom body neurons plays a critical role in regulating the behaviours. These results suggest that dopamine is a key component in the homeostatic temperature control of fruit flies.</P></▼2>
MRI 영상 유도 수술 로봇을 위한 개선된 군집 분석 방법을 이용한 뇌종양 영역 검출 개발
김대관,차경래,승성민,정세미,최종균,노지형,박충환,송태하,Kim, DaeGwan,Cha, KyoungRae,Seung, SungMin,Jeong, Semi,Choi, JongKyun,Roh, JiHyoung,Park, ChungHwan,Song, Tae-Ha 대한의용생체공학회 2019 의공학회지 Vol.40 No.3
Brain tumor surgery may be difficult, but it is also incredibly important. The technological improvements for traditional brain tumor surgeries have always been a focus to improve the precision of surgery and release the potential of the technology in this important area of the body. The need for precision during brain tumor surgery has led to an increase in Robotic-assisted surgeries (RAS). One of the challenges to the widespread acceptance of RAS in the neurosurgery is to recognize invisible tumor accurately. Therefore, it is important to detect brain tumor size and location because surgeon tries to remove as much tumor as possible. In this paper, we proposed brain tumor detection procedures for MRI (Magnetic Resonance Imaging) system. A method of automatic brain tumor detection is needed to accurately target the location of the lesion during brain tumor surgery and to report the location and size of the lesion. In the qualitative assessment, the proposed method showed better results than those obtained with other brain tumor detection methods. Comparisons among all assessment criteria indicated that the proposed method was significantly superior to the threshold method with respect to all assessment criteria. The proposed method was effective for detecting brain tumor.
Monitoring and Detection of SFTS virus mediated ticks in Andong in 2018
JaeSeok Lee,Myeonghwan Kim,Jong Bong Choi,HyunJi Lee,KyungHwan Moon,YeongHo Kim,Changhoe Jeong,Wook-Gyo Lee,Jongkyun Park,Young Ho Kim 한국응용곤충학회 2019 한국응용곤충학회 학술대회논문집 Vol.2019 No.04
We monitored the population of Haemaphysalis longicornis, in Andong, Gyungbuk from April to November, 2018. Among total 2,994 ticks collected for 8 months, H. longicornis 1,677(56%), H. spp Larva 1,074(35.9%), H. flava 213(7.1%), Ixodes nipponensis 30(1.0%) were identified. In addition, considering the environment, 1,727(57.7%), 907(30.3%), 192(6.4%) and 168(5.6%) ticks were collected in the grassland, graves, copse, mountain path, respectively. In the pathogen diagnosis with PCR using SFTS virus specific primers, positive viruses were detected in H. longicornis, H. flava and H. spp from June to October. The minimum field infection rate of June, July, August, September and October were 0.4%, 0.8%, 1.2%, 0.8% and 2.3%. respectively.
Distribution and flavivirus detection of mosquitoes by collecting trap in Gyeongbuk province in 2017
Myeonghwan Kim,Eunyoung Choi,Jongbong Choi,Hyunji Lee,Sungho Lee,Wook-Gyo Lee,Young Ho Kim,Jongkyun Park 한국응용곤충학회 2018 한국응용곤충학회 학술대회논문집 Vol.2018 No.10
We investigated population densities of mosquitoes in Gyeongbuk region from March to November, 2017 and pathogens were detected from the mosquitoes. Mosquito populations were investigated at 3 sites in downtown and 1 site in cowshed in Andong, 3 sites in Yeongdeok downtown and 3 sites near migratory birds habitat in Sangju by collecting trap. Total collected female mosquitoes were 7 genus, 13 species, 9,892 individuals and relatively dominant ratios are Aedes vexans (40%), Ae. albopictus (20%), Culex pipiens (16%). Flavivirus were monitored in 9,125 collected mosquitoes by real-time PCR and no target flavivirus causing infectious diseases were detected in Gyeongbuk area in 2017.