Robust Control of Robot Manipulators Using Inclusive and Enhanced Time Delay Control

Jin, Maolin,Kang, Sang Hoon,Chang, Pyung Hun,Lee, Jinoh Institute of Electrical and Electronics Engineers 2017 IEEE/ASME Transactions on Mechatronics Vol. No.

<P>Thanks to its simplicity and robustness, time delay control (TDC) has been recognized as a simple and yet effective alternative to robot model-based controls and/or intelligent controls. An inclusive and enhanced formulation of TDC for robust control of robot manipulators is presented in this paper. The proposed formulation consists of three intuitive terms: 1) time delay estimation (TDE), inherited from the original TDC, for cancellation of mostly continuous nonlinearities; 2) nonlinear desired error dynamics (DED) (i.e., a 'mass'-'nonlinear damper'-'nonlinear spring' system) injection term; and 3) a TDE error correction term based on a nonlinear sliding surface. The proposed TDC formulation has an inclusive structure. Depending on the gain/parameter set chosen, the proposed formulation can become Hsia's formulation, Jin's formulations including a type of terminal sliding mode control (SMC), an SMC with a switching signum function, or a novel enhanced formulation. Experimental comparisons were made using a programmable universal manipulator for assembly-type robot manipulator with various parameter sets for the proposed control. Among them, the highest position tracking accuracy was obtained by using a terminal sliding DED with a terminal sliding correction term.</P>

Investigation of the April 2000 forest fire damage in Kang-won Province, Korea, using RADARSAT data

Kang, Sung Chul,Seo, Jin Won,Lee, Tae Hee,Park, Sang Eun,Hong, Suk Young,Moon, Wooil M. 대한원격탐사학회 2000 International Symposium on Remote Sensing Vol.16 No.1

The series of forest Fires in Kangwon Province in April, 2000, were one of the mast serious ones in the Kang-won Province in recent years. The fire damaged areas are extensive and this paper investigates the utility of the satellite image data, particularly the RADARSAT SAR data. One of the main objectives of this study included evaluation of potential usefulness of the C-band RADARSAT data in the detection of forest fires in mountainous areas. Among several fire damaged sites, the area near Samchuk (city) was selected as the main study area and mufti-temporal RADARSAT(raw) data were acquired and the processed results were comparatively investigated with the IRS-1c data acquired shortly after the fire. To identify the burnt area from the undamaged background in the optical imagery, supervised classification and NDVI processing were carried out and tested with the IRS-1C data. For this experiment, several sets of raw RADARSAT standard and Fine mode (S4, F3, ascending orbit) data were processed and the final image was formed. In addition to the final image, sigma nought (σ°) was catnputed and compared for the burnt area against the undamaged areas. Because of the steep slopes in the study area and subsequent deviation from the flat surface scattering models, the fire scars in the sigma nought (σ°) image were not apparent. However, fire scars are slightly detected in the difference and ratio images obtained from the signal intensity data acquired at different dates (bath before and after fire). Texture analysis of the image data including the burnt areas were carried out using the Multiplicative Markov Random-Field (MMRF) algorithm. The detection of the fire damaged area from both standard mode and fine mode RADARSAT was not as straightforward as in optical data. However, Previous studies with ERS-1 S_AR and RADARSAT data in Indonesia and in the North American Plains indicate that C-band SAR data provide us with an effective tool for studying the forest fire damages. However, the application of C-band SAR data to the analysis of the forest fire areas requires careful processing of the data with realistic scattering models.

Differential Manifestation of Ocular Phenotypes in TALEN-mediated p19arf Knockout FVB/N and C57BL/6J mouse lines

Jin‑Sung Park,Joo‑Il Kim,Hyun‑Jin Lim,Soo‑Kyung Ryu,Euna Kwon,Kang‑Min Han,Ki‑Taek Nam,Han‑Woong Lee,Byeong‑Cheol Kang 한국유전학회 2020 Genes & Genomics Vol.42 No.9

Background p19arf, primarily known as a tumor suppressor, has also been reported to play an essential role in normal development of mouse eyes. Consistently, lack of p19arf has been associated with ocular defects, but the mixed background of the knockout (KO) mouse strain used raised a concern on the accuracy of the phenotypes observed in association with the targeted gene due to genetic heterogeneity. Object We carried out a study to investigate into the efect of genetic background on the manifestation of p19arf KO associated phenotypes. Methods We characterized the phenotypes of novel p19arf KO mouse lines generated in FVB/N and C57BL/6J using a transcription activator-like efector nuclease (TALEN) system in comparison to the reported phenotypes of three other p19arf-defcient mouse lines generated using homologous recombination. Results Ninety-fve percent of FVB/N-p19arf KO mice showed ocular opacity from week 4 after birth which worsened rapidly until week 6, while such abnormality was absent in C57BL/6J-p19arf KO mice up to the age of 26 weeks. Histopathological analysis revealed retrolental masses and dysplasia in the retinal layer in FVB/N-p19arf KO mice from week 4. Besides these, both strains developed normally from birth to week 26 without increased tumorigenesis except for a subcutaneous tumor found in a C57BL/6J-p19arf KO mouse. Conclusion Our fndings demonstrated surprisingly variable manifestation of p19arf-linked phenotypes between FVB/N and C57BL/6J mice, and furthermore between our mouse lines and the established lines, indicating a critical impact of genetic background on functional study of genes using gene targeting strategies in mice.

The Evolving Policy Debate on Border Closure in Korea

Su-Jin Kang,Jihyun Moon,Heewon Kang,Heekyoung Nam,Sangwoo Tak,Sung-Il Cho 대한예방의학회 2020 Journal of Preventive Medicine and Public Health Vol.53 No.5

302 Copyright © 2020 The Korean Society for Preventive Medicine J Prev Med Public Health 2020;53:302-306 • https://doi.org/10.3961/jpmph.20.213 The Evolving Policy Debate on Border Closure in Korea SuJin Kang1, Jihyun Moon2, Heewon Kang1, Heekyoung Nam3, Sangwoo Tak1, Sung-il Cho1,3 1Institute of Health and Environment, Seoul National University, Seoul, Korea; 2Samsung Advanced Institute of Health Science and Technology, Sungkyunkwan University, Seoul, Korea; 3Department of Public Health Sciences, Graduate School of Public Health, Seoul National University, Seoul, Korea Brief Report Objectives: In this paper, we aimed to investigate the evolving debate over border closure in Korea during the coronavirus disease 2019 (COVID-19) pandemic, to address the main themes associated with border closure, and to discuss the factors that need to be considered when making such decisions. Methods: We collated and reviewed previously conducted review studies on border closures during infectious disease outbreaks to derive relevant themes and factors. Results: According to our systematic review on border closures and travel restrictions, the effects of such containment efforts are limited. We suggest considering the following factors when determining whether to impose border closure measures: (1) disease characteristics, (2) timeliness of implementation, (3) transmission delay and the basic reproduction number, (4) globalization and pandemics, and (5) social and economic costs. Conclusions: Our assessment indicates that the effects of border closures are at best temporary and limited. Alternative measures must be contemplated and implemented to suppress the spread of COVID-19 in particular and infectious diseases more broadly.

Assessment of In Vitro Assay System for Thyroid HormoneDisruptors Using Rat Pituitary GH3 Cells

Hee Jin Kim1,Hae Young Park1,Jeonga Kim1,Il Hyun Kang2,Tae Sung Kim2,Soon Young Han2,Tae Seok Kang2,Kui Lea Park2,Hyung Sik Kim1 한국독성학회 2006 Toxicological Research Vol.22 No.4

The development of in vitro assays has been recommended to screening and test-ing the potential endocrine disruptors (EDs). These assay systems focus only on identifying thethe thyroid hormone (TH) disruptors. The aim of this study was to evaluate a test system to detectTH disruptors using rat pituitary tumor GH3 cells. The test system is based on the TH-dependentincrease in growth rate. As expected, L-3,5,3-triiodothyronine (T3) markedly induced a morphologicalchange in GH 3 cells from flattened fibroblastic types to rounded or spindle-shaped types. T3 stimu-lated GH3 cell growth in a dose-dependent manner with the maximum growth-stimulating effect9 M. In addition, T3 increased the release of growth hor-mone and prolactin into the medium of the GH3 cells culture. Using this assay system, the TH-dis-rupting activities of bisphenol A (BPA) and its related compounds were examined. BPA,dimethylbisphenol A (DMBPA), and TCI-EP significantly enhanced the growth of GH3 cells in therange of 1 × 10-5M to 1 × 10-6M concentrations. In conclusion, this in vitro assay system might bestandardization before it can be used as a broad-based screening tool.

개발사업 환경성평가에서의 토양 탄소저장량 산정방법 비교 연구

황상일 ( Sang Il Hwang ),박선환 ( Sun Hwan Park ),전영봉 ( Young Bong Jeon ),황정배 ( Joung Bae Hwang ),강선홍 ( Seon Hong Kang ),김진홍 ( Jin Hong Kim ) 한국환경영향평가학회 2014 환경영향평가 Vol.23 No.6

The objective of this study was to propose the best methodology for estimating soil organic carbon stocks during environmental assessment for development projects. We compared three methodologies which were developed by Korea Environment Corporation(2010), Korea Forest Research Institute (2006), and Jin-Hyun Jung (1998). We found that the methodology developed by Jin-Hyun Jung (1998) shows the worst performance and the methodology of Korea Forest Research Institute (2006) does not reflect a variety of soil types and land use characteristics shown in development project plans. Therefore, we propose that the methodology developed by Korea Environment Corporation (2010) is the most reasonable one because it is internationally accepted and used for local governments to make the inventory of greenhouse gases as well as to set up its reduction strategy.

Piezoelectric Materials: All‐Solution‐Processed Flexible Thin Film Piezoelectric Nanogenerator (Adv. Mater. 45/2012)

Chung, Sung Yun,Kim, Sunyoung,Lee, Ju‐,Hyuck,Kim, Kyongjun,Kim, Sang‐,Woo,Kang, Chong‐,Yun,Yoon, Seok‐,Jin,Kim, Youn Sang WILEY‐VCH Verlag 2012 ADVANCED MATERIALS Vol.24 No.45

<P>An all‐solution‐processed flexible piezoelectric nanogenerator, composed of polycrystalline ZnO thin film and functional polymer layers such as P3HT/PCBM and PEDOT:PSS, generates energy through a mechanical rolling and muscle stretching system. On page 6022, Youn Sang Kim, Sang‐Woo Kim, and co‐workers show that this all‐solution‐processed nanogenerator is feasible as a piezoelectric patchable device and is promising for use in future energy harvesters such as wearable human patches and mobile electronics. </P>

Effects of dietary supplementation with probiotic CS-A on performance in broiler chickens

Seong Soo Kang1*, Se Eun Kim, Ara Go, Kyung Mi Shim, Chun Sik Bae, Chang Jong Moon, Sung-Ho Kim, Jong-Choon Kim, Jin-Cheol Yoo, Seung Sik Cho 충북대학교 동물의학연구소 2012 Journal of Biomedical and Translational Research Vol.13 No.3

Probiotics, enzymes, organic acids, oligosaccharides, antioxidants, and other functional materials are actively being explored as alternatives to antibiotics. Probiotics include live beneficial microorganisms that colonize the intestinal tract and competitively inhibit attachment and growth of harmful microbes. Probiotics also increase feed efficiency by assisting in nutrient absorption and digestion. The current study was conducted in order to evaluate the effect of a new probiotic, CS-A, as a dietary supplement of a fermented product on growth performance, feed intake, and feed conversion efficiency in broiler chickens, and to evaluate its value as an alternative for antibiotics used as a feed additive. Antibacterial and anti-inflammatory effects of CS-A were investigated in vitro and the in vivo effects of a constant concentration of supplemented CS-A on growth rate and feed efficiency were evaluated. In addition, the safety of CS-A was assessed by examination of common symptoms and mortality. Determination of minimal inhibitory concentration revealed an excellent antibacterial effect of CS-A. Cytotoxicity was low and anti-inflammatory effects were achieved at the effective concentration of CS-A. Supplementation with 0.1% CS-A resulted in a feed efficiency score of 1.84 in broilers, compared to 2.00 in the control group. There were no adverse clinical findings, necropsy findings, hematology, and altered serum biochemistry parameters, and no mortality. Thus, it is concluded that CS-A is safe and effective as a feed additive.

질소이온주입에 의한 알루미늄의 표면개질특성

강혁진(Hyuk-Jin Kangㅠ),안성훈(Sung-Hoon Ahn),이재상(Jae-Sang Lee),김경균(Kyung-Gun Kim) 대한기계학회 2005 대한기계학회 춘추학술대회 Vol.2005 No.5

The research on surface modification technology has been advanced to improve the properties of engineering materials. Ion implantation is a novel surface modification technology to enhance the mechanical, chemical and electrical properties of substrate’s surface using accelerated ions. In this research, nitrogen ions were implanted into aluminum substrates which would be used for mold of rubber materials. The composition of nitrogen ion implanted aluminum alloy and nitrogen ion distribution profile were analyzed by Auger Electron Spectroscopy (AES). To analyze the modified surface, properties such as hardness, friction coefficient, wear resistance, contact angle, and surface roughness were measured. Hardness of ion implanted specimens was higher than that of untreated specimens. Friction coefficient was reduced, and wear resistance was improved. From the experimental results, it can be expected that ion implantation of nitrogen enhances the surface properties of aluminum mold.

RE-4 : Corifollitropin alfa versus daily recombinant fsh treatment for controlled ovarian stimulation in poor responders

( Chung Hoon Kim ),( Jei Won Moon ),( Jin Young Min ),( Jun Woo Ahn ),( Sung Hoon Kim ),( Hee Dong Chae ),( Byung Moon Kang1 ) 대한산부인과학회 2014 대한산부인과학회 학술대회 Vol.100 No.-

목적: To compare the effect of long-acting recombinant FSH (rFSH), corifollitropin alfa with daily rFSH administered during 1st 7days of controlled ovarian stimulation (COS) using GnRH antagonist multiple dose protocol (MDP) in poor responders undergoing IVF/intracytoplasmic sperm injection (ICSI). 방법: In this prospective randomized study total of 90 poor responders who were scheduled for IVF/ICSI were enrolled and divided into the corifollitropin alfa group (study group) or the daily rFSH group (control group). The diagnosis of poor responder was based on the Bologna criteria of the 2011 ESHRE consensus. In all subjects, GnRH antagonist MDP was used for COS. 결과: There were no differences in patients` characteristics between the two groups. Duration of COS was comparable between the study and control groups. The numbers of oocytes retrieved and grade I or II embryos were also similar in the two groups. However, the number of mature oocytes was higher in the study group with a borderline significance (p< .07) and the ratio of mature oocytes among total oocytes retrieved was significantly higher in the study group of 78.6 ± 13.0%, compared with 61.2 ± 16.0% in control group (p< .001). There were no differences in the clinical pregnancy rate per cycle initiated, embryo implantation rate and miscarriage rate between the two groups. 결론: Corifollitropin alfa is at least as effective as daily rFSH treatment for COS using GnRH antagonist MDP, and may improve the synchrony of follicular development in poor responders undergoing IVF/ICSI. Therefore, corifollitropin alfa may be a feasible, patient-friendly alternative for poor responders.