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김호문,조경호,진영훈,Liu Fengyi,최혁렬 한국로봇학회 2012 로봇학회 논문지 Vol.7 No.2
In this paper, we propose a cable climbing robot which can climb up and down the cables in the bridges. The robot mechanism consists of three parts: a wheel based driving mechanism, adhesion mechanism, and safe landing mechanism. The wheel based driving mechanism is driven by tooth clutches and motors. The adhesion mechanism plays the role of maintaining adhesion force by a combination of pantograph, ball screw, and springs even when the power is lost. The safe landing mechanism is developed for guaranteeing the safety of the robot during operations on cables. It can make the robot fall down with reduced speed by dissipating the gravitational forces. The robot mechanism is designed and manufactured for validating its effectiveness.
Zhanwu Li,Wenjun Wang,Xiaozhou Wang,Lei Jiang,Fengyi Wang,Qiang Liu 대한외과학회 2017 Annals of Surgical Treatment and Research(ASRT) Vol.93 No.3
Purpose: To investigate the effects of a sustained-released mixture of vascular endothelial growth factor 165 (VEGF165) and fibrin glue (FG) local administration on postoperative rabbit ileal anastomoses. Methods: One hundred twenty-eight male and female New Zealand white rabbits underwent intraperitoneal infection subsequent ileal anastomosis surgery were divided randomly into 4 groups, including 32 animals in each, applied with saline solution, FG, rhVEGF165 and a mixture of rhVEGF165 with FG (VEGF + FG) on the anastomoses, respectively. The incidences of anastomotic leakage were observed. Histopathological examination for inflammatory infiltration, fibroblast proliferation, and capillary vascular proliferation were performed. Then, bursting pressure and hydroxyproline concentrations were assessed in anastomoses sits on postoperative days 3, 5, 7, and 14. Results: Rabbits in VEGF + FG group had the lowest incidence of leakage (P < 0.05). Histological evaluations revealed that granulation tissue was formed on days 5 after anastomosis; fibroblast proliferation and capillary vascular proliferation were significantly increased on days 7 and 14 in VEGF + FG group. Furthermore, there was a statistically significant difference in the mean bursting pressures between VEGF + FG group and other groups on days 7 and 14 (P < 0.05), and rabbits in VEGF + FG group exhibited a higher concentration than VEGF group (P < 0.05) and FG group (P < 0.05) on day 14. Conclusion: Administration of VEGF165 mixed with FG to ileal anastomosis accelerates wound healing and enhances the anastomosis by increased angiogenesis.
Exploration of Unknown Object by Active Touch of Robot Hand
Kim, Min Jeong,Choi, Mina,Kim, Yong Bum,Liu, Fengyi,Moon, Hyungpil,Koo, Ja Choon,Choi, Hyouk Ryeol 제어로봇시스템학회 2014 International Journal of Control, Automation, and Vol.12 No.2
This paper proposes a method of exploring the local shape of an unknown object using the force and torque information obtained from active touch. In the first, we present a method to estimate an unknown curvature, using rolling and sliding motion with a force/torque sensor attached to the fingertip of the hand. Then, the normal curvature equation from 2D curvatures is obtained. Finally we present a reconstruction algorithm of local geometry by using a normal curvature equation, which is composed of principal curvatures and principal directions. The method is tested by using a hand-arm system consisting of an industrial robot arm and an anthropomorphic robot hand with 6-axis force/torque sensor. The feasibility of the proposed method is experimentally validated for objects with simple geometries such as cylinder, spheres etc.