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Control of tendon-driven(Twisted-string Actuator) robotic joint with adaptive variable-radius pulley
Jihyuk Park,Ji-il Park,Hyung-Tae Seo,Yanheng Liu,Kyung-Soo Kim,Soohyun Kim 제어로봇시스템학회 2020 제어로봇시스템학회 국제학술대회 논문집 Vol.2020 No.10
This paper introduces and controls a new variable radius pulley that passively changes the effective radius of the drive pulley in a belt driven transmission in response to changing load torque. The mechanism used in this paper is based on the principle that the effective radius of the pulley increases passively when torque is applied to the pulley by the cam element and the elastic element. A belt-driven transmission with a conventional pulley of constant radius has a fixed maximum torque and speed, but the variable radius pulley in this paper changes the maximum speed and torque to enable more efficient driving. This paper explains the principle of operation of the new variable radius pulley and introduces the experiments that performed the position control of the robot joint by applying the variable radius pulley.
김지혁(Jihyuk Kim),김태환(Taehwan Kim),배지열(Jiyeul Bae),정대윤(Daeyoon Jung),조형희(Hyung Hee Cho) 한국추진공학회 2015 한국추진공학회 학술대회논문집 Vol.2015 No.11
일차원 전도를 전제로 하는 비정상열유속기법에서 반무한체 가정의 타당성을 검증하기 위해 수치해석적/실험적 연구가 수행되었다. 5 mm의 두께의 낮은 전도성 판이 설치된 쐐기형 시편에 대해 수치해석 및 실험을 수행하였다. 수치해석을 이용해 시간에 따른 판 내부의 온도 프로파일과 최대 허용 실험시간을 확인하였다. 이후 실험을 통해 최대 허용 실험 시간을 평가하고 수치해석 결과와 비교하였다. Both numerical and experimental studies are conducted to verify semi-infinite body assumption in transient heat flux method which based on one-dimensional conduction. Temperature profile and allowable operating time of the low conductivity plate having a thickness of 5 mm are investigated with numerical simulation. Maximum allowable testing time which measured from experiment is evaluated and compared with that of numerical simulation.
Won Kim,Seyeon Bae,Hyemin Kim,Yejin Kim,Jiwon Choi,Sun Young Lim,Hei Jin Lee,Jihyuk Lee,Jiyea Choi,Mirim Jang,Kyoung Eun Lee,Sun G,Chung,Young-il Hwang,Jae Seung Kang,Wang Jae Lee 대한해부학회 2013 Anatomy & Cell Biology Vol.46 No.4
The L-gulono-γ-lactone oxidase gene (Gulo) encodes an essential enzyme in the synthesis of ascorbic acid from glucose. On the basis of previous findings of bone abnormalities in Gulo-/- mice under conditions of ascorbic acid insufficiency, we investigated the effect of ascorbic acid insufficiency on factors related to bone metabolism in Gulo-/- mice. Four groups of mice were raised for 4 weeks under differing conditions of ascorbic acid insufficiency, namely, wild type; ascorbic acid-sufficient Gulo-/- mice, 3-week ascorbic acid-insufficient Gulo-/- mice, and 4-week ascorbic acid-insufficient Gulo-/- mice. Four weeks of ascorbic acid insufficiency resulted in significant weight loss in Gulo-/- mice. Interestingly, average plasma osteocalcin levels were significantly decreased in Gulo-/- mice after 3 weeks of ascorbic acid insufficiency. In addition, the tibia weight in ascorbic acid-sufficient Gulo-/- mice was significantly higher than that in the other three groups. Moreover, significant decreases in trabecular bone volume near to the growth plate, as well as in trabecular bone attachment to the growth plate, were evident in 3- or 4-week ascorbic acid-insufficient Gulo-/-. In summary, ascorbic acid insufficiency in Gulo-/- mice results in severe defects in normal bone formation, which are closely related to a decrease in plasma osteocalcin levels.