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Development of a Snake Robot Moving in a Small Diameter Pipe
Hocheol Shin,Kyung-Min Jeong,Jeong-Joo Kwon 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
This paper presents a snake robot moving in a small diameter pipe. A snake robot is a multi-linked modular robot. The snake robot, KAEROT-snake IV consists of 11 2-DOF actuator modules, a head, and a tail module. Each of the 2-DOF actuator modules has two small DC motors and worm gear boxes to increase the torque output and an embedded motor controller. The snake robot can move in a small diameter pipe with a sequence of holding motion as well as with a sinusoidal motion. Some modules holds the robot itself by pressing outward to induce friction while the other modules move forward/backward and hold the robot at a more front/rear position. A sequence of holding moves the robot forward/backward in a small diameter pipe.
A Simple Static Noise Margin Model of MOS CML Gate in CMOS Processes
Jeong, Hocheol,Kang, Jaehyun,Lee, Kang-Yoon,Lee, Minjae The Institute of Electronics and Information Engin 2017 Journal of semiconductor technology and science Vol.17 No.3
This paper presents a simple noise margin (NM) model of MOS current mode logic (MCML) gates especially in CMOS processes where a large device mismatch deteriorates logic reliability. Trade-offs between speed and logic reliability are discussed, and a simple yet accurate NM equation to capture process-dependent degradation is proposed. The proposed NM equation is verified for 130-nm, 110-nm, 65-nm, and 40-nm CMOS processes and has errors less than 4% for all cases.
A Simple Static Noise Margin Model of MOS CML Gate in CMOS Processes
Hocheol Jeong,Jaehyun Kang,Kang-Yoon Lee,Minjae Lee 대한전자공학회 2017 Journal of semiconductor technology and science Vol.17 No.3
This paper presents a simple noise margin (NM) model of MOS current mode logic (MCML) gates especially in CMOS processes where a large device mismatch deteriorates logic reliability. Tradeoffs between speed and logic reliability are discussed, and a simple yet accurate NM equation to capture process-dependent degradation is proposed. The proposed NM equation is verified for 130-㎚, 110-㎚, 65-㎚, and 40-㎚ CMOS processes and has errors less than 4% for all cases.
Da Jeong Kim,Yi Jin Jeong,Yongah Jeon,Onsook Hur,Hocheol Ko,Nayoung Ro,Juhee Rhee,Hyungjin Baek,Jung Sook Sung 한국약용작물학회 2017 한국약용작물학술대회 발표집 Vol.2017 No.05
Background : To select plant resources of the possibility of development as a natural antioxidant, the antioxidant activities including total polyphenol content (TPC), 2,2'-azino-bis-3-ethylbenzothiazoline-6-sulphonic acid (ABTS), 2,2-diphenyl-1-picryl-hydrazil (DPPH), ferric reducing antioxidant power (FRAP) and reducing power (RP) of perilla accessions collected from South Korea were conducted. Method and Results : A total of 18 perilla accessions by regions were selected. Two grams of dried perilla leaves were extracted with 85% ethanol and used for analysis of antioxidant activity. Antioxidant activity value was measured in a spectrophotometer. Perilla extracts showed variation in TPC ranging from 30.87 to 92.66 ㎍ GAE ㎎-1 dw. ABTS, DPPH, FRAP and RP ranged from 6.83 to 38.64 ㎍ Trolox ㎎-1 dw, 0.63 to 8.62 ㎍ ASC ㎎-1 dw, 5.05 to 17.57 ㎍ ASC ㎎-1 dw, and 4.52 to 35.69 ㎍ ASC ㎎-1 dw, respectively. TPC was high in perilla leaves of Gyeongsang-do, but other antioxidant activities were high in perilla leaves of Chungcheong-do. Cluster analysis based on antioxidant acitivities of 18 perilla accessions consist of group Ⅰ (3 accessions), Ⅱ (2 accessions), Ⅲ (5 accessions) and Ⅳ (8 accessions). Group Ⅱ characterized as higher antioxidant activities than other groups. Principal component analysis (PCA) based on antioxidant data revealed that the first two principal components (PC1 and PC2) together explained 97.78 % total variation. Conclusion : IT242410 and IT235354 of group Ⅱ showed high antioxidant activity. These resources will be useful for developing natural antioxidants.
신호철(Hocheol Shin),정경민(Kyung-Min Jeong),권정주(Jeong-Joo Kwon) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.7
This article describes a snake robot with 2-DOF actuator modules. The 2-DOF actuator modules make the snake robot move in the 3D space so that the snake robot can cross obstacles and rough terrain. Each 2-DOF actuator module is designed to have high torque output and an embedded controller. A cross bracket connecting the modules is designed be able to support the weight of two actuator modules. The developed snake robot shows 3-D motions such as side winding, standing/monitoring, and can climb in a narrow pipe with high torque modules. The snake robot moves fast with passive wheels in a plane while crossing obstacles.
DEVELOPMENT OF A STEAM GENERATOR TUBE INSPECTION ROBOT WITH A SUPPORTING LEG
HOCHEOL SHIN,KYUNG-MIN JEONG,SEUNGHO JUNG,SEUNGHO KIM 한국원자력학회 2009 Nuclear Engineering and Technology Vol.41 No.1
This paper presents details on a tube inspection robotic system and a positioning method of the robot for a steam generator (SG) in nuclear power plants (NPPs). The robotic system is separated into three parts for easy handling, which reduces the radiation exposure during installation. The system has a supporting leg to increase the rigidity of the robot base. Since there are several thousands of tubes to be inspected inside a SG, it is very important to position the tool of the robot at the right tubes even if the robot base is positioned inaccurately during the installation. In order to obtain absolute accuracy of a position, the robot kinematics was mathematically modeled with the modified DH(Denavit-Hartenberg) model and calibrated on site using tube holes as calibration points. To tune the PID gains of a commercial motor driver systematically, the time delay control (TDC) based gain tuning method was adopted. To verify the performance of the robotic system, experiments on a Framatome 51B Model type SG mockup were undertaken.
Choi, Jeong-A,Hwang, Jae-Hoon,Dempsey, Brian A.,Abou-Shanab, Reda A. I.,Min, Booki,Song, Hocheol,Lee, Dae Sung,Kim, Jung Rae,Cho, Yunchul,Hong, Seungkwan,Jeon, Byong-Hun Royal Society of Chemistry 2011 ENERGY AND ENVIRONMENTAL SCIENCE Vol.4 No.9
<P>The influence of ultrasonication pretreatment on fermentative bioenergy [ethanol/hydrogen (H<SUB>2</SUB>)] production from a newly isolated microalgae biomass (<I>Scenedesmus obliquus</I> YSW15) was investigated. <I>S. obliquus</I> YSW15 biomass was sonicated for 0 min (control), 5 min (short-term treatment), 15 and 60 min (long-term treatment), which caused different states of cell lysis for microbial fermentation. Long-term sonication significantly damaged the microalgal cell integrity, which subsequently enhanced the bioenergy production. The accumulative bioenergy (ethanol/hydrogen) production after long-term sonication was almost 7 times higher than that after short-term treatment or the control. The optimal ratio of microalgal biomass to anaerobic inoculum for higher bioenergy production was 1 : 1. Microscopic analyses with an energy-filtering transmission electron microscope (EF-TEM) and an atomic force microscope (AFM) collectively indicated that cells were significantly damaged during sonication and that the carbohydrates diffused out of the microalgae interiors and accumulated on the microalgae surfaces and/or within the periplasm, which led to enhanced bioaccessibility and bioavailability of the biomass. These results demonstrate that ultrasonication is an effective pretreatment method for enhancing the fermentative bioenergy production from microalgal biomass.</P> <P>Graphic Abstract</P><P>Disintegration of algae cell structures during sonication released more algal cell wall carbohydrates to aqueous media, thereby exposing a larger surface area to fermentative microorganisms. <IMG SRC='http://pubs.rsc.org/services/images/RSCpubs.ePlatform.Service.FreeContent.ImageService.svc/ImageService/image/GA?id=c1ee01068a'> </P>
용기 양묘 시 폐암면 혼합 비율에 따른 몇 가지 수종의 생육 특성
김호철(HoCheol Kim),차승훈(SeungHoon Cha),최정호(Jeong Ho Choi),유성오(SungOh Yoo),이수원(SooWon Lee),배종향(JongHyang Bae) (사)한국생물환경조절학회 2007 생물환경조절학회지 Vol.16 No.2
몇 수종을 대상으로 한 용기 양묘에서 폐암면 혼합 배지 이용 시 폐암면과 다른 배지의 혼합 비율에 따른 생육 특성을 조사하였다. 폐암면 혼합 비율에 따른 소나무의 생육 특성에서 생체중, 건물중 및 수고는 50%와 70% 혼합배지에서 가장 좋았지만 원줄기 직경은 차이를 나타내지 않았다. 비자나무에서 생체중과 수고는 70% 혼합배지에서 가장 많이 증가하였고 원줄기 직경과 신초수는 50%와 70% 혼합배지에서 많이 증가하였다. 싱수리나무에서 생체중, 수고 및 원줄기 직경은 50%와 70% 혼합배지에서 좋았고, 건물중은 혼합배지와 대조구간 차이를 나타났으나 혼합 비율간에는 차이를 나타내지 않았다. 잎의 엽록소 함량도 70% 혼합배지에서 높게 나타났으며 이에 광합성도 가장 활발하였다. 들메나무에서 생체중은 70% 혼합배지에서 월등히 많이 증가하였지만, 수고와 원줄기 직경은 폐암면 혼합배지와 대조구간 차이만 나타나고 혼합 비율 간에는 차이를 나타내지 않았다. 잎의 엽록소 함량은 처리 간 차이를 나타내지 않았지만 혼합 배지에서 다소 높은 경향을 나타내었지만, 광합성은 70% 혼합배지에서 아주 활발하였다. Growth characteristics according to mixture ratio of used-rockwool in pot nursery, in Pinus densiflora, Torreya nucifera, Quercus acutissina and Fraxinus mandshurica nursery, was investigated. The used-rockwool on mixture ratio between used-rockwool and control (peatmoss:pearlite = 1:1, v/v) were 0%, 30%, 50% and 70%. Flesh weight, dry weight and height of tree, in Pinus densiflora nursery, increased much more in 50% and 70% media but trunk diameter of tree had no difference according to mixture ratio. In Torreya nucifera nursery, flesh weight and height of tree in 70% medium and trunk diameter and numbers of shoot of tree in 50% and 70% media increased. Flesh weight, height and trunk diameter of tree, and chlorophyll (SPAD) and photosynthesis rate, in Quercus acutissina nursery, increased much more in 50% and 70% media, but dry weight of tree had only difference between non-mixed and mixed with rockwool. In Fraxinus mandshurica nursery, flesh weight and photosynthesis rate of tree increased much more in 70% medium, height, trunk diameter and total chlorophyll of tree had difference according to non-mixed and mixed with rockwool or had no only difference according to mixture ratio, respectively.