김정호 교수

Over the past several decades, there has been a constant increase in the use of unmanned aircraft systems (UASs). Hence, there has also been a growth in the number of control algorithms to service many applications embodied by these vehicles. Initially, UASs were made popular by the military for reconnaissance, intelligence, surveillance, and target acquisition (RISTA) applications. Nowadays, UASs are used for everything from crop surveys to tourism. Nowhere is this more evident than with a mult

This paper introduces a single-cell isolation technology for circulating tumor cells (CTCs) using a microfluidic device (the "SIM-Chip"). The SIM-Chip comprises a lateral magnetophoretic microseparator and a microdispenser as a two-step cascade platform. First, CTCs were enriched from whole blood by the lateral magnetophoretic microseparator based on immunomagnetic nanobeads. Next, the enriched CTCs were electrically identified by single-cell impedance cytometer and isolated as single cells usin

We report the development of a simple poly(dimethylsiloxane) microfluidic device for high-efficiency trapping and sorting of micron-size particles. In this device, hydrodynamic fluid flow through the sieve-like microfluidic channel sequentially fills the trap positions with particles of the trap size, and particles smaller than the trap size pass through the sieve and are trapped by smaller traps downstream. By incorporating side channels alongside the main channel, we were able to decouple the

BACKGROUND: Previous investigations of transcriptomic signatures of cancer patient survival and post-therapy relapse have focused on tumor tissue. In contrast, here we show that in colorectal cancer (CRC) transcriptomes derived from normal tissues adjacent to tumors (NATs) are better predictors of relapse. RESULTS: Using the transcriptomes of paired tumor and NAT specimens from 80 Korean CRC patients retrospectively determined to be in recurrence or nonrecurrence states, we found that, when comp

Maintaining the lowest possible transmission power in the wireless sensor networks (WSNs) is vulnerable to the interference fluctuations because of the bad signal-to-interference-plus-noise-ratio (SINR). The previous transmission power control (TPC) algorithms do not consider much for the interferences from other 2.4GHz devices, which can cause significant performance degradations in real world deployments. This paper proposes the interference-aware transmission power control (I-TPC) algorithm f

Many mechanical and electrical systems have utilized the proportional-integral-derivative (PID) control strategy. The concept of PID control is a classical approach but it is easy to implement and yields a very good tracking performance. Unmanned aerial vehicles (UAVs) are currently experiencing a significant growth in popularity. Due to the advantages of PID controllers, UAVs are implementing PID controllers for improved stability and performance. An important consideration for the system is the

This paper presents the dynamic modeling and motion control of a three-link rotary robotic manipulator, also known as an RRR robot. The Kinect motion capture system by Microsoft is used in conjunction with the manipulator. A camera is used to capture the motion of a user's arm and tracks certain angles made by parts of the arm. We consider a pinhole camera model to generate reference angles in our simulations. These desired angles are fed into the controller and are used by the RRR robot in an e

The sliding mode control and disturbance accommodating technique are combined to detect, identify, cancel modeling uncertainties and external noises. Both of these two control methods are based on the signal approach so they can be combined easily. Moreover, each one of methods compensates the other's drawback. The simulation results of two link robot model show that the disturbance accommodating sliding mode control provides a good tracking performance for a wide range of variations.

We present an autonomous quadrotor capable of safely landing on sloped surfaces up to 40 <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">°</sup> , intended for emergency scenarios where the only terrain available for landing may be sloped. This system uses a downward-facing depth perception system to determine the direction, angle, and smoothness of the slope. Two robotic landing skids of different lengths actively conform to the slope in order to m