• Journal of Advanced Marine Engineering and Technology
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• v.32 no.8
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• pp.1285-1295
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• 2008

A research on a simulator for a side walking path of a 16 degree-of-freedom (d.o.f) biped walking robot(BWR) which is composed of 4 d.o.f upper-part body and 12 d.o.f lower-part of the body is presented. For generation of stable side walking motion, the kinematics, dynamics and the zero moment of point(ZMP) of the BWR were analyzed analytically and included in the simulator. To operate the motion simulator for stable side walking of the BWR, a graphic user interface program was developed which needs inputs for the side distance between legs, base joint angle, walking type, and walking velocity. The simulator was developed to generate joint angle data of legs for side walking, and the data are transmitted to the BWR for stable side walking. In the simulator, a new path function for smooth walking motion was proposed and applied to the simulator and actual motion of a BWR. Also for actual side walking, an algorithm for estimating backlashes of the actuating joint motors was proposed and included in the simulator. To validate the performance of the proposed motion simulator, the simulator was operated and its side walking data of the simulator were generated for a period of side walking.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.4
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• pp.431-437
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• 2010

The purpose of this study is to compute the ground reaction forces during gait in the absence of force plates. The difficulties in using force plates for hemiparetic patients inspired us to initiate this study. Level-walking experiments were performed using a three-dimensional motion analysis system with synchronized force plates. Kinematic data were obtained from the three-dimensional trajectories of reflective markers. Gait events were also detected from the kinematic data. The human body was modeled as 13 rigid segments. The mass and the center of mass of each segment were determined from anthropometric data. Vertical ground-reaction forces obtained from the kinematic data were in good agreement with those obtained using the force plate. The computed and measured values of anterior and lateral ground reaction showed similar tendencies. The computation results can be used as the basic data for inverse dynamic analysis.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.6
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• pp.683-693
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• 2010

In this paper, we propose a new parallel mechanism for the legs of biped robots and the control of the robot's locomotion. A leg consists of two 3-DOF parallel platforms linked serially: one is an orientation platform for a thigh and the other is the 3-DOF asymmetric parallel platform for the shank. The desired locomotion trajectory is generated on the basis of the Gravity-Compensated Inverted Pendulum Mode (GCIPM) in the sagittal direction and the Linear Inverted Pendulum Mode (LIPM) in the lateral direction, respectively. In order to simulate the ground reaction force, a 6-DOF elastic pad model is used underneath each of the soles. The performance and effectiveness of the proposed parallel mechanism and locomotion control are shown by the results of computer simulations of a 12-DOF parallel biped robot using $SimMechanics^{(R)}$.

• Journal of IKEEE
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• v.21 no.3
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• pp.244-247
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• 2017

In this paper, we implemented a convolution neural network using GP-GPU. After defining the structure, CNN performed inferencing using the GP-GPU with 256 threads, which was the previous study, using the weight obtained from the training. Training used Intel i7-4470 CPU and Matlab. Dataset used Daimler Pedestrian Dataset. The GP-GPU is controlled by the PC using PCIe and operates as an FPGA. We assigned a thread according to the depth and size of each layer. In the case of the pooling layer, we used over warpping pooling to perform additional operations on the horizontal and vertical regions. One inferencing takes about 12 ms.

• The Journal of Korean Orthopaedic Ultrasound Society
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• v.5 no.2
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• pp.61-65
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• 2012

Purpose: The aim of this study was to evaluate the effectiveness of ultrasound-guide steroid injection according to Morton's neuroma size. Materials and Methods: From October 2008 to September 2011, 17 patients (23 cases) diagnosed with Morton's neuroma were investigated. All cases were female and mean age was 52.6 years old. Neuroma were measured by the horizontal and longitudinal length of the mass and underwent ultrasound-guided steroid (5 mg dexamethasone) injection. The efficacy of the injection was determined by Visual Analogue Scale pain score and patient satisfaction(subdivided 4 group-much improved, improved, not improved, aggrevation) Results: 7 of 23(30.4%) cases showed much improved and improved satisfaction and mean longitudinal and horizontal length were $0.71{\pm}0.39cm$ and $0.47{\pm}0.24cm$, respectively. 16 of 23(69.6%) cases showed not improved and aggrevation satisfaction and mean longitudinal and horizontal length were $0.83{\pm}0.42cm$ and $0.54{\pm}0.14cm$, repectively. There was a significant difference in VAS and patient satisfaction in case longitudinal and horizontal length were smaller than 0.5 cm and 0.4 cm. (p<0.05) Conclusion: The ultrasonography is a important modality in diagnosis and treatment of morton's neuroma. Ultrasound-guide steroid injection is effective in case longitudinal and horizontal length were smaller than 0.5 cm and 0.4 cm, respectively.

• Journal of Veterinary Clinics
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• v.30 no.6
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• pp.499-502
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• 2013

An eight-year-old, castrated male, Poodle dog was presented with a bite wound in the neck region. Clinical examination revealed non-ambulatory signs of tetraparesis with deep pain, and upper motor neuron changes in all limbs. Fractures of the transverse process of C1 and the dorsal spinous process of C2 were observed on the radiographs and the computed tomography (CT). Conservative therapy was performed for 1 week. However the neurological problems were not alleviated until 7 days after injury. The owners agreed to perform surgical stabilization. The surgical stabilization was performed 7 days after presentation. Ventral stabilization was performed with screws, K-wires and bone cement. The dog stood up independently after 4 weeks and was able to walk 6 weeks postoperatively. In this report we suggest that using combined stabilization techniques are effective for this type of cervical fracture in which the dorsal and ventral structures of the vertebra are severely disrupted.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.1
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• pp.755-761
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• 2015

Temporary fencing is a mandatory installation in construction sites because of environmental regulations and pedestrian safety. Contractors are responsible for the structural integrity of frames. The fence frame composed of a ledger and post is very weak in the out-of-plane direction, which is normally reinforced by diagonal bracing with a sub post. In this study, the location of lateral bracing for the main post was investigated analytically. Three types of frame were suggested and their performance was compared in terms of the maximum moment and deflection. A construction site may be located at city centers or crowed areas, and a contingent accident should be considered. The EOD type was found to be most efficient among the three frames suggested.

• Journal of Korean Society of Transportation
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• v.23 no.5 s.83
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• pp.73-81
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• 2005

Triangle-shaped island was been used for the exclusive separation between the right-turn and the through flow. However, in case that existing Triangle-Shaped Island is built at the intersection of narrow road. there are more possibilities of traffic collision trespassing into the opposite lane. Accordingly, separation of the opposite lane is required so as to prevent the intrusion of the large-sized (a heavy) vehicle into the opposite lane turning at the intersection. This study showed the comparison between intersection composed of existing Triangle-Shaped Island and the intersection with Drop Island is added. First of all, in the safety aspect, a method to decide location and shape of Drop Island considering turning trajectory of the large-sized (the heavy vehicle) is addressed. The guideline on the placement of drop island install location and method to decide form the consider heavy truck's turn trajectory in safety side. As a conclusion. we analyzed that drop island is relatively superior to existing Triangle-Shaped Island in terms of driver, ease of driving, driving pleasantness, pedestrian, widening and economic performance aspect.

• The Journal of Korean Orthopaedic Ultrasound Society
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• v.3 no.1
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• pp.26-31
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• 2010

Purpose: The purpose of this study is to evaluate the clinical usefulness of ultrasound in treatment of patella fracture. Material and Methods: Twenty cases of twenty patients with patella fracture radiographically from March, 2006 to September, 2009 were involved in this study, there were 8 males and 12 females, there were 13 right knees, 7 left knees, the average age was 43 years (range, 14~72 years). We decided the methods of treatment by using the ultrasound in conjunction with Drayer's test that examining the intactness of patella retinaculum. There were 10 transverse, 8 vertical and 2 comminuted fractures, we examined the patella retinaculum by using the ultrasound and performed Drayer's test. Results: In 12 cases of intact retinaculum, Drayer's test was negative and we allowed patients ambulation without surgical fixation especially. In 4 cases of completely ruptured retinaculum, Drayer's test was positive and we treated the patella fractures by the use of ORIF (open reduction and internal fixation) method, in 2 cases of partially ruptured retinaculum, Drayer's test was negative but displacement of fractures were more than 2 mm, we treated the patella fractures by the use of CRIF (closed reduction and internal fixation) method and obtained clinically satisfactory results. Conclusion: In conjunction with radiographs and Drayer's test, an ultrasound would be one of the useful diagnostic modality for determining treatment method of the patella fracture.