• The Journal of Korea Robotics Society
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• v.12 no.2
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• pp.228-238
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• 2017

The CALEB10 is a multi-legged biomimetic underwater robot. In the last research, we developed a swimming pattern named ESPG (Extended Swimming Pattern Generator) by observing diving beetle's swimming actions and experimented with a positive buoyancy state in which CALEB10 floats on the water. In this paper, however, we have experimented with CALEB10 in a neutral buoyancy state where it is completely immersed in water for pitch motion control experiment. And we found that CALEB10 was unstably swimming in the pitch direction in the neutral buoyancy state and analyzed that the reason was due to the weight proportion of the legs. In this paper, we propose a pitch motion control method to mimic the pitch motion of diving beetles and to solve the problem of CALEB10 unstably swimming in the pitch direction. To control the pitch motion, we use the method of controlling additional joints while swimming with the ESPG. The method of obtaining propulsive force by the motion of the leg has a problem of giving propulsive force in the reverse direction when swimming in the surge direction, but this new control method has an advantage that a propulsive moment generated by a swimming action only on a target pitch value. To demonstrate validity this new control method, we designed a dynamics-based simulator environment. And the control performance to the target pitch value was verified through simulation and underwater experiments.

• Journal of the Korea Furniture Society
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• v.21 no.2
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• pp.157-166
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• 2010

Furniture in the modern living environment, inclusive the importance of its practical value, is a plastic element of indoor space, and its artistic value also holds an important position. Moreover, emotional design based on the emotional engineering in a structural change of modern society such as urbanization, small family, aging society is proposed as an important keyword in the modern design. Namely, furniture as an component of modern residential space has been advanced as a human-oriented environmental element considering people's emotional and mental value to the functional satisfaction and artistic and emotional satisfaction. Furniture is a living tool that is much contacted to people, which affects highly on people's body and mind. This means that people's volition action can be naturally induced by furniture design, and that furniture can display a role as an active tool of means to make people's interpersonal communication and interchange. Namely, I think furniture design of emotional interchange that understands furniture user's pattern behavior and pattern, and observes furniture form and structure and functionality on users' relationship affecting on people's emotional stability and interpersonal interchange of emotion, as an indispensable element necessary for producing more human and prosperous environment of life.

• Smart Structures and Systems
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• v.8 no.1
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• pp.39-52
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• 2011

We are developing a biomimetic robot based on the Sea Lamprey. The robot consists of a cylindrical electronics bay propelled by an undulatory body axis. Shape memory alloy (SMA) actuators generate propagating flexion waves in five undulatory segments of a polyurethane strip. The behavior of the robot is controlled by an electronic nervous system (ENS) composed of networks of discrete-time map-based neurons and synapses that execute on a digital signal processing chip. Motor neuron action potentials gate power transistors that apply current to the SMA actuators. The ENS consists of a set of segmental central pattern generators (CPGs), modulated by layered command and coordinating neuron networks, that integrate input from exteroceptive sensors including a compass, accelerometers, inclinometers and a short baseline sonar array (SBA). The CPGs instantiate the 3-element hemi-segmental network model established from physiological studies. Anterior and posterior propagating pathways between CPGs mediate intersegmental coordination to generate flexion waves for forward and backward swimming. The command network mediates layered exteroceptive reflexes for homing, primary orientation, and impediment compensation. The SBA allows homing on a sonar beacon by indicating deviations in azimuth and inclination. Inclinometers actuate a bending segment between the hull and undulator to allow climb and dive. Accelerometers can distinguish collisions from impediment to allow compensatory reflexes. Modulatory commands mediate speed control and turning. A SBA communications interface is being developed to allow supervised reactive autonomy.

• Asian Pacific Journal of Cancer Prevention
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• v.15 no.16
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• pp.6477-6483
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• 2014

Background: Shammah is a traditional form of chewing tobacco [smokeless tobacco, (ST)] that is commonly used in the Middle East especially in Saudi Arabia (KSA), Yemen and Sudan. The Substance Abuse Research Centre (SARC) at Jazan University noted that no adequate research and information on the prevalence of shammah use in the province of Jazan, and KSA as well, has been provided in the scientific literature. Materials and Methods: An intensive systematic review of online databases was performed, including AMED (The Allied and Complementary Medicine Database), Biological Abstracts, Cochrane Collection Plus, Dentistry and Oral Sciences Source, E-Journals Database, EBSCO Discovery Service, MEDLINE, PEMSoft, PEP Archive, PsycARTICLES, scopus, Sciencedirect and Google Scholar. Results: Shammah is a mixture of powdered tobacco, lime, ash, black pepper, oils and flavorings. ST in KSA is placed in the buccal or lower labial vestibule of the mouth. The user (or dipper) spits out insoluble debris. The importation of ST products is prohibited in KSA. Accessible information on legislative action to control the use of ST in KSA appeared in 1990. The actual percentage use may be higher, than reported since shammah is illegal in KSA and there may be some reluctance to admit to its use. Conclusions: This review paper is an initial step in a funded research project by SARC to understand the pattern of use of shammah and provide adequate epidemiological data. One goal of this review is to generate further data for public health education.

• Journal of Korean Academy of Nursing Administration
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• v.3 no.1
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• pp.17-35
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• 1997

The purpose of this study was to identify the formation and changing pattern of nursing perspectives of nursing students. 176 subjects were composed of 118 nusing students and 58 non-nursing students. The data were collected through openended question and structured questionair. The result were as follows : 1. Nursing perspectives were classified six categories(nature of nursing, image of nursing, component of nursing, meaning of nursing, range of nursing, function of nursing) 2. As increased major lecture period, the item of ${\lceil}$Nursing is helping${\rfloor}$ was changing positively. 3. As incresed clinical practice, the student's perception about items of ${\lceil}$Nursing has gap between theory and practice${\rfloor}$, ${\lceil}$Nursing is helping${\rfloor}$ was increased. 4. As increased self-concept, the students were considered the item of ${\lceil}$Nursing is action that giving knowledge and helping to effective coping for individual and group${\rfloor}$ significantly. 5. 1) The students having religion were considered the item of ${\lceil}$Nursing must doing politely${\rfloor}$ significantly relatively to the students don't have religion. 2) The students having experience of admission to hospital in their or their family had negative nursing perspectives. 3) Against the students who select nursing major for his high school perfoermonce and advice of their significant others, the students who select nursing major for service had positive nursing perspectives.

• IEIE Transactions on Smart Processing and Computing
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• v.3 no.4
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• pp.195-204
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• 2014

This paper presents the depth evaluation for object detection by automated assembling robots. Pattern distortion analysis from a structured light system identifies an object with the greatest depth from its background. An automated assembling robot should prior select and pick an object with the greatest depth to reduce the physical harm during the picking action of the robot arm. Object detection is then combined with a depth evaluation to provide contour, showing the edges of an object with the greatest depth. The contour provides shape information to an automated assembling robot, which equips the laser based proxy sensor, for picking up and placing an object in the intended place. The depth evaluation process using structured light for an automated electronics assembling robot is accelerated for an image frame to be used for computation using the simplest experimental set, which consists of a single camera and projector. The experiments for the depth evaluation process required 31 ms to 32 ms, which were optimized for the robot vision system that equips a 30-frames-per-second camera.

• Journal of the Institute of Electronics and Information Engineers
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• v.49 no.12
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• pp.249-255
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• 2012

A cochlear implant system uses charge-balanced biphasic pulses that are known to reduce tissue damage than monophasic pulses. In this study, we investigated effect of pulse pattern on neural responses using a computer model, based on the Hodgkin-Huxley equation. Electric pulse phase, pulse duration, and phase gap have been systematically varied to characterize auditory nerve responses. The results show that neural responses, dynamic range and threshold are represented as a function of stimulus patterns and duration. The results could greatly extend to develop more efficient cochlear implant stimulation.

• Biomolecules & Therapeutics
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• v.12 no.1
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• pp.19-24
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• 2004

The vascular relaxant effect of amlodipine adipate, a new salt of amlodipine, was evaluate in isolated rat aorta, and compared with that of amlodipine besylate. Furthermore, antihypertensive effects were measured in hypertensive rat models, such as spontaneously hypertensive rats (SHR) and rena1 hypertensive rats (RHR). Amlodipine adipate concentration-dependently inhibited $Ca^{2+}$-induced contraction of rat aorta with a very slow onset of action (reached its maximum at 3.5 h;$IC_{50}$: 3.76 nM), having a pattern and a potency similar to those of amlodipine besylate ($IC_{50}$: 4.01 nM). In SHR and RHR, orally administered amlodipine adipate produced a dosedependent and long-lasting (>10-24 h) antihypertensive effect ($ED_{20}$: 2.48 and 1.57 mg/kg, respectively), with a pattern and a potency similar to those of amlodipine besylate ($ED_{20}$: 2.50 and 1.99 mg/kg in SHR and RHR, respectively). These results suggest that amlodipine adipate is a potent and long-lasting antihypertensive agent and that its antihypertensive effect is not significantly different to that of amlodipine besylate.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.39 no.3
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• pp.263-272
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• 1990

In the variable speed driving system of a three phase induction motor controlled by a PWM inverter, the output terminal contains considerable amount of harmonic components of the voltage waveform due to the switching action of semiconductor devices, causing torque ripples, acoustic noise and oscillation of the motor. This paper describes a new algorithm which eliminates the harmonics and controls the fundamental voltage in three phase PWM inverter output waveform. The new algorithm utilizes the technique of particular harmonics elimination (PHE) by walsh series in three phase PWM inverter output waveform. A microprocessor (8086 CPU)-controlled three phase induction motor system is described to realize this algorithm. The system is designed for 3 phase output voltage in the 1-60Hz interval where 5th and 7th harmonics, and 5th, 7th, 11th, and 13th harmonics are eliminated. Also, the fundamental wave amplitude is designed to be proportional to the output frequency. The performance of the proposed method shows sufficient elimination of the harmonics and also reduction of computation time which determines switching pattern. The proposed PWM pattern by Walsh series, is effective not only to induction motors but also to other electromagetic equipments such as voltage regulators and UPS.

• Journal of the Korea Institute of Information Security & Cryptology
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• v.13 no.4
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• pp.151-159
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• 2003

Internet as being generalized, intrusion detection system is needed to protect computer system from intrusions synthetically. We propose an intrusion detection method to identify and control the contradiction on self-explanation that happen at profiling process of anomaly detection methodology. Because many patterns can be created on profiling process with association method, we present effective application plan through clustering for rules. Finally, we propose similarity function to decide whether anomaly action or not for user pattern using clustered pattern database.