• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1993년도 춘계학술대회 논문집
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• pp.218-222
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• 1993

A sliding mode controller associated with the moving sliding surface is formulate for the tip position control of a single-link flexible manipulator. After establishing the plant model which characterizes a noncollocated control system, a discontinuous control law is then constructed by restricting that velocity state variables are not available from direct sensor measurements. Using the proposed control law favorable system responses are accomplished through shortening the reaching phase without increasing maximum control torque. Furthermore, a low sensitiveness to extraneous disturbance is obtained. Computer simulations are undertaken in order to demonstrate these superior control performance characteristics to be accrued from the proposed methodology.

• 한국산업융합학회 논문집
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• 제18권3호
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• pp.157-166
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• 2015

In this paper, we proposed a new robust control scheme to implement stable control of robot manipulators including nonlinear perameters The proposed robust controller is composed of a nonlinear controller and linear compemsation controller. It shows a good robust performance in reaching mode which does not possess invariance property. Thus, the proposed nonlinear controller showed a good robust performance in the whole region, It was illustrated that the proposed control showed a good transient response and trajectory tracking performance for robot manipulator with four joint by experiments.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1997년도 추계학술대회 논문집 학회본부
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• pp.80-82
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• 1997

A robust position control system for a BLDC motor using new sliding mode control strategy is presented. Using the new variable structure system, reaching phase problem is eliminated and transient response is largely improved by design of nonlinear sliding surface. The design of the sliding mode position controller is robust in motor parameter, load variations and disturbance. Experiment results show that the proposed approach can achieve accurate position motor tracking in face of large parameter variations and external disturbances, such as a robot arm, etc.

• PNF and Movement
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• 제15권1호
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• pp.13-25
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• 2017

Purpose: This study investigated the coordination and contribution of body segments during functioning. Methods: The relevant literature related to body segments and function were reviewed. Results: Efficient control of function is considered with regard to a participant's ability to perform a sequence of movements in body segments, which progresses from the head to the arm, trunk, pelvis, and leg segments. Each segment performs a specific role, which environment explorer using visual information for the head, reaching and grasping for the arms, a stabilizer for the trunk, and the distribution of COM in the pelvis and leg. Conclusion: During any of the movements, the momentum generated by the proximal segments is transferred to the adjacent distal segments in an appropriate sequence. In assessing function for clinical intervention strategies, the segment coordination, segment sequence, transfer of the center of body mass, asymmetrical ratio, muscle activity, and compensatory strategies should be considered.

• 로봇학회논문지
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• 제18권3호
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• pp.323-329
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• 2023

This paper discusses the application of collaborative robots to the de-palletizing in IMC (Inte-grated Mail Center). The domestic courier logistics market has grown rapidly, and logistics centers are reaching critical capacity. Therefore, digital innovation based on logistics automation is necessary, and this paper looks at the factors to be considered when introducing collaborative robots and improvement measures considering the characteristics of the de-palletizing task. The benefits of introducing collaborative robots include immediate efficiency and the goal of assisting workers. The paper reviews related research and cases of collaborative robots applied to logistics centers and summarizes the results of collaborative robots introduced to actual postal logistics centers. The paper also provides a comparison of collaborative robots and industrial robots and presents four candidates for collaborative robots for logistics work. The paper also considers suction grippers to be mounted on the arm to grasp the parcel. The paper concludes by discussing the introduction of collaborative robots in the post office logistics center.

• Physical Therapy Rehabilitation Science
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• 제9권2호
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• pp.74-81
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• 2020

Objective: To prevent low back pain, an objective evaluation tool to evaluate pelvic mobility and exercise to improve the flexibility of the lumbar region is needed. The purpose of this study was to compare the results of pelvic mobility measurements using the Wii Balance Board (WBB) and Sensbalance Therapy Cushion (STC), evaluate the usefulness of the STC as a tool for measuring pelvic mobility. Design: Cross-sectional study. Methods: Fifty healthy subjects participated in this study. The subjects performed pelvic mobility range, proprioception, reaction time and reach of the arm using the STC. The pelvic movement parameter was measured two times to determine the intra-rater reliability. To measure the correlation between lumbar muscle tension and pelvic mobility, Myovision was used to measure tension of L4, L5 level erector spinae muscle. Correlations between measured variables were checked to determine the validity of the pelvic mobility assessment tool. Results: STC showed high test-retest reliability in pelvic tilt measurement and reaching task [intraclass correlation coefficients (3,1)=0.804-0.915]. The relationship between WBB and STC showed a significant positive correlation with the pelvic tilt and reaching task (p<0.05). Posterior tilt and erector spinae activation (Lt. L5) showed a significant negative correlation (p<0.05). Left, right tilt and erector spinae activation (L5) showed a significant negative correlation (p<0.05). Conclusions: This study confirmed the advantages of the STC and found efficiency as an objective measuring device of pelvic mobility.

• 대한한의학회지
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• 제36권2호
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• pp.1-7
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• 2015

Objectives: To report on the result of infertility treatment with Korean medicine in clinical settings. Methods: This study was single arm, retrospective observational study. Analysis of the medical records on thirty four infertile women who were treated by acupuncture, moxibustion, herbal medicine(Jokyungjongoktang-gagambang, Sutaehwan-gagambang). Pregnancy rate(PR) and Live birth rate(LBR) were analyzed as the primary outcomes. Changes of AMH, FSH, LH, $E_2$, $P_4$, endometrial thickness, fat mass, and BMI were also analyzed as the secondary outcomes. Results: A total of 34 patients were treated in the traditional Korean medical clinic. Nine patients were dropped, and 25 subjects completed the final examination at the end of this treatment schedule. Five of 25 subjects conceived during treatment, reaching 20% PR and LBR was also 20%. Except for FSH level, the results of the remaining outcome measures, including LFT, showed no significant changes. No serious adverse event has been reported. Conclusion: Although no significant changes in bio-markers were observed, complex treatment using Korean medicine has shown effectiveness on women's infertility. In addition, the safety of the treatment has been verified.

• 한국전문물리치료학회지
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• 제12권1호
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• pp.1-10
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• 2005

The purpose of this study was to verify the most effective spinal stabilization exercises program by comparing the activities of muscles contributing to spinal stabilization during four types of exercises using a sling and a mat. Twenty healthy males were recruited and each subjects performed four types of exercises. Exercise 1 was performed in a quadruped position with the subjects lifting the left arm and the opposite leg on the mat. Exercise 2 was performed in a prone position while holding a sling with the right hand and the left knee was fully extended while lifting the left arm and right leg. Exercise 3 was performed in quadruped position while holding a sling with one the right hand and lifting the opposite arm and leg. In exercise 4, subjects were instructed to maintain a balance push-up position while holding slings with both hands in 10 cm forward reaching with extended elbows. Electromyographic(EMG) activities were recorded from the multifidus, external oblique, internal oblique, abdominal rectus, and erector spinalis muscles during the exercises. The EMG amplitude of each muscle was normalized to the amplitude in the maximal voluntary isometric contraction (MVIC) of each muscle. Repeated ANOVA and Bonferroni's tests were used to compare the differences in the muscle activity according to the types of exercise. The EMG amplitudes of all the muscles were significantly different according to the types of exercises (p<.05). The highest EMG activities of each muscle was as follow; multifidus was 73.38%MVIC in exercise 3, the erector spinalis was 40.03%MVIC in exercise 3, the external oblique was 135.88%MVIC in exercise 4, the internal oblique was 128.60%MVIC in exercise 4, and the rectus abdominalis was 95.24%MVIC in Exercise 4. The types of exercises showed a significant difference in composition rate of EMG amplitudes of each muscle (p<.05). EMG composition rate of the multifidus was high in exercise 1 and 3. However, EMG composition rates of the external oblique, internal oblique, and the rectus abdominals were high in exercise 2 and 4. These results showed differences in EMG activities of muscles contributing to trunk stabilization during different therapeutic exercises. Therefore, the type of exercise should be carefully selected to effectively strengthen a specific trunk stabilizer.

• 전자공학회논문지 IE
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• 제47권3호
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• pp.19-25
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• 2010

의약품 정보에 대한 접근이 쉽지 않은 시각장애인을 위해 의약품 정보 안내 단말기를 개발하였다. 본 연구에서는 시각장애인에게 의약품 관련 정보를 전달하기 위하여 RFID 기술을 사용하였다. 안내단말기로 의약품에 부착된 RFID 태그를 인식하면 태그의 고유 ID에 따라 단말기를 통해 음성으로 의약품 정보를 안내하도록 하였다. 의약품 정보는 식품의약품안전청에서 운영하는 이지드럭 사이트를 통해 의약품 정보를 취득하도록 하였다. 정보 안내 단말기는 휴대가 간편하도록 목걸이 형태로 제작 하였으며, 평상시에도 유용하게 사용할 수 있도록 mp3 재생기능을 탑재하였다. 본 연구에서는 단말기의 코어칩으로 ARM 계열의 Cortex M3 칩을 사용하였고, RFID 회로를 구현하기 위하여 저전력의 NXP의 MFRC523 칩셋을 사용하였다. MFRC523 칩은 모바일에 적용되는 저전력 기능이 탑재되어 있다. 음성회로를 구현하기 위해서는 VS1003B MP3 Decoder IC를 사용하였고 의약품 정보서버와의 무선 통신을 위해는 CC2500 칩셋을 사용하였다. RFID 프로토콜은 ISO 14443A 타입과 B타입을 모두 지원하도록 개발하여 다양한 프로토콜로 확장이 가능하도록 개발하였다. 본 시스템을 사용하면 시각장애인에게 의약품 정보를 편리하게 전달할 수 있어 시각장애인의 의약품 오남용을 줄일 수 있다.

• Journal of Chest Surgery
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• 제23권5호
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• pp.929-935
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• 1990

Violence in our society, combined with improving transport system, resulted in increased numbers of patients with cardiac wounds reaching the hospital alive. Most patients with penetrating cardiac injury, rather than blunt injury, present with a syndrome of either hemorrhagic shock or cardiac tamponade. And they should be operated upon as soon as possible. Often the atrioventricular valves and other important cardiac structures are also damaged by the penetrating instruments or missile. Both intracardiac communications and atrioventricular fistulas may result in significant left-to-right shunts accompanied by congestive heart failure, necessitating surgical correction. Usually, retained cardiac foreign bodies, which are almost always bullets or fragments of missiles, may lie within a cardiac chamber or in the myocardium. Emboli of bullets or other missiles from distant sites to the right side of the heart are numerous enough to require attention. Recently we experienced a case with intracardiac foreign body due to penetrating cardiac injury. A 19 year-old man was admitted to our hospital due to penetrating anterior chest wound by iron segment. The roentgenogram of the chest revealed a radio-opaque metallic shadow in left lower chest around the cardiac apex, mild blunting of left costophrenic space, but no cardiomegaly. During operation the foreign body was noted to be present in the cardiac chamber by the portable C-arm fluoroscopy. But during the manipulation it moved into left inferior pulmonary vein from left ventricle by way of left atrium. So we could manage to remove it from left inferior pulmonary vein by direct approach to the vein. It was iron segment, sized 0.lcm x0.6cmx0.5cm, with sharp margins. The patient had an uneventful postoperative recovery except for chylopericardium and was discharged.