• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.2
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• pp.299-306
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• 2016

In this paper, a method of shape prediction of an endoscope handling robot that can imitate a surgeon's behavior using a sensor network is suggested. Unit sensors, which are composed of a 3-axis magnetometer and 3-axis accelerometer pair comprise the network through CAN bus communication. Each unit of the sensor is used to detect the angle of the points in the longitudinal direction of the robot, which is made from a flexible tube. The signals received from the sensor network were filtered using a low pass Butterworth filter. Here, a Butterworth filter was designed for noise removal. Finally, the Euler angles were extracted from the signals, in which the noise was filtered by the low path Butterworth filter. Using this Euler angle, the position of each sensor on the sensor network is estimated. The robot body was assumed to consist of links and joints. The position of each sensor can be assumed to be attached to the center of each link. The position of each link was determined using the Euler angle and kinematics equation. The interpolation was carried out between the positions of the sensors to be able to connect each point smoothly and obtain the final posture of the endoscope in operation. The experimental results showed that the shape of the colonoscope can be visualized using the Euler angles evaluated from the sensor network suggested and the shape of serial link estimated from the kinematics chain model.

• The Korean Journal of Rehabilitation Nursing
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• v.6 no.1
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• pp.79-89
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• 2003

Purpose: This research with one group pre-post design was carried out to test the practical feasibility to administrate the Music Movement program developed for the stroke patients. Subjects: 12 stroke survivors at "J" Public Health Center in Seoul. were participated in. The average age was 68 years old, the ratio of sex was almost 5.8:4.2, the duration of was almost over 1 year. Method: Music Movement program was conducted for 2 hours ${\times}$ 1day ${\times}$ 6 weeks. The contents of Music Movement program were consisted of the preparatory activities, main activities and the wrap up activities. The preparatory activities are ice braking, greeting, explanation of the aims of music movement program, and introduction of stroke disease and ROM exercise. The main activities are the body motions with singing and playing musical instruments. The wrap up activities are stretching and joints and discussion of home activities. Data Collection: The outcome variables are muscle strength, finger pinch power, ROMs, flexibility, depression, and life satisfaction. Depression was measured by CES-D(Kim, I. J., 1999), life satisfaction by ladder scale(McDowell & Newell, 1996), and ADL state(Holbrook & Skilbeck, 1983). Data Analysis: SPSS/PC 10.0 for Window was used. Wilcoxon Signed Ranks Test was used to analyze outcome measures. The level of statistical significance was set at p<.05. Results: This program was effective to decrease the depression level of subjects(p<.05). The muscle strength, hand grip power, ROMs, life satisfaction, and rehabilitation state of the subjects were slightly increased but no significant differences were found between the pre and post test. Additionally every patient replied that they were very satisfied and expressed their appreciation for this program very much. Of course they strongly want to continue to participate in and meet the peer group again. Conclusion: Considering these results, the practical feasibility of Music Movement program can be supported. Therefore, this Music Movement program can be examined with the quasi-experimental design with control group and ongoing reviews. After that, this program would be applied in public health centers, medical institutes, and welfare centers for the rehabilitation of stroke patients.

• Korean Journal of Veterinary Research
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• v.46 no.4
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• pp.395-398
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• 2006

A 2-month-old female Shih-tzu dog was referred because of lameness, exercise intolerance, depression, elbow and stifle joint swelling. Physical examination, complete blood counts, serum-chemistry, radiography, synovial fluid analysis, antinuclear antibody test, and rheumatoid factor measurement were initiated. On radiography, soft tissue swelling of elbow and stifle joints without erosiveness were founded. The results of synovial fluid analysis revealed severe neutrophilic pleocytosis (nondegenerative), decreased viscosity, increased turbidity, positive on mucin-clot test, and negative on bacterial culture. The results of rheumatoid factor measurement and antinuclear antibody test were negative and below 1 : 40, respectively. Based on all tests, we diagnosed this case as juvenile onset type I immune-mediated polyarthritis. Azathioprine (1 mg/kg body weight, per os q 24 h, for 4 weeks) was then administered and clinical signs improved gradually. Four weeks after azathioprine administration, clinical signs were disappeared. This report describes the clinical findings, imaging characteristics, synovial fluid findings, and other laboratory results of type I immune-mediated polyarthritis and successful management with azathioprine therapy.

• Korean Journal of Applied Biomechanics
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• v.19 no.4
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• pp.637-645
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• 2009

The purpose of this study was to investigate the biomechanical alterations in the punching motion of 10 elderly women after 12 weeks of taekwonaerobics training. Seven infrared cameras(Qualisys MCU-240) and 2 force platforms(Kistler-9286AA) were used to acquire raw data. The results were as follows. First, the minimum joint angles of the lower limbs had a statistically significant difference between both the dorsiflexion/plantar flexion(1eft, $p=0.001^*$) and the inversion/eversion(both, $p=0.009^*$, $p=0.04^*$) from the ankle angle. There were differences in abduction/adduction(left, $p=0.04^*$) from the knee angle, as well as internal/external rotation(both, $p=0.07^*$, $p=0.02^*$) from the hip angle. Second, the maximum resultant joint moments of the lower limbs had statistically significant differences in the inversion/eversion moment from the ankle joint(both, $p=0.05^*$, $p=0.05^*$), the abduction/adduction moment(left, $p=0.08^*$) from the knee joint, and the internal/external rotation moment(right, $p=0.09^*$) from the hip joint. Third, the maximum resultant joint powers of the lower limbs had a statistically significant difference both in flexion/extension joint powers(both, $p=0.05^*$, $p=0.01^*$) and in abduction/adduction(both, $p=0.02^*$, $p=0.00^*$) from the hip joint, as well as abduction/adduction(left, $p=0.00^*$) from the knee joint, In conclusion, the elderly women were somewhat changed after 12 weeks of taekwonaerobics training.

• Applied Microscopy
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• v.28 no.1
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• pp.107-119
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• 1998

This study was designed to investigate the appearence and the characteristics of the apoptotic cells and the process of the joint cavity formation in mouse knee joint. Fetal mouse knee joints from 15 to 19 days of gestation were used. Paraffin-embedded serial sections, stained with H & E for light microscopic observation, Epon 812 embedded thin sections for electron microscopic observation and Lowicryl HM 20 embedded thin sections for immune-electron microscopic observation were prepared. Monoclonal antibodies to $\beta-tubulin$ and polyclonal antibodies to tissue transglutaminase were used for immune-electron microscopic study. The results obtained were as follows. 1. At 15 days of gestation, blood vessels, which have invaded in the mesenchymal cells, were present in the synovium, to form the joint cavity in the future. 2. At 16 days of gestation, the joint cleft was first appeared and several RBCs were present in the joint cleft. The invasion of blood vessels into the joint cleft was continuing, and apoptotic cells were present in the inner cell layer, adjacent to the joint cleft. Necrotic cells were also present in the outer cell layer; they were present 18 days of gestation, but apoptotic cells did not appear after 17 days of gestation. 3. In the apoptotic cells, transglutaminase were localized around vacuoles and the marginal site of the cytoplasm. 4. In the apoptotic cells, tubulin was around the endoplasmic reticulum and the marginal site of the cytoplasm. In the late stage of apoptotic cells, tubulin was localized diffusely in the cytoplasm. Tubulin was also strongly labeled around in the cytoplasm of the neighboring cell at which the apoptotic body was phagocytosed. Tubulin labeled particles were apparently increased in the seperated apoptotic bodies. On the basis of the above findings, it is proposed that during the development of the mouse knee joint, blood vessel invasion first occurs and then apoptosis and cell necrosis follow it. In the apoptotic cell, present in the synovium of the developing knee joint of the mouse. it is suggested that the redistribution of tubulin is associated with apoptotic process. And transglutaminase overexpressed in the apoptotic cell.

• Journal of the Korean Society for Railway
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• v.15 no.5
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• pp.485-497
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• 2012

Recently, with increasing social interests on noise and vibration induced by railway traffic, the application of floating slab track that can efficiently reduce the railway vibration is increasing. In this study, to more accurately understand the dynamic behavior of the floating slab track, a laboratory mock-up test has been performed, and the static and dynamic behaviors at frequency range near the system resonance frequency were explored. Based on the test results, the design of the floating slab track and the structural analysis model used in the design have been verified. The analytic and test results demonstrate that the dominant frequency of the floating slab track occurs at the frequencies between vertical rigid body mode natural frequency and bending mode natural frequency, and the dominant deformation mode is close to the bending mode. This suggests that in the design of the floating slab track, the bending rigidity of the slab and the boundary conditions at slab joints and slab ends should be taken into consideration. Also, the analytic results by the two-dimensional finite element analysis model using Kelvin-Voigt model, such as static and dynamic deflections and force transmissibility, are found in good agreement with the test results, and thus the model used in this study has shown the reliability suitable to be utilized in the design of the floating slab track.

• The Research Journal of the Costume Culture
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• v.18 no.2
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• pp.261-276
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• 2010

The analysis of an art trend in the principle dimension starts by observing the object of work in the perspective of formative composition and recognizing it as a universal system. It can be said that it is consistent with an interpretation method for a form theory of formal history by Heinrich W$\ddot{o}$lfflin, a leading form critic in art criticism. Hence, the purpose of this study was to find out what are the formative principles in Renaissance Classicism as a design principle to be applicable to modern fashion by reviewing the formative characteristics of Renaissance Classicism Architecture with which W$\ddot{o}$lfflin directly dealt. As for the theoretical literature review, I used W$\ddot{o}$lfflin's theoretical framework and looked at the Renaissance Classicism Architecture that he studied and examined the possibility of utilizing his theory as a layout principle and the characteristics. As for analysis of design cases, I applied the aforementioned architecture layout principle to modern fashion and conducted case study analysis to delve into distinctive layout principles found in fashion. The study showed that the Renaissance Classicism Architectural Style is marked by linearity, planarity, closing and multiple unity: linearity was expressed in the observation form in fixed frontal view and an emphasis on a tangible silhouette homeogenous and definite line structures; planarity was achieved in the form of paralleled layers of frontal view element, planarity style, and identical and proportional repetition of various sizes.; closing signified the pursuit of complete and clear regularity, and architecture developed in a constructive phase through organizational inevitability and absolute invariability.; multiple unity was expressed in self-completedness and independent parallel of discrete forms and harmony of emphasized individual elements in a totality. Applying these layout characteristics of the Renaissance Classicism Architectural style and to see their individual expressive features, I found out that in adopting layout principles of the Renaissance Classicism Architecture to modern fashion, it turned out to be an emphasis of individual silhouettes, a flattened space, completed objects, organic harmony among independent parts: the emphasis of individual silhouettes was expressed in individual definitiveness of formative lines of clothes in accordance with body joints and an emphasis on formative lines of clothes; the flattened space was marked by single layer structure, planarity of elements of clothes, and listing arrangement by appropriate proportion.; the completedness of the objects was expressed by the stationary state where overall image is fixed, the construction of homogeneous and complete space, and absolute inevitability of internal layout in proportion; lastly, organic harmony of independent parts was stressed in independent completedness of each detail, and organic harmony of the whole. The expressive features would lead to a unique expression style of linear emphasis, proportion, constructive forms, and two-dimensional arrangement. The meaning of this study is follows: The characteristics of art school of thought are given shape by appling & analysing the architectural layout principles of historical art school of thought to modern fashion in the view point of formal construction dimension. The applied possibility of historical art school of thought as the source of inspiration about the fashion design is extended.

• Journal of the Korean Institute of Oriental Medical Informatics
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• v.17 no.2
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• pp.82-129
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• 2011

"Beijijiufa" is a medical book republished by Sun Ju Qing in 1245. He compiled this book having added "Qizhumajiufa" and "Zhugejingyanbeijiyaofang" to the contents of "Beijijiufa" authored by Wen Ren Qi Nian. In "Beijijiufa" the author described treatment methods making use of moxibustion methods in connection with 22 cases of acute diseases. The author had collected the moxibustion methods used to treat acute diseases, which had been practiced by the medical practitioners of many generations, and quoted total 13 medical men's practices. In the book, the greatest parts of details were quoted especially from the writings of Sun Si Miao and Ge Hong, and this shows that the medical philosophies of both Sun Si Miao and Ge Hong were reflected onto "Beijijiufa". He had differed on his moxibustion practice: the size of moxa wool, the number of moxibustion treatment, and method of moxibustion for male and female were differed from one another according to the disease. As to the area of moxibustion, he chose the body parts around under four limbs and joints, and mostly used extraordinary acupoints rather than twelve main meridians. In his descriptions of finding meridian points, he did not describe it by its specific name of the reaction point, but explained the location of moxibustion points in detail through pictures. "Qizhumajiufa" is related to moxibustion method and prescriptions to treat surgical diseases, like skin boils or furuncle on the back, etc. He easily explained the method to find the meridian points for moxibustion treatment by using particular way through diagrams and pictures. Eight prescriptions he used were the collections among the historical practices of medical practitioners of many generations for skin boils which showed excellent therapeutic actions. In "Zhugejingyanbeijiyaofang", there are prescribed for 36 disease, also is the records of treatment methods for medical emergency which would be encountered easily in everyday life. As to therapeutic remedies, varied treatment methods, including the treatment by means of pasting and attaching medicinal substance to the spot, the treatment by means of mixing medicinal substance with alcoholic beverage, cleansing method, smoke inhalation remedy etc. were introduced. In "Beijijiufa" moxibustion was regarded as a top priority for treatment of acute disease, and the author strived to present remedies to the readers as easily as possible through 19 pictures. Regarding prescriptions, the author introduced diverse treatment methods with respect to various disease symptoms, and described the method to treat disease symptoms making use of medicinal ingredients which can easily be found in daily life. Likewise, "Beijijiufa" compiled by Sun Ju Qing was intended for clinical practice, and was indeed a medical book having been utilized for treatment of acute diseases in those days.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.4
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• pp.1824-1832
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• 2011

In this paper, a smart home service robot McBot II is newly developed in much more practical and intelligent system than McBot I which we had developed a few years ago. Thus far, vacuum-cleaners have lightened the burden of household chores but the operational labor that vacuum-cleaners entail has been very severe. Recently, a cleaning robot was commercialized to solve but it also was not successful because it still had the problem of mess-cleanup, which pertained to the clean-up of large trash and the arrangement of newspapers, clothes, etc. Hence, we develop a new home mess-cleanup robot McBot II to completely overcome this problem on real environments. The mechanical design and the basic control of McBot II, which performs mess-cleanup function etc. in house, is actually focused in this paper. McBot II is mechanically modeled in the same method that the human works in door by using the waist and the hands. The big-ranged vertical lift and the shoulder joints to be able to forward move are mechanically designed for the operating function as the human's waist when the robot works. The mobility of McBot II is designed in the holonomic mobile robot for the collision avoidance of obstacle and the high speed navigation on the small area in door. Finally, good performance of McBot II, which has been optimally desinged, is confirmed through the experimental results for the control of the robotic body, mobility, arms and hands in this paper.

• Journal of the Korean GEO-environmental Society
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• v.20 no.3
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• pp.21-30
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• 2019

Composite pile, which is composed of the steel pipe pile in which the large horizontal force acts and the PHC pile in which the small horizontal force acts by a special connecting devices, is being commercialized as a base material for civil engineering structures. The core of such a composite pile can be said to be a design criterion for estimating the joint position and stability of the connection device between steel pipe pile and PHC pile. In Korea, there is no precise specification for the location of composite pile joints. In the LH Design Department (Korea Land & Housing Corporation, 2009), "Application of composite pile design and review of design book marking" was made with reference to Road Design Practice Volume 3 (Korea Expressway Corporation, 2001). this is used as a basis of the design of the composite pile. It can not be regarded as a section change of the composite pile, so it has a limitation in application. Therefore, In this study, we propose a design criterion for the location of the section of the composite pile (joint of steel pipe pile and PHC pile) and evaluate the stability and economical efficiency of it by using experimental method and analytical method. Analysis of composite pile design data installed in 79 domestic bridges abutment showed that the stresses, bending moments, and displacements acting on the pile body and connection of the pile were analyzed. Through the redesign process, it was confirmed that the stresses generated in the connecting device occur within the allowable stress values of the connecting device and the PHC pile. In conclusion, the design proposal of composite pile joint location through empirical case study in this study is an improved design method considering both stability and economical efficiency in designing composite pile.