• Journal of Institute of Control, Robotics and Systems
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• v.15 no.10
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• pp.1029-1038
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• 2009

This paper proposes a gain switching algorithm for joint position control of a hydraulic humanoid robot. Accurate position control of the lower body is one of the basic requirements for robust balance and walking control. Joint position control is more difficult for hydraulic robots than it is for electric robots because of an absence of reduction gear and better back-drivability of hydraulic joints. Backdrivability causes external forces and torques to have a large effect on the position of the joints. External ground reaction forces therefore prevent a simple proportional-derivative (PD) controller from realizing accurate and fast joint position control. We propose a state feedback controller for joint position control of the lower body, define three modes of state feedback gains, and switch the gains according to the Zero Moment Point (ZMP) and linear interpolation. Dynamic equations of hydraulic actuators were experimentally derived and applied to a robot simulator. Finally, the performance of the algorithm is evaluated with dynamic simulations.

• Journal of Acupuncture Research
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• v.18 no.5
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• pp.204-212
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• 2001

Objective : Septic arthritis is a disease of when bacterial infection causes inflammatory reactions to occur in the body's joints. Following damage, stiffness, and disformity may occur in the joints. Initially antibiotic treatment is used. Later treatment is the preservation and rehabilitation of the joints. Here we report a case of sequelae of septic arthritis, which is treated and managed by ways of oriental medicine. Methods : We considered that symptoms like fever, arthralgia and ankylosis were similar to Yeol-bi(熱痺) and the patient's constitution was Soyang-in(少陽人). So Yangguksanhwa-tang(凉膈散化湯) was used as medication, and acupuncture, TENS, rehabilitation treatment was carried out. Also Kinesio & Cross(Geok-ja(격자)) taping therapy was done after the contact test. Results : After 4-7 days from the end of antibiotic treatment, the patient regained movement in the joints. After 3 weeks, the patient was able to support his own weight, and one week later joints were restored to nearly normal range. Therefore sequelae of Septic arthritis is thought to be treated earlier when the above treatment is used, compared to western treatment, which mainly consist of antibiotic treatment. Conclusion : This case was managed by herbal medicine, acupuncture, TENS, rehabilitation treatment, and Kinesio & Cross(Geok-ja) taping therapy on sequelae of Septic arthritis. Earlier improvement was gained comparatively to western treatment, which mainly consist of antibiotic treatment.

• Journal of the Korea Safety Management & Science
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• v.19 no.1
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• pp.95-101
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• 2017

The purpose of this study was to investigate the biomechanical of K-Pop dance movement. The study was conducted on 15 male and 15 female subjects in 20-30 age groups. And they choose 150 K-Pop dance choreographies in the top 10 ranking of the main charts. We analyzed the RoM, joint moment and impulse force of the highlight movements. First, During the K-Pop dance motion, the usage of knee joints are more than the hip joints and the ankle joints, and female dancers has a larger range of motion than the male dancers. Second, male dancer uses more than female dancers when they compared the load of male dancers and female dancers. In particular, flexion and extension of the hip joints are mostly used in this study. Third, the impulse force of male dancers was greater than of female dancers, but it was statistically insignificant, this is equal to the impulse on walking. In conclusion, Female dancers use more range of motion than male dancers, but male dancer choreography requires greater torque, which can strain joints. Most choreographic exercises involve movements such as hip joint, knee joint, flexion of ankle joint, extension, rotation, and jumping.

• Journal of Physiology & Pathology in Korean Medicine
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• v.21 no.5
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• pp.1154-1162
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• 2007

This study was to investigate the effects of Bee-venom Treatment on the monosodium iodoacetate(MIA)- induced osteoarthritis in rats. Arthritis was induced by injection of MIA(0.5 mg) into knee joints of rats. Arthritic rats were divided into control(n=8) and treated(n=8) group. Control group was injected with normal saline once a day for 20 days, while treated group was injected with Bee-venom extract once a day for same duration. Body weights were measured at 0, 5, 10, 15, 20 days after injection. At the end of experiment, gross and histopathological examination on the articular cartilages of the knee joints were performed. Proteoglycan contents of articular cartilages were analysed by safranine O staining method. The contents of $TNF-{\alpha}$, $IL-1{\beta}$ and IL-6 in synovial fluids were analysed by ELISA method. And also, COX-2 and iNOS immunohistochemical examination on the knee joints were performed. Body weights of the treated group were increased compared with control group at 20 days after injection. Grossly, the severity of osteoarthritis in the treated group were alleviated compared with control group. PG contents in articular cartilages of the treated group were significantly increased compared with control group. Histopathologically, degenerative and necrotic lesion of articular cartilages in the treated group were alleviated compared with those of the control group. $TNF-{\alpha}$ contents in synovial fluids of the treated group were decreased compared with control group. Positive reactions of COX-2 in chondrocytes and synovial membranes of the treated group were decreased compared with the control group. On the basis of these results, we concluded that Bee-venom treatment has anti-arthritic effects on the monosodium iodoacetate-induced osteoarthritis in rats. And it's effects were related with reduced secretion of $TNF-{\alpha}$ and COX-2 from osteoarthritic chondrocytes and synovial membranes.

• Journal of Welding and Joining
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• v.34 no.1
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• pp.59-67
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• 2016

The automotive manufactures increase their use of lightweight materials to improve fuel economy and energy usage has a significant influence on the choice of developing materials. To meet this requirements manufacturers are replacing individual body parts with lightweight metals, for these the process treating and painting surfaces is changing. The pre-coated steels are newly developed to avoid the conventional complex and non-environmental painting process in the body-in-white car manufacturing. The development of new joining techniques is critically needed for pre-coated steel sheets, which are electrically non-conductive materials. In the present study, dissimilar combination of pre-coated steel and galvanized steel sheets were joined by the self-piercing rivet, adhesive bonding and hybrid joining techniques. The tensile shear test and free falling high speed crash test were conducted to evaluate the mechanical properties of the joints. The highest tensile peak load with large deformation was observed for the hybrid joining process which has attained 48% higher than the self-piercing rivet. Moreover, the hybrid and adhesive joints were observed better strain energy compared to self-piercing rivet. The fractography analyses were revealed that the mixed mode of cohesive and interfacial fracture for both the hybrid and adhesive bonding joints.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.1
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• pp.136-142
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• 2015

In the paper, a design method of knee and pelvis joint in the biped robot is proposed for shock absorption and gravity compensation. Similarly to the human's body, the knee joints of the biped robot support most body weight and get a shock from the landing motion of the foot on the floor. The torque of joint motor is also increased sharply to keep the balance of the robot. Knee and pelvis joints with the spring are designed to compensate the gravity force and reduce the contact shock of the robot. To verify the efficiency of the proposed design method, we develope a biped robot with the joint mechanism using springs. At first, we experiment with the developed robot on the static motions such as the bent-knee posture both without load and with load on the flat ground, and the balance posture on the incline plane. The current of knee joint is measured to analyze the impact force and energy consumption of the joint motors. Also, we observe the motor current of knee and pelvis joints for the walking motion of the biped robot. The current responses of joint motors show that the proposed method has an effect on shock reduction and gravity compensation, and improve the energy efficiency of walking motions for the biped robot.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.11 no.2
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• pp.1118-1133
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• 2017

Computer vision-based human activity recognition (HAR) has become very famous these days due to its applications in various fields such as smart home healthcare for elderly people. A video-based activity recognition system basically has many goals such as to react based on people's behavior that allows the systems to proactively assist them with their tasks. A novel approach is proposed in this work for depth video based human activity recognition using joint-based motion features of depth body shapes and Deep Belief Network (DBN). From depth video, different body parts of human activities are segmented first by means of a trained random forest. The motion features representing the magnitude and direction of each joint in next frame are extracted. Finally, the features are applied for training a DBN to be used for recognition later. The proposed HAR approach showed superior performance over conventional approaches on private and public datasets, indicating a prominent approach for practical applications in smartly controlled environments.

• The Journal of Korea Robotics Society
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• v.17 no.3
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• pp.359-364
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• 2022

This study presents a nonlinear model predictive control (NMPC)-based obstacle avoidance and whole-body motion planning method for the mobile manipulators. For the whole-body motion control, the mobile manipulator with an omnidirectional mobile base was modeled as a nine degrees-of-freedom (DoFs) serial open chain with the PPR (base) plus 6R (arm) joints, and a swept sphere volume (SSV) was applied to define a convex hull for collision avoidance. The proposed receding horizon control scheme can generate a trajectory to track the end-effector pose while avoiding the self-collision and obstacle in the task space. The proposed method could be calculated using an interior-point (IP) method solver with 100[ms] sampling time and ten samples of horizon size, and the validation of the method was conducted in the environment of Pybullet simulation.

• Nuclear Engineering and Technology
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• v.56 no.10
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• pp.4184-4194
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• 2024

New technologies in polymer synthesis and pipe extrusion equipment have led to the commercialization of high-performance, large-diameter, thick-wall high density polyethylene (HDPE) pipes. They have been used in the field of seawater transport and cooling to replace metal pipes, due to their advantages of high corrosion resistance and extensibility. Connection of HDPE pipe is important as it determines the safety of the entire piping system. Butt fusion welding is commonly used for HDPE pipe connection but may cause the formation of weak points in the welded joints, interfering the reliability of the pipeline system in the application of nuclear power plants. At present, there is a lack of research on evaluating the performance of welded joint for large-diameter thick-wall HDPE pipes made by butt fusion-welding. The purpose of this study is to investigate the influence of three different butt fusion-welding processes, i.e., single low pressure (SLP), single high pressure (SHP) and dual low pressure (DLP), by evaluating the performance of their welded joints, including characterizing tensile strength, extensibility, crystallinity and hardness. In specific, a thick-wall HDPE pipe with OD of 812.8 mm and wall thickness of 74 mm which is certified for nuclear safety class was used for study. Representative specimen from the outer, middle and inner part across the wall of the main pipe body and welded joints were taken for testing. Different test methods and specimens were designed to assess the feasibility of evaluating the welding performance from different welding process. The results showed that the mechanical properties of different locations of the welded joints were different, and the tensile strength and fracture energy of the middle part of the joint were lower than that of the inner and outer parts, which could be caused by the difference in the crystallinity and thickness of the melting zone influenced by welding processes, as can be seen from the analysis of DSC test and morphology observation. Hardness testing was conducted on the section of the welded joints, and it revealed that the micromechanical properties of the welded joints in the region of the heat-affected zone were enhanced significantly, which may be due to the annealing effect caused by welding process. In summary, The DLP process resulted in the best extensibility of the welded joints among three processes, suggesting that the joining pressure from welding process plays an important role in affecting the extensibility of the welded joints.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.209-214
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• 2003

We developed a new type of human-sized BWR (biped walking robot), named KUBIR1 which is driven by the closed-chain type of actuator. A new type of the closed-chain actuator for the robot is developed, which is composed of the four-bar-link mechanism driven by the ball screw which has high strength and high gear ratio. Each leg of the robot is composed of 6 D.O.F joints. For front walking, three pitch joints and one roll joint at the ankle. In addition to this, one yaw joint for direction change, and another roll joint for balancing the body are attached. Also, the robot has two D.O.F joints of each hand and three D.O.F. for eye motion. There are three actuating motors for stereo cameras for eyes. In all, a 18 degree-of-freedom robot was developed. KUBIR1 was designed to walk autonomously by adapting small 90W DC motors as the robot actuators and batteries and controllers are on-boarded. The whole weight for Kubir1 is over 90Kg, and height is 167Cm. In the paper, the performance test of KUBIR1 will be shown.