• 한국운동역학회지
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• 제29권4호
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• pp.205-211
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• 2019

Objective: The purpose of this study was to analyze the effects of skill and distance factors on CoP (Center of pressure) and CoM (Center of mass) during golf putting. Method: 38 golfers were participated in this study. 8 motion capture cameras (250 Hz) and 2 force plates (1,000 Hz) were used to collect CoP and CoM during 2 m and 3 m of distance golf putting. To identify main effect and interaction effect, it was performed Two-Way ANOVA at a significant level of a .05. Results: In the novice group, CoP distance was significantly difference in the A/P direction and main effect between skill level and distance. Both groups indicated that CoP distance was significantly different and main effect between skill level and distance in the M/L direction. Finally, both groups showed that CoM was significantly different and main effect between skill level and distance in the M/L direction. Conclusion: Therefore, novice golfers are expected to be able to perform more accurate and proper putting exercise through the practice of minimizing the center of mass(CoM) and center of pressure (CoP) in the M/L direction, which is the pendulum movement of the putter head.

• 한국항행학회논문지
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• 제21권1호
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• pp.132-137
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• 2017

본 논문에서는 로봇의 구조나 보행 상황을 반영해 하나의 보행 패턴을 다른 보행 패턴으로 변환하게 해주는 영모멘트 점 (ZMP; zero moment point)와 질량 중심 (CoM; center of mass)의 실시간 변환 방법을 제안한다. 일반적으로 휴머노이드 로봇은 높이와 질량과 같은 자체적인 구조 특성을 가지고 있다. 이러한 구조적 특성으로 인해 인간 또는 휴머노이드 로봇으로부터 측정되거나 생성되어진 CoM / ZMP 보행 패턴을 다른 로봇에 직접 적용하는 것은 어렵다. 이를 위하여 간단한 휴머노이드 로봇 모델인 cart-table model을 사용해 보폭의 길이, 보행 시간, CoM 높이 변화에 따라 보행 패턴의 특성을 분석한다. 그러한 분석으로부터 변환 방정식을 유도하고 시뮬레이션을 통해 제안된 방법을 검증한다.

• 제어로봇시스템학회논문지
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• 제14권9호
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• pp.886-892
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• 2008

In this paper, a closed-loop observer to extract the center of mass (CoM) of a bipedal robot is suggested. Comparing with the simple conversion method of just using joint angle measurements, it enables to get more reliable estimates by fusing both joint angle measurements and F/T sensor outputs at ankle joints. First, a nonlinear-type observer is constructed to estimate the flexible rotational motion of the biped in the extended Kalman filter framework. It adopts the flexible inverted pendulum model which is appropriate to address the flexible motion of bipeds, specifically in the single support phase. The predicted estimates of CoM in terms of the flexible motion observer are combined with measurements (that is, output of the CoM conversion equation with joint angles). Then, we have final CoM estimates depending on the weighting values which penalize the flexible motion model and the CoM conversion equation. Simulation results show the effectiveness of the proposed algorithm.

• 한국운동역학회지
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• 제20권3호
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• pp.261-266
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• 2010

Human body is hard to be in perfect balance during walking. Most of time the trunk is supported by one leg and the center of mass(COM) falls to the contralateral side. Thus, dynamic variables such as the velocity of the COM should be considered when gait stability is evaluated. The purpose of this study was to investigate whether the extrapolated center of mass(XCom) which utilized the COM position and its velocity, is appropriate to evaluate gait stability. Ten healthy adults participated in this study and performed 3 different types of gaits(normal(NG), hands on waists(HWG), and hands on shoulders(HSG)) onto 4 different types of obstacle(obstacle height: 0%, 30%, 40% and 50% of leg length). Medio-lateral Com-CoP and XCom-CoP inclination angle were calculated during support phase. For all condition, greater M-L XCoM-CoP inclination angles were found(p<.05) compared with those of matched obstacle height CoM-CoP. Especially, M-L XCoM-CoP inclination angle at 50% height revealed the best condition for monitoring dynamic stability. Significantly increased in M-L XCoM-CoP inclination angle was found(p<.05) as obstacle height increased on NG and HWG.

• BMB Reports
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• 제29권4호
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• pp.277-285
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• 1996

In Pseudomonas fluorescens grown on malonate as sole carbon source, acetyl-CoA synthetase was induced, suggesting that malonate is metabolized through acetate and then acetyl-CoA. Acetyl-CoA synthetase was purified 18.6-fold in 4 steps to apparent homogeneity. The native molecular mass of the enzyme estimated by a native acrylamide gel electrophoresis was 130 kDa. The enzyme was composed of two identical subunits with a molecular mass of 67 kDa. Optimum pH was 70. The acetyl-CoA synthetase showed typical Michaelis-Menten kinetics for the substrates, acetate, ATP and CoA, whose $K_m$ values were calculated to be 33.4, 74.8, and 40.7 mM respectively. Propionate. butyrate and pentanoate were also used as substrates by the enzyme, but the rate of the formation of the CoA derivatives was decreased in the order of the increase in carbon number. The enzyme was inhibited by the group-specific reagents diethylpyro-carbonate, 2,3-butanedione, pyridoxal-5'-phosphate and N-bromosuccinimide. In the presence of substrates the inactivation rate of the enzyme, by all of the group-specific reagents mentioned above decreased, indicating the presence of catalytically essential histidine, arginine, lysine and tryptophan residues at or near the active site. Preincubation of the enzyme with ATP, $Mg^{2+}$ resulted in the increase of its susceptibility to diethylpyrocarbonate, suggesting that ATP, $Mg^{2+}$ may induce a conformational change in the active site exposing the essential histidine residue to diethylpyrocarbonate. The enzyme was acetylated in the presence of acetyl-CoA, indicating that this is one of acyl-enzyme.

• Mass Spectrometry Letters
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• 제4권3호
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• pp.55-58
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• 2013

Dioscin is a biologically active steroidal saponin with anticancer and hepatoprotective effects. A rapid, selective, and sensitive liquid chromatographic method with electrospray ionization tandem mass spectrometry was developed for the quantification of dioscin in rat plasma. Dioscin was extracted from rat plasma using ethyl acetate at acidic pH. The analytes were separated on a Halo C18 column using gradient elution of acetonitrile and 0.1% formic acid and detected by tandem mass spectrometry in selected reaction monitoring mode. The standard curve was linear ($r^2$ = 0.998) over the concentration range of 1-100 ng/mL. The lower limit of quantification was 1.0 ng/mL using 50 ${\mu}L$ of plasma sample. The coefficient of variation and relative error for intra- and inter-assay at four QC levels were 1.3 to 8.0% and -5.4 to 10.0%, respectively. This method was applied successfully to the pharmacokinetic study of dioscin after oral administration of dioscin at a dose of 29.2 mg/kg in male Sprague-Dawley rats.

• 로봇학회논문지
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• 제17권3호
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• pp.339-346
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• 2022

To operate in real environment, humanoid robots should be able to react to unknown disturbances. To deal with disturbances, various robust control algorithms have been developed for decades. But for collaborative works such as teleoperation system, a compliance control can be the better solution for disturbance reactions. In this paper, a center of mass (CoM) compliance control algorithm for humanoid robots is proposed. The proposed algorithm is based on the state observer and positive feedback of disturbance. With the state observer based on humanoid CoM control performance model, disturbance in each direction can be observed. The positive feedback of disturbances to the reference CoM trajectory enables compliant motion. The main contributions of this algorithm are achieving compliance independently in each axis and maintaining balance against external force. Through dynamic simulations, the performance of the proposed method was demonstrated. Under two types of disturbance conditions, humanoid robot DYROS-JET reacted with compliant motion via the proposed algorithm.

• 한국해양바이오학회지
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• 제9권2호
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• pp.30-34
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• 2017

Microorganisms are contained filtered sea water that is why we often observed co-existing copepod species in the large-scale rotifer culture tanks. In this study, we investigated about taxonomical study of co-existing copepods in Brachionus rotifer mass culture tanks of several seafarming centers at Jeju-do and Pusan, Korea by microscope. Also, we counted number of copeods and density in 10 mL of cultured sea water and distinguished growing patterns and sex. As results, we can identified 4 species copepods, 2 species of Tisbe, 1 species of Tigriopus and 1 species of Apocyclops.

• 한국재료학회지
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• 제32권5호
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• pp.237-242
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• 2022

Designing and producing a low-cost, high-current-density electrode with good electrocatalytic activity for the oxygen evolution reaction (OER) is still a major challenge for the industrial hydrogen energy economy. In this study, nanostructured Fe-doped CuCo(OH)₂ was discovered to be a precedent electrocatalyst for OER with low overpotential, low Tafel slope, good durability, and high electrochemically active surface sites at reduced mass loadings. Fe-doped CuCo(OH)₂ nanosheets are made using a hydrothermal synthesis process. These nanosheets are clumped together to form a highly open hierarchical structure. When used as an electrocatalyst, the Fe-doped CuCo(OH)₂ nanosheets required an overpotential of 260 mV to reach a current density of 50 mA cm^-2. Also, it showed a small Tafel slope of 72.9 mV dec^-1, and superior stability while catalyzing the generation of O₂ continuously for 20 hours. The Fe-doped CuCo(OH)₂ was found to have a large number of active sites which provide hierarchical and stable transfer routes for both electrolyte ions and electrons, resulting in exceptional OER performance.

• 한국운동역학회지
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• 제30권4호
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• pp.301-309
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• 2020

Objective: This study aimed to investigate the effect of white noise on dynamic balance in patients with stroke during walking. Method: Nineteen patients with chronic stroke (age: 61.2±9.8 years, height: 164.4±7.4 cm, weight: 61.1±9.4 kg, paretic side (R/L): 11/8, duration: 11.6±4.9 years) were included as study participants. Auditory stimulus used white noise, and all participants listened for 40 minutes mixing six types of natural sounds with random sounds. The dynamic balancing ability was evaluated while all participants walked before and after listening to white noise. The variables were the center of pressure (CoP), the center of mass (CoM), CoP-CoM inclined angle. Results: There is a significant increase in the antero-posterior (A-P) CoP range, A-P inclination angle, and gait speed on the paretic and non-paretic sides following white noise intervention (p<.05). Conclusion: Our findings confirmed the positive effect of using white noise as auditory stimulus through a more objective and quantitative assessment using CoP-CoM inclination angle as an evaluation indicator for assessing dynamic balance in patients with chronic stroke. The A-P and M-L inclination angle can be employed as a useful indicator for evaluating other exercise programs and intervention methods for functional enhancement of patients with chronic stroke in terms of their effects on dynamic balance and effectiveness.