• Title/Summary/Keyword: Control arm

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Switching Frequency Reducing Method of Multi-level Inverter Using Phase Shift Control (상신호 변위기법을 이용한 다중레벨 인버터의 스위칭주파수 저감기법)

  • Park, Noh-Sik;Song, Sung-Geun;Park, Sung-Jun;Nam, Hae-Kon;Kang, Feel-Soon;Kim, Cheul-U
    • Proceedings of the KIEE Conference
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    • 2005.07b
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    • pp.1477-1479
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    • 2005
  • In this paper, we proposed the electric circuit using one common arm of H-Bridge inverters to reduce the number of switching component in multi-level inverter combined with H-Bridge Inverters and Transformers. and furthermore we suggested the new multi-level PWM inverter using PWM level to reduce THD(Total Harmonic Distortion) and we used the switching method that can be same rate of usage at each transformer. Also, we tested the proposed prototype 15-level inverter to clarify the proposed electric circuit and reasonableness of control signal for the proposed multi-level PWM inverter.

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Embedded Home Network System Security using VPN (VPN을 이용한 Embedded 홈 네트워크 시스템 보안)

  • Jin, Seon-Il;Jeong, Jin-Gyu;An, Gwang-Hyeok;Yu, Yeong-Dong;Hong, Seok-Gyo
    • Proceedings of the KIEE Conference
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    • 2003.11c
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    • pp.701-704
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    • 2003
  • The home network system of ubiquitous computing concept is changing present our home life as more comfortable and safe. Also, it permits that we can connect the home network system and control the appliance which is linked to the home network system without limitation in time and place. But, as other systems that use the public network like the Internet, remote control/monitoring of the home network system that use the Internet includes problems such as user's access which is not admitted and information changing. This paper presents the efficient solution about the security problem that is recognized to important problem of the home network system. Also this paper implements the security of the home network system based on the UPnP (Universal Plug and Play), adding VPN (Virtual Private Network) router that uses the IPsec to the home network system which is consisted of the ARM9 and the Embedded Linux.

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Scapular muscle endurance, shoulder pain, and functionality in patients with rotator-cuff-related shoulder pain: a matched, case-control study

  • Ugur Sozlu;Selda Basar;Ulunay Kanatli
    • Clinics in Shoulder and Elbow
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    • v.27 no.1
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    • pp.52-58
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    • 2024
  • Background: Deficiency in scapular muscle endurance (SME) is a risk factor for rotator-cuff-related shoulder pain (RCRSP). However, the exact relationship among SME, pain, and functionality remains unclear. This study aims to compare SME, pain, and functionality in RCRSP patients to those in age-sex-matched healthy controls. Methods: Twenty-three patients with RCRSP and 23 age-sex matched healthy controls were included in the study. SME was measured using a 1-kg dynamometer. Self-reported pain level was assessed using a visual analog scale. The Functional Impairment Test-Hand, Neck, Shoulder, and Arm (FIT-HaNSA) was also used to assess functional impairment. Results: The control group had higher SME and total FIT-HaNSA scores than the patient group (P<0.05). There was a statistically significant and positive correlation between SME and FIT-HaNSA scores in both groups (P<0.05). Conclusions: SME was affected by RCRSP. Pain and functional impairment were correlated with low SME.

Effects of Angelica gigas Nakai herbal acupuncture into Hyolhae(SP10) of brain ischemic injury induced by Intraluminal Filament insertion in the rats (당귀약침(當歸藥鍼)의 혈해(血海) 자입(刺入)이 Intraluminal Filament 삽입술(揷入術)에 의(依)해 유발(誘發)된 백서(白鼠)의 허혈성(虛血性) 뇌손상(腦損傷)에 미치는 영향(影響))

  • Han, Sang-gyun;Lee, Byung-ryul
    • Journal of Acupuncture Research
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    • v.21 no.2
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    • pp.1-20
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    • 2004
  • Objective : The aim of this study was to investigate effects of Angelica gigas Nakai(AGN) on the ischemic injury by intraluminal filament insertion in the rats. Methods : The ischemia was induced by intraluminal filament insertion into middle cerebral artery. AGN herbal acupuncture into SP10 was carried out during 3 weeks after ischemic injury. Eight-arm radial maze was designed for the behavioral task. AGN herbal acupuncture showed neuroprotective agents in cresyl violet, acetylcholinesterase(AchE), choline acetyltransferase(ChAT) and nerve growth factor(NGF)-stain. Then check the effect of regional cerebral blood flow(rCBF) according to AGN herbal acupuncture in rats. Results : The errors in the eight-arm radial maze task were significantly decreased in normal group compared with control group on 1~6days, AGN2(0.02g/kg) herbal acupuncture group on 1~5days, AGN3(0.1g/kg) on 1~3days, AGN4(0.5g/kg) on 1, 3~6days. The rate of correct choice was significantly increased in AGN1(0.01g/kg) and AGN4 herbal acupuncture groups. The density of neurons in the hippocampal CA1 was the most increased in normal group and AGN1, AGN3, AGN4 herbal acupuncture groups compared with control group. The density of AchE in the hippocampal CA1 had a tendency to increase in all the groups when they were compared with control group, but not significant. The density of ChAT in the hippocampal CA1 was significantly increased in normal group and AGN1, AGN4 herbal acupuncture groups compared with control group. The density of NGF in the hippocampal CA1 was significantly increased AGN4 herbal acupuncture group compared with control group. The rCBF was significantly increased in AGN1, AGN3 and AGN4 herbal acupuncture groups without the change of blood pressure. Conclusions : These results suggest that AGN herbal acupuncture can be used for controlling stroke in early stage as herbal medication.

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The effects of Gagambosim-Tang of focal brain ischemic injury induced by Intraluminal Filament insertion in the rats (가감보심탕(加減補心湯)의 구강투여가 Intraluminal Filament 삽입술(揷入術)에 의(依)해 유발(誘發)된 백서(白鼠)의 허혈성(虛血性) 뇌손상(腦損傷)에 미치는 영향(影響))

  • Ryu, Seung-Jun;Lee, Chung-Sik;Park, Bo-Ra;Seo, Jong-Hoon;Kang, Hyung-Won;Lyu, Yeong-Su;Kim, Tae-Heon
    • Journal of Oriental Neuropsychiatry
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    • v.18 no.1
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    • pp.153-171
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    • 2007
  • Objective : The aim of this study was to investigate effects of Gagambosim-Tang(GBT) of focal brain ischemic injury induced by intraluminal filament insertion in the rats. Method : The ischemia was induced by intraluminal filament insertion into middle cerebral artery Eight-arm radial maze was designed for the behavioral task. Gagambosim-Tang was orally administrated in SD rats for 21 days. The task was started on the 4th week after focal brain injury, and performed two trials per day for 6days. The effects of Gagambosim-Tang on neuroprotective agents in cresyl violet, choline acetyltranferase(ChAT), nerve growth factor (NGF)-stain and c-Fos with ischemic injury were investigated. Results : The errors in the eight-arm radial maze task were significantly decreased in normal group compared with control group on 2-6days, GBT lX(42.2 mg/ml)orally administrated group on 1days, GBT 6X(253.2 mg/ml) on 3, 5, 6days. The rate of correct choice was increased in normal and GBT 6X groups. The neuroprotective effect in the hippocampal CA1 was increased in normal and GBT 1X, GBT 6X groups compared with control group. The density of ChAT in the hippocampal CA1 was increased in normal and GBT6X groups compared with control group. The density of NGF in the hippocampal CA1 was increased normal and GBT6X groups compared with control group. The number of c-Fos-positive neurons in the hippocampal CA1 was increased in normal and GBT 6X groups compared with control group. Conclusion : These results suggest that Gagambosim-Tang may have protective effect on dementia.

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Effects of BCL herbal acupuncture into Choksamni(ST36) on focal brain ischemic injury induced by intraluminal filament insertion in the rats (족삼리(足三里)에 시술(施術)된 죽력(竹歷) 약침(藥鍼)이 Intraluminal Filament 삽입술(揷入術)에 의하여 유발(誘發)된 백서(白鼠)의 허혈성(虛血性) 국소(局所) 뇌손상(腦損傷)에 미치는 영향(影響))

  • Youn, Dae-Hwan;Lee, Bom-Bi;Shim, In-Sop;Na, Chang-Su
    • Korean Journal of Acupuncture
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    • v.22 no.2
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    • pp.25-41
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    • 2005
  • Objectives : Bambusae Caulis in Liquamen(BCL) has been used to medication for early stroke in the Oriental Medicine. So this study was planned to investigate the effects of BCL on the focal ischemia-induced by intraluminal filament insertion in the rats. Materials and methods: The focal ischemia was induced by Intraluminal Filament insertion into middle cerebral artery. BCL herbal acupuncture at ST36 was carried out during 3 weeks after focal ischemia-induced. Eight-arm radial maze was used for the behavioral task and neuroprotective effect of BCL acupuncture was observed by Cresyl violet, AchE, ChAT-stain Results : The error rate in the eight-arm radial maze task was significantly decreased in BCL1(0.89mg/kg) herbal acupuncture group compared to control group on 3,4,5days, compared to saline acupuncture group on 3,5days. The rate of correct choice was significantly increased in saline acupuncture, BCL1 herbal acupuncture group, BCL2(0.089mg/kg) herbal acupuncture groups compared to control group. The density of neurons in the hippocampal CA1 was the most increased in BCL1 herbal acupuncture group compared to the others. The density of AchE in the hippocampal CA1 was significantly increased in BCL1 herbal acupuncture, BCL2 herbal acupuncture groups compared to control group, and in BCL2 herbal acupuncture groups increased compared to saline acupuncture, control groups. The density of ChAT in the hippocampal CA1 was significantly increased in BCLl herbal acupuncture group compared to saline acupuncture, control groups. Conclusions : These results suggest that BCL herbal acupuncture could be used as a medication for controlling the early stroke.

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Effects of Forest Walking Based on Exercise Prescription on Body Composition of Older Individuals (운동처방을 적용한 숲길 걷기가 노인의 신체조성에 미치는 영향)

  • Choyun, Kim;Yunjeong Yi;Bum-Jin Park;Chorong Song
    • Journal of Korean Society of Forest Science
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    • v.113 no.2
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    • pp.210-221
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    • 2024
  • This study aimed to investigate the effects of forest walking based on an exercise prescription on body composition of older adults. Forty-four older adults (average age: 69.3 ± 3.1 years) participated in this study. The experimental group engaged in forest walking based on a prescribed exercise intensity considering the participants' respective health conditions. The participants walked three times a week for more than an hour each time for 8 weeks. By contrast, the participants in the control group spent their days according to their usual lifestyle. The analysis involved the following: ① a comparison of the measurements taken before and after the 8-week period of forest walking in the experimental group, ② a comparison between pre- and post-study measurements in the control group, and ③ a comparison of the changes (post-study minus pre-study values) between the experimental and control groups. The results were as follows: ① the experimental group showed significant decreases in weight, body fat mass, and body mass index; ② the control group exhibited significant decreases in muscle mass and ratio in right arm and left leg, muscle ratio in trunk, and body water mass in right arm; and ③ weight and body fat index decreased in the experimental group but increased in the control group. In conclusion, forest walking based on an exercise prescription had a positive impact on body composition of older adults.

An Operating Software Architecture for PC-based (PC기반의 생산시스템을 위한 운용소프트웨어 구조)

  • Park, Nam-Jun;Kim, Hong-Seok;Park, Jong-Gu
    • Journal of Institute of Control, Robotics and Systems
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    • v.7 no.1
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    • pp.1196-1204
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    • 2001
  • In this paper, a new architecture of operating software associated with the component-based method is proposed. The proposed architecture comprises 문 execution module and a decision-making module. In order to make effective development and maintenance, the execution module is divided into three components. The components are referred to as Symbol, Gateway, and Control, respectively: The symbol component is for the GUI environments and the standard interfaces; the gateway component is for the network communication and the structure of asynchronous processes; the control component is for the asynchronous processing and machine setting or operations. In order to verify the proposed architecture, and off-line version of operating software is made, and its steps are as follows; I) Make virtual execution modules for the manufacturing devices such as dual-arm robot, handling robot, CNC, and sensor; ii) Make decision-making module; iii) Integrate the modules and GUI using a well-known development tools such as Microsofts Visual Basic; iv) Execute the overall operating software to validate the proposed architecture. The proposed software architecture in this paper has the advantages such as independent development of each module, easy development of network communication, and distributed processing of resources, and so on.

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Effects of Exercise on Cardiopulmonary Functions and Shoulder Joint Functioning in Breast Cancer Patients undergoing Radiation Therapy after Breast Surgery (유방암 수술 후 방사선치료중인 환자를 위한 운동프로그램이 심폐기능 및 어깨관절기능에 미치는 효과)

  • 채영란;최명애
    • Journal of Korean Academy of Nursing
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    • v.31 no.3
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    • pp.454-466
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    • 2001
  • Purpose: The purpose of this study was to determine the effects of exercise program on cardiopulmonary functions and shoulder joint functioning in breast cancer patients who under- went radiation therapy after surgery. Method: Subjects in the experimental group(N=12) participated in an exercise program for eight weeks. The Exercise program consisted of shoulder stretching, arm weight training, and walking on treadmill. Maximal oxygen uptake (v2max), maximal running time, shoulder joint range of motion, and shoulder functional assessment were determined before and after the exercise program. Baseline sociodemographic and medical data were compared between experimental group and control group using the Fisher's exact test and Mann- Whitney U test. For effects of the exercise program, repeated measures ANOVA were used. Result: 1) Following the exercise program for eight weeks, both v$\alpha$ max and maximal running time tended to increase in experimental group comparing with the control group. 2) Shoulder abduction, extension and flexion of the operated upper extremity in the experimental group comparing with control significantly increased after the exercise program(p<0.05). 3) Shoulder flexion of the normal upper extremity in the experimental group comparing with control significantly increased after the exercise program(p<0.05). Conclusion: The results suggest that the exercise program for breast cancer patients undergoing radiation therapy after breast surgery can improve shoulder functions and increase cardiopulmonary functions, which are maximal oxygen uptake and maximal running time.

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Design and Hardware Integration of Humanoid Robot Platform KHR-2 (인간형 로봇 플랫폼 KHR-2 의 설계 및 하드웨어 집성)

  • Kim, Jung-Yup;Park, Ill-Woo;Oh, Jun-Ho
    • Proceedings of the KSME Conference
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    • 2004.11a
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    • pp.579-584
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    • 2004
  • In this paper, we present the mechanical, electrical system design and system integration of controllers including sensory devices of the humanoid, KHR-2 (KAIST Humanoid Robot - 2). We have developed KHR-2 since 2003. Total number of DOF of KHR-2 is 41. Each arm including a hand has 11 DOF and each leg has 6 DOF. Head and trunk also has 6 DOF and 1 DOF respectively. In head, two CCD cameras are used for eye. To control all axes efficiently, distributed control architecture is used to reduce computation burden of main controller and to expand devices easily. So we developed the sub-controller as a servo motor controller and a sensor interfacing devices using microprocessor. The main controller attached its back communicates with sub-controllers in real-time by CAN (Controller Area Network) protocol. We used Windows XP as its OS (Operation System) for fast development of main control program and easy extension of peripheral devices. And RTX HAL extension commercial software is used to realize the real-time control in Windows XP environment.

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