• 로봇학회논문지
• /
• 제5권4호
• /
• pp.318-325
• /
• 2010

This paper proposes a new string controller for puppet which is optimized in terms of the number of motors and its size. To optimize the number of motors needed for generating the essential motions of puppet, the motion of bending a leg is implemented by one string and the walking motion by two legs is implemented by one motor. To minimize the space needed for the controller when generating the essential motions of puppet, cylindrical and articulated joints are used in the controller. The proposed controller is actually implemented to perform various puppet shows and it has been proved that the size of the controller is small enough for two puppets to stand close to shake hands and it is fast enough to simulate fast dance motions.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2006년도 제37회 하계학술대회 논문집 D
• /
• pp.1860-1861
• /
• 2006

In this paper, we design a robust controller of biped robot system with uncertainties, using recurrent neural network. In our proposed control system, we use the self-recurrent wavelet neural network (SRWNN). The SRWNN makes up for the weak points in wavelet neural network(WNN). While the WNN has fast convergence ability, it dose not have a memory. So the WNN cannot confront unexpected change of the system. However, the SRWNN, having advantage of WNN such as fast convergence, can easily encounter the unexpected change of the system. For stable walking control of biped robot, we use sliding mode control (SMC). Here, uncertainties are predicted by SRWNN. The weights of SRWNN are trained by adaptive laws based on Lyapunov stability theorem. Finally, we carry out computer simulations with a biped robot model to verify the effectiveness of the proposed control system,.

• The Journal of Korean Physical Therapy
• /
• 제10권1호
• /
• pp.127-138
• /
• 1998

This study was carried out tn invstigate and compare biomechanical characteristics during free speed gait in hemiplegic patients after stroke who took therapeutic exercise by analyzing kinematic and kinetic data in the sagital plane and electromyographic data. Six patients($41\~69$ years old) and age-matched six volunteers in good health(51-61 years old) wire studied. The patients were sorted into two groups, depending on their self-speed of walking : fast speed group(3 patients) and slow speed group(3 patients). The results were as fellows. : 1. In spatio-temparal parameters, affected and unaffected side of fast group showed symetry but blew group showed asymetry of single limb support, opposite foot contact and stance phase (p<0.05). Compared with normal group, patient group showed slower velocity, shoter stride length and longer double limb support (p<0.05). 2. In the pelvic anterior tilt, patient group showed lower valued than normal group. It. In the ground reaction force-vertical force, fast group showed similar double peak gragh compared with normal group, butvslow group showed lower values without double peak (p<0.05).

• 대한공간정보학회지
• /
• 제20권4호
• /
• pp.37-44
• /
• 2012

위급상황 발생시 국민의 안전을 위해 신속히 대피할 수 있는 대피소가 전국에 약 2만 5,724개소가 지정되어 있으며, 서울시의 경우 약 3,870개소가 지정되어 있다. 전국에 설치된 대피소는 신속한 대피를 위해 주변 반경 5분 이내에 도착할 수 있는 위치에 지정되어 있으며, 서울시의 대피소 수용능력은 서울인구의 285%를 수용할 수 있다. 하지만 문제는 보행자의 나이, 신장, 건강상태, 신체조건 등과 같은 개인차에 의한 보행속도를 고려하였을 경우 5분 이내에 도착할 수 있는 대피소가 얼마나 되는지는 알 수 없다. 또한 대피소의 공간적 배분 및 분포에 따라 수용 가능한 서비스 영역이 달라지며, 이에 따른 취약지가 발생 할 수 있다. 이에 본 연구에서는 선행연구사례를 통해서 보행자의 유형별 보행속도를 1m/s, 1.3m/s, 2m/s 정의하였고, 서울시에 지정된 대피소와 도로망을 이용하여 입지할당모형의 네트워크 분석을 실시하였다. 그 결과 서울시 행정구역별로 보행속도에 따른 대피소의 서비스 지역과 취약 지역을 알 수 있었으며, 노약자의 경우 대피소에 도달할 수 없는 취약 지역이 빠른 걸음의 성인남녀에 비해 2배 이상 큰 것으로 분석되었다.

• Asian-Australasian Journal of Animal Sciences
• /
• 제27권1호
• /
• pp.140-146
• /
• 2014

This experiment aimed to evaluate the effects of different housing systems on behavioral activities, welfare and meat quality of fast-growing broilers. Two hundred broilers were allocated into two housing systems: indoor housing vs indoor with outdoor access. Their general behavior (feeding, drinking, fighting, standing, lying, walking, investigating, dust-bathing and preening) was observed, and tonic immobility, fluctuating asymmetry of legs and wings were measured, and meat quality was analyzed. The results showed that the indoor-housed broilers with outdoor access had significant higher standing, walking, investigating, dust-bathing and preening than those indoor only. However, farming system was not found to significantly affect their feeding, drinking and fighting activities (p>0.05). The value of FA of tibia length of the broilers with outdoor access was significantly lower than that of the indoor-housed birds ($1.57{\pm}1.30$ vs $2.76{\pm}1.40$, p<0.05), while no difference was found for the value of FA in tibia diameter and wing length (p>0.05). TI of the broilers with outdoor access was 165.5 that was significantly higher than that (147.2) of the indoor birds (p<0.05). However, death rate in the outdoor run groups was significantly higher than that of the indoor ones ($2.0{\pm}0.81$ vs $4.0{\pm}0.82$, p<0.05). Meat quality was not affected by the two farming systems. It can be concluded that the results of this study may suggest that the indoor housing with outdoor access provides enriched environment for broilers and facilitates the expression of natural behaviors of the broilers but resulted in poorer performance and higher death rate.

• 제어로봇시스템학회논문지
• /
• 제17권8호
• /
• pp.814-823
• /
• 2011

Nowadays many neurological diseases such as stroke and Parkinson diseases are continually increasing. Orthotic devices as well as exoskeletons have been widely developed for supporting movement assistance and therapy of patients. Robotic knee orthosis can compensate stiff-knee gait of the paralyzed limb and can provide patients consistent assistance at wearable environments. With keeping a robotic orthosis wearable, however, it is not easy to develop a compact and safe actuator with fast rotation and high torque for consistent supports of patients during walking. In this paper, we propose a novel kinematic model for a robotic knee orthosis to drive a knee joint with independent actuation during swing and stance phases, which can allow an actuator with fast rotation to control swing motions and an actuator with high torque to control stance motions, respectively. The suggested kinematic model is composed of a hamstring device with a slide-crank mechanism, a quadriceps device with five-bar/six-bar links, and a patella device for knee covering. The quadriceps device operates in five-bar links with 2-dof motions during swing phase and is changed to six-bar links during stance phase by the contact motion to the patella device. The hamstring device operates in a slider-crank mechanism for entire gait cycle. The kinematics and velocity/force relations are analyzed for the quadriceps and hamstring devices. Finally, the adequate actuators for the suggested kinematic model are designed based on normal gait requirements. The suggested kinematic model will allow a robotic knee orthosis to use compact and light actuators with full support during walking.

• 한국통신학회논문지
• /
• 제30권3A호
• /
• pp.184-194
• /
• 2005

RFID 시스템의 성능을 결정짓는 가장 중요한 요소 중의 하나가 충돌 방지알고리즘이다. 충돌 방지 알고리즘의 성능을 높임으로써 단위 시간당 처리할 수 있는 RFID 태그의 숫자를 늘릴 수 있다. 현재 사용되고 있는 충돌 방지 알고리즘은 ALOHA 프로토콜에 기반한 방법과 이진트리탐색 방법이 있으며, 이들 알고리즘은 아직 개선의 여지가 많이 남아있다. 이 논문에서는 미리 분배된 난수를 사용하여 보다 빠르고 효율적인 충돌 방지 알고리즘인 AAC(Address Allocating & Calling) 방식을 제안한다. 그리고 수학적으로 이 방법을 분석하고 모의실험을 통하여 이 성능을 증명한다.

• 한국강구조학회 논문집
• /
• 제27권2호
• /
• pp.181-193
• /
• 2015

심미성과 기능성이 현대 건축의 중요한 요소로 대두되면서 최근 비교적 경량의 고진동수 계단의 활용처가 점차 증가하고 있다. 하지만 국내의 실정 상 고진동수 계단의 진동성능을 평가하기 위한 방법이 전무한 실정이다. 유럽강구조학회의 지침의 경우 등가임펄스하중 개념을 도입하여 고진동수 바닥의 응답예측 및 진동성능 평가에 활용하고 있으나, 이는 서행보행에 대한 실험치를 토대로 제안한 값으로 2.2Hz 이상의 속보 가진에 대한 응답을 과대평가하는 한계를 지니고 있다. 이에 본 연구에는 1.4~4.5Hz의 다양한 가진진동수에 대한 가속도 응답의 실측값을 바탕으로 서행 및 속보 가진 시의 응답을 합리적으로 예측할 수 있는 등가임펄스 식을 제안하였다.

• 한국전문물리치료학회지
• /
• 제9권1호
• /
• pp.1-15
• /
• 2002

The purpose of this study was to compare the balance and gait between fallers and non-fallers in elderly. A brief questionnaire was used to obtain the fall history. Twenty-seven women subjects were evaluated in this study. Eleven subjects and a mean age of 84.5 years (SD=4.6) were designated as the faller group. Sixteen subjects and a mean age of 80.3 years (SD=5.3) were designated as the non-faller group. The fall-related factors (mental status, balance, range of motion and muscle strength of lower extremity, sensation of foot, and cadence, walking velocity, stride length) were compared between faller group and non-faller group and measured. The results showed that faller group had significantly less range of motion of the hip flexion and knee extension, and strength of the knee extensor and ankle dorsiflexor and plantar flexor than non-faller group. The scores of the Functional reach test and One leg standing were significantly less in faller group than in non-faller group. Faller group showed less walking velocity and stride length compared to non-faller group. However, there was no significant difference in cadence during comfortable waking and fast walking between two groups. There were no significant differences in pressure, position sensory between two groups. These results suggest that exercise for improving the flexibility, muscle strength of the lower extremity and balance may be useful strategies to prevent fall in elderly. Further studies are needed to identify which specific factors are related to fall in the elderly population.

• 생명과학회지
• /
• 제32권8호
• /
• pp.659-665
• /
• 2022

Chlorella vulgaris는 인간과 동물에서 주요한 식품의 원료로 이용되는 수 조류이다. 최근 클로렐라는 어류 양식, 생물연료 및 영양물질과 치료용 단백질의 생산을 위한 이용 가능성과 관련하여 많은 관심을 받고 있다. 최근 본 연구실에서는 빠른 성장, 배양의 용이성, 암 조건에서의 배양성을 특징으로 하는 새로운 C. vulgaris PKVL7422균주를 분리하였으나, 이 균주의 질소 이용에 관련된 유전자에 대하여는 보고된 바가 없다. 본 연구에서는 cDNA 말단의 신속 증폭과 genome walking을 이용하여 C. vulgaris PKVL7422의 질산환원 효소(nitrate reductase, NR)를 동정하였다. C. vulgaris PKVL7422 NR 유전자는 약 8 kb이며, 18개의 인트론과 877개의 아미노산을 암호화 하는 19개의 엑손으로 되어 있다. 기존의 알려진 NR 단백질과의 비교 분석 결과 C. vulgaris PKVL7422 NR 단백질은 식물의 NR에 존재하는 5개의 도메인과 다수의 비변이성 아미노산 잔기를 가지고 있는 것으로 확인되었으며, 이러한 결과는 조류 NR 유전자의 분자생물학적 구조에 대한 새로운 정보를 제공한다.