• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.2 s.233
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• pp.188-200
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• 2005

Control of a multi-fingered robotic hand is usually based on the theoretical analysis for kinematics and dynamics of fingers and of object. However, the implementation of such analyses to robotic hands is difficult because of errors and uncertainties in the real situations. This article presents the control method for estimating the kinematic constraint of an unknown object by active sensing. The experimental system has a two-fingered robotic hand suspended vertically for manipulation in the vertical plane. The fingers with three degrees-of-freedom are driven by wires directly connected to voice-coil motors without reduction gears. The fingers are equipped with three-axis force sensors and with dynamic tactile sensors that detect slippage between the fingertip surfaces and the object. In order to make an accurate estimation for the kinematic constraint of the unknown object, i.e. the constraint direction and the constraint center, four kinds of the active sensing and feedback control algorithm were developed: two position-based algorithms and two force-based algorithms. Furthermore, the compound and effective algorithm was also developed by combining two algorithms. Force sensors are mainly used to adapt errors and uncertainties encountered during the constraint estimation. Several experimental results involving the motion of lifting a finger off an unknown object are presented.

• Journal of the Ergonomics Society of Korea
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• v.30 no.2
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• pp.357-363
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• 2011

Objective: The aim of this study is to set the design direction of the lift chair's tilting seat for development. Background: Great attention has been shown to the development of senior friendly product, because of increasing elderly population rapidly in Korea. Therefore, we need to study on sit-to-stand(STS) motion of elderly systematically for developing lift chair that is one of senior friendly products. Method: In this study, we analyzed joint moment(knee, hip) and muscle activity (Erector spinae, Rectus femoris, Vastus lateralis) on STS motion of elderly(female, 60~70: 7) and young people(female, 20~30: 7) using 3 dimension motion capture camera, force plate, wireless EMG. Results: The results of muscle activity showed a similar trend but the results of joint moment were a lot of differences between the young and the elderly. Conclusion: The results of knee joint moment suggest the angle(10~30deg)-adjustable seat that can be better than to find the optimal seat's angle. Application: The method and results of this study are expected to develop senior friendly product and verification as well as be available to various application.

• International Commerce and Information Review
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• v.16 no.4
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• pp.35-54
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• 2014

Since smart phone users are continually increasing, smart phone based mobile banking users are increasing too. Therefore this study analyzes behavior of smart phone based mobile banking users. This study surveyed 400 people aged 10 to 50. The survey shows social effect influences convenience of smart-phone based mobile banking, perceived danger, and perceived security. Also,'promptness', the element of convenience has influence on trust. As perceived danger was higher, it was more vulnerable to resistance. The intention of smart-phone based mobile banking was influenced by trust and resistance. Specifically rising of intention was more influenced by lifting trust than lowering resistance.

• Wind and Structures
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• v.10 no.6
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• pp.555-576
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• 2007

Statistical analysis on the measured responses of a suspension bridge deck (Law, et al. 2007) show that vibration response at the first torsional mode of the structure has a significant increase at and beyond the critical wind speed for vortex shedding as noted in the wind tunnel tests on a sectional model. This paper further analyzes the measured responses of the structure when under typhoon conditions for any possible vortex shedding events. Parameters related to the lifting force in such a possible event and the vibration amplitudes are estimated with a single-degree-of-freedom model of the system. The spatial correlation of vortex shedding along the bridge span is also investigated. Possible vortex shedding events are found at both the first torsional and second vertical modes with the root-mean-square amplitudes comparable to those predicted from wind tunnel tests. Small negative stiffness due to wind effects is observed in isolated events that last for a short duration, but the aerodynamic damping exhibits either positive or negative values when the vertical angle of wind incidence is beyond ${\pm}10^{\circ}$. Vibration of the bridge deck is highly correlated in the events at least in the middle one-third of the main span.

• Journal of Electrical Engineering and Technology
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• v.12 no.2
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• pp.858-864
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• 2017

This study aims to restrain free conducting wire-type particles which are commonly and dangerously existing within DC gas-insulated transmission lines. A realistic platform of a coaxial cylindrical electrode was established by using a high-speed camera and a partial discharge (PD) monitor to observe the motion, PD, and breakdown of these particles. The probabilities of standing or bouncing, which can be affected by the length of the particles, were also quantitatively examined. The corona images of the particles were recorded, and particle-triggered PD signals were monitored and extracted. Breakdown images were also obtained. The air-gap breakdown with the particles was subjected to mechanism analysis on the basis of stream theory. Results reveal that the lifting voltage of the wire particles is almost irrelevant to their length but is proportional to the square root of their radius. Short particles correspond to high bouncing probability. The intensity and frequency of PD and the micro-discharge gap increase as the length of the particles increases. The breakdown voltage decreases as the length of the particles decreases.

• Journal of the Society of Naval Architects of Korea
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• v.47 no.3
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• pp.421-429
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• 2010

In this paper, in order to analyze the dynamic response of a floating crane when it lifts a heavy cargo, the boom of the floating crane is considered as an elastic beam. The boom is divided into elements based on finite element formulation and the floating frame of reference formulation and nodal coordinates are employed to model the boom as a flexible body. As an extension of the previous study, in order to consider spatial motion in waves, the coupled equations of motions of the 6 degree of freedom (DOF) floating crane and 6 DOF cargo are developed based on the flexible multibody system dynamics. The 3 dimensional deformation of the elastic boom is considered with 18 DOF. The dynamic simulation of the floating crane and the cargo is performed under regular wave conditions with various cargo weights. Finally, the effects of the elastic boom on lifting cargo are discussed by comparing the simulation results between the elastic boom and a rigid boom.

• Journal of Acupuncture Research
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• v.23 no.3
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• pp.67-75
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• 2006

Objectives : The purpose of this study is to evaluate the clinical effect of moxibustion treatment for FBSS patients by VAS. Methods : This clinical study was carried out for 51 cases with FBSS, who had been treated from January, 2003 to October, 2005, in oriental medical clinic. The patients were treated by the moxibustion during 8 weeks on the pain region of lower back or legs. We measured the effects of treatment by VAS. SPSS( Statistical Program for Social Science) for Windows was used for statistical analysis and repeated measures ANOVA was performed to gauge the improvement of VAS. Results : 1. We investigated 25 female and 26 male patients. The age distribution was from early 20's to 70's, among which 50's were most common. 2. The worsening factors are usually overwork and heavy lifting, but the main reason is unknown. 3. According to VAS, The patients with FBSS were improved by moxibustion treatment. Conclusion : Through this research, moxibustion therapy is considered to be effective and safe method for FBSS(Failed Back Surgery Syndrome). Moxibustion treatment had some problems that should be overcome such as severe pain and burning. Therefore we should pay more attention.

• Journal of Power Electronics
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• v.16 no.4
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• pp.1598-1611
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• 2016

In some special occasions with strict size requirements, such as mine hoists, improving the design accuracy of the forced-air cooling systems of NPC three-level inverters is a key technology for improving the power density and decreasing the volume. First, a fast power-loss calculation method was brought. Its calculation principle introduced in detail, and the computation formulas were deduced. Secondly, the average and dynamic power losses of a 1MW mine hoist acting as the research target were analyzed, and a forced-air cooling system model based on a series of theoretical analyses was designed with the average power loss as a heat source. The simulation analyses proves the accuracy and effectiveness of this cooling system during the unit lifting period. Finally, according to an analysis of the periodic working condition, the maximum power-loss range of a NPC three-level inverter under multi cycle operation was obtained and its dynamic power loss was taken into the optimized cooling system model as a heat source to solve the power device damage caused by instantaneous heat accumulation. The effectiveness and feasibility of the optimization design based on the dynamic power loss calculation of the maximum power-loss range was proved by simulation and experimental results.

• The Journal of Korean Medicine
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• v.33 no.1
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• pp.136-147
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• 2012

Objectives: The purpose of this study was to evaluate work-related risk factors of musculoskeletal disorders (MSDs) in various departments and tasks at an oriental medicine hospital. Methods: 269 hospital workers were selected for the study. The questionnaire survey included general characteristics, work-related characteristics and MSDs. Cross-tabulation analysis, multiple logistic regression, adjusted for age, work time, job demand and workload, were used to evaluate the effects of work-related factors on MSDs. Results: There were differences in MSDs depending on gender, age, occupation, and work-related factors. Prevalence rates of MSDs were 23.79% shoulder, 14.13% back, 10.41% neck. Risk factors for MSDs was packaging of drugs, transfer, and exercise therapy of physical therapist. Shoulder pain was significantly influenced by using power tools, over-reaching, and job demand while back pain was significantly influenced by weight-lifting operations and keyboard typing. Conclusions: The results of this study suggest that consideration of MSDs characteristics of workers in oriental medicine hospital is necessary to change unsuitable work environments and educate on preventing MSDs.

• Physical Therapy Korea
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• v.17 no.4
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• pp.26-34
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• 2010

The purpose of this study was to compare the trunk and lower extremity muscle activity induced by six different conditions floor, intensity 0, 1, 3, 5 of whole body vibration (WBV), and Swiss ball during bridging exercise. Surface electromyography (EMG) was used to measure trunk and lower extremity muscles activity. Ten elderly women were recruited from Hong-sung Senior Citizen Welfare Center. The collected EMG data were normalized using reference contraction (during floor bridging) and expressed as a percentage of reference voluntary contraction (%RVC). To analyze the differences in EMG data, the repeated one-way analysis of variance was used. A Bonferroni's correction was used for multiple comparisons. The study showed that EMG activity of the rectus abdominis, external oblique, internal oblique, erector spinae and rectus abdominis muscles were not significantly different between six different conditions of during bridging exercise (p>.05). However, there were significantly increased EMG activity of the rectus femoris (p=.034) in the WBV intensity 0, 1, 3, and 5 conditions compared with the floor bridging condition. EMG activity of the medial gastrocnemius were significantly increased in the WBV intensity 0, 1, 3, 5 and Swiss ball conditions compared with the floor bridging condition. Future studies are required the dynamic instability condition such as one leg lifting in bridging.