• 한국정밀공학회지
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• 제22권6호
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• pp.118-126
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• 2005

There are many types of walking robots in the world. For dynamic walking of the robots it is necessary to keep its dynamic stability. The dynamic stability is influenced by the position of ZMP (zero moment point). In this paper we study the control of the ZMP position of walking robot. For experiment we developed a quadruped robot and analyzed the dynamic stability of the robot. Developed robot has 2 joints at each leg and WBO (weight balancing oscillator) on the body of the robot. The WBO is designed to move linearly from side to side when the robot walks dynamically. Walking test was performed to verify the validity of the proposed methods. Especially we showed that the dynamic stability of the robot can be improved without sacrifice of the walking speed by control the WBO.

• 대한소아치과학회지
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• 제29권4호
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• pp.607-617
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• 2002

연령과 치아 발육상태 단계와의 상관관계, 치아의 발육에 따른 치아의 이동상태를 평가하기 위하여 최근 5년 이내에 경북대학교 병원에 내원한 아동(남아 446명, 여아 326명)의 파노라마 방사선사진을 대상으로 하여, Moorrees의 기준에 의하여 하악 영구치아의 발육단계를 평가한 후, 발육단계와 연령, 치조골내 치아의 위치를 평가하여 다음과 같은 결론을 얻었다. 치아의 발육시기는 치관이 완료될 때까지 남, 여의 차이가 없었으나, 치근형성이 되면서 부터는 남아보다 여아에서 더 빨리 발육되는 경향을 나타내었다. 치관형성의 완료시점의 평균연령은 남아 여아 각각에서 중절치 3.71, 4.05세, 측절치 4.44, 4.60세, 견치 5.35, 5.11세, 제1소구치 6.62, 6.36세, 제2소구치 7.36, 7.17세, 제1대구치 3.51, 3.69세, 제2대구치 7.90, 7.64세 이었고, 치근단이 폐쇄되기 전단계인 $A_{1/2}$는 중절치 8.70, 8.18세, 측절치 9.55, 8.99세, 견치 12.48, 11.60세, 제1소구치 12.30, 12.01세, 제2소구치 12.19, 12.26세, 제1대구치 912, 8.87세, 제2대구치 12.59, 12.45세 이었다. 치조골내의 교두점 위치는 치관형성 완료시까지는 거의 변화가 없었으나, 치근이 형성됨에 따라 빠르게 교합평면을 향해 이동하였고, 치근형성 완료단계(Rc)에서 다시 움직임 없이 정체되었다. 치근단의 위치는 치관형성 시작부터 치근 1/4 형성 시까지 일정한 위치에 유지되었으나, 그 후에 급격하게 교합면 쪽으로 이동하였고, 치근 3/4 형성시점부터 비교적 일정한 위치에 유지되었다. 치아의 석회화가 시작되는 초기의 치배 위치는 견치가 가장 하방에 위치하였으며, 그 다음이 제2소구치, 제1소구치, 측절치 제2대구치, 제1대구치 순이었고, 중절치가 가장 상방에 위치하였다.

• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2008년도 학술대회 1부
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• pp.749-753
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• 2008

자기수용감각은 신체 내부에서 폼의 발란스, 근육의 강도, 민첩성을 이용하여 공간의 위치나 관절의 움직임을 조절하는 능력으로 정의된다. 기존의 연구에서는 자기수용감각을 발달시키기 위하여 reaching 훈련을 이용한 시각적인 feedback을 제시하여 훈련을 하고 feedback을 차단하고 측정하는 방법이 사용했지만 시각적인 feedback이 있는 상황은 자기수용감각만 유도할 수 없는 문제점이 있다. 가상현실 기술은 훈련 동안 실시간으로 시각적인 feedback을 다양하게 제공하는 것으로 기존의 연구의 문제점을 해결할 수 있다. 본 연구에서는 가장현실 기술을 이용한 자기수용감각을 발달시키기 위한 훈련 및 평가시스템을 개발하고 파일럿 스터디를 하였다. 가상환경 task는 3개로 구성되었다. mode 1은 신체 움직임을 실시간으로 시각적인 feedback을 제시하는 환경이다. mode 2는 피험자의 반응에 의해서만 신체 움직임에 대한 시각적인 feedback을 제시하는 환경이다. mode 3응 시각적인 feedback을 제시하지 않는 환경이다. 가상환경의 task는 각 mode에서 3지점을 한 번씩 수행하는 것을 1회기로 5회기씩 수행하였다. 본 연구의 결과에서, target을 획득하기 위하여 이용하는 시간은 mode 3에서 mode보다 더 짧게 소요 되었다.(P=0.001). mode 2와 mode 3에서 1회기에서는 상관관계를 가지고 2-5회기 동안에는 mode 2와 mode 3에서 상관관계가 보이지 않았다(p = 0.012). mode 1의 환경에서는 훈련에 필요한 자기수용감각보다 시각적인 feedback에 의한 훈련이 진행되는 것을 볼 수 있다. mode 2는 첫 회기에서 자기수용감각에 의한 시각적인 feedback을 제공받을 수 있기 때문에 자기수용감각 훈련을 수행할 수 있다. 추후 연구는 시스템의 타당성 검증과 임상실험을 통한 훈련과 평가를 할 계획이다.

• 감성과학
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• 제20권3호
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• pp.141-150
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• 2017

본 연구에서는 E-textile 기반 신축성 센서의 모양과 부착 위치가 동작 센싱 성능에 미치는 영향을 분석하고, 이를 통해 인체 동작 센싱에 가장 적합한 의복 구조 요건을 규명하고자 하였다. 실험 대상 아동에게 센서의 모양과 부착 위치에 따라 조작된 실험복을 착의시킨 후 60 deg/sec의 속도로, $60^{\circ}$, $90^{\circ}$, $120^{\circ}$의 동작 각도별로 팔과 다리의 굽힘, 폄 동작 의한 직물 센서의 신장과 수축에 따른 전압의 변화량을 측정하였으며, 가속도 센서를 함께 부착하여 동작의 일치도를 검증하였다. 또한 아동의 모형 팔과 다리를 제작하여 이를 대상으로 동일한 실험을 수행함으로써 인체의 팔, 다리의 동작 실험 결과와 비교하였다. 분석 결과 센서의 모양에서는 모형 대상 실험과 아동 대상 실험 모두에서 보트형의 센서 보다 장방형의 센서가 더 균일하고 안정적인 경향을 보여 재현성과 신뢰성이 높은 것으로 나타났다. 센서의 부착 위치는 모형 대상 실험에서는 팔꿈치와 무릎의 관절부로부터 4 cm 아래 지점에 부착된 경우, 아동 대상 실험에서는 팔꿈치와 무릎의 관절부에 위치했을 때 재현성과 신뢰성이 더 높았다. 본 연구에서는 아동의 사지 동작 측정에 적합한 센서를 개발하고 동작 센싱에 적합한 센서의 모양과 부착 위치의 조건을 분석하였으며, 의복에 통합된 유연한 직물 센서를 활용하여 인체 부위별 동작 센싱이 가능하다는 것을 규명하였다.

• 대한방사선기술학회지:방사선기술과학
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• 제40권3호
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• pp.407-413
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• 2017

의료 방사선은 환자의 진단 및 치료를 함에 있어 중대한 이득을 제공하지만 주변인에게 불필요한 피폭을 발생시킨다. 이에 본 연구에서는 환자와 일반인이 같은 공간 내 상주하는 다인 병실에 대해 선원항의 종류에 따른 공간선량률을 분석하고자 하였다. 실험은 몬테카를로 모의모사(MCNPX)를 이용하였으며, 선원항은 전신 뼈검사 환자와 이동형 X선 발생장치를 모사하였다. 실험결과 전신 뼈검사 환자의 측면 병상 위치에서 약 $3.46{\mu}Sv/hr$의 선량이 나타났으며, 이동형 X선 발생장치를 이용한 실험 결과, 흉부검사 시 측면 병상 위치에서 $1.47{\times}10^{-8}{\mu}Sv/irradiation$, 복부검사 시 측면 병상 위치에서 $2.97{\times}10^{-8}{\mu}Sv/irradiation$ 값이 나타났다. 이처럼 다인병실에서는 주변 환자에게 불필요한 방사선을 발생시키며, 국내의 미흡한 다인 병실의 방사선에 대한 법적인 규제 및 체계적인 차폐 방안이 마련되어져야 할 것이다.

• 분석과 대안
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• 제2권1호
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• pp.31-69
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• 2018

This study examines the role of science in resolving trade disputes. After the Great East Japan Earthquake of 11 March 2011 that not only jeopardized the people of Japan, but also put the safety of an entire region at risk, the Republic of Korea (Korea) has imposed import bans as well as increased testing and certification requirements for radioactive material on Japanese food products. Japan has challenged these restrictions at the World Trade Organizations Dispute Settlement Body (DSB). This study aims to explain how international trade agreements and previous DSB rulings have dealt with different scientific viewpoints provided by confronting parties. In doing so, it will contrast the viewpoints espoused by Korean and Japanese representatives, and then analyzes the most similar case studies previously ruled on by the DSB, including the case of beef hormones and the case of genetically modified crops including biotech corn, both between the United States and the European Communities (EC). This study finds that science is largely subordinate to national interests in the case of state decision-making within the dispute settlement processes, and science has largely been relegated to a supportive role. Due to the ambiguity and lack of truly decisive decisions in the Appellate Body in science-based trade disputes, this study concludes that the Appellate Body avoids taking a firm scientific position in cases where science is still inconclusive in any capacity. Due to the panel's unwillingness to establish expert review boards as it has the power to do, instead favoring an individual-based system so that all viewpoints can be heard, it has also developed a system with its own unique weaknesses. Similar to any court of law in which each opposing party defends its own interests, each side brings whatever scientific evidence it can to defend its position, incentivizing them to disregard scientific conclusions unfavorable to their position. With so many questions that can arise, combined with the problems of evolving science, questions of risk, and social concerns in democratic society, it is no wonder that the panel views scientific information provided by the experts as secondary to the legal and procedural issues. Despite being ruled against the EC on legal issues in two previous cases, the EC essentially won both times because the panel did not address whether its science was correct or not. This failure to conclusively resolve a debate over whose science is more scientific enabled the EC to simply fix the procedural issues, while continuing to enforce trade restrictions based on their scientific evidence. Based on the analysis of the two cases of disputes, Korea may also find itself guilty of imposing an unwarranted moratorium on Japan's fish exports, only to subsequently pass new restrictions on labelling and certification requirements because Japan may have much scientific evidence at its disposal. However, Korea might be able to create enough uncertainty in the panel to force them to rule exclusively on the legal issues of the case. This will then equip Korea, like the EC in the past, with a way of working around the ruling, by changing whatever legal procedure they need to while maintaining some, if not most, of its restrictions when the panel fails to address its case on scientific grounds.

• 한국전문물리치료학회지
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• 제12권2호
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• pp.1-10
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• 2005

Pressure ulcers are serious complications of tissue damage that can develop in patients with diminished pain sensation and diminished mobility. Pressure ulcers can result in irreversible tissue damage caused by ischemia resulting from external loading. There are many intrinsic and extrinsic contributors to the problem, including interface tissue pressure, shear, temperature, moisture, hygiene, nutrition, tissue tolerance, sensory and motor dysfunction, disease and infection, posture, and body support systems. The purposes of this study were to investigate the relationship between buttock interface pressure and seating position, wheelchair propulsion speed. Seated-interface pressure was measured using the Force Sensing Array pressure mapping system. Twenty subjects propelled wheelchair handrim on a motor-driven treadmill at different velocities (40, 60, 80 m/min) and seating position used recline ($100^{\circ}$, $110^{\circ}$, $120^{\circ}$) with a wheelchair simulator. Interface pressure consists of average (mean of the pressure sensor values) and maximum pressure (highest individual sensor value). The results of this study were as follows; No significant correlation in maximum/average pressure was found between a static position and a 40 m/min wheelchair propulsion (p>.05). However, a significant increase in maximum/average pressure were identified between conditions of a static position and 60 m/min, and 80 m/min wheelchair propulsion (p<.05). No significant correlation in maximum pressure were found between a $90^{\circ}$ recline (neutral position) and a $100^{\circ}$, $110^{\circ}$, or $120^{\circ}$ recline of the wheelchair back (p>.05). No significant difference in average pressure was found between conditions of a $90^{\circ}$ recline and both a $100^{\circ}$ and $110^{\circ}$ recline of wheelchair back. However, a significant reduction in average pressure was identified between conditions of a $90^{\circ}$ and $120^{\circ}$ recline of wheelchair back (p<.05). This study has shown some interesting results that reclining the seat by $120^{\circ}$ reduced average interface pressure, including the reduction or prevention in edema. And interface pressure was greater during dynamic wheelchair propulsion compared with static seating. Therefore, the optimal seating position and seating system ought to provide postural control and pressure relief. We need an education on optimal seating position and a suitable propulsion speeds for wheelchair users.

• 수면정신생리
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• 제4권2호
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• pp.164-171
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• 1997

Introduction : Periodic limb movement disorder (PLMD) is shown to common in patients with OSA and may become evident or worsened when treated with nasal continuous positive airway pressure (CPAP). Whether this is due to im proved sleep continuity. adverse nocturnal body positioning, uncovered by CPAP, or due to the CPAP stimulus is still debat-ed. We hypothesized that the increase in PLM activity following CPAP is associated with more supine-sleeping tendencies when being treated with CPAP. In the present work, we compared differences in the PLMD index (PLMI) and sleeping position of patients with sleep disordered breathing before and after CPAP treatment. Method : We studied 16 patients (mean age 46 yr, 9M, 7F) with OSA (11 patients) or UARS (5 patients) who either had PLMD on initial polysomnogram (baseline PSG) or on nasal CPAP trial (CPAP PSG). All periodic leg movements were scored on anterior tibialis EMG during sleep according to standard criteria (net duration; 0.5-5.0 seconds, intervals; 4-90 seconds. 4 consecutive movements). Paired t-tests compared PLMD index (PLMI), PLMD-related arousal index (PLMD-ArI), respiratory disturbance index (RDI), and supine sleeping position spent with baseline PSG and CPAP PSG. Results : Ten patients (63%) on baseline PSG and fifteen patients (94%) on CPAP PSG had documented PLMD ($PLMI{\ge}5$) respectively with significant increase on CPAP PSG(p<0.05). Ten patients showed the emergence (6/10 patients) or substantial worsening (4/10 patients) of PLMD during CPAP trial. Mean CPAP pressure was $7.6{\pm}1.8\;cmH_2O$. PLMI tended to increase from baseline PSG to CPAP PSG, and significantly increase when excluding 2 outlier (baseline PSG, $19.0{\pm}25.8/hr$ vs CPAP PSG, $29.9{\pm}12.5/hr$, p<0.1). PLMD-ArI showed no significant change, but a significant decrease was detected when excluding 2 outlier (p<0.1). There was no significant sleeping positional difference (supine vs non-supine) on baseline PSG, but significantly more supine position (supine vs non-supine, p<0.05) on CPAP PSG. There was no significant difference in PLMI during supine-sleeping and nonsupine-sleeping position on both of baseline PSG and CPAP PSG. There was also no significant difference in PLMI during supine-sleeping position between baseline PSG and CPAP PSG. With nasal CPAP, there was a highly significant reduction in the RDI (baseline PSG, $14.1{\pm}21.3/hr$ vs CPAP PSG, $2.7{\pm}3.9/hr$, p<0.05). Conclusion : This preliminary data confirms previous findings that CPAP is a very effective treatment for OSA, and that PLMD is developed or worsened with treatment by CPAP. This data also indicates that supine-sleeping position is more common when being treated with CPAP. However, there was no clear evidence that supine position is the causal factor of increased PLMD with CPAP. It is, however, suggested that the relative movement limitation induced by CPAP treatment could be a contributory factor of PLMD.

• 한국운동역학회지
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• 제14권3호
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• pp.135-147
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• 2004

This study was conducted to investigate the technical factors of Lu Yu Fu vault actually performed by three men gymnasts participated in artistic gymnastics competition of 2003 summer Universiade in Daegu through the DLT method of three dimensional cinematography. To analyze these vaults, the instant events of Lu Yu Fu were set in the board touchdown(BTD), the board takeoff(BTO), the horse touchdown(HTD), the horse takeoff(HTO), the peak height(PH), the mat touchdown(MTD) respectively and the phases of that vault were set in the board contact(BC), the preflight(PRF), the horse contact(HC), the postflight(POF), the grounding on mat(GM) respectively After calculating the performance times, the CG displacement velocity, the kinetic energy impulse reaction force moment arm torque at the horse, the released angle piked angle addressed angle, the angular momentum angular velocity of whole body in x axis, and the horizontal displacement between the feet and CG, the following conclusions were reached. To perform the better Lu Yu Fu vault, a gymnast must have the large horizontal velocity of whole body with fast run-up, decrease the duration time and the horizontal vertical displacement of whole body in PRF, have the enough time to judge the correct magnitude and direction of force to brake or push the horse so as to lengthen the HC duration time at any cost. Also it is desirable to increase the horizontal vertical displacement of whole body in POF if possible, maintain the adequate piked position to decrease the angular velocity of whole body in x axis, prepare the grounding on mat previously and delay the release of the hand from the body to keep the angular momentum.

• 사상체질의학회지
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• 제9권1호
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• pp.245-253
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• 1997

The methodology of the Oriental philosophy is deductive and that of the of Occidental philosophy is inductive. Therefore study on the Oriental philosophy must start from right comprehension of fundamental premise before detailed analysis. The writer studied the meaning of the cosmology which forms the basis of Sa-sang constitutional philosophy and the propriety of visceral assignment by Sa-sang constitution which forms the theoletiacal basis of Sa-sang constitutional medicine. The results are following ; 1. The cosmology of Lee jae-ma has the existent principle but don't have the side of the formative principie. 2. The cosmology of Lee jae-ma is not that searchs for the objective rule of nature but that centers around a human being by subjective understanding system. 3. The cosmology consists of four elements, that is mind(心), body(身), events(事), and nature(物). Among them mind and body means a human being, nature means the natural environment containing time and space, events means not that of nature but that of human being. 4. The mind and body as Yin-yang(陰陽) means the state which objects and self become one. 5. The mind as the Great-Absolute(太極) has the possibility of two interpretation, Firstly it means the state of the source of life which nature and human being become one, and secondly it means that the mind of a human being becomes the cosmos or the center of the cosmos. 6. In the visceral assignment by Sa-sang constitution the position of heart, the Great-Absolute in center is immanent within four viscera and the function of it is that the undifferentiated unitary organic body, after it is diffrentiated still serves as the unitary organic whole by mutual connection, adjustment, unification and supervision. 7. The Great-Absolute in center is divided into the Great-Absolute of mind and that of body. And the Great-Absolute of body consists of the heart and the system of blood vessel, that of mind means the self-consciousness(自我).