• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.4
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• pp.569-579
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• 2013

Robot control and image processing using a smartphone and Wi-Fi communication is introduced. The robot has a wheel and quadruped mechanism that is transformed according to the environment and is mainly used for drug bottle delivery. The captured image on the camera is transmitted to the smartphone in the form of stream data, and the image data is processed in the smartphone to enable the robot to identify an object and to control the robot itself. A network was constructed so that only image data from the stream data was used, and an image processing scheme to identify the drug bottle and deliver it to a person using a robot arm is also presented. In this study, image processing techniques and algorithms were purely implemented on a smartphone with considerable computational power and multiple functions rather than a computer, which contributes to the intelligence and miniaturization of the robot system.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.12
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• pp.2351-2357
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• 2008

Noninvasive radial artery pulse wave has been widely used not only for the pulse wave analysis(PWA) itself but also for assessment of arterial stiffness with estimated aortic pulse wave from peripheral pulse wave. However, it has been found that the deformation of pulse shape can be caused readily by changing measuring position, indentation pressure, and so on. So, in this study, we have developed a system which can measure radial pulse wave and skin displacement simultaneously while the indentation body goes down to occlude subject's radial artery. This system can be divided into a measuring apparatus part, an indentation control hardware part, a data acquisition part and a control and computation part. And, the measuring apparatus consists of an arm-rest, a step motor, an indentation body, a laser displacement sensor(LK-G30, Keyence Co.) and pulse wave sensor. Under load-free condition and radial artery loaded condition, the evaluation of developed system has been performed. From these results, we can conclude: 1) The developed system can control the indentation body quantitatively and the adopted laser displacement sensor shows linear output characteristic even with skin as a reflector. 2) This system can measure the pulse wave and the displacement of indentation body, that is, skin displacement simultaneously at each specific level of indentation body. 3) This system can provide the number of motor steps used to get down the indentation body, the measured skin displacement, the calculated indentation pressure, the calculated pulse pressure and the pulse waveform as well as the information generated by combining these with each others. 4) This system can reveal the relationship between the morphological changes of pulse wave and the estimated displacement of radial artery wall by indentation. Consequently, the developed system can furnish more abundant information on radial artery than previous diagnosis systems based on tonometric measurement. In further study, we expect to setup the standard measuring process and to concrete the algorithm for the estimation of radial artery's diameter and of displacement of radial artery's wall. Furthermore, with well designed clinical studies, we hope to turn out the usefulness of developed system in the field of cardiovascular system evaluation.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.7 no.1
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• pp.51-58
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• 2013

As it is changing into aging society, rehabilitation, welfare and sports industry markets are being expanded fast. Especially, the field of vital signals interface to control welfare instruments like wheelchair, rehabilitation ones like an artificial arm and leg and general electronic ones is a new technology field in the future. Also, this technology can help not only the handicapped, the old and the weak and the rehabilitation patients but also the general public in various application field. The commercial bio-signal measurement instruments and interface systems are complicated, expensive and large-scaled. So, there are a lot of limitations for using in real life with ease. this thesis proposes a wireless transmission interface system that uses EMG(electromyogram) signals and a control module to manipulate hardware systems with portable size. We have designed a hardware module that receives the EMG signals occurring at the time of wrist movement and eliminated noises with filter and amplified the signals effectively. DSP(Digital Signal Processor) chip of TMS320F2808 which was supplied from TI company was used for converting into digital signals from measured EMG signals and digital filtering. We also have used PCA(Principal Component Analysis) technique and classified into four motions which have right, left, up and down direction. This data was transmitted by wireless module in order to display at PC monitor. As a result, the developed system obtains recognition success ratio above 85% for four different motions. If the recognition ratio will be increased with more experiments. this implemented system using EMG wrist direction signals could be used to control various hardware systems.

• Journal of the Ergonomics Society of Korea
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• v.34 no.1
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• pp.29-43
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• 2015

Objective: The aim of this study is to develop management guidelines and a procedure for an anthropometric suitability assessment of the main control room (MCR) in nuclear power plants (NPPs). Background: The condition of the MCR should be suitable for the work crews in NPPs. The suitability of the MCR depends closely on the anthropometric dimensions and ergonomic factors of the users. In particular, the MCR workspace design in NPPs is important due to the close relationship with operating crews and their work failures. Many documents and criteria have recommended that anthropometry dimensions and their studies are one of the foremost processes of the MCR design in NPPs. If these factors are not properly considered, users can feel burdened about their work and the human errors that might occur. Method: The procedure for the anthropometric suitability assessment consists of 5 phases: 1) selection of the anthropometric suitability evaluation dimensions, 2) establishment of a measurement method according to the evaluation dimensions, 3) establishment of criteria for suitability evaluation dimensions, 4) establishment of rating scale and improvement methods according to the evaluation dimensions, and 5) assessment of the final grade for evaluation dimensions. The management guidelines for an anthropometric suitability assessment were completed using 10 factors: 1) director, 2) subject, 3) evaluation period, 4) measurement method and criteria, 5) selection of equipment, 6) measurement and evaluation, 7) suitability evaluation, 8) data sharing, 9) data storage, and 10) management according to the suitability grade. Results: We propose a set of 17 anthropometric dimensions for the size, cognition/perception action/behavior, and their relationships with human errors regarding the MCR design variables through a case study. The 17 selected dimensions are height, sitting height, eye height from floor, eye height above seat, arm length, functional reach, extended functional reach, radius reach, visual field, peripheral perception, hyperopia/myopia/astigmatism, color blindness, auditory acuity, finger dexterity, hand function, body angle, and manual muscle test. We proposed criteria on these 17 anthropometric dimensions for a suitability evaluation and suggested an improvement method according to the evaluation dimensions. Conclusion: The results of this study can improve the human performance of the crew in an MCR. These management guidelines and a procedure for an anthropometric suitability assessment will be able to prevent human errors due to inadequate anthropometric dimensions. Application: The proposed set of anthropometric dimensions can be integrated into a managerial index for the anthropometric suitability of the operating crews for more careful countermeasures to human errors in NPPs.

• Journal of Ocean Engineering and Technology
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• v.33 no.2
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• pp.168-177
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• 2019

KRISO (Korea Research Institute of Ship & Ocean Engineering) started a project to develop the core algorithms for autonomous intervention using an underwater robot in 2017. This paper introduces the development of the robot platform for the core algorithms, which is an ROV (Remotely Operated Vehicle) type with one 7-function manipulator. Before the detailed design of the robot platform, the 7E-MINI arm of the ECA Group was selected as the manipulator. It is an electrical type, with a weight of 51 kg in air (30 kg in water) and a full reach of 1.4 m. To design a platform with a small size and light weight to fit in a water tank, the medium-size manipulator was placed on the center of platform, and the structural analysis of the body frame was conducted by ABAQUS. The robot had an IMU (Inertial Measurement Unit), a DVL (Doppler Velocity Log), and a depth sensor for measuring the underwater position and attitude. To control the robot motion, eight thrusters were installed, four for vertical and the rest for horizontal motion. The operation system was composed of an on-board control station and operation S/W. The former included devices such as a 300 VDC power supplier, Fiber-Optic (F/O) to Ethernet communication converter, and main control PC. The latter was developed using an ROS (Robot Operation System) based on Linux. The basic performance of the manufactured robot platform was verified through a water tank test, where the robot was manually operated using a joystick, and the robot motion and attitude variation that resulted from the manipulator movement were closely observed.

• Journal of Korean Society of Archives and Records Management
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• v.13 no.1
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• pp.35-58
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• 2013

The archives preservation chamber is an equipment that is able to store important archives with air-cleaning and isothermal-isohumidity control functions to permanently store archives in a highly safe environment. The chamber can only store small amounts of archives but it is crucial for organizations preserving archives to economically store a variety of archives, be it a medium or a small amount of documents. An arm of this study researches the current preservation status of the local record center to determine the need for such a chamber. In addition, in order to improve the air-cleaning and isothermal-isohumidity functions, the researchers of this study have conducted analyses to design the core parts. The preservation chamber that had been designed includes an archives preservation area, air-cleaning equipment, and environment measurement equipment. A preservation chamber is used to preserve small amounts of important archives safely. Thus, when a local record center is preserving various types of archives in small or medium quantities in a stack room, the preservation chamber can be used to aid their long-term preservation.

• The Journal of Korean Obstetrics and Gynecology
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• v.26 no.4
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• pp.123-139
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• 2013

Purpose: Cold hypersensitivity is regarded to be associated with blood circulation. This study is aims to evaluate the effects and safety of oxygen chamber therapy on cold hypersensitivity by comparing the temperature and Visual Analogue Scale. Methods: 42 outpatients who visited ${\bigcirc}{\bigcirc}$ University Oriental Hospital from July 11th, 2013 to August 28th, 2013 were analyzed. Patients were subjected to thermometer, and those with thermal difference greater than $0.3^{\circ}C$ between upper arm and palm and also with more than VAS 4 of cold hypersensitivity were diagnosed with cold hypersensitivity. 42 outpatients diagnosed with cold hypersensitivity are divided into two groups, one is the experimental group consisted of 21 patients and other was control group consisted of 21 patients. The experimental group had oxygen chamber therapy 10 times for 4 weeks. Thereafter the effects of oxygen chamber therapy on cold hypersensitivity was analyzed with t-text using SPSS for Windows version 21. Results: After the oxygen chamber therapy, experimental group had considerable improvement on cold hypersensitivity, in consequence of decreasing rate of thermal difference and VAS of cold hypersensitivity. Ear deafness and hand numbness were reported as an adverse effects in experimental group, but there was no serious adverse effects. Conclusions: This clinical trial showed oxygen chamber therapy could be effective and safe to reduce cold hypersensitivity.

• Journal of the Korean Society of Physical Medicine
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• v.8 no.3
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• pp.369-378
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• 2013

PURPOSE: The purpose of present study was to ascertain how the activity of the serratus anterior muscle, the upper trapezius muscle and the pectoral major muscle was affected while the upper arm was being flexed at 70, 90 and 110 degrees respectively in a closed kinetic chain exercise (wall push up plus) and an open kinetic chain exercise (static hug). METHODS: Sixteen healthy young men subjects participated in the study. Surface electromyography (EMG) data were collected from the dominant-side muscles during a closed kinetic chain exercise and an open kinetic chain exercise. The activity of each muscle was measured quantitatively, and by the use of the two-way repeated ANOVA, the data were compared with each other according to exercises and shoulder flexion angles. RESULTS: Results indicated that the closed kinetic chain exercise did not interact with the open kinetic chain exercise (p>.05). In both the closed kinetic chain exercise and the open kinetic chain exercise, the activity of the serratus anterior muscle became different significantly according to angles (p<.05). Its activity increased in order of 70, 90 and 110 degrees (p<.05). In both exercises and all angles, muscle activity was significantly higher in the serratus anterior muscle than in the upper trapezius muscle and the pectoral major muscle (p<.05). CONCLUSION: The above results show that there is a need to selectively control the exercise stress of the serratus anterior muscle in the case of the patients with the shoulder impingement syndrome characterized by the winged scapula, insufficient scapular protraction and upward rotation.

• Journal of Korean Neurosurgical Society
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• v.59 no.2
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• pp.172-181
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• 2016

To describe the details of the foraminoplastic superior vertebral notch approach (FSVNA) with reamers in percutaneous endoscopic lumbar discectomy (PELD) and to demonstrate the clinical outcomes in limited indications of PELD. Retrospective data were collected from 64 patients who underwent PELD with FSVNA from August 2012 to April 2014. Inclusion criteria were high grade migrated disc, high canal compromised disc, and disc protrusion combined with foraminal stenosis. The clinical outcomes were assessed using by the visual analogue scale (VAS), Oswestry Disability Index (ODI) and modified MacNab criteria. Complications related to the surgery were reviewed. The procedure used a unique approach, using the superior vertebral notch as the target and performing foraminoplasty with only reamers under C-arm control. The mean age of the 55 female and 32 male patients was 52.73 years. The mean F/U period was $12.2{\pm}4.2$ months. Preoperative VAS ($8.24{\pm}1.25$) and ODI ($67.8{\pm}15.4$) score improved significantly at the last follow-up (VAS, $1.93{\pm}1.78$; ODI, $17.14{\pm}15.7$). Based on the modified MacNab criteria, excellent or good results were obtained in 95.3% of the patients. Postoperative transient dysthesia (n=2) and reoperation (n=1) due to recurred disc were reported. PELD with FSVNA could be a good method for treating lumbar disc herniation. This procedure may offer safe and efficacious results, especially in the relatively limited indications for PELD.

• Journal of the Korea Convergence Society
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• v.6 no.1
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• pp.57-63
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• 2015

In this study, the lower arm is connected and fixed at the model of the automotive stabilizer link as the moment is applied. There are models of 1, 2 and 3 as a length control type, a general type and a single body type respectively. These models are investigated by performing the convergence technique through the design and the strength analysis with CATIA and ANSYS. As the maximum equivalent stress of model 3 has the least, model 3 can endure the highest load among three models. As the fatigue analysis, model 3 has the minimum blocks as the frequency of stress state, model 3 becomes also safest among three models. As models of 1, 2 are in the order of the next safety, the number of blocks becomes larger as the frequency of stress state and the instability becomes higher. And it is possible to be grafted onto the convergence technique at design and show the esthetic sense.