• The Journal of Korean Physical Therapy
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• 제24권3호
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• pp.229-234
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• 2012

Purpose: The purpose of this study was to compare a control group and an experimental group, consisting of arthroscopic shoulder surgery patients who had received acute rehabilitation treatment and who were to perform scapular stabilization exercise. Methods: Sixteen subjects were studied. The control group, n=8, received instruction for basic physical therapy intervention. An experimental group, n=8, received instruction for doing scapular stabilization exercise (protraction, retraction, elevation, depression) 10 times, 6 times per week. To evaluate the effects of exercise, subjects were evaluated using a joint position sense of shoulder (JPS), disability of the arm, shoulder index (DASH), shoulder pain and disability index (SPADI). Results: Participants showed after the intervention, both groups saw their JPS errors at $30^{\circ}$, $60^{\circ}$, and $90^{\circ}$ significantly decrease relative to before the intervention (p<0.05). Both groups saw their JPS rates at $90^{\circ}$ significantly decrease (p<0.05), with no significant changes in JPS at $30^{\circ}$ and $60^{\circ}$ (p>0.05). SPADI and DASH significantly decrease after the intervention (p<0.05), with no significant decreases before the intervention (p>0.05). The change rates of SPADI and DASH significantly reduced (p<0.05). Conclusion: Low-intensity scapular stabilization exercise is considered effective as a clinical treatment for arthroscopic shoulder surgery patients who receive acute rehabilitation treatment.

• 제어로봇시스템학회논문지
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• 제22권10호
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• pp.811-816
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• 2016

In light of recently developed 3D printers for rapid prototyping, there is increasing attention on the 3D scanner as a 3D data acquisition system for an existing object. This paper presents a prototypical 3D scanner based on a striped laser light image. In order to solve the problem of shadowy areas, the proposed 3D scanner has two cameras with one laser light source. By using a horizontal rotation table and a rotational arm rotating about the latitudinal axis, the scanner is able to scan in all directions. To remove an additional optical filter for laser light pixel extraction of an image, we have adopted a differential image method with laser light modulation. Experimental results show that the scanner's 3D data acquisition performance exhibited less than 0.2 mm of measurement error. Therefore, this scanner has proven that it is possible to reconstruct an object's 3D surface from point cloud data using a 3D scanner, enabling reproduction of the object using a commercially available 3D printer.

• 소성∙가공
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• 제27권1호
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• pp.18-27
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• 2018

As one of the functional metal parts in steam turbine diaphragm assembly, the hollow-partitioned turbine nozzle (stator) has large and thick geometries, as well as an asymmetric configuration. Therefore it is hard to support a metal blank in the die cavity. To ease this situation and control posture and position of metal blank (workpiece), a blank support structure is newly introduced. The blank support structure is basically composed of enlarged arms from the blank, guide pins and linear bearings. It can help to control the intermediate blank without a critical sliding phenomenon. The operation mechanism of this blank support structure, during thick plate forming for the hollow-partitioned turbine nozzle stator, is first evaluated. A series of FEM-based numerical simulations, with respect to the width of the guide arm as geometric design parameters, are carried out to investigate its applicable range. As the results, it is observed the blank support structure for this thick plate forming can guide the workpiece to have stable posture during the plate forming process.

• 한국통신학회논문지
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• 제19권12호
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• pp.2353-2363
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• 1994

본 논문에서는 외란이 존재하는 로보트 시스템에 대하여, 축소차수관측기를 사용하여 강인한 디지털 제어기의 설계방법을 다루었다. 대부분의 로보트 매니퓰레이터 경우는 상태변수 모두를 측정할 수 없기 때문에 측정할 수 없는 상태변수들은 추정되거나 재구성되어야 한다. 또 다른 문제점들은 미분불가능한 쿨롱마찰력과 같은 비선형 성분, 중력에 의한 외란, 그리고 구동모터와 매니퓰레이터 사이에 존재하는 뒤틀림 스프링 효과이다. 제어기의 설계는 측정가능한 상태변수와 축소차수 관측기에 의하여 추정한 상태변수들을 궤환시키고 출력 쪽에 이산적분기를 첨가하여 구성하였다. 제어기의 궤환이득은 우선 최적제어이론에 의해 구하고, 만약 시스템 응답이 리미트싸이클을 가지면 혼성시스템에 대한 기술함수법을 적용해서 제어기의 이득을 재조정하여 리미트싸이클을 제거하였다.

• 제어로봇시스템학회논문지
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• 제11권8호
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• pp.688-695
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• 2005

This paper describes dynamic manipulability analysis of robotic arms moving in viscous fluid. The manipulability is a functionality of manipulator system in a given configuration under the limits of joint ability with respect to the task required to be performed. To investigate the manipulability of underwater robotic arms, a modeling and analysis method is presented. The dynamic equation of motion of underwater manipulator is derived based on the Lagrange-Euler equation considering with the hydrodynamic forces caused by added mass, buoyancy and hydraulic drag. The hydrodynamic drag term in the equation is established as analytical form using Denavit-Hartenberg (D-H) link coordination of manipulator. Two analytical approaches based oil manipulability ellipsoid are presented to visualize the manipulability of robotic arm moving in viscous fluid. The one is scaled ellipsoid which transforms the boundary of joint torque to acceleration boundary of end-effector by normalizing the torques in joint space, while the other is shifted ellipsoid which depicts total acceleration boundary of end-effector by shifting the ellipsoid as much as gravity and velocity dependent forces in work space. An analysis example of 2-link manipulator with proposed analysis scheme is presented to validate the method.

• Advances in Traditional Medicine
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• 제9권2호
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• pp.135-141
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• 2009

The purpose of this study was to characterize the putative anxiolytic-like effects of the 70% ethanol extract of Portulaca oleracea (EPO) using an elevated plus maze (EPM) in mice. The EPO was orally administered at 50, 100, 200 or 400 mg/kg to ICR mice, 1 h before the behavioral evaluation in the EPM, respectively. Control mice were treated with an equal volume of 10% tween 80, and positive control mice with diazepam (1 mg/kg). Single treatments of the EPO significantly increased the percentage of time spent and arm entries into the open arms of the EPM versus controls (P < 0.05). Moreover, there were no changes in the locomotor activity and myorelaxant effects in any group compared with the saline controls. In addition, the anxiolytic-like effects of the EPO were blocked by flumazenil (10 mg/kg, i.p), a $GABA_A$ antagonist not by WAY 100635 (0.3 mg/kg, i.p), a 5-$HT_{1A}$ receptor antagonist. These results indicate that P. oleracea is an effective anxiolytic agent, and suggest that the anxiolytic-like effects of P. oleracea is mediated via the GABAergic nervous system.

• 대한전기학회논문지:시스템및제어부문D
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• 제53권2호
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• pp.127-134
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• 2004

In this paper, human motor behaving model based sensory motor coordination(SMC) algorithm is implemented on robotic grasping task. Compare to conventional SMC models which connect sensor to motor directly, the proposed method used biologically inspired human behaving system in conjunction with SMC algorithm for fast grasping force control of robot arm. To characterize various grasping objects, pressure sensors on hand gripper were used. Measured sensory data are simultaneously transferred to perceptual mechanism(PM) and long term memory(LTM), and then the sensory information is forwarded to the fastest channel among several information-processing flows in human motor system. In this model, two motor learning routes are proposed. One of the route uses PM and the other uses short term memory(STM) and LTM structure. Through motor learning procedure, successful information is transferred from STM to LTM. Also, LTM data are used for next moor plan as reference information. STM is designed to single layered perception neural network to generate fast motor plan and receive required data which comes from LTM. Experimental results showed that proposed method can control of the grasping force adaptable to various shapes and types of greasing objects, and also it showed quicker grasping-behavior lumining time compare to simple feedback system.

• 전력전자학회논문지
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• 제11권6호
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• pp.520-528
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• 2006

동일한 변압기를 사용하는 공통암 타입의 절연형 다중레벨 인버터에서 스위칭 주파수를 저감하기 위해 새로운 위상변위제어기법을 제안 하였다. 제안된 스위칭 방식은 인버터의 각 암이 기본주파수당 한번만을 스위칭을 하는 스텝 펄스파 방식을 사용하여 동일한 스위칭 주파수를 유지할 수 있다. 제안된 스위칭 방식의 타당성을 검증하기 위해 기존의 동일변압기를 이용한 멀티레벨 인버터의 스위칭 패턴과 제안된 위상변위 제어방식을 이용한 멀티레벨 인버터의 스위칭 패턴을 시뮬레이션하고 실험을 통해 비교 하였다.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2006년도 춘계종합학술대회
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• pp.685-688
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• 2006

본 논문에서는 초전도에너지저장 시스템에 적합한 간략한 회로 구성과 높은 신뢰성을 가지는 단상 무정전 전원공급장치를 제안한다. 제안된 시스템은 공통암 방식을 적용하여 스위칭 소자수를 저감한다. Normal, Stored-energy, Bypass의 세 가지 동작 모드에 대하여 상세히 설명한다. 사용되는 스위칭 소자수를 저감시키거나 수동소자로 대체시킬 경우 제어가 복잡해지고 자유도를 감소키는 문제점이 있지만 고성능의 디지털 제어기를 통해 추가적인 부담 없이 해결할 수 있다. 제안된 시스템의 타당성 검증을 위해 시뮬레이션 결과를 제시한다.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2004년도 추계학술대회논문집
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• pp.689-694
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• 2004

To increase accurateness and reliability of the evaluation of power tool vibration transmitted to an operator, it is necessary to measure grip and feed forces during the measurement of hand-transmitted vibration. In the study a system was invented to measure the vibration and the grip and/or feed force, which consists of a measurement handle and a PC with data acquisition system and the software. Strain gauges and an accelerometer were mounted on the handle for the simultaneous measurement of the forces and the vibration. The program in the system makes it possible to monitor the grip and feed force during the tool operation so that the operator keeps the applying forces within the pre-determined range. Investigating the vibration total values, frequency-weighted root mean square accelerations at the handle, obtained at various conditions with control of the grip and feed force showed more consistency than those measured without force control. By using the system the experimenter can reduce uncertainty of the measured vibration.