• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1022-1027
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• 2003

The Motion controllers provide the sophisticated performance and enhanced capabilities we can see in the movements of robotic systems. Several types of motion controllers are available, some based on the kind of overall control system in use. PLC (Programmable Logic Controller)-based motion controllers still predominate. The many peoples use MCU (Micro Controller Unit)-based board level motion controllers and will continue to in the near-term future. These motion controllers control a variety motor system like robotic systems. Generally, They consist of large and complex circuits. PLC-based motion controller consists of high performance PLC, development tool, and application specific software. It can be cause to generate several problems that are large size and space, much cabling, and additional high coasts. MCU-based motion controller consists of memories like ROM and RAM, I/O interface ports, and decoder in order to operate MCU. Additionally, it needs DPRAM to communicate with host PC, counter to get position information of motor by using encoder signal, additional circuits to control servo, and application specific software to generate a various velocity profiles. It can be causes to generate several problems that are overall system complexity, large size and space, much cabling, large power consumption and additional high costs. Also, it needs much times to calculate velocity profile because of generating by software method and don't generate various velocity profiles like arbitrary velocity profile. Therefore, It is hard to generate expected various velocity profiles. And further, to embed real-time OS (Operating System) is considered for more reliable motion control. In this paper, the structure of chip-based precision motion controller is proposed to solve above-mentioned problems of control systems. This proposed motion controller is designed with a FPGA (Field Programmable Gate Arrays) by using the VHDL (Very high speed integrated circuit Hardware Description Language) and Handel-C that is program language for deign hardware. This motion controller consists of Velocity Profile Generator (VPG) part to generate expected various velocity profiles, PCI Interface part to communicate with host PC, Feedback Counter part to get position information by using encoder signal, Clock Generator to generate expected various clock signal, Controller part to control position of motor with generated velocity profile and position information, and Data Converter part to convert and transmit compatible data to D/A converter.

• Journal of Biomedical Engineering Research
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• v.38 no.1
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• pp.9-15
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• 2017

Recently, flexible cages have been introduced in an attempt to absorb and reduce the abnormal load transfer along the anterior parts of the spine. They are designed to be used with the pedicle screw systems to allow some mobility at the index level while containing ROM at the adjacent level. In this study, a finite element (FE) study was performed to assess biomechanical efficacies of the flexible cage when combined with pedicle screws with flexible rods. The post-operated models were constructed by modifying the L4-5 of a previously-validated 3-D FE model of the intact lumbar spine (L2-S1): (1) Type 1, flexible cage only; (2) Type 2, pedicle screws with flexible rods; (3) Type 3, interbody fusion cage plus pedicle screws with rigid rods; (4) Type 4, interbody fusion cage plus Type 2; (5) Type 5, Type 1 plus Type 2. Flexion/extension of 10 Nm with a compressive follower load of 400N was applied. As compared to the Type 3 (62~65%) and Type 4 (59~62%), Type 5 (53~55%) was able to limit the motion at the operated level effectively, despite moderate reduction at the adjacent level. It was also able to shift the load back to the anterior portions of the spine thus relieving excessively high posterior load transfer and to reduce stress on the endplate by absorbing the load with its flexible shape design features. The likelihood of component failure of flexble cage remained less than 30% regardless of loading conditions when combined with pedicle screws with flexible rods. Our study demonstrated that flexible cages when combined with posterior dynamic system may help reduce subsidence of cage and degeneration process at the adjacent levels while effectively providing stability at the operated level.

• Asian Journal of Turfgrass Science
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• v.3 no.1
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• pp.39-52
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• 1989

Native Kerean lawngrass (Zeysia japonica steud.) and Manilagrass ( Zeysia matrella Merr.) are frequently used as sport turf and lawn in Kerea and ether Asian countries because of its excellent summer qualities and superior winter-hardiness compared to ether warm-season turfgrass . The objective of this study was to investigate the effect of the plant growth retardants ( PGR ) en the inhibition (d the growth of the two Kerean native turfgrasses. Kerean lawngrass and Manilagrass were treated with [2 RS , 3 RS] -1- [4- chlorophenyl ] -4, 4-dimethyl -2- [1 H -1, 2, 4- tiazol -1- y] pentan -3- ol ( PP -333) at 93 and 930 gha -j ; 5-[4- chlorphenyl ]-3, 4, 5, 9, 10- peiitaaza - tetracyclo [5, 4, 1, 0 2 6 . o ~'~I -3, 9- diene ( BAS -106) at 16 and 160 gha ; [ E I-] - cyclohexyl -4, 4- dimethyl -2- [1, 2, 4- triazol -1- yl ]-1-pentene - 3- ol ( NTN -821) at 56 and 560 gha ', and 4- chloro -2- [$\alpha$- hydrozybenzy I isonicotin anilide ( CGR -811) at 92 gha in pot study . All PGR treatments were effective in reducing the plant height, with the exception of BAS -106 at 16 gha for Korean lawngrass ; however , all increased quality to some degree , with the exception of PP -333 at 93 gha . The low PGR rates significantly increased Korean lawngrass height during late jtily aitd mid-August . On the other hand , BAS -106 significantly increased Manilagrass height {rom 24 Septeml)er onwards . All PGR treatments haol higher turfgrass quality than untreatments , and also the high rates of PGIt treatments were more effective in increasing quality than the low rates observed on 8 October . Meanwhile , Manilagrass quality was increased to some extent than Korean lawegrass . PP - 333 was significantly effective in reducing clipping yield and the same results were found with the application of NTN -821 at 560 gha -l for both Korean lawngrass and Manilagrass , BAS -106 at 160 gha for Korean lawegrass , and CGR -811 at 92 gha for Manilagrass . The high PGR rates had higher turfgrass shoot weight observed on 8 October than the low rates , and there were little increases obtained with the low rates of PP -333 for Korean lawngrass and BAS - 1 06 for Manilagrass . Effeets on stolon growth varied between growth retardants , and between retardant treatments ; the high rates of PGR as well as the low rate of NTN -821 elongated stolon of Korean lawngrass and manoilagrass . However , PP -333 at 93 gha and BAS -106 at 16 gha - shortened stolons of Korean lawugrass , resulting in inhibition or little difference of stolon dry weight . NTN -821 at 560 gha and CGR -811 had no positive effect on the stolon length of Manilagrass . 101) -333 and the low rate of BAS -106 and NTN -821 decreased root weight of Korean lawng - rass All PGR rates had negative effect on the root weight of Manilagrass with the exception of BAS -106 CR -811 and the high rate of NTN -821 which made no difference in root weight between retarolant treatments and the control .

• Journal of rehabilitation welfare engineering & assistive technology
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• v.6 no.1
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• pp.45-50
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• 2012

Thoracolumbar orthosis has been used for the rehabilitation of the patients with senile kyphosis. Recently, a number of different thoracolumbar orthosis designs have been introduced but its biomechanical effectiveness still remain unknown. In this study, we compared the pressure distribution on the surface of the trunk and stresses on the orthosis in relation to changes in connecting frame designs (Type 1, one-connecting frame type; Type 2, two-connecting frame type; Type 3, all-in-one type) using finite element (FE) models under different motions of the trunk. The results showed that Type 3 distributed the pressure on the trunk most evenly followed by Type 2 and Type 1 and the difference between Type 1 and Type 2 was negligible. ROM was limited most effectively by Type 3 ($8.5{\sim}9.4^{\circ}$), followed by Type 2 ($11.3{\sim}13.9^{\circ}$) and Type 1 ($12.1{\sim}15.4^{\circ}$). The ratio between the peak von Mises stress and yield strength of each material remained less than 20% regardless of orthosis type indicating low likelihood of component failure. In conclusion, our study found that all-in-one type of orthosis was the most effective design for the conservative treatment of spinal deformity in terms of function and comfort.

• Imaging Science in Dentistry
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• v.44 no.1
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• pp.53-60
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• 2014

Purpose: This study was performed to investigate the incidence and configuration of the bifid mandibular canal in a Korean population by using cone-beam computed tomography (CBCT) imaging. Materials and Methods: CBCT images of 1933 patients (884 male and 1049 female) were evaluated using PSR-9000N and Alphard-Vega 3030 Dental CT units (Asahi Roentgen Ind. Co., Ltd, Kyoto, Japan). Image analysis was performed by using OnDemand3D software (CyberMed Inc., Seoul, Korea). The bifid mandibular canal was identified and classified into four types, namely, the forward canal, buccolingual canal, dental canal, and retromolar canal. Statistical analysis was performed by using the chi-squared test and one-way analysis of variance (ANOVA). Results: Bifid mandibular canals were observed in 198 (10.2%) of 1933 patients. The most frequently observed type of bifid mandibular canal was the retromolar canal (n=104, rate: 52.5%) without any significant difference among the incidence of each age and gender. The mean diameter of the accessory canal was 1.27 mm (range: 0.27-3.29 mm) without any significant difference among the mean diameter of each type of the bifid mandibular canal. The mean length of the bifid mandibular canals was 14.97mm(range: 2.17-38.8 mm) with only a significant difference between the dental canal and the other types. Conclusion: The bifid mandibular canal is not uncommon in Koreans and has a prevalence of 10.2% as indicated in the present study. It is suggested that a CBCT examination be recommended for detecting a bifid canal.

• The Korean Journal of Rehabilitation Nursing
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• v.6 no.1
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• pp.79-89
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• 2003

Purpose: This research with one group pre-post design was carried out to test the practical feasibility to administrate the Music Movement program developed for the stroke patients. Subjects: 12 stroke survivors at "J" Public Health Center in Seoul. were participated in. The average age was 68 years old, the ratio of sex was almost 5.8:4.2, the duration of was almost over 1 year. Method: Music Movement program was conducted for 2 hours ${\times}$ 1day ${\times}$ 6 weeks. The contents of Music Movement program were consisted of the preparatory activities, main activities and the wrap up activities. The preparatory activities are ice braking, greeting, explanation of the aims of music movement program, and introduction of stroke disease and ROM exercise. The main activities are the body motions with singing and playing musical instruments. The wrap up activities are stretching and joints and discussion of home activities. Data Collection: The outcome variables are muscle strength, finger pinch power, ROMs, flexibility, depression, and life satisfaction. Depression was measured by CES-D(Kim, I. J., 1999), life satisfaction by ladder scale(McDowell & Newell, 1996), and ADL state(Holbrook & Skilbeck, 1983). Data Analysis: SPSS/PC 10.0 for Window was used. Wilcoxon Signed Ranks Test was used to analyze outcome measures. The level of statistical significance was set at p<.05. Results: This program was effective to decrease the depression level of subjects(p<.05). The muscle strength, hand grip power, ROMs, life satisfaction, and rehabilitation state of the subjects were slightly increased but no significant differences were found between the pre and post test. Additionally every patient replied that they were very satisfied and expressed their appreciation for this program very much. Of course they strongly want to continue to participate in and meet the peer group again. Conclusion: Considering these results, the practical feasibility of Music Movement program can be supported. Therefore, this Music Movement program can be examined with the quasi-experimental design with control group and ongoing reviews. After that, this program would be applied in public health centers, medical institutes, and welfare centers for the rehabilitation of stroke patients.

• The Korean Journal of Rehabilitation Nursing
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• v.3 no.2
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• pp.141-153
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• 2000

The several Chinese herbs such as Soon-Ki-Hwal-Hyul-Tang, Bo-Yang-Hwan-O-Tang, Seong-Hyang-Jeong-Ki-San, So-Hap-Hyang-Won and O-Yak-Soon-Ki-San were extracted with water and then lyophilized. For identification of the effect of extracted herbs, they were medicated to 103 patients of cerebrovascular accident for 4 week. They were hospitalized in D-Oriental Medical Hospital from April to August in 1999. The herbs were extracted with water and lyophilized and then, used as samples. The medical history of each patient was detected and analyzed from their medical records. The results were as follows; 1) Each sample (Soon-Ki-Hwal-Hyul-Tang, Bo-Yang-Hwan-O-Tang, Seong-Hyang-Jeong-Ki-San, and O-Yak-Soon-Ki-San) was statistically significant differences of systolic blood pressure(t=4.22, P=0.0004; t=3.44, P=0.0028; t=2.11, P=0.0463; t=3.23, P=0.0052). The statistically significant difference of diastolic blood pressure showed by medicated with Soon-Ki-Hwal-Hyal-Tang, Seong-Hyang-Jeong-Ki-San, and O-Yak-Soon-ki-San (t=2.13, P=0.0459; t=2.68, P=0.0136; t=3.12, P=0.0066). 2) The statistically significant difference of the arm/leg-ROM showed by medicated with Soon-Ki-Hwal-Hyul-Tang, Bo-Yang-Hwan-O Tang, So-Hap-Hyang-Won(t=4.74/4.95, P=0.0002/0.0001; t=2.25/2.44, P=0.0368/0.0248; t=5.85/6.76, P=0.0001/0.0001). 3) In the verbal disorder, Soon-Ki-Hwal-Hyul-Tang, Bo-Yang-Hwan-O-Tang had statistically significant differences(t=4.50, P=0.0002; t=3.32, P=0.0036). 4) In the conscious disorder, Soon-Ki-Hwal-Hyul-Tang, Bo-Yang-Hwan-O-Tang, Seong-Hyang-Jeong-Ki-San, and So-Hap-Hyang-Won had statistically significant differences(t=6.32, P =0.0001; t=8.32, P=0.0001; t=3.74, P=0.0012; t=5.14, P=0.0001). 5) Bovine aortic endothelial cell (BAEC) were cultured in DMEM treating 0.01mg/ml, and 0.1mg/ml of each lyophilized samples for 24 hours. In BAECs were treated by 5 kinds of samples, the effect of So-Hyap-Hyang-Won induced syncytium of adjacent endothelial cells. It may induce the recovering of the damaged blood vessels in cerebrovascular accidental patient by angiogensis of endothelial cells. Therefore, it suggests that the medication of So-Hap-Hyang-Won will help to nursing care for cerebrovascular accidental patients.

• Imaging Science in Dentistry
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• v.47 no.3
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• pp.165-174
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• 2017

Purpose: This study was performed to investigate the influence of object shape and distance from the center of the image on the volumetric accuracy of cone-beam computed tomography (CBCT) scans, according to different parameters of tube voltage and current. Materials and Methods: Four geometric objects(cylinder, cube, pyramid, and hexagon) with predefined dimensions were fabricated. The objects consisted of Teflon-perfluoroalkoxy embedded in a hydrocolloid matrix (Dupli-Coe-Loid TM; GC America Inc., Alsip, IL, USA), encased in an acrylic resin cylinder assembly. An Alphard Vega Dental CT system (Asahi Roentgen Ind. Co., Ltd, Kyoto, Japan) was used to acquire CBCT images. OnDemand 3D (CyberMed Inc., Seoul, Korea) software was used for object segmentation and image analysis. The accuracy was expressed by the volume error (VE). The VE was calculated under 3 different exposure settings. The measured volumes of the objects were compared to the true volumes for statistical analysis. Results: The mean VE ranged from -4.47% to 2.35%. There was no significant relationship between an object's shape and the VE. A significant correlation was found between the distance of the object to the center of the image and the VE. Tube voltage affected the volume measurements and the VE, but tube current did not. Conclusion: The evaluated CBCT device provided satisfactory volume measurements. To assess volume measurements, it might be sufficient to use serial scans with a high resolution, but a low dose. This information may provide useful guidance for assessing volume measurements.

• Resources Recycling
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• v.8 no.5
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• pp.34-43
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• 1999

An elecmc arc cracking reaclor is developed for the productiol~o f ieusuble fuel gas by the thennal destruction of waste oil. The churaclensucs of product gas and ~esiduesf rom arc crachng of wnste lubr~cat~nogil are sludird. Thc product gas is mainly coruposcd of hydrogen 135-4076), acetylene (13-4076), ethylene 13-476) and olher hgdrocnrbons. The contenr of carbon monomde, one or the main product in a conventional low-temperature Lhennal cracking umt, 1s very slnvll in lhis atc cracking expcnmcnt. Total calocctic wlue of product gas shows 11,000-13.000 kcizlkg, which is hiph cnough to use as a ~ L I I I Cga~ s . and the concentralions oC loxic gases arc well below the rcguliltury emission critena The GCIMS analysis of llquld-phase residues shows that the high rnalccular welgllt hydrocilrbons in the waste oil arc cracked into the low malecular weight hydrocarbons snd hydroem,. The dehydrogcnntion is found lo be Lhe main cracking rcacuon due lo the high temperalure ~ ~ ~ d ubcyc edle ctric arc. The average parucle size of soot as the solid-phase residue is 10 3 wm, and the conlents of cabon a ~ hdea vy metals are abovc 60% and under 0.01 ppm, respecttrely. Thc utllizvtion or sool, as industl-id1 rcsource seems lo he reasible aIter refimng.

• Journal of Biosystems Engineering
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• v.7 no.2
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• pp.18-29
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• 1983

A low cost and versatile data acquisition system for the field and laboratory use was developed by using a single board microcomputer. Data acquisition system based on a Z80 microprocessor was built, tested and modified to obtain the present functional system. The microcomputer developed consists of 6 kB ROM, 5 kB RAM, 6-seven segment LED display, 16-Hex. key and 8 command key board. And it interfaces with an 8 channel, 12 bits A/D converter, a microprinter, EPROM programmer for 2716, and RS232C interface to transfer data between the system and HP3000 mini-computer manufactured by Hewlett Packard Co., A software package was also developed, tested, and modified for the system. This package included drivers for the AID converter, LED display, key board, microprinter, EPROM programmer, and RS232c interface. All of these programs were written in 280 assembler language and converted to machine codes using a cross assembler by HP3000 computer to the system during modifying stage by data transferring unit of this system, then the machine language wrote to the EPROM by this EPROM programmer. The results are summarized as follows: 1. Measuring program developed was able to control the measuring intervals, No. of channels used, and No. of data, where the maximum measuring speed was 58.8 microsec. 2. Calibration of the system was performed with triangle wave generated by a function generator. The results of calibration agreed well to the test results. 3. The measured data was able to be written into EPROM, then the EPROM data was compared with original data. It took only 75 sec. for the developed program to write the data of 2 kB the EPROM. 4. For the slow speed measurements, microprinter instead of EPROM programmer proved to be useful. It took about 15 min. for microprinter to write the data of 2 kB. 5. Modified data transferring unit was very effective in communicating between the system and HP3000 computer. The required time for data transferring was only 1~2 min. 6. By using DC/DC converting devices such as 78-series, 79-series. and TL497 IC, this system was modified to convert the only one input power sources to the various powers. The available power sources of the system was DC 7~25 V and 1.8 A.