• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.539-542
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• 1996

The forces exerted on an object by the end-effectors of multi-manipulators are decomposed into the motion-inducing force and the internal force. Motion-inducing force effects the motion of an object and internal force can't effect it. The motion of an object can't track exactly the desired motion because of internal force component, therefore internal force component must be considered. In this paper using the resolved acceleration control method and the fact that internal force lies in the null space of jacobian matrix, we construct independently the position, motion-inducing force and internal force controller. Secondly we construct the robust controller to preserve the robustness with respect to the uncertainty of manipulator parameters.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.11
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• pp.11-21
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• 1996

Robot manipulators constituing multi-robot system must exert the desired motion force on an object to preserve tghe fine motion of it. The forces exerte on an object by the end-effectors of multi-inducing force and the internal force. Here, motion-inducing force effects the motion of an object, but internal force as lies in the null space of an object coordinate can't effect it. The motion of an object can't track exactly the desired motion by the effect of an object, but internal force as lies in the null space of the effect of internal force component, therefore internal force component must be considered. In this paper, first, under assumption that we can estimate exactly the parameter of dynamics, we constitute paper, first, under assumption that we can estimate exactly the parameter of dynamics, we constitute the controller concerning internal force. And we obtain the internal force as projecting force sensor readings onto the space spanned by null basis set of jacobian matrix. Using the resolved acceleration control method and the fact that internal force lies in the null space of jacobian matrix, we construct the robust control law to preserve the robustness with respect to the uncertainty of mainpulator parameters.

• The Korean Journal of Nuclear Medicine
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• v.17 no.2
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• pp.25-33
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• 1983

Left ventricular wall motion was observed with EKG gated cardiac blood pool scan in 71 various cardiac diseases and 10 normal controls to evaluate its diagnostic and clinical significance in them. 1) In the presence of left ventricular dysfunction, visual evaluation of the left ventricular wall motion was useful to determine whether it was due to localized or diffuse abnormalities. In cardiomyopathy, marked left ventricular dilatation and severe hypokinesia were noted. 2) In myocardial infarction, regional wall motion abnormalities well represented the location of infarcted areas in majority of cases. Patients with inferior wall infarction had smaller decrease of the left ventricular ejection fraction and wall motion grade than anterior or combined groups. In whom persistent left ventricular failure was present, wall motion analysis with gated cardiac scan provided valuable information for the detection of ventricular aneurysms. 3) Evaluation of the left ventricular wall motion and its grading provided a reliable estimate of the left ventricular function. In conclusion, visual evaluation of left ventricular wall motion and its grading provided valuable information for analyzing the characteristics of regional and global left ventricular dysfunction.

• The Journal of Pediatrics of Korean Medicine
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• v.22 no.1
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• pp.149-162
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• 2008

Objectives The purpose of this study is to investigate that causes of motion sickness in oriental medicine. Methods The internal and external studies about motion sickness were searched Results and Conclusions The motion sickness is induced by conflict of balance system including vestibular, visual and proprioceptive system. The motion sickness is more common in female and in children between 2 and 12 years old. In western medicine, antihistamine and anticholinergic has been used for treatment of motion sickness, but these anti-motion sickness drug turn out to be not a perfect solution and have several side effects. On the other hands, In oriental medical terminology, there is no words equivalent to the "motion sickness", but we consider the motion sickness as state with dizziness, nausea and vomiting. The motion sickness can be induced by either internal or external causes and the internal causes can thought to be a constitutional factor of an individuals, and the general transportation can be an external cause. The important internal cause is a dysfunction of the spleen, stomch(脾胃不調), retention of phlegm and fluids(痰飮), and deficiency of the kidney jing(腎精不足). The wind(風) and fire(火) in the upper part of the body, especially in the head, also can be an important cause of the motion sickness.

• Proceedings of the Korean Society of Medical Physics Conference
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• 2004.11a
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• pp.115-118
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• 2004

Respiratory motion in the thorax and abdomen is an important limiting factor in high-precision radiation therapy. The lung tumor and tumor(pancreas, stomach) in abdomen therefore are internal motion due to breathing. We will perform to measurement of dose distributions for these moving tumors. In preliminary study, we investigated displacement of moving tumor such as liver, lung tumor in abdomen with previously reported papers. With reference data, internal movements of tumor are displayed with phantom and moving control device(MCD), which appear three dimension (3-D) motion such as x, y and z axis. These devices are used to access dose delivered in tumor with and without internal motion. The MCD and phantom were used to evaluate a delivered dose under similar condition, although there are not same internal tumor motion. In future, we will obtain the exact evaluation of dose if improved in programed software of moving control device and measure precise internal motion using image modality such as fluoroscopy, simulator in based on this study.

• The Korean Journal of Nuclear Medicine
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• v.19 no.1
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• pp.67-72
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• 1985

The development of paradoxical interventricular septal motion is a common consequence of cardiopulmonary bypass operation. The reason for this postoperative abnormal septal motion is not clear. 41 patients were studied preoperatively and postoperatively with radionuclide blood pool scan to evaluate the frequency of development of paradoxical septal motion with right ventricular volume overload before surgery and the frequency of development of paradoxical septal motion after cardiac surgery with cardiopulmonary bypass, and to evaluate the change of EF related to the development of paradoxical septal motion after cardiac surgery. The results were as follows; 1) 7 of 41 patients with right ventricular volume overload(that is 17%) showed paradoxical septal motion before surgery. But 13 of 34 patients(that is 42%) had paradoxical septal motion after cardiac surgery with cardiopulmonary bypass. So open heart surgery with cardiopulmonary bypass related the development of paradoxical septal motion after surgery. 2) EF significantly decreased in patients who developed paradoxical septal motion after surgery, whereas the EF did not change in the patients who retained normal interventricular septal motion after surgery. So paradoxical septal motion usually reflected some diminution of left ventricular function, immediately after cardiac surgery.

• Journal of the Society of Naval Architects of Korea
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• v.43 no.6 s.150
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• pp.631-637
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• 2006

This paper presents a numerical method to solve the ship motion coupled with internal fluid flow. Physically the internal fluid motion is coupled with the ship motion. Hitherto the previous numerical results of the coupled motion predict only the general tendency with experiments. The main reason of inaccuracy is that the coupled dynamics of ship motion and internal water motion is not accurately accounted. In this study CFD technique based on VOF is employed for the accurate analysis of flooding water motion. Some cases of the 24th ITTC stability committee's benchmark.study for tanker with internal fluid are analyzed by coupling the ship motion and sloshing dynamics. The calculated ship motion is compared with the experimental result to validate the coupled scheme and is in agreement with the experimental result.

• Journal of the Korean Society of Physical Medicine
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• v.13 no.1
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• pp.99-105
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• 2018

PURPOSE: The aim of this study was to evaluate the concurrent validity and clinical usefulness of the universal plastic goniometer to measure the range of motion of the internal and external rotation of the hip joint using the three dimensional motion analysis which can analyze the joints and segment movements in the most objective and quantitative method. METHODS: Clinical and kinematic data were collected from thirty individuals using a universal plastic goniometer and a ten camera motion analysis system. Passive hip rotation range was obtained three trials for left and right hip joints using two measure methods simultaneously. RESULTS: There were significant differences between all matching measures of the two measures of internal and external rotation of the hip joint (p<.05). The relationship between the two tests for all measurements of the internal and external rotation of the hip was statistically significant with correlation coefficient form r=.87 to .96. (p<.01). CONCLUSION: Clinical measurement of the internal and external rotation of the hip using a universal plastic goniometer is effective to assess the hip condition. However, application of universal plastic goniometer requires careful attention in more accurate evaluation and research verification of the internal and external rotation of hip joint.

• ETRI Journal
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• v.25 no.5
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• pp.297-304
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• 2003

A multimedia SoC often requires a large internal buffer, because it must store the whole search window to reduce the huge I/O bandwidth of motion estimation. However, the silicon area of the internal buffer increases tremendously as the search range becomes larger. This paper proposes a new method that greatly reduces the internal buffer size of a multimedia SoC while the computational cost, I/O bandwidth, and image quality do not change. In the proposed method, only the overlapped parts of search windows for consecutive macroblocks are stored in the internal buffer. The proposed method reduces the internal buffer. The proposed method reduces the internal buffer size to 1/5.0 and 1/8.8 when the search range is ${\pm}64{\times}{\pm}$64 and ${\pm}128{\times}{\pm}$128, respectively.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.237-240
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• 1996

Internal Force based control of dual redundant manipulator is proposed. One is resolved acceleration type control in the decoupled joint space which includes null motion space and the other is in the impedance control fashion in which the desired impedances are decoupled in three subspace, internal motion controlled space, orthogonal to that space, and the null motion controlled space. The internal force is formulated with its basis set meaningful. The object dynamics is also briefly evolved beforehand.