• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.539-542
• /
• 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.

• 전자공학회논문지B
• /
• 제33B권11호
• /
• pp.11-21
• /
• 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.

• 대한핵의학회지
• /
• 제17권2호
• /
• pp.25-33
• /
• 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.

• 대한한방소아과학회지
• /
• 제22권1호
• /
• pp.149-162
• /
• 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.

• 한국의학물리학회:학술대회논문집
• /
• 한국의학물리학회 2004년도 제29회 추계학술대회 발표논문집
• /
• pp.115-118
• /
• 2004

우리의 연구는 호흡에 의해 움직임의 영향을 받는 장기 및 종양에 대해서 조사된 선량분포를 측정하는 것이다. 이 연구를 수행하기 위해, 사전연구로 이전에 발표된 논문을 토대로 호흡에 의해 장기 및 종양의 움직임 변위를 조사하였다. 그리고 조사된 데이터를 활용하여 호흡에 따른 움직임을 구동 시스템을 적용하여 구현하였다. 내부 움직임에 의한 선량분포의 변화를 측정하기 위해서 이 구동 팬톰 시스템을 사용하였다. 이 결과로부터 호흡에 환자의 조사되는 선량분포의 부정확 정도를 평가할 수 있었다.

• 대한핵의학회지
• /
• 제19권1호
• /
• pp.67-72
• /
• 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.

• 대한조선학회논문집
• /
• 제43권6호
• /
• pp.631-637
• /
• 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.

• 대한물리의학회지
• /
• 제13권1호
• /
• pp.99-105
• /
• 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
• /
• 제25권5호
• /
• pp.297-304
• /
• 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
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.237-240
• /
• 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.