• 제어로봇시스템학회논문지
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• 제14권11호
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• pp.1103-1109
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• 2008

Since the flexible joint robots with motor dynamics are represented by the fifth-order nonlinear sγstem, it is difficult and complex to design the controller for electrically driven flexible-joint (EDFJ) robots. In this paper, we propose a simple adaptive control method to solve this problem. It is assumed that the model uncertainties of the robots dynamics, joint flexibility, and motor dynamics are unknown. For the simple control design, the dynamic surface design method is applied, and all uncertainties in the robot and motor dynamics are compensated by using the adaptive function approximation technique. It is proved that all signals in the controlled closed-loop system are uniformly ultimately bounded. Simulation results for three-link EDFJ manipulators are provided to validate the effectiveness of the proposed control system.

• 한국경영과학회지
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• 제24권1호
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• pp.49-58
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• 1999

A new channel access function is proposed to enhance the performance of the Joint CDMA/PRMA. It is obtained in consideration of the number of terminals in reservation mode and the number of terminals in contention mode whose probability distribution is estimated by applying pseudo Bayesian approach. Simulation results show that the performance of the Joint CDMA/PRMA can be improved by applying new channel access function under voice-only traffic and mixed voice/random-data traffic.

• PNF and Movement
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• 제9권1호
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• pp.39-45
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• 2011

Purpose : The purpose of this article was to review the literature on change of knee position sense after total knee replacement intervention in knee rehabilitation. Methods : This review outlines scientific findings regarding different literature data in knee rehabilitation, and discusses proprioceptive change of knee joints after total knee replacement intervention. Result : Severe pain and diminished joint sensation may precipitate degenerative changes of knees joint, and a strong association between decreased proprioception and function has been identified in elderly patients with knee osteoarthritis. Total knee replacement(TKR) of the knee joint are effective surgical procedures in osteoarthritis patients, resulting in decreased pain, and improved physical function and quality of life in patients. After total knee replacement, joint position sensation is partially recovered, which may improve functional stability of the knee, but aspects of physical functioning are not fully restored to preoperative status. Conclusions : Thus, recovery rate in proprioception after TKR also is considered to be important because it may be a significant risk factor in failure of total knee replacement and knee rehabilitation intervention.

• Advances in concrete construction
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• 제9권1호
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• pp.43-54
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• 2020

This paper presents an innovative stress-function variational approach in formulating the interfacial shear and normal stresses in an externally bonded concrete joint using carbon fiber-reinforced plastic (CFRP) plies. The joint is subjected to surface traction loadings applied at both ends of the concrete substrate layer. By introducing two interfacial shear and normal stress functions on the CFRP-concrete interface, based on Euler-Bernoulli beam idea and static stress equations of equilibrium, the entire stress fields of the joint were determined. The complementary strain energy was minimized in order to solve the governing equation of the joint. This yields an ordinary differential equation from which the interfacial normal and shear stresses were proposed explicitly, satisfying all the multiple traction boundary conditions. Lamination theory for composite materials was also employed to obtain the interfacial stresses. The proposed approach was validated by the analytic models in the literature as well as through a comprehensive computational code generated by the authors. Furthermore, a numerical verification was carried out via the finite element software ABAQUS. In the end, a scaling analysis was conducted to analyze the interfacial stress field dependence of the joint upon effective issues using the devised code.

• 기본간호학회지
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• 제11권3호
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• pp.281-291
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• 2004

Purpose: This study was done to investigate the effects of a rehabilitation program including Koryo Hand-Acupuncture on physical function, self-esteem, and quality of life of post-stroke elderly patients. Method: A nonequivalent control group pre-post test research design was used. Participants in the study were 44 post-stroke elderly people (22 in an experimental group, 22 in a control group) enrolled in a social welfare center and a hospital in K city. Data were collected from April 6 to August 20, 2004. The program consisted of Koryo Hand-Acupuncture, ROM exercise, health education and supportive care. The analyses were carried using frequencies, percentages, $x^2$-test, Fisher exact and t-test with SPSS 10.0. Results: The patients in the experimental group, who took part in the 10-weeks rehabilitation program including Koryo Hand-Acupuncture, had significant increases in shoulder joint flexion, shoulder joint abduction, elbow joint flexion, hip joint flexion, knee joint flexion, knee joint extension, flexibility, self-esteem and quality of life as compared to the control group. Conclusion: These results suggest that a rehabilitation program including Koryo Hand-Acupuncture may be utilized as an effective nursing program to improve physical function, self-esteem and quality of life for post-stroke elderly patients.

• PNF and Movement
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• 제3권1호
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• pp.47-53
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• 2005

Purpose : To describes the important aspects of scapular movement and function used when applying PNF technique to the upper limb and scapular. Method : The scapular was a very important roles in the upper limb movement. This study summarizes the physiologic movement of scapular to the PNF upper extremity patterns or scapular patterns. Result : The shoulder joint has the most freedom of range of motion in the human body, composed of the glenohumeral joint, the subacromial joint, the acromioclavical joint, the sternoclavicular joint, the scapulothoracic joint, the costosternal joint, and the costovertebral joint. During upper limb movement, the scapular position change at the sternoclavicular joint and the acromioclavical joint. This concerted motion was characterized by scapulohumeral rhythm. In clinical situations, it is import to understand factors affect the scapulohumeral rhythm so that optimal evaluation and therapeutic intervention can be devised. Conclusions : The scapular movement depend on the proper and coordinated contraction of muscles. Physical therapists need to understand the normal scapular movement relationships of the scapulohumeral rhythm under different interventions for PNF techniques application.

• 한국자동차공학회논문집
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• 제8권3호
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• pp.110-118
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• 2000

For reasonable fatigue design and estimation of fatigue durability considered fatigue strength and stiffness of the automotive body structure, many fatigue data must be insured according to the shapes, materials, and welding conditions of the spot welded lap joints. However, because it is actually difficult problem, there is need to establish a new method to be able to predict its fatigue life without any additional fatigue tests. Therefore, In order to improve such problems, in this study, the maximum stress function presenting the $\delta\sigma_{1max}―\delta P$ relation was defined form the relation between $\delta\sigma_{1max}-N_f$ and ${\delta}P-N_f$. By using the fatigue data on the IB type spot-welded lap joints previously obtained from the fatigue test results, fatigue life of the spot-welded lap joint previously obtained from the fatigue test results, fatigue life of the spot-welded lap joint having a certain dimension was tried to predict without any additional fatigue tests. And, its result was verified by ${\delta}P-$N_f$ curves. Obtained conclusion are as follows, 1) a maximum stress function considered the relation of the maximum principal stress, fatigue load, and the effects of geometrical factors of the IB type spot-welded lap joint was suggested. 2) the fatigue life predicted by the maximum principal stress function and the relation of $\delta\sigma_{1max}-N_f$ was well agreed with the fatigue life obtained through the actual fatigue test result. 3) the fatigue life of the IB type spot-welded lap joint having a certain dimension is able to be predicted without any additional fatigue tests from the fatigue life prediction method by the maximum principal stress function.

• 한국콘텐츠학회논문지
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• 제6권12호
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• pp.226-234
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• 2006

본 연구는 테이핑 요법이 슬관절의 등속성 기능 및 통증에 미치는 영향을 알아보기 위하여 슬관절 부위에 통증을 호소하는 $65{\sim}70$세 여성 노인 12명을 대상으로 슬건근, 대퇴사두근, 슬개골 부위에 폭 5cm의 테이프를 8주 동안 주당 3회씩 총 24회를 적용시킨 후 등속성 근 기능인 최대근력, 상대근력, 근 지구력(총 운동량), 근 지구력(운동피로도), 동측 근력 비율, 주관적 통증정도인 시각적 상사 척도와 구술적 평정 척도의 변화를 분석한 결과 다음과 같은 결론을 얻었다. 즉, 8주간의 테이핑 요법 후 최대근력, 상대근력, 근지구력(총 운동량), 동측근력비율은 각각 유의하게 증가하였고 (p<.05; p<.01), 근지구력(운동피로도) 및 시각적 상사 척도와 구술적 평정 척도 점수가 각각 유의하게 감소하였다(p<.05).

• PNF and Movement
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• 제6권3호
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• pp.29-35
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• 2008

Purpose : To describes the important aspects of the foot and ankle movement and function used when git and balance strategy. Method : The foot and ankle was a very important roles in the lower limb movement and gait. This study summarizes the physiologic movement of knee to the PNF lower extremity patterns. Result : The ankle joint composed of the talocural joint, the subtalarl joint, transverse tarsal joint, talocalcaneonavicular joint. The onset of dorsiflexion muscle activity starts in pre swing gait patterns. First contract muscle is the extensor hallucis. Activity of tibialis anterior and extensor digitorum longus quickly follows in mid swing gait phase. During stance phase, the soleus and gastrocnemius muscle provided plantar flexor torque, which muscle reacts quickly to restrain ankle dorsiflexion, and contributes modulated control of the ankle motion in gait patterns. Conclusions : The understanding of ankle kinematics, could provide a good therapeutic approach for improving gait patterns in patients with various pathological condition.

• 대한산업공학회지
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• 제28권2호
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• pp.216-222
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• 2002

The ergonomic human model can be considered as a tool for the evaluation of ergonomic factors in vehicle design process. The proper anthropometric data on driver's postures are needed in order to apply a human model to vehicle design. Although studies on driver's posture have been carried out for the last few decades, there are still some problems for the posture data to be applied directly to the human model due to the lack of fitness because such studies were not carried out under the conditions for the human model application. In the traditional researches, the joint angles were evaluated by the categorized data, which are not appropriate for the human model application because it is so extensive that it can not explain the posture evaluation data in detail. And the human models require whole-body posture evaluation data rather than joint evaluation data. In this study a postural evaluation function was developed not by category data but by the concept of the loss function in quality engineering. The loss was defined as the discomfort in driver's posture and measured by the magnitude estimation technique in the experiment using a seating buck. Four loss functions for the each joint - knee, hip, shoulder, and elbow were developed and a whole-body postural evaluation function was constructed by the regression analysis using these loss functions as independent factors. The developed postural evaluation function shows a good prediction power for the driver's posture discomfort in validation test. It is expected that the driver's postural evaluation function based on the loss function can be used in the human model application to the vehicle design process.