• Journal of Drive and Control
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• v.17 no.4
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• pp.31-37
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• 2020

We are concerned with the dual-arm manipulation for disaster-responding special-purpose machinery. This paper presents a control strategy for performing complex work in an irregular environment, the control algorithm, the hydraulic circuit, and the master devices. The occurrence of collapse accidents at disaster sites such as natural disasters and building collapses is increasing, which is emerging as a social problem. In particular, for the initial response, various tasks must be performed in an irregular environment. The Marionette algorithm for intuitive control of 'as if the operator's arm is moving' was presented as a control strategy for dual-arm manipulators with attachments and the prototype. Next, the hydraulic circuit, control system, and wearable-type master device presented to implement the Marionette algorithm were explained and verified through an experiment in which rebar-cutting, drum-lifting, and lifting a bottle with one arm and pouring the water into the bucket with the other arm were tested.

• Journal of the Korean Society of Physical Medicine
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• v.16 no.2
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• pp.115-123
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• 2021

PURPOSE: This study aimed to investigate the benefits of thoracic manipulation and the trunk stability exercises on spine trunk flexibility and the pain index of chronic low back pain patients. METHODS: The study included 44 patients suffering from chronic low back pain. The participants were divided into two groups: the first group was assigned for trunk stability exercises (TSE), and the second group was randomly assigned TSE and thoracic manipulation at the same time (TSE+TM). Both groups carried out each assigned treatment thrice a week for 8 weeks. The study outcome was based on assessment of spine trunk flexibility and the pain index. Spine trunk flexibility was measured by spine flexion and extension through a range of motion and thoracic cage circumference. The pain index was measured using a visual analog scale (VAS). RESULTS: Spine flexion and extension range of motion showed a significant difference within each group and between the groups before and after the treatment. The measurement of the thoracic cage circumference also showed a notable difference within each group and between the groups before and after the treatment. There was no change in the pain index. CONCLUSION: These results indicate that thoracic manipulation with the trunk stability exercises is an efficient treatment for improving the spine trunk flexibility and soothing pain for chronic low back pain patients.

• Journal of the HCI Society of Korea
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• v.12 no.1
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• pp.25-32
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• 2017

The purpose of this study is to evaluate the effectiveness of one-handed interaction modes for supporting the dead zone that users must be difficulty in performing the touch manipulation with only one hand. For the purpose, this study analyzed two existing one-handed modes in iPhone and Android smartphones, and proposed and implemented two additional one-handed modes. In order to investigate effectiveness of the one-handed modes, we performed the experiment that compared normal touch mode with the four one-handed modes. Experimental results showed that all one-handed modes required more time than normal touch mode because of the time requiring in both mode change and recognition. However, the participants had difficulty in manipulating continuous touches at dead zone area with only normal touch. Moreover, the subjective satisfaction was high in one-handed modes thanks to touch convenience and smooth transition effects in mode change. In special, the one-handed mode at iPhone was the most effective out of the tested modes.

• Journal of Acupuncture Research
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• v.30 no.5
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• pp.95-105
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• 2013

Objectives : The purpose of this study is to examine the preparing methods of the traditional acupuncture needle and to interpret the electromagnetic meaning intervened in them. Methods : The overall manufacturing processes of the acupuncture needles in ancient books were surveyed. And the facts that special functional activities were carried out in common in the preparing processes were detected. The reproduction tests for the detected former functional activities were followed. Results : According to the ancient medical books, the traditional acupuncture needles were treated with the magnet through the preparing processes. The reproduction tests provided the fact that the ferromagnetic iron needles treated with the magnet were enhanced their magnetisms. And major techniques of the ancient supplementation and draining can be interpreted as magnetic or induced electromagnetic actions. Conclusions : Considering the electromagnetic characteristics of human body, the magnet treated ferromagnetic iron needles of ancient era and magnetic or induced electromagnetic interpretable manipulation techniques are the historical evidences of magnetic activities of acupuncture. So modern acupuncture therapy should be understood, studied, and reinterpreted as an electromagnetic viewpoint.

• Journal of Digital Contents Society
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• v.18 no.1
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• pp.35-46
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• 2017

The purpose of the study was to review the recent literature on applying augmented reality based educational contents for students with autism spectrum disorders and to identify research trends and implications. The search procedures through the Web-database system were implemented to find the proper research and a total of 12 studies were included in this review. The results indicated that most of subjects were elementary school-age children, also single subject design was mostly implemented. Mobile devices were used mostly for augmented reality, and most of data collection methods was behavioral observation. Results founded several contents types: objects manipulation, manipulation for self-modeling, on-site problem solving program, and location-based learning guide. Additionally, the results indicated that the educational effectiveness was the improvements of social behaviors, play and imitation behaviors, and emotion recognition. Furthermore, considerations to develop and apply augmented reality based educational contents for students with autism spectrum disorders were suggested.

• Korean Journal of Remote Sensing
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• v.23 no.5
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• pp.401-408
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• 2007

Animated anaglyph is the most cost-effective method for 3D stereo visualization of virtual or actual 3D geo-based data model. Unlike 3D anaglyph scene generation using paired epipolar images, the main data sets of this study is the multi-typed 3D feature model containing 3D shaped objects, DEM and satellite imagery. For this purpose, a prototype implementation for 3D animated anaglyph using OpenGL API is carried out, and virtual 3D feature modeling is performed to demonstrate the applicability of this anaglyph approach. Although 3D features are not real objects in this stage, these can be substituted with actual 3D feature model with full texture images along all facades. Currently, it is regarded as the special viewing effect within 3D GIS application domains, because just stereo 3D viewing is a part of lots of GIS functionalities or remote sensing image processing modules. Animated anaglyph process can be linked with real-time manipulation process of 3D feature model and its database attributes in real world problem. As well, this approach of feature-based 3D animated anaglyph scheme is a bridging technology to further image-based 3D animated anaglyph rendering system, portable mobile 3D stereo viewing system or auto-stereo viewing system without glasses for multi-viewers.

• Korean journal of communication and information
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• v.69
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• pp.30-70
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• 2015

This paper is to show the relationship between power and communication. For this purpose, speech act theory has been introduced. Power is the capacity of some persons to produce intended effects on others. And the human being tries to get intended effects by perlocutionary acts through performing illocutionary acts, both of which belong to speech acts. Generally speaking, therefore, it can be said power is exercised through speech acts. Of course, in case of exercising physical force or violence, no speech act is needed. However, even violence is not totally unrelated with communication. Moreover, power other than violence is always in need of speech acts for its exercise. Including psychic force, power in general is in a close relationship with communication by mediation of speech acts. This paper, using speech act theory, attempts to examine that what is the relationship power and communication hold, that the exercise of power is the same as performing speech acts called perlocutionary acts, that the form of power is differentiated by kinds of illocutionary acts used for its exercise, and that morality of power is different according to illocutionary acts used for its exercise.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.5
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• pp.487-495
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• 2012

In this paper, a Smart Home Service Robot, McBot II, which performs mess-cleanup function etc. in house, is designed much more optimally than other service robots. It is newly developed in much more practical system than McBot I which we had developed two years ago. One characteristic attribute of mobile platforms equipped with a set of dependent wheels is their omni- directionality and the ability to realize complex translational and rotational trajectories for agile navigation in door. An accurate coordination of steering angle and spinning rate of each wheel is necessary for a consistent motion. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A specialized anthropomorphic robot manipulator which can be attached to the housemaid robot McBot II, is developed in this paper. This built-in type manipulator consists of both arms with 4 DOF (Degree of Freedom) each and both hands with 3 DOF each. The robotic arm is optimally designed to satisfy both the minimum mechanical size and the maximum workspace. Minimum mass and length are required for the built-in cooperated-arms system. But that makes the workspace so small. This paper proposes optimal design method to overcome the problem by using neck joint to move the arms horizontally forward/backward and waist joint to move them vertically up/down. The robotic hand, which has two fingers and a thumb, is also optimally designed in task-based concept. Finally, the good performance of the developed McBot II is confirmed through live tests of the mess-cleanup task.

• Journal of the Korean School Mathematics Society
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• v.17 no.2
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• pp.139-166
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• 2014

The purpose of the study is to enhance the teaching competence for pre-service elementary teacher by using DGE in order to enhance SMK and PCK for them. To do this, we investigated the initial SMK and PCK for 23 pre-service elementary teachers, the reality of implementation activity of DGE and the change of SMK and PCK after quest activity by DGE. As results, 3 pre-service elementary teachers made errors which are misunderstanding a general angle as special angle, an excessive jump of logic and a circulation logic in the aspect of an initial SMK. In the aspect of contents of PCK, most of pre-service elementary teachers proposed teaching focused on the character using in the problem solving. And most of pre-service elementary teachers proposed teaching methods which are based on explanation, measurement and material manipulation. The reality of implementation activity of DGE was classified 4 cases which are a difficulty in understanding the concept of dynamics and embodying in DGE, an obsession about construction of $75^{\circ}$ and generalization, a difficulty in interpreting 'folding activity' mathematically and a good implementation activity. After quest activity by DGE, the case which is misunderstanding a general angle as special angle could be improved, but the others are not. And after quest activity by DGE, most of pre-service elementary teachers still proposed teaching focused on the character using in the problem solving in the aspect of contents of PCK, and some of pre-service elementary teachers added only teaching methods which are involving visual confirmation by GSP. From these results, we could extract some pedagogical implications helping pre-service teachers to reinforce SMK and PCK by DGE.