• Journal of Korean Institute of Industrial Engineers
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• v.30 no.2
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• pp.165-174
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• 2004

It is known that one out of every ten people walking down the street is left-handed. In daily living, left-handed people come across hardwares and facilities that were designed for right-handed people. Most tools, utensils, office equipment, home appliances, clothes, medical instruments, sporting goods, weapons, and public facilities are made for the right-handed person. Many left-handed people thus have trouble with living in our environments. In this study, 1,933 Korean male and female subjects aging from 10 to 82 were selected to investigate the various statistics about hand dominance and their employment characteristics of preferred hand in handling diverse products and facilities. The statistics showed that 5.6% were left-handed and 7.6% were ambidexter. There were strong tendency that left-handed people use more left hand when take action that force is required than when take exquisite action. Ambidexter and right-handed people use more right hand when they take exquisite action is required than when take action that force is required. It was found from these results that people use their hands differently depending on the hand dominance when they handle things, hence this should be considered in designing hand control devices.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.9
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• pp.825-832
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• 2004

A small biped robot system is designed and implemented. The robot system consists of a mechanical robot body, a control system, a sensor system, and a user interface system. The robot has 12 dofs for two legs, 6 dofs for two arms, 2 dofs for a neck, so it has total 20 dofs to have dexterous motion capability. The implemented robot has the capability of performing intelligent actions such as playing soccer, resisting external forces, and walking on a slope terrain. In this paper, we focus on the robot's capability of playing soccer. The robot uses a color CCD camera attached on its head as a sensor for playing soccer. To make the robot play soccer with only one camera, an algorithm, which consists of searching, localization, and motion planning, is proposed and experimented. The results show that the robot can play soccer successfully in the given environments.

• Fisheries and Aquatic Sciences
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• v.12 no.4
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• pp.265-275
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• 2009

G Protein-coupled receptors (GPCRs) mediating wide ranges of physiological responses is one of the most attractive targets for drug development. Rhodopsin, a dim-light photoreceptor, has been extensively used as a model system for structural and functional study of GPCRs. Fish have rhodopsin finely-tuned to their habitats where the intensity and the wavelength of lights are changed depending on its water-depth. To study the detailed molecular characteristics of GPCR architecture and to understand the fishery light-sensing system, genes encoding rod opsins were isolated from fishes living under different photic environments. Full-length rod opsin genes were obtained by combination of PCR amplification and DNA walking strategy of genomic DNA isolated from olive flounder, P. olivaceus, Japanese eel, A. japonica, and Common carp C. carpio. Deduced amino acid sequences showed a typical feature of rod opsins including the sites for Schiffs base formation (Lys296) and its counter ion (Glu113), disulfide formation (Cys110 and Cys187), and palmitoylation (Cys322 and Cys323) although Cys322 is replaced by Phe in Japanese eel. Comparison of opsins by amino acid sequence alignment indicated the closest similarity between P. olivaceus and H. hippoglossus (94%), A. japonica and A. anguilla (98%), and C. carpio and C. auratus (95%), respectively.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.05a
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• pp.882-887
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• 2003

This paper presented a design and control of a new RGO(reciprocating gait orthosis)and its simulation. The new RGO was distinguished from the other one by which had a very light-weight and a new RGO(reciprocating gait orthosis) system. The vibration evaluation of the hip joint system on the new RGO(reciprocating gait orthosis)was used to access by the 3-axis accelerometer with a low frequency vibration of less than 30 ㎐. The gait of the new RGO depended on the constrains of mechanical kinematics and the initial posture. The stability of dynamic walking was investigated by analyzing the ZMP (zero moment point) of the new RGO. It was designed according to the human wear type and was able to accomodate itself to the environments of S.C.I. Patients. The joints of each leg were adopted with a good kinematic characteristics. To analyse joint kinematic properties, we made the hip joint system of FEM and the hip joint system by 1-axis and 3-axis Accelerometers.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.11
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• pp.954-962
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• 2002

In a park or street, we can see many people jogging or walking with their dogs tracking their masters. In this study, an entertainment robot that imitates a dog's behavior is created. The robot's task is tracking a moving target that is recognized as the master. In order to design the robot, the ecological approach. in which the robot's goals and surroundings heavily influence its design, is used. A three-wheel type locomotion system is designed as the robot's physical structure which can follow a human jogging in outdoor space like a park. A sensor system which can detect the position of a master for the robot in the outdoor space, is developed. This sensor system consists of a signal transmitter which is at the hand of a master and some sensors which are mounted on the robot. The transmitter emits RF(radio frequency) and ultrasonic signals and the sensors detect the direction and distance from the robot to the transmitter by using the received signals. For the control architecture of the robot, a purely reactive behavior-based method is used in order to increase speed of response. The developed robot is evaluated through experiments conducted in indoor and outdoor environments.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.8
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• pp.135-143
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• 2003

This paper presents the impact minimization of a biped robot by using genetic algorithm. In case we want to accomplish the designed plan under the special environments, a robot will be required to have walking capability and patterns with legs, which are in a similar manner as the gaits of insects, dogs and human beings. In order to walk more effectively, studies of mobile robot movement are needed. To generate optimal motion for a biped robot, we employ genetic algorithm. Genetic algorithm is searching for technology that can look for solution from the whole district, and it is possible to search optimal solution from a fitness function that needs not to solve differential equation. In this paper, we generate trajectories of gait and trunk motion by using genetic algorithm. Using genetic algorithm not only on gait trajectory but also on trunk motion trajectory, we can obtain the smoothly stable motion of robot that has the least impact during the walk. All of the suggested motions of biped robot are investigated by simulations and verified through the real implementation.

• Proceeding of EDISON Challenge
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• 2016.03a
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• pp.397-403
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• 2016

Various walking robot platforms have been developed to carry out missions such as explorations, pass of obstacle or inspections of dangerous environments. In this work, a four legs mechanism based on Jansen mechanism is developed, which can follow a certain track and overcome obstacles. To find the ideal locus, computer programs are used such as M. sketch and Working model. Using these program tools, moderate linkage sizes are selected in Science Box. Furthermore, in order to optimize design of legs, a level average analysis is used as well as Edison S/W. Through the design optimization, improved stride of locus is found.

• PNF and Movement
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• v.10 no.4
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• pp.1-7
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• 2012

Purpose : The purpose of this study was to evaluate the relationship between physical performance, such as gait and postural control, and cognition on as assessed by clinical tools in individuals with chronic hemiparetic stroke. Methods : Twenty-six patients who had hemiparetic stroke participated in this study, and were evaluated four common clinical measurements, including the Berg balance scale (BBS), 10 meter walk test (10MWT), 6 minute walking test (6MWT), and Montreal cognitive assessment (MoCA). Multiple regression analysis was used BBS score, 10MWT, and 6MWT as the dependent variables; MoCA score, post-stroke duration, age, and affected side as independent variables. Results : In the regression equation of the BBS score, the correlation coefficient (r) was 0.875, the coefficient of determination (R2) was 0.786, and the MoCA score was the most important variable for determining the BBS score. In the regression equation for the 10MWT, ther was 0.888, the R2 was 0.999, and the MoCA score was the most important variable for determining 10MWT. Finally, the r was 0.777, the R2 was 0.998, and the MoCA score was the most important variable for determining 6MWT in the regression equation of the 6MWT. Conclusion : The results show that cognitive abilities affect gait proficiencies in individuals with chronic hemiparetic stroke. Therefore, these results suggest that cognitive tests are necessary for examining and evaluating the abilities of postural control and gait performance for chronic stroke patients in research and clinical environments.

• Research in Community and Public Health Nursing
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• v.33 no.3
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• pp.332-339
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• 2022

Purpose: Bus drivers are at high risk of chronic diseases due to risk factors associated with poor diet, physical inactivity, high levels of sedentary behaviors, and unfavorable working environments. This study developed a mHealth program for bus drivers, and examined the effectiveness of a mHealth program for promoting physical activity among bus drivers using wearable devices and health coaching. Methods: Forty-seven workers from two bus companies were allocated to the experimental group and the control group. Participants were asked to wear a wearable device (Fitbit Charge HR) during waking hours for a day. Participants in the experimental group were provided with a Fitbit, weekly face-to-face health coaching, a mHealth workbook, and text and photo messaging for 12 weeks. The control group only received a Fitbit. Results: By week 12, there were significant differences between the experimental and control groups in exercise self-efficacy (p<.015) and daily walking steps (p<.001). Conclusion: The findings have demonstrated that the mHealth program using wearable devices and health coaching is effective for bus drivers for promoting physical activity. Based on our findings, it is recommended to encourage the mHealth program using wearable devices and health coaching for bus drivers' wellness.

• The Journal of Korea Robotics Society
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• v.17 no.4
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• pp.407-416
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• 2022

Multiple AMRs have been proved to be effective in improving warehouse productivity by eliminating workers' wasteful walking time. Although Multi-agent Path Finding (MAPF)-based solution is an optimal approach for this task, its deployment in practice is challenging mainly due to its imperfect plan-execution capabilities and insufficient computing resources for high-density environments. In this paper, we present a MAPF-based fleet management system architecture that robustly manages multiple robots by re-computing their paths whenever it is necessary. To achieve this, we defined four events that trigger our MAPF solver framework to generate new paths. These paths are then delivered to each AMR through ROS2 message topic. We also optimized a graph structure that effectively captures spatial information of the warehouse. By using this graph structure we can reduce computational burden while keeping its rescheduling functionality. With proposed MAPF-based fleet management system, we can control AMRs without collision or deadlock. We applied our fleet management system to the real logistics warehouse with 10 AMRs and observed that it works without a problem. We also present the usage statistic of adopting AMRs with proposed fleet management system to the warehouse. We show that it is useful over 25% of daily working time.