• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.7
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• pp.1632-1642
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• 1994

The Stewart Platform is a six-degree-of-freedom in-parallel-actuated manipiulator mechanism. The kinematic behavior of parallel mechanisms shows inverse characteristics as compared that of serial mechanisms; i.e, the inverse kinematic problem of Stewart Platform is straightforward, but no closed form solution of the forward kinematic problem has been previously presented. Thus it is difficult to calculate the 6 DOF displacement of the platform from the measured lengths of the six actuators in real time. Here, a real-time estimation algorithm which solves the Stewart Platform kinematic problem is proposed and tested through computer simulations and experiments. The proposed algorithm shows stable convergence characteristics, no estimation errors in steady state and good estimation performance with higher sampling rate. In experiments it is shown that the estimation result is the same as that of simulation even in the presence of measurement noise.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.736-741
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• 1992

The Stewart platform is one example of a motion simulator which generates 6 DOF motion in space by 6 actuators connected in parallel. The present SISO controllers are designed to track displacement command of each actuator computed from reference 6 DOF motion of platform by Stewart platform inverse kinematics. But this type of control can't cope with external load variation, geometric configuration of motion simulator, and different dynamic behavior of 6 DOF motion. In this paper, a multivariable controller using H- optimal control theory is designed for linerized simulator model with each actuator driving force as control input and platform 6 DOF motion as measured output. Nonlinear simulation result of the H$_{\infty}$ MIMO controller is not satisfied in steady-state characteristics. But the proposed H$_{\infty}$ + PI control scheme shows acceptable performance.e.e.

• The Korean Journal of Nuclear Medicine
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• v.32 no.5
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• pp.403-413
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• 1998

Purpose: We investigated reproducibility of the quantification of left ventricular volume and ejection fraction, and grading of myocardial wall motion and systolic thickening when we used gated myocardial SPECT and Cedars quantification software. Materials and Methods: We performed gated myocardial SPECT in 33 consecutive patients twice in the same position after Tc-99m-MIBI SPECT We used 16 frames per cycle for the gating of sequential Tc-99m-MIBI SPECT. After reconstruction, we used Cedars quantitative gated SPECT and calculated ventricular volume and ejection fraction (EF). Wall motion was graded using 5 point score. Wall thickening was graded using 4 point score. Coefficient of variation for re-examination of volume and fraction were calculated. Kappa values (k-value) for assessing reproducibility of wall motion or wall thickening were calculated. Results: Enddiastolic volumes (EDV) ranged from 58 ml to 248 ml (122 ml +/- 42 ml), endsystolic volumes (ESV) from 20 ml to 174 ml (65 ml +/- 39 ml), and EF from 20% to 65% (51% +/- 14%). Geometric mean of standard deviations of 33 patients was 5.0 ml for EDV, 3.9 ml for ESV and 1.9% for EF. Their average differences were not different from zero (p>0.05). k-value for wall motion using 2 consecutive images was 0.76 (confidence interval: 0.71-0.81). k-value was 0.87 (confidence interval: 0.83-0.90) for assessment of wall thickening. Conclusion: We concluded that quantification of functional indices, assessment of wall motion and wall thickening using gated Tc-99m-MIBI SPECT was reproducible and we could use this method for the evaluation of short-acting drug effect.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.11
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• pp.1405-1411
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• 2012

Remote handling manipulators are widely used for performing hazardous tasks, and it is essential to ensure the reliable performance of such systems. Toward this end, tendon-driven mechanisms are adopted in such systems to reduce the weight of the distal parts of the manipulator while maintaining the handling performance. In this study, several approaches for the design of a gripper system for a tendon-driven remote handling system are introduced. Basically, this gripper has an underactuated spring mechanism that is combined with a slave manipulator triggered by a master operator. Based on the requirements under the specified tendon-driven mechanism, the connecting position of the spring system on the gripper mechanism and kinematic influence coefficient (KIC) analysis are performed. As a result, a suitable combination of components for the proper design of the target system is presented and verified.

• KIPS Transactions on Computer and Communication Systems
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• v.8 no.4
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• pp.93-102
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• 2019

As interest in wellness grows, There is a lot of research about monitoring individual health using wearable devices. Accordingly, a variety of methods have been studied to distinguish exercise from daily activities using wearable devices. Most of these existing studies are machine learning methods. However, there are problems with over-fitting on individual person's learning, data discontinuously recognition by independent segmenting and fake activity. This paper suggests a detection method for exercise activity based on the physiological response principle of heart rate up and down during exercise. This proposed method calculates activity intensity and heart rate from triaxial and photoplethysmography sensor to determine a heart rate recovery, then detects exercise by estimating activity intensity or detecting a heart rate rising state. Experimental results show that our proposed algorithm has 98.64% of averaged accuracy, 98.05% of averaged precision and 98.62% of averaged recall.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.13 no.3
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• pp.212-218
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• 2020

When Radiofrequency energy is applied to the human body, the vibration width is very short. Therefore, the electrolyte burn generated when using the direct current does not occur. Ion molecules, polarized molecules, etc., vibrate more than 40,000 times per second, converting them into frictional heat to generate deep heat. The blood flow of capillaries increases 4-5 times more than at rest, increasing the supply of oxygen, nutrients, antibodies, and white blood cells. In addition, the electrochemical reaction does not occur because the vibration width and the pulsation period are very short. It is a physical factor treatment method that does not stimulate the sensory nerves and motor nerves. In this study, an isotonic exercise is performed in a young normal adult using a Radiofrequency pain treatment device. The purpose of this study is to integrate rehabilitation therapy by measuring electromyography data during isotonic exercise and confirming the effect on changes in motor neuron response. The EMG data generated when isotonic exercise of the forearm biceps muscle and the EMG data measured after the use of a Radiofrequency pain treatment device after exercise were RMS, respectively, and verified through t-test. It was confirmed that there was a significant difference in both men and women because the t-value was smaller than the significance level p (<.05).

• Korean Journal of Clinical Laboratory Science
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• v.48 no.4
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• pp.378-387
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• 2016

This study sought to investigate interrelationships and differences of brachial-ankle pulse wave velocity (baPWV), body composition and cardiovascular variables between genders who have been exercised or not in elderly. One hundred fifty participants were classified four groups. Especially out of variables, in male elderly group who had participated in exercise program the PWV range were significantly correlated with muscle mass (r=0.357, p=0.026), SBP (r=0.468, p=0.003), right baPWV (r=0.406, p=0.010), and left baPWV (r=0.333, p=0.038). In male elderly group who had not participated in exercise program, the PWV range were significantly correlated with heart rate (r=0.395, p=0.014), right baPWV (r=0.598, p=0.000), and left baPWV (r=0.602, p=0.000). In female elderly group who had participated in exercise program, the PWV range were significantly correlated with name of diagnosis (r=0.321, p=0.044), SBP (r=0.399, p=0.011), DBP (r=0.545, p=0.000), right baPWV (r=0.648, p=0.000), and left baPWV (r=0.676, p=0.000). In female elderly group who had not participated in exercise program, the PWV range were significantly correlated with age (r=0.471, p=0.003), right baPWV (r=0.836, p=0.000), and left baPWV (r=0.801, p=0.000). The PWV among four groups were not significant different after experiment. However, there were significant differences in the waist/hip ratio (F=9.197, p=0.000), muscle mass (F=74.295, p=0.000), and %fat (F=35.045, p=0.000) from body composition. And there were significant differences in the SBP (F=3.525, p=0.017) after experiment. In conclusion, these data show that regular exercise is associated with arterial compliance (PWV range, right or left PWV) and differed from genders. In other words, this paper may support the concept that regular exercise program may exert a protective effect on arterial compliance, body composition and cardiovascular systems.

• Journal of Korea Entertainment Industry Association
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• v.14 no.2
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• pp.119-129
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• 2020

Intellectual disability affects all spheres of the lives of people can be who suffer from it. Unfortunately, modern medicine cannot cure intellectual disability. However, the quality of life improved by means of physical exercise. In this study, we compared the health-related physical fitness, metabolic syndrome index and mental health between a game biking group(5 participants) and a brisk walking group(4 participants). This study used a between-subject design and verified by non-parametric test. The participants performed an exercise program with warm up and resistance training for 12 weeks. A game bike was used for the physically impaired, where the individual looked at a screen and pedaled. The fasters he pedaled the faster the object on the screen movies. We measured health-related physical fitness, metabolic syndrome index and mental health. We also measured their perceived exertion and interest during the exercise by a visual analog scale. The results before and after the exercise program showed that health-related physical fitness, metabolic risk factors, mental health level were improved in both groups. As we hypothesized before the study, the game biking group showed a statistically significantly different level on the Rating of Perceived Exertion than the brisk walking group and a higher level on the Rating of Exercise Interest during the exercise program. Our results lead to a conclusion that an exercise program with the use of a game bike improve motivation for exercise participation in intellectually handicapped participants.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.16 no.3
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• pp.152-160
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• 2023

After the recent COVID-19 outbreak, more and more people are paying attention to health care. Many people feel uncomfortable in life due to muscle pain after sports or exercise as a hobby and often take a break from exercise. After exercising for a long time or exercising excessively, pain appears throughout the body within 24 to 48 hours after exercise. This pain is called delayed onset muscle soreness (DOMS). In this study, the effectiveness of the pain relief of delayed onset myalgia was verified by using a high-frequency pain therapy device that generates deep heat. EMG was measured before and after pain treatment at ordinary times, RMS values were obtained through analysis, statistical analysis was performed using the SPSS program, and it was judged to be statistically significant. In addition, statistical analysis of the RMS value between normal and after pain treatment was conducted to confirm that there was no significance, and to confirm how much it returned to normal after pain treatment. In addition, since the standards for pain are different for each person even if the size of the same pain is the same, the NRS questionnaire for the size of pain was conducted, and the size of pain felt by the subjects was analyzed using the SPSS program and statistical significance was obtained. Therefore, as a result of this study, the high-frequency pain therapy device generated deep heat in the pain area to raise the temperature, and expanded the arteries and capillaries to increase blood flow, thereby increasing blood circulation and metabolism, and alleviating the pain of delayed onset muscle pain.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.6
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• pp.90-99
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• 1999

A vehicle driving simulator is a virtual reality device which a human being feels as if the one drives a vehicle actually. The driving simulator is used effectively for studying interaction of a driver-vehicle and developing vehicle system of a new concept. The driving simulator consists of a vehicle motion bed system, motion controller, visual and audio system, vehicle dynamic analysis system, cockpit system, and etc. In it is paper, the main procedures to develop the driving simulator are classified by five parts. First, a motion bed system and a motion controller, which can track a reference trajectory, are developed. Secondly, a performance evaluation of the motion bed system for the driving simulator is carried out using LVDTs and accelerometers. Thirdly, a washout algorithm to realize a motion of an actual vehicle in the driving simulator is developed. The algorithm changes the motion space of a vehicle into the workspace of the driving simulator. Fourthly, a visual and audio system for feeling higher realization is developed. Finally, an integration system to communicate and monitor between sub systems is developed.