• Title/Summary/Keyword: 인공근육

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미경산 한우에 있어서 수태율증진을 위한 hCG처리효과

  • 최선호;성환후;양병철;임기순;노환국;장유민;장원경
    • Proceedings of the KSAR Conference
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    • 2001.03a
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    • pp.82-82
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    • 2001
  • 본 연구는 한우에 있어서 인공수정후 수태율증진을 위한 기초자료를 확보할 목적으로 성숙 미경산 한우의 발정동기화를 위해 CIDR(EAZI-BREED CIDR Plus, USA)를 7일간 질내에 삽입하였고, CIDR처리 제 6일째에 PGF2$\alpha$(lutlyase, USA)제제 5 $m\ell$을 근육주사하여 발정이 유기된 92%의 개체를 인공수정을 실시하였다. 수태율증진을 위해 무처리구를 두었고, hCG처리구(Chorulon, Intervet, Netherlands)는 2000IU를 근육 주사하였으며, CIDR처리구에는 Estradiol-17$\beta$의 캡슐을 제거한 CIDR를 수정후 7일부터 일주일간 질내에 삽입 처리하여 각 처리당 15두씩 총 45두의 한우를 실험에 공시하였다. 발정이 유기된 개체는 인공수정후 30일까지 2일 간격으로 채혈하여 혈중 Progesterone, IGF, IGF-II 및 cortisol 농도를 RIA법으로 분석하였으며 수정 후 60일 이후에는 직장검사법으로 임신감정을 실시하였다. 수정후 수태율은 대조구와 CIDR 처리구에서는 평균 62%였으나 hOG처리구는 73%로서 대조구에 비해 유의적으로 수태율이 높게 나타났다. 이때의 혈중 progesterone농도를 분석한 결과, 대조구에 CIDR 처리구의 수정후 7일째부터 증가하기 시작하여 제 12일째에서 평균 5.5ng/$m\ell$까지 증가하다가 그 이후 재발정 예정일일 21일째에 다소 감소되다가 다시 증가되어 일정한 수준으로 유지되었다 그러나 hCG처리구의 경우 수정후 5일부터 progesterone이 증가하다가 제 15일까지 약 10ng/$m\ell$까지 높은 progesterone이 유지되었다. 이와 같은 결과로 보아 hCG는 혈중 progesterone농도를 증가시킴으로써 난소내 임신황체의 progestorone분비 능을 촉진시키는 작용을 하는 것으로 사료되나, 한편 혈중 IGF I과 IGF-II농도는 대조구, hCG처리구 및 CIDR 처리구간의 차이가 없이 수정 후 제10일까지는 다소 높은 수준이었으나 그 이후 감소되는 현상으로 혈중 progesterone농도와는 부의 상관관계를 보였다. 따라서 IGF-I과 IGF-II는 혈중 progesterone의 농도를 인위적으로 조절하거나 황체의 progesterone분비기능을 직접 조절하는 역할은 하지 않는 것으로 사료되며, 특히 초기 임신의 수태율에 직접적으로 영향이 없는 것으로 사료된다. 또한 혈중 cortisol농도는 처리간의 차이는 확인할 수 없으나 임신과 비임신간의 혈중 cortisol농도는 유의적으로 차이가 있는 것으로 나타났다. 본 실험의 결과로 인공수정이나 수정란이식 및 체세포복제 수정란뿐만 아니라 형질전환 수정란의 이식후 수태율을 증진시켜 첨단기술의 조기정착을 위해 이식 후 7일째나 인공수정 후 7일째 hCG제제를 근육주사로 간단하게 처리함으로써 수태율을 크게 개선될 수 있으며 이것은 난소의 황체기능 즉, 황체로부터 충분한 progesterone을 분비할 수 있는 내분비적 환경을 제공하는 것으로 사료된다.

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Understanding and Research Trends in Liquid Crystal Elastomer Fibers (액정 엘라스토머 섬유의 이해와 연구동향)

  • Young Been Kim;Dae Seok Kim
    • Applied Chemistry for Engineering
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    • v.34 no.4
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    • pp.347-356
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    • 2023
  • Liquid crystal elastomer (LCE) fibers have been widely applied in various fields, such as soft robots and biomimetic actuators, in a one-dimensional form. LCEs possess the characteristics of both fluidity and solid order, as well as the elasticity of rubber, and exhibit stimulus-response based on these properties. In particular, by programming the responsiveness to various stimuli such as heat, light, electric fields, and magnetic fields in terms of shape-changing, various movements such as lifting, twisting, and rotating can be realized with high degrees of freedom. Therefore, LCE fibers have the potential for application in various fields such as artificial muscles, soft robots, wearable technologies, and sensing technologies. The research on liquid crystal elastomer fibers is evaluated to have high applicability in various fields in the Fourth Industrial Revolution as a smart material that can include various functionalities beyond simple fibers. In this review, we introduce the structure and basic characteristics of liquid crystal elastomer fibers, the latest research trends on orientation-based fabrication methods, and various applications such as artificial muscles, smart fabrics, and soft robots.

Comparison of Energy Consumption of Reciprocating Gait Orthosis(RGO) and Powered Gait Orthosis(PGO) during Gait (일반보행보조기(RGO)와 동력보행보조기(PGO)의 보행시 에너지 소모도 비교 평가 분석)

  • Kang, Sung-Jae;Ryu, Jei-Cheong;Mun, Mu-Seong
    • Journal of the Korean Society for Precision Engineering
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    • v.25 no.8
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    • pp.104-110
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    • 2008
  • The aim of this study ultimately is verifying that PGO gait is more efficient than RGO fur paraplegics because the air muscle assists hip flexion power in heel off movement. The gait characteristics of the paraplegic wearing the PGO or RGO are compared with that of a normal person. PGO with air muscles was used to analyze the walking of patients with lower-limb paralysis, and the results showed that the hip joint flexion and pelvic tilt angle decreased in PGO. In comparison to RGO gait, which is propelled by the movements of the back, PGO uses air muscles, which decreases the movement in the upper limb from a stance phase rate of 79$\pm$4%(RGO) to 68$\pm$8%. The energy consumption rate was 8.65$\pm$3.3 (ml/min/Kg) for RGO, while it decreased to 7.21t2.5(ml/min/Kg) for PGO. The results from this study show that PGO decreases energy consumption while providing support for patients with lower-limb paralysis, and it is helpful in walking for extended times.

Robust Control of the Position of a Manipulator Using Pneumatic Artificial Muscle (공압인공근육을 이용한 조작기 위치의 강인제어)

  • Park, No-Cheol;Yang, Hyun-Seok;Park, Young-Pil
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.20 no.6
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    • pp.1882-1892
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    • 1996
  • This paper is concerned with the position control of the ond degree-of freedom manipulator using pneumatic artificial muscle actuator which is built to have a proper compliance. For t his pneumatic artificial muscle actuator though, it is difficult to make an effective control scheme due to the nonlinearity and uncertainties on the dynamics of the actuator. In this paper, a third-order equation of motion is derived for the actuator including the dynamics of the pneumatic servovalve. Later, various modeling uncertainties due to the nonlinearity and unmodeled dynamics of the servo vlave and the actuator are taken care of, as a trade-off between the closed-loop performance of the controlled system and its robustness to uncertainties. A controller using .mu. synthesis thchnique is designed, and robust performance against measurement noise, various modeling uncertainties due to the dynamics of the servo valve and actuator is achieved. The effectiveness of the proposed control methods is illustrated through simulations and experiments.

Intelligent Switching Control of a Pneumatic Artificial Muscle Robot using Learning Vector Quantization Neural Network (학습벡터양자화 뉴럴네트워크를 이용한 공압 인공 근육 로봇의 지능 스위칭 제어)

  • Yoon, Hong-Soo;Ahn, Kyoung-Kwan
    • Journal of the Korean Society for Precision Engineering
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    • v.26 no.4
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    • pp.82-90
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    • 2009
  • Pneumatic cylinder is one of the low cost actuation sources which have been applied in industrial and prosthetic application since it has a high power/weight ratio, a high-tension force and a long durability However, the control problems of pneumatic systems, oscillatory motion and compliance, have prevented their widespread use in advanced robotics. To overcome these shortcomings, a number of newer pneumatic actuators have been developed such as McKibben Muscle, Rubber Actuator and Pneumatic Artificial Muscle (PAM) Manipulators. In this paper, one solution for position control of a robot arm, which is driven by two pneumatic artificial muscles, is presented. However, some limitations still exist, such as a deterioration of the performance of transient response due to the changes in the external load of the robot arm. To overcome this problem, a switching algorithm of the control parameter using a learning vector quantization neural network (LVQNN) is proposed in this paper. This estimates the external load of the pneumatic artificial muscle manipulator. The effectiveness of the proposed control algorithm is demonstrated through experiments with different external working loads.

Development of an Intrinsic Continuum Robot and Attitude Estimation of Its End-effector Based on a Kalman Filter (내부형 연속체로봇 개발 및 칼만필터를 이용한 말단장치 자세추정)

  • Kang, Chang Hyun;Bae, Ji Hwan;Kang, Bong Soo
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.39 no.4
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    • pp.361-367
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    • 2015
  • This paper presents the design concept of an intrinsic continuum robot for safe man-machine interface and characteristic behaviors of its end-effector based on real experiments. Since pneumatic artificial muscles having similar antagonistic actuation to human muscles are used for main backbones of the proposed robot as well as in the role of the actuating devices, variable stiffness of robotic joints can be available in the actual environment. In order to solve the inherent shortcoming of an intrinsic continuum robot due to bending motion of the backbone materials, a Kalman filter scheme based on a triaxial accelerometer and a triaxial gyroscope was proposed to conduct an attitude estimation of the end-effector of the robot. The experimental results verified that the proposed method was effective in estimating the attitude of the end-effector of the intrinsic continuum robot.

Effect of Exoskeleton Orthosis for Assistance of Dorsiflexion Torque in Walking Pattern and Lower-limb Muscle (족배굴곡 보조용 외골격 보조기가 보행자의 보행패턴 및 하지근육에 미치는 효과)

  • Oh, H.J.;Kim, K.;Jeong, G.Y.;Jeong, H.C.;Kwon, T.K.
    • Journal of rehabilitation welfare engineering & assistive technology
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    • v.8 no.3
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    • pp.177-185
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    • 2014
  • In this study, the exoskeleton orthosis for the assistance of dorsiflexion torque in ankle joint to prevent foot-drop was developed. It was consist of three part; 1) the power part using artificial pneumatic actuator, 2) wearing part of ankle and knee joints to fix the orthosis, and 3) control part to detect the gait phase using physiological signal. The dorsiflexion torque was generated by the artificial pneumatic actuator connected with wearing part between ankle and knee joint. The accurate timing to assist dorsiflexion torque is made up of physiological signal in foot sole part that detect the gait phase, that is, stance and swing phase in each foot. We conduct the experiment to investigate the effect of exoskeleton orthosis to the 7 elderly people and 10 healthy people. The result showed that the muscular activities in tibialis anterior muscle were reduced because of the assistance of dorsiflexion torque in ankle joint using the exoskeleton orthosis.

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Arrhythmia classification based on meta-transfer learning using 2D-CNN model (2D-CNN 모델을 이용한 메타-전이학습 기반 부정맥 분류)

  • Kim, Ahyun;Yeom, Sunhwoong;Kim, Kyungbaek
    • Proceedings of the Korea Information Processing Society Conference
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    • 2022.11a
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    • pp.550-552
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    • 2022
  • 최근 사물인터넷(IoT) 기기가 활성화됨에 따라 웨어러블 장치 환경에서 장기간 모니터링 및 수집이 가능해짐에 따라 생체 신호 처리 및 ECG 분석 연구가 활성화되고 있다. 그러나, ECG 데이터는 부정맥 비트의 불규칙적인 발생으로 인한 클래스 불균형 문제와 근육의 떨림 및 신호의 미약등과 같은 잡음으로 인해 낮은 신호 품질이 발생할 수 있으며 훈련용 공개데이터 세트가 작다는 특징을 갖는다. 이 논문에서는 ECG 1D 신호를 2D 스펙트로그램 이미지로 변환하여 잡음의 영향을 최소화하고 전이학습과 메타학습의 장점을 결합하여 클래스 불균형 문제와 소수의 데이터에서도 빠른 학습이 가능하다는 특징을 갖는다. 따라서, 이 논문에서는 ECG 스펙트럼 이미지를 사용하여 2D-CNN 메타-전이 학습 기반 부정맥 분류 기법을 제안한다.