• 로봇학회논문지
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• 제19권2호
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• pp.159-168
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• 2024

Lower limb amputees are increasing due to various reasons. It is difficult for lower limb amputees to walk without an assistive device such as a prosthetic leg. In this paper, an electronically controlled knee-type prosthetic leg with a 4-bar linkage structure for lower limb amputees was developed. The knee-type prosthetic leg has a 4-bar linkage structure and assists walking by using an integrated drive module. The torque is 90 Nm, the rotation speed is up to 120 deg, and it weight 1.9 kg, so it is lighter than a commercial prosthetic leg, so it can be used for a long time because there is less fatigue when walking. An integrated control board was developed by applying various sensors and microprocessor. The motor drive and encoder are built into the integrated drive module. The integrated control board and integrated drive module communicate using CAN. When a lower limb amputee wears a knee-type prosthetic leg and walks, it shows a shape similar to the swing phase graph of a normal people, and it is possible to walk naturally while walking.

• 한국운동역학회지
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• 제15권3호
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• pp.143-152
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• 2005

The purpose of this study was to predict the failure or success of the Snatch-lifting trial as a consequence of the stand-up phase simulated in Kane's equation of motion that was effective for the dynamic analysis of multi-segment. This experiment was a case study in which one male athlete (age: 23yrs, height: 154.4cm, weight: 64.5kg) from K University was selected The system of a simulation included a multi-segment system that had one degree of freedom and one generalized coordinate for the shank segment angle. The reference frame was fixed by the Nonlinear Trans formation (NLT) method in order to set up a fixed Cartesian coordinate system in space. A weightlifter lifted a 90kg-barbell that was 75% of subject's maximum lifting capability (120kg). For this study, six cameras (Qualisys Proreflex MCU240s) and two force-plates (Kistler 9286AAs) were used for collecting data. The motion tracks of 11 land markers were attached on the major joints of the body and barbell. The sampling rates of cameras and force-plates were set up 100Hz and 1000Hz, respectively. Data were processed via the Qualisys Track manager (QTM) software. Landmark positions and force-plate amplitudes were simultaneously integrated by Qualisys system The coordinate data were filtered using a fourth-order Butterworth low pass filtering with an estimated optimum cut-off frequency of 9Hz calculated with Andrew & Yu's formula. The input data of the model were derived from experimental data processed in Matlab6.5 and the solution of a model made in Kane's method was solved in Matematica5.0. The conclusions were as follows; 1. The torque motor of the shank with 246Nm from this experiment could lift a maximum barbell weight (158.98kg) which was about 246 times as much as subject's body weight (64.5kg). 2. The torque motor with 166.5 Nm, simulated by angular displacement of the shank matched to the experimental result, could lift a maximum barbell weight (90kg) which was about 1.4 times as much as subject's body weight (64.5kg). 3. Comparing subject's maximum barbell weight (120kg) with a modeling maximum barbell weight (155.51kg) and with an experimental maximum barbell weight (90kg), the differences between these were about +35.7kg and -30kg. These results strongly suggest that if the maximum barbell weight is decided, coaches will be able to provide further knowledge and information to weightlifters for the performance improvement and then prevent injuries from training of weightlifters. It hopes to apply Kane's method to other sports skill as well as weightlifting to simulate its motion in the future study.

• International Journal of Automotive Technology
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• 제8권6호
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• pp.687-696
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• 2007

To increase the reliability of auto-ignition in CAI engines, the thermodynamic properties of intake flow is often controlled using recycled exhaust gases, called internal EGR. Because of the internal EGR influence on the overall thermodynamic properties and mixing quality of the gases that affect the subsequent combustion behavior, optimizing the intake and exhaust valve timing for the EGR is important to achieve the reliable auto-ignition and high thermal efficiency. In the present study, fully 3D numerical simulations were carried out to predict the mixing characteristics and flow field inside the cylinder as a function of valve timing. The 3D unsteady Eulerian-Lagrangian two-phase model was used to account for the interaction between the intake air and remaining internal EGR during the under-lap operation while varying three major parameters: the intake valve(IV) and exhaust valve(EV) timings and intake valve lift(IVL). Computational results showed that the largest EVC retardation, as in A6, yielded the optimal mixing of both EGR and fuel. The IV timing had little effect on the mixing quality. However, the IV timing variation caused backflow from the cylinder to the intake port. With respect to reduction of heat loss due to backflow, the case in B6 was considered to present the optimal operating condition. With the variation of the intake valve lift, the A1 case yielded the minimum amount of backflow. The best mixing was delivered when the lift height was at a minimum of 2 mm.

• 대한임상독성학회지
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• 제4권2호
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• pp.161-165
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• 2006

Organophosphate insecticides, commonly used in agriculture, are a gradually increasing cause of accidental and suicidal poisoning. Intoxication can occur by ingestion, inhalation or dermal contact. Exposure to organophosphorus agents causes a sequentially triphasic illness consisting of the cholinergic phase, the intermediate syndrome, and organophosphate-induced delayed polyneuropathy. Acute pancreatitis as a rare complication of organophosphate intoxication has also been infrequently observed. We report a case of intoxication with organophosphate (phos-phamidon) by parenteral exposure (inhalation and/or dermal contact). A 34-year-old male patient was transferred to our Emergency Medical Center and was intubated due to a progressive respiratory failure. He presented with meiotic pupils, cranial nerve palsies, weak respiration, and proximal limb motor weaknesses without sensory changes. He had been employed in filling syringes with phosphamidon during the previous month. Because the patient's history and symptoms suggested organophosphate intoxication with intermediate syndrome, he was mechanically ventilated for 18 days with continuous infusion of atropine and pralidoxime (total amounts of 159 mg and 216 g, respectively). During his admission, hyperamylasemia and hyperli-pasemia were detected, and his abdominal CT scan showed a finding compatible with acute pancreatitis. He was administered a conservative treatment with NPO and nasogastric drainage. The patient was discharged and showed neither gastrointestinal nor neurologic sequelae upon follow up at one week and three months.

• 한국전문물리치료학회지
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• 제7권1호
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• pp.55-63
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• 2000

Physical therapists have been using balance and weight shifting training to induce improvements in standing and walking. This study compared the effects of kinetic feedback frequency and concurrent kinetic feedback on the performance and learning of a weight shifting skill in young, nondisabled adults. Sixteen young adults without known impairment of the neuromusculoskeletal system volunteered for the study. Subjects in each of three kinetic feedback groups performed a weight shifting task in an attempt to minimize error between their effort and a center of pressure (COP) template for a 12 second period. Feedback was provided: 1) concurrently (concurrent feedback), 2) after each trial (100% feedback), 3) after every other trial (50% feedback). Immediate and delayed (24 hour) retention tests were performed without feedback. During acquisition phase, the concurrent feedback group exhibited less error than either of the post response feedback group. For the immediate retention test, the 50% feedback group exhibited less error than did the 100% feedback and concurrent feedback. During the delayed retention, 50% feedback group displayed less error than did the other groups. But no significant differences were found between groups. These results suggest that practice with concurrent feedback is beneficial for the immediate performance, but not for the learning of this weight shifting skill. Lower frequency of feedback resulted in more permanent changes in the subject's ability to complete the task.

• Elastomers and Composites
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• 제45권2호
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• pp.129-136
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• 2010

본 연구는 이축 압출기를 사용하여 생분해성 고분자인 Poly-L-lactic acid(PLLA)와 충격보강제로 Poly (ethylene-co-glycidyl methacrylate)(EGMA)와 Engage를 각각 PLLA에 대해 100/0, 75/25, 50/50, 25/75, 0/100의 조성으로 블렌드를 제조하였고, 3개의 PLLA/EGMA 블렌드에는 탈크를 첨가하였다. 이를 DMA, FESEM, UTM, Izod 충격시험기를 사용하여 PLLA 블렌드의 모폴로지와 점탄성, 기계적 특성을 측정하였다. DMA와 충격시험기의 측정결과 EGMA와 Engage의 함량이 증가함에 따라 상온에서의 저장탄성률이 감소하였고, 충격강도는 증가하였다. 한편 탈크가 첨가되면 저장탄성률은 증가하고 충격강도는 감소하였다. FESEM 분석으로부터, 매트릭스에 도메인이 잘 분산되어 있음을 알 수 있었고, UTM을 통하여 EGMA와 Engage의 함량이 증가하면 굴곡탄성률과 인장강도가 감소되지만, 탈크를 첨가함으로써 이를 보완할 수 있었다.

• 한국전문물리치료학회지
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• 제13권4호
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• pp.23-29
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• 2006

The purpose of the present study was to examine gaze effects on spatial and kinematic characteristics during a pointing task. Subjects were asked to watch and point to an aimed target (2 mm in diameter) displayed on a vertically mounted board. Four gaze conditions were developed as combinations of "seeing-aiming" in terms of the eye movements: Focal-Focal (F-F), Focal-Fixing (F-X), Fixing-Focal (X-F), and Fixing-Fixing (X-X). Both the home target and an aimed target were presented for 1 second and then were disappeared in F-F and X-F. In X-F and X-X, only an aimed target disappeared after 1 second. Subjects were asked to point (with index finger tip) to an aimed target accurately as soon as the aimed target was removed. A significant main effect of gaze was found (p<.01) for normalized movement time. Peripheral retina targets had significantly larger absolute error compared to central retina targets on the x (medio-lateral) and z (superior-inferior) axes (p<.01). A significant undershooting to peripheral retina targets on the x axis was found (p<.01). F-F and X-F had larger peak velocities compared to F-X and X-X (p<.01). F-F and X-F were characterized by more time spent in the deceleration phase compared to F-X and X-X (p<.01). The present study demonstrates that central vision utilizes a form of on-line visual processing to reach to an object, and thus increases spatial accuracy. However, peripheral vision utilizes a relatively off-line visual processing with a dependency on proprioceptive information.

• Journal of Power Electronics
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• 제18권6호
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• pp.1729-1750
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• 2018

Voltage source inverters (VSIs) are widely used to drive induction motors in industry applications. The quality of output waveforms depends on the switching sequences used in pulse width modulation (PWM). In this work, all existing optimal space vector pulse width modulation (SVPWM) switching strategies are studied. The performance of existing SVPWM switching strategies is optimized to realize a tradeoff between quality of output waveforms and switching losses. This study generalizes the existing optimal switching sequences for total harmonic distortions (THDs) and switching losses for different modulation indexes and reference angles with a parameter called quality factor. This factor provides a common platform in which the THDs and switching losses of different SVPWM techniques can be compared. The optimal spatial distribution of each sequence is derived on the basis of the quality factor to minimize harmonic current distortions and switching losses in a sector; the result is the minimum ripple loss SVPWM (MRSLPWM). By employing the sequences from optimized switching maps, the proposed method can simultaneously reduce THDs and switching losses. Two hybrid SVPWM techniques are proposed to reduce line current distortions and switching losses in motor drives. The proposed hybrid SVPWM strategies are MRSLPWM 30 and MRSLPWM 90. With a low-cost PIC microcontroller (PIC18F452), the proposed hybrid SVPWM techniques and the quality of output waveforms are experimentally validated on a 2 kVA VSI based on a three-phase two-level insulated gate bipolar transistor.

• 인간행동과 음악연구
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• 제4권2호
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• pp.84-105
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• 2007

뇌성마비는 중추신경계의 손상으로 인하여 운동장애 뿐 아니라 지능장애, 언어장애, 경련, 감각장애, 지각장애, 그리고 정서장애와 같은 중복적인 장애를 수반하는 장애이다. 최근 의학의 발달로 인하여 미숙아들의 생존율이 높아지면서 경직형 뇌성마비의 출현율도 높아지고 있음이 보고되고 있다. 뇌성마비 유아들에게는 생후 1년 사이의 치료적 중재가 특별히 중요하며, 7세 이후의 치료효과는 거의 나타나지 않는다. 그러므로 뇌성마비를 대상으로 하는 조기 중재의 필요성이 증가하고 있다. 따라서 본 연구에서는 신체 운동 영역에 장애를 가진 사람들의 신체재활을 목적으로 접근하는 음악치료 영역인 신경학적 음악치료(NMT)의 기법들을 활용하여 경직형 뇌성마비 유아들의 운동발달을 위한 음악치료활동 프로그램을 구성하여 제시하는 것을 목적으로 한다. 이를 위하여 본 연구에서는 일반 유아들이 0~2세에 가장 기본적인 운동 기능들을 습득하는 단계인 초보운동단계의 주요 발달과제들을 바탕으로 하고, 여기에 경직형 뇌성마비 유아의 발달적 특성을 적용하여 프로그램을 구성하였다. 본 음악치료활동 프로그램은 크게 안정성, 이동성, 그리고 조작기능의 세 가지 하위 범주로 나누어 구성되었다. 이렇게 구성된 음악치료활동 프로그램은 임상 현장에서 경직형 뇌성마비 유아를 대상으로 치료를 진행하고 있는 음악치료사들을 통하여 시행된 후 활동에 대한 타당성과 적용의 효율성을 평가받았다. 경직형 뇌성마비 유아의 운동 발달을 위한 음악치료활동 프로그램의 개발은 치료활동의 개발, 전문가의 검증, 치료활동의 수정 및 보완 세 단계로 진행되었다. 치료활동의 개발을 위하여 문헌조사와 인터뷰를 시행하였고, 전문가의 검증은 실제 임상 현장에서 경직형 뇌성마비 유아 혹은 아동을 대상으로 음악치료를 시행하고 있는 음악치료사 6명을 통하여 이루어졌다. 전문가들을 통한 음악치료활동 프로그램 검증에서는 활동의 내용상 타당도 및 실제 현장에서의 활용도를 살펴보았고, 이를 위하여 설문지를 사용하였다. 전문가들의 평가를 바탕으로 치료활동의 수정 및 보완작업이 진행되었으며 수정 및 보완의 결과에 대해서는 검증집단을 통하여 재확인과정을 거쳤다. 음악치료활동 프로그램의 평가 결과는 각 평가 항목별로 평가 값의 평균과 표준편차로 제시하였고, 활동별로 전문가들의 조언과 함께 수정 보완한 내용을 함께 제시하였다. 전문가들의 조언을 바탕으로 수정 및 보완된 음악치료활동 프로그램은 부록으로 첨부하였다. 본 연구의 결과를 요약하면 다음과 같다. 초보운동단계에서의 발달과제인 안정성, 이동성, 조작기능을 바탕으로 경직형 뇌성마비 유아의 운동 발달 특성을 적용한 음악치료활동 프로그램은 총 38개의 활동으로 구성되었다. 안정성 발달을 위한 음악치료활동이 14개, 이동성 발달을 위한 음악치료활동이 10개, 그리고 조작기능 발달을 위한 음악치료활동이 14개이다. 전체 음악치료활동 프로그램은 운동발달단계 적합성, 목표-내용 일치도, 적용 대상 적합성, 음악의 적절성, 악기사용의 적절성, 그리고 실제 활용의 유용성이라는 여섯 가지 평가에서 긍정적인 평가를 받았다. 이것은 본 연구의 결과가 경직형 뇌성마비 유아의 조기 중재 필요성이 증가하고 있으나 발달 단계별 음악치료활동 프로그램이 부족한 국내의 현실적 요구에 맞게 유용하게 활용될 수 있음을 시사한다.

• 한국진공학회:학술대회논문집
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• 한국진공학회 2013년도 제45회 하계 정기학술대회 초록집
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• pp.88-89
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• 2013

A variety of influenza A viruses from animal hosts are continuously prevalent throughout the world which cause human epidemics resulting millions of human infections and enormous industrial and economic damages. Thus, early diagnosis of such pathogen is of paramount importance for biomedical examination and public healthcare screening. To approach this issue, here we propose a fully integrated Rotary genetic analysis system, called Rotary Genetic Analyzer, for on-site detection of influenza A viruses with high speed. The Rotary Genetic Analyzer is made up of four parts including a disposable microchip, a servo motor for precise and high rate spinning of the chip, thermal blocks for temperature control, and a miniaturized optical fluorescence detector as shown Fig. 1. A thermal block made from duralumin is integrated with a film heater at the bottom and a resistance temperature detector (RTD) in the middle. For the efficient performance of RT-PCR, three thermal blocks are placed on the Rotary stage and the temperature of each block is corresponded to the thermal cycling, namely $95^{\circ}C$ (denature), $58^{\circ}C$ (annealing), and $72^{\circ}C$ (extension). Rotary RT-PCR was performed to amplify the target gene which was monitored by an optical fluorescent detector above the extension block. A disposable microdevice (10 cm diameter) consists of a solid-phase extraction based sample pretreatment unit, bead chamber, and 4 ${\mu}L$ of the PCR chamber as shown Fig. 2. The microchip is fabricated using a patterned polycarbonate (PC) sheet with 1 mm thickness and a PC film with 130 ${\mu}m$ thickness, which layers are thermally bonded at $138^{\circ}C$ using acetone vapour. Silicatreated microglass beads with 150~212 ${\mu}L$ diameter are introduced into the sample pretreatment chambers and held in place by weir structure for construction of solid-phase extraction system. Fig. 3 shows strobed images of sequential loading of three samples. Three samples were loaded into the reservoir simultaneously (Fig. 3A), then the influenza A H3N2 viral RNA sample was loaded at 5000 RPM for 10 sec (Fig. 3B). Washing buffer was followed at 5000 RPM for 5 min (Fig. 3C), and angular frequency was decreased to 100 RPM for siphon priming of PCR cocktail to the channel as shown in Figure 3D. Finally the PCR cocktail was loaded to the bead chamber at 2000 RPM for 10 sec, and then RPM was increased up to 5000 RPM for 1 min to obtain the as much as PCR cocktail containing the RNA template (Fig. 3E). In this system, the wastes from RNA samples and washing buffer were transported to the waste chamber, which is fully filled to the chamber with precise optimization. Then, the PCR cocktail was able to transport to the PCR chamber. Fig. 3F shows the final image of the sample pretreatment. PCR cocktail containing RNA template is successfully isolated from waste. To detect the influenza A H3N2 virus, the purified RNA with PCR cocktail in the PCR chamber was amplified by using performed the RNA capture on the proposed microdevice. The fluorescence images were described in Figure 4A at the 0, 40 cycles. The fluorescence signal (40 cycle) was drastically increased confirming the influenza A H3N2 virus. The real-time profiles were successfully obtained using the optical fluorescence detector as shown in Figure 4B. The Rotary PCR and off-chip PCR were compared with same amount of influenza A H3N2 virus. The Ct value of Rotary PCR was smaller than the off-chip PCR without contamination. The whole process of the sample pretreatment and RT-PCR could be accomplished in 30 min on the fully integrated Rotary Genetic Analyzer system. We have demonstrated a fully integrated and portable Rotary Genetic Analyzer for detection of the gene expression of influenza A virus, which has 'Sample-in-answer-out' capability including sample pretreatment, rotary amplification, and optical detection. Target gene amplification was real-time monitored using the integrated Rotary Genetic Analyzer system.