• Journal of Broadcast Engineering
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• v.1 no.2
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• pp.176-187
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• 1996

This paper deals with the accurate estimation of 3- D pose (position and orientation) of a moving object with reference to the world frame (or robot base frame), based on a sequence of stereo images taken by cameras mounted on the end - effector of a robot manipulator. This work is an extension of the previous work[1]. Emphasis is given to the 3-D pose estimation relative to the world (or robot base) frame under the presence of not only the measurement noise in 2 - D images[ 1] but also the camera position errors due to the random noise involved in joint angles of a robot manipulator. To this end, a new set of discrete linear Kalman filter equations is derived, based on the following: 1) the orientation error of the object frame due to measurement noise in 2 - D images is modeled with reference to the camera frame by analyzing the noise propagation through 3- D reconstruction; 2) an extended Jacobian matrix is formulated by combining the result of 1) and the orientation error of the end-effector frame due to joint angle errors through robot differential kinematics; and 3) the rotational motion of an object, which is nonlinear in nature, is linearized based on quaternions. Motion parameters are computed from the estimated quaternions based on the iterated least-squares method. Simulation results show the significant reduction of estimation errors and also demonstrate an accurate convergence of the actual motion parameters to the true values.

• Journal of radiological science and technology
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• v.29 no.2
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• pp.57-62
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• 2006

Purpose : This study was to understand about the measurement of shoulder motion fraction and motion ratio. We proposed the radiological criterior of glenohumeral and scapulothoracic movement ratio. Materials and Methods : We measured the motion fraction of the glenohumeral and scapulothoracic movement using CR(computed radiological system) of arm elevation at neutral, 90 degree, full elevation. Central ray was $15^{\circ},\;19^{\circ},\;22^{\circ}$ to the cephald for the parallel scapular spine, and the tilting of torso was external oblique $40^{\circ},\;36^{\circ},\;22^{\circ}$ for perpendicular to glenohumeral surface. Healthful donor of 100 was divided 5 groups by age(20, 30, 40, 50, 60). The angle of glenohumeral motion and scapulothoracic motion could be taken from gross arm angle and radiological arm angle. We acquired 3 images at neutral, $90^{\circ}$ and full elevation position and measured radiographic angle of glenoheumeral, scapulothoracic movement respectively. Results : While the arm elevation was $90^{\circ}$, the shoulder motion fraction was 1.22(M), 1.70(W) in right arm and 1.31, 1.54 in left. In full elevation, Right arm fraction was 1.63, 1.84, and left was 1.57, 1.32. In right dominant arm(78%), $90^{\circ} and Full motion fraction was 1.58, 1.43, in left(22%) 1.82, 1.94. In generation 20, $90^{\circ} and Full motion fraction was 1.56, 1.52, 30' was 1.82, 1.43, 40' was 1.23, 1.16, 50' was 1.80, 1.28, 60' was 1.24, 1.75. There was not significantly by gender, dominant arm and age. Conclusion : The criterior of motion fraction was useful reference for clinical dignosis the shoulder instability.

• Journal of Life Science
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• v.20 no.1
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• pp.71-76
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• 2010

The purpose of this study was to investigate the changes of long term ECG response in a company with middle-aged male employees. Subjects were 60 men who were 40~55 years old. We enrolled 30 exercise group subjects into a 3-year exercise program. In measurement index, body composition was measured by % body fat and BMI. Exercise stress test analyses were measured using ST/HR slope and QRS vector. Statistical analysis was performed using analysis of repeated ANOVA. Results of this study were as follows: In ST/HR slope, the control group showed symptoms of ischemia after nine minutes of exercise. In the rest frontal axis of the QRS vector, the control group had a tendency towards right axis deviation. In the rest horizontal amplitude of the QRS vector, the control group had a tendency to show a significant decrease, but it was increased significantly in the exercise group. These findings suggest that inactive company workers was showed a decrease of exercise capacity, early diagnosis exercise-induced ST depression, and prolonged deviation of QRS vector, but that cardiac function could be elevated in active middle aged men through regular exercise program participation.

• Tuberculosis and Respiratory Diseases
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• v.42 no.2
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• pp.165-174
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• 1995

Background: Exercise is one of the most common precipitants of acute asthma encountered in clinical practice. The development of airflow limitation that occurs several minutes after vigorous exercise, i. g. exercise-induced bronchoconstriction(EIB), has been shown to be closely correlated with the nonspecific bronchial hyperresponsiveness, which is the hallmark of bronchial asthma. All previous reports that assessed the correlation of EIB to nonspecific bronchial hyperresponsiveness have focused on airway sensitivity($PC_{20}$) to inhaled bronchoconstrictor such as methacholine or histamine. However, maximal airway narrowing(MAN), reflecting the extent to which the airways can narrow, when being exposed to high dose of inhaled stimuli, has not been studied in relation to the degree of EIB. Methods: Fifty-six children with mild asthma(41 boys and 15 girls), aged 6 to 15 years(mean${\pm}$SD, $9.9{\pm}2.5$ years) completed this study. Subjects attended the laboratory on two consecutive days. Each subject performed the high-dose methacholine inhalation test at 4 p.m. on the first day. The dose-response curves were characterized by their position($PC_{20}$) and MAN, which was defined as maximal response plateau(MRP: when two or three data points of the highest concentrations fell within a 5% response range) or the last of the data points(when a plateau could not be measured). On the next day, exercise challenge, free running outdoors for ten minutes, was performed at 9 a.m.. $FEV_1$ was measured at graduated intervals, 3 to 10 minutes apart, until 60 minutes after exercise. Response(the maximal ${\triangle}FEV_1$ from the pre-exercise value) was classified arbitrarily into three groups; no response((-) EIB: ${\triangle}FEV_1$<10%), equivocal response ($({\pm})$EIB:10%<${\triangle}FEV_1$<20%) and definite response($({\pm})$EIB:${\triangle}FEV_1$>20%). Results: 1) When geometric mean $PC_{20}$ of the three groups were compared, $PC_{20}$ of (+) EIB group was significantly lower than that of (-)EIB group. 2) There was a close correlation between $PC_{20}$ and the severity of EIB in the whole group(r=-0.568, p<0.01). 3) Of the total 56 subjects, MRP could be measured in 36 subjects, and the MRP of these subjects correlated fairly with the severity of EIB(r=0.355, p<0.05) 4) The MAN of (+) EIB group was significantly higher than that of (-)EIB group(p<0.01). 5) The MAN correlated well with the severity of EIB in the whole group(r=0.546, p<0.01). Conclusion: The degree of MAN as well as bronchial sensitivity($PC_{20}$) to methacholine is correlated well with the severity of EIB. The results suggest that the two main components of airway hyperresponsiveness may be equally important determinants of exercise reactivity, although the mechanism may be different from each other. The present study also provides further evidence that EIB is a manifestation of the increased airway reactivity characteristic of bronchial asthma.

• Journal of Life Science
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• v.9 no.2
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• pp.231-240
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• 1999

Regular exercise is effective in preventing coronary disease such as angina pectoris and infarction, inside it can lower the blood pressure and aids in weight control and release of stress. Risk factors of arteriosclerosis is hypertension, hyperlipidemia, diabetes, obesity, physical inactivity and excessive smoking. Arteriosclerosis begins at young age worsens with age, particulary in male. For people with risk factors of arteriosclerosis, it is important to prevent arteriosclerosis-related disease with dietary, living pattern and exercise prescription. Dietary fibers promote exercise of the digestive tract and shortens the time food remains inside the digestive tract. It can prevent obesity, hyperlipidemia, arteriosclerosis and colin cancer by blocking the absorption of cholesterol. Various vegetables and sea foods are lichen unsaturated fats and prevent the absorption of cholesterol inside the digestive tract. Essential fatty acids and unsaturated fats which are contained in vegetable oils, promotes metabolism while preventing absorption. In fruits, pectin water-soluble fiber, is present and lowers the level of cholesterol. By consuming foods that low in cholesterol and saturated fats, and rich in unsaturated fats, aliomentotherapy alone can reduce the plasma cholesterol by 10~l5$\%$. For ideal exercise, it should be aerobic with intensity of 60~80$\%$ HRmax, duration of 15~60min/day. The frequancy of 3~6/week is desirable the better exercise prescription is endurance aerobic exercise. To get more effect exercise, exercise consistency is very important.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.20 no.1
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• pp.17-22
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• 1984

The author carried out an experiment to find on the optomotor response of crusian carp, Carassius carassius and goldfish, Carassius auratus in accordance with the colors of the wall and the stripes labeled on the revolving visual screen. The results are as follows; 1. The optomotor response rate of crusian carp was 80% or more in case of B-Y, R-Bl and W-Bl pair of colors, and 50% or less in case of Bl-B, B-Bl, R-W, R-Y, W-Y and Y-W pair. 2. The optomotor response rate of goldfish was 80% or more in all except B-Bl, W-R and W-Y pair. 3. Mean round number of crusian carp was 7.5-9.5 revolutions in case of W-Bl, Y-Bl, W-B and Y-B pair, and 1.8-3.9 revolutions in case of Bl-B, Bl-Y, B-Bl, B-R, R-All and Y-W pair for 3 minutes. 4. Mean rounded number of goldfish was only 4.1-4.9 revolutions in case of W-Bl, W-B and Y-B pair for 3 minutes.

• Clinical and Experimental Pediatrics
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• v.49 no.4
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• pp.375-380
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• 2006

Purpose : This study investigated how gross motor and fine motor development are influenced by sleep position. Methods : From December, 2003 to September, 2005, for a year and 9 months, 800 children aged from 3 months to 16 months, who visited the Presbyterian Medical Center, Chonju, Korea were surveyed for motor development scale, sleep position and body weight. Results : The sleep position came in order : 79.3 percent of supine position, 10.0 percent prone position and 10.7 percent side position. Gross motor scale and fine motor scale were not connected with sex. The prone position indicated remarkable increase on gross motor scale from 5-6 months, but stayed the same after 7 months. Fine motor scale was not related to age and sleep position. Gross motor scale and fine motor scale were higher on group weighing more than under average weight group. Conclusion : This study showed that prone position did not influence gross motor scale after 7 months, affecting children of 5-6 months only. Hence, It is not recommended to use the prone position for a baby's fast gross motor development.

• Bulletin of the Korean Space Science Society
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• 2010.04a
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• pp.29.2-29.2
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• 2010

항법분야에 있어서 위성항법시스템의 다양한 오차를 제거한 정밀한 위치 정보를 이용하여 이동체에 활용하는 연구가 진행되고 있다. 실제 환경에서 이동체를 이용한 항법실험을 수행하기 전 실제 환경과 유사한 가상의 실시간 테스트베드를 구축하여 알고리즘 테스트 및 검증 실험을 수행하려 한다. 이를 위해 이동체의 운동을 시뮬레이션하는 운동궤적제어시스템과 실제의 항법신호를 시뮬레이션하는 GNSS 시뮬레이터 사이의 시각동기화는 실시간 시뮬레이션을 구현하기 위해 필수적으로 요구된다. 동기화 되지 않은 시각정보는 이동체 운동궤적제어시스템에 의해 생성된 실제의 궤적과 GNSS 시물레이터로부터 생성된 궤적사이의 오차를 유발하여 항법수신기의 부정확한 항법신호를 유발한다. 이 연구는 GNSS 시뮬레이터를 이용한 실시간 테스트베드의 구축에 있어 필요한 이동체 운동궤적의 시각동기화 기술 개발을 목표로 한다. GNSS 시뮬레이터는 Spirent 사의 GPS 시뮬레이터가 사용되었다. 이동체의 위치, 속도, 가속도와 같은 움직임을 나타내는 운동에 관한 명령은 적용되어야 하는 정확한 시각이 함께 전송되므로, 이는 그 시각 이전에 GPS 시뮬레이터에 도달해야 한다. 따라서 1초(1 Hz) 또는 0.1초(10 Hz) 사이에 원격제어시스템과 GPS 시뮬레이터사이의 시각 동기화를 구현하였다. 시뮬레이터와의 시각정보 동기화를 위해 Amplicon사의 PCI-215 타이머카드를 이용하였고, 그 결과, 이동체 운동궤적제어시스템과 시뮬레이터의 시각정보를 $10^{-3}$ 내의 위치오차를 가지는 정밀도로 동기화됨을 확인할 수 있었다.

• KOREAN POULTRY JOURNAL
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• v.20 no.4 s.222
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• pp.152-153
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• 1988

불우이웃에 달걀$\cdot$닭고기 보내기운동이 지난해 12월15일 시작해서 금년 3월26일까지 3개월간 계속되었다. 기간중 총 1676,3구좌(1구좌 만원)가 접수된 이번 운동에는 양계인 외에도 축협 등 유관기관과 유관업체에서 참여하였는데 그 내용은 다음과 같다.

• Fire Science and Engineering
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• v.34 no.2
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• pp.97-102
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• 2020

The purpose of this study was to investigate the effectiveness of a Tabata exercise program as an alternative for firefighters whose working environment makes it difficult to manage physical fitness. The Tabata exercise program, in which 16 people participated, led to increased muscle mass and reduced weight and body fat, which not only improved the health of the firefighters but also improved their cardiopulmonary endurance, muscle endurance, and muscle strength, which are essential elements during firefighting emergency relief activities. On the basis of these results, it is believed that developing and providing guidelines for scientific and systematic exercise programs to firefighters will lead to better work capability during fire and disaster situations.