• Journal of the Institute of Electronics and Information Engineers
• /
• v.51 no.9
• /
• pp.238-247
• /
• 2014

The milking robot system is very important to detect correctly the teats position in the moving condition of cow. Also, the robot manipulator must control tracking the teat cup to the detected teat position. The presented milking robot is designed using the one point laser sensor for teat position detection. The teats of cow are detected by the laser scanning unit and the manipulator has the function of 3 axes moving control unit. The presented teat detection method and the electrical driving manipulator have the advantages of a simple, low cost and very quiet. The designed manipulator is realized by the totally electrical motor and servo poison control algorithm with velocity PID compensation. The presented robot is realized using the teat detection unit, 4 teat cups, 3 axes robot arm, 6 servo motors and automatic milking control line. The designed robot is experimented in the cow farm and is satisfied with the designed performance specification for milking robot manipulator.

• Archives of Reconstructive Microsurgery
• /
• v.7 no.1
• /
• pp.35-40
• /
• 1998

The incidence of brachial plexus injury is increasing because of the development of motor vehicle but the the results of treatment was reported poor due to its complex anatomical structure and changes of function and sensory during the recovery after trauma. But the results of treatment has been improved by the recently introduced high sensitive diagnostic method that can evaluate accurately the site and extent of the injury and treatment method. Restoration of the elbow flexion is the most important goal of treatment after brachial plexus injury and nerve graft, neurotization and muscle transfer were used for methods of treatment. From December 1992 to May 1994, the author performed 6 cases of latissimus dorsi transfer at the same side for the improvement of elbow flexion in the patients of brachial plexus injury. There were 5 cases of male, one case of female and average age was 22 years old. The causes of injury were traffic accident in 3 cases, gun shot injury, falldown and birth injury in each one case and in all cases, the type of injury were upper arm type. The average follow up period were 1 year 5 months ranging from 12 months to 4 years 5 months. In all cases, active elbow flexion was impossible before operation and average muscle power was grade I. We analysed the active range of motion, muscle power and the functional results. At the last follow up, range of active elbow flexion was average $124^{\circ}$ and flexion contracture was average 11 degrees and the average of muscle power was grade IV. In the functional analysis, there were two cases of excellent, three cases of good and 1 case of fair. There was no complications including wound infection, vascular compromise and donor site problem. The results of latissimus dorsi transfer for improvement elbow flexion in the patients of brachial plexus injury is one of the useful mettled for the restoration of elbow flexion.

• Journal of the Korean Society of Physical Medicine
• /
• v.16 no.2
• /
• pp.81-90
• /
• 2021

PURPOSE: Aging causes a decrease in muscle mass and a change in posture, which reduces motor function and makes it difficult to perform daily activities independently. As these factors are closely related to the deterioration of the quality of life, it is very important to prevent and manage negative changes in the musculoskeletal system. Forest healing is a nature therapy course that maintains and promotes health using various environmental factors in a forest. The purpose of this study was to identify the effects of the forest healing anti-aging programs on the physical health of the elderly. METHODS: Ten elderly people participated in this study, as part of a forest healing anti-aging program for two days. Functional fitness, muscle strength, gait function, and balance were evaluated before and after the program. RESULTS: The number of arm curls, chair stands, and steps in a 2-min walk significantly increased (p < .05). 8-feet up & go time was significantly decreased (p < .05). Biceps brachii, quadriceps femoris, and calf muscle strength were significantly increased (p < .05). Gait velocity and cadence were significantly increased (p < .05). Step length, stride length, step time, swing time, stance time, and cycle time were significantly decreased (p < .05). Reaching distance in the lateral directions was significantly increased (p < .05). CONCLUSION: The forest healing anti-aging program improves the physical health of the elderly.