• 제어로봇시스템학회:학술대회논문집
• /
• 1990.10a
• /
• pp.377-381
• /
• 1990

In this paper, the stability analysis for the bilateral control of tele-manipulator is considered. Two-port network model is used to describe the tele-manipulator system. The stable conditions are derived using impedance matrix and passive network theory for two different types of bilateral control scheme. It is also shown that such conditions can be succefully applied to the n-d.o.f tele-manipulator system in which the kinematics and dynamics of master and slave manipulators are different.

• Asian Journal of Business Environment
• /
• v.6 no.1
• /
• pp.19-24
• /
• 2016

Purpose - This paper aims to find and analyze factors that determine the flows of bilateral foreign direct investment in intra-ASEAN. It specifically focuses on the dimension of macro-economic, natural resources, human resources, and the quality of governance. Research design, data, and methodology - Data were collected from 64 bilateral relations between ASEAN nations from 2002 to 2013. Panel gravity model was utilized to find factors that determine the flows of bilateral foreign direct investment. Results - Significant factors were identified that determine the flows of bilateral foreign direct investment: GDP home country, GDP host country, real interest rate, distance, and total natural resources rent. Unexpectedly, natural resources have a negative effect. Conclusions - In a situation of increasing the flow of FDI among the countries of ASEAN, the government should control the interest rates and maintain good relations with nearby countries. The negative effect of total natural resource rents implies that ASEAN countries should not depend on their natural resources to attract foreign investments.

• 제어로봇시스템학회:학술대회논문집
• /
• 1988.10a
• /
• pp.524-527
• /
• 1988

Basic types of bilateral servo systems were described and practical consideration in the bilateral servo controller design was introduced. Power assistance to the operator is essential for high efficiency and accurate force reflection is necessary for dexterous manipulation. This paper shows a controller structure under development at KIMM which employs nonlinear friction compensation and memory based gravity compensation technique for efficiency and dexterity.

• Clinical and Experimental Reproductive Medicine
• /
• v.11 no.2
• /
• pp.27-39
• /
• 1984

The purpose of this experiment was to investigate the effects of experimental cryptorchidism on the levels of testicular FSH, LH receptor. One hundred and thirty two male rats weighing 100${\pm}$10g, 45 days old, were divided into three groups of control, bilateral cryptorchidism and unilateral cryptorchidism which was subdivided into two groups of scrotal testis and abdominal testis. Thirty to forty two heads of rats were allotted to each group. Five to eight rats from each group were randomely sacrificed at 1, 2, 3, 4 and 5 weeks after surgical induction of cryptorchidism. Testis was removed for assay of FSH, LH receptors. The results obtained were as follows. 1. The levels of FSH receptors per 10mg testicular tissue in abdominal testis of unilateral cryptorchid group and bilateral cryptorchid group tended to decrease gradually toward 5th week and these levels at 2nd, 3rd, 4th and 5th week were significantly lower than those levels of control group and scrotal testis of unilateral cryptorchid group. On the other hand; the ranges of affinities of FSH receptors of abdominal testis in unilateral and bilateral cryptorchid group were 2.2 - 6.67 ${\times}10^{11}M^{-1}$ and 3.6 - 4.8 ${\times}10^{11}M^{-1}$ respectively, and these values were slightly higher than those of control group (1.43 - 3.98 ${\times}10^{11}M^{-1}$) or those of scrotal testis in unilateral cryptorchid group (1.41 - 3.25 ${\times}10^{11}M^{-1}$). Especially at I and 4 weeks after treatment the affinities of abdominal testis in unilateral and bilateral cryptorchid group were significantly higher than those of other group (P <0.01). 2. The levels of LH receptors in 10mg testicular tissue tended to increase with elapse of time in control and in scrotal testis of unilateral cryptorchid group. But the levels of LH receptors of abdominal testis in unilateral and bilateral cryptorchid group tended to decrease after treatment and were significantly lower than control group at 1 (P <0.01),2,4 and 5 weeks after treatment (P < 0.05). The affinities of LH receptors were not significantly different among treatments except those of bilateral cryptorchid group and abdominal testis of unilateral cryptorchid group being significantly higher than that of the control at 4 weeks after treatment.

• Therapeutic Science for Rehabilitation
• /
• v.6 no.2
• /
• pp.47-58
• /
• 2017

Objective : The purpose of this study is to observe effects of Occupation-Based bilateral UE training for chronic stroke. Methods : 4 patients with hemiplegic stroke were divided into two groups: experimental group and control group. From May to August 2016, we conducted a occupation - based bilateral UE training and a traditional bilateral UE training for 5 weeks, 3 times a week, and 60 minutes per session for each subject. EMG, accelerometer, ARAT, Y-BAT, SIS, and COPM were performed before and after the intervention. Results : The experimental group showed a large changes before and after intervention in ECR, DA and all items except for hand function and memory of SIS, compared with the control group. Also, the experimental group showed a large change before and after the intervention compared to the control group in the accelerometer measuring the amount used of bilateral hand and grasp, pinch, and gross movement items of ARAT and COPM, Y-BIT. Conclusions : Occupation-based bilateral upper extremity training was effective in the recovery of upper limb function and social participation through neurological changes. Future research will be required development studies to ensure a high content validity of the Occupation-based bilateral upper extremity training protocol.

• Journal of Acupuncture Research
• /
• v.15 no.2
• /
• pp.301-310
• /
• 1998

Infrared thermographic imaging visualizes noninvasively various abnormal condition by detecting the skin temperature. As the imaging represents the objective condition by the changes in blood flow under the control of autonomic nervous system, it is used to diagnosis and monitor the lumboscral radiculopathy. And asymmetry is important in the diagnosis of disc herniation. The most common type of disc herniation occurs psoterolaterally. This frequently causes nerve root compression leading to a radiculopathy in the distribution of the involved nerve root, most of which also provoke the asymmetric changes in thermography. Central disc herniation, which accounts for 5% to 35% of disc herniation, is typically associated with low back pain. But radiculopathy is usually abscent unless central disc heriniaton is large enough to cause compression of the cauda equina. To evalute the diagnostic value of the thermographic imaging in the diagnosis of central disc herniation, the imaging of 15 normal subjects and 48 patients with central disc herniation documented by CT scan were analyzed. The patients had either bilateral radiculophathy or no radiculopathy. The imaging of patient group with non rediculopathy did not show any significant thermal difference to control. While bilateral radiculopathy group reveled hypothermic pattern compared twith control. Thermal difference between left and right side did not present any significance in non radiculopathy group but hypothermia in bilateral radiculopathy group. Large herniation group demonstrated hyperthemic pattern while the others showed no significant change. Cranial caudal thermal difference did not show any difference between experiment groups. These results shows that infrared thermographic imaging can be used central disc herniation with bilateral radiculopathy, while it seems to little useful on the diagnosis of non radiculopathic disc herniation.

• Journal of Korean Neurosurgical Society
• /
• v.30 no.4
• /
• pp.456-462
• /
• 2001

Objective : Although cingulotomy has been applied to patients with affective disorders more frequently, there are numerous reports of its use for the control of severe pain. The goal of this study was to investigate the role of stereotactic bilateral anterior cingulotomy for intractable cancer pain. Method : Between January and June, 2000, we underwent stereotactic bilateral anterior cingulotomy in 6 patients for intractable cancer pain with poor response to opioids. The patients were suffering from widespread musculoskeletal or visceral pain. We made four lesions along the two tracks on either side of the cingulate cortex. Result : In all patients, pain reliefs after cingulotomy were dramatic and immediate. Five out of six patients did not require any opioids and one patient could reduce dose of opioids. There were no deaths or serious complications related to the procedure. Conclusion : These results suggested that a bilateral anterior cingulotomy might be useful method to control intractable cancer pain associated with the widespread metastatic disease. To provide rationale of bilateral anterior cingulotomy in intractable cancer pain, the theoretical mechanisms and role of bilateral anterior cingulotomy are discussed, along with our surgical techniques and the course of our patients.

• The Journal of the Korea Contents Association
• /
• v.20 no.9
• /
• pp.520-530
• /
• 2020

The purpose of this study was to investigate the effects of occupation-based bilateral upper extremity training and transcranial direct current stimulation on upper limb function in stroke patients. The study group was divided into 13 experimental groups with occupation-based bilateral upper extremity training and transcranial direct current stimulation, and 13 controls with only occupation-based bilateral upper extremity training. A total of 4 weeks, 50 minutes, 5 times a week conducted, the patients were tested with Canadian Occupational Performance Measure(COPM), Accelerometer, Fugle-Meyer Assessment(FMA), and Motor Activity Log(MAL). As a result of the study, the experimental group and the control group showed significant improvement in both occupation satisfaction and performance, usage of the affected side and the tendon side, recovery of upper limb function, and quality of movement, In particular, the experimental group showed a significant difference in the amount of the affected side than the control group. Therefore, it was found that the combination of occupation-based bilateral upper extremity training and transcranial direct current stimulation had a positive effect on the recovery of upper limb function in stroke patients.

• Journal of Mechanical Science and Technology
• /
• v.18 no.7
• /
• pp.1131-1139
• /
• 2004

A new impedance controller is proposed for bilateral teleoperation under a time delay. The proposed controller does not need to measure or estimate the time delay in the communication channel using the force loop-back. In designing a stable impedance controller, absolute stability is used as a stability analysis tool, which results in a less conservative controller than the passivity concept. Moreover, in order to remove the conservatism associated with the assumption of infinite port impedances, the boundaries of human and environment impedance are set to finite values. Based on this, this paper proposes a parameter design procedure for stable impedance controllers. The validity of the proposed control scheme is demonstrated by experiments with a 1-dof master/slave system.

• The Korean Journal of Physiology
• /
• v.22 no.1
• /
• pp.79-88
• /
• 1988

The effect of cervical proprioceptors on the control of eye movement and body posture was examined in unanesthetized labyrinthine intact and bilateral labyrinthectomized cats. Cervico-ocular reflex(COR) was elicited by stimulation of the cervical proprioceptors by means of sinusoidal rotation of head or body in the darkness. The following results were obtained: 1) In labyrinthine intact cats, sinusoidal rotation of the whole body elicited compensatory eye movement(vestibulo-ocular reflex: VOR); the direction of eye movement was opposite to the direction of head rotation. 2) Anticompensatory eye movement was observed by sinusoidal rotation of the body with head fixed in labyrinthine intact cats; the direction of eye movement was the same as the direction of head rotation. 3) Compensatory eye movement was observed by sinusoidal rotation of the head with body fixed or sinusoidal rotation of the body with head fixed in both acute and chronic bilateral labyrinthectomized cats. These results suggest that the cervical proprioceptors are important in the control of ocular movement and posture in the bilateral labyrintectomized cats, although they are questionable in labyrinthine intact cats.