• International Journal of Fuzzy Logic and Intelligent Systems
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• v.16 no.3
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• pp.216-223
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• 2016

This paper proposes a new controller design method for a fork-type lifter (FTL) of a transportation mobile robot. The transportation robot needs to pick up a package from a stack on a storage shelf and move on by a planned path in a logistics center environment. The position of the storage shelf is recognized by reading a QR code on the floor, and using this position, the robot can move to reach the storage shelf and pick up the package. PID controllers and an adaptive controller are designed to control the velocity of two wheels and the position of the FTL. An adaptive controller for the lifter is designed to elevate up and down on a slideway to the correct height position of the package on the stack of the storage shelf. The simulation results show that the PID controllers can respond smoothly to the desired angular velocity and the adaptive controller can adapt quickly and correctly to the desired height.

• Proceedings of the IEEK Conference
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• 2002.07c
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• pp.1936-1939
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• 2002

Much recent attention on wireless technologies s put on topology-less wireless network, in which all nodes an be mobile and can communicate over wireless links, due to its ease of deployment, high flexibility and low expenses. One key in topology-less wireless network is mobile base stations (MBSs), which provides access points or mobile terminals (MTs) to wireless backbone network. MBSs can move to anywhere in accordance with changes in geographical distribution of MTs. They serve as dynamic odes. However, in order to utilize network resources and take full advantage of this topology-less network, MBSs must move to suitable position according to the current tate of network use. Moreover, MBSs have to consider the distance among them to avoid the crash and gap area of MBSs. Therefore, this paper proposes MBS movement algorithm by implementing push-pull method to fulfill the corporation of MBSs and considering the center of covered MTs or centroid to satisfy the MT coverage. From the simulation results, the proposed algorithm increases the performance of system when comparing with the centroid-based algoriom〔7〕, such as coverage area, MT coverage and call drops rate.

• Journal of the Korean Society of Clothing and Textiles
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• v.46 no.5
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• pp.910-926
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• 2022

Suitability for the human body, freedom to move and thermal insulation are important design considerations in military clothing. This study investigates the performance and wearer-satisfaction of the functional inner winter uniform currently used in Korea; it is hoped that our data can inform the development of a future version. Interviews were conducted, in which the participants suggested various improvements. The uniforms were mainly worn for guard duty or as daily attire in cold weather. The participants chose how many layers to wear according to the current situation, rather than sticking to the layering recommended in the manual. Layering choices did not significantly affect combat efficiency but were found to affect wearers' comfort. Wearers' satisfaction was found to depend on the convenience of the clothing, whether it was in the appropriate size, freedom to move and thermal insulation. Also, this study suggests a problem with the current size system, as the analysis of size distribution, across all sizes, the range of current production is insufficient to cover the demand.

• Proceedings of the Korea Information Processing Society Conference
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• 2022.11a
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• pp.815-817
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• 2022

This paper is about the development of an automatic stair climbing trolley for carrying loads without manpower. The design of tri-wheeled structure and center of mass enable the trolley to move on flat ground and also to ascend stairs by self-balancing. The overall design enables the trolley to avoid collision to walls when the trolley rotates on domestic landings. When the camera recognizes the stair, the sensor measures distance from the trolley to the stair. Then the trolley can move to align itself in the middle of the stair and it starts climbing. It can ascend to a specific floor based on the floor number entered by the user. As a result, the automatic stair climbing trolley is expected to help humans by protecting from accidents of dropping loads and saving their power. It is also expected to use for various purposes such as delivering packages, moving and carrying heavy loads in buildings without elevator.

• Journal of Acupuncture Research
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• v.17 no.4
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• pp.88-99
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• 2000

Objectives : This study was performed to evaluate the clinical effect of acupuncture on microtraumatic injuries of the knee joint. Methods : Among the outpatients with knee joint pain who visited to Department of Acupuncture & Moxibustion, National Medical Center from February 2000 to September 2000, we selected 15 cases that showed normal finding in both X-ray and neurological examination, and that were categorized into microtraumatic injuries by the physical examination based on the Cyriax's orthopedic medicine. During acupuncture therapy, the patients were ordered to move involved side actively. The effect was assessed through questionnaires of CNRS(Cincinnati Knee Rating System). Results : We investigated 11 female and 4 male patients. The most common distribution of age was 30's(40%). The most commom duration of symtoms was from 3 to 5 months(40%). The most common microtraumatic injury was pes anserinus bursitis(33.3%), and followed by iliotibial band friction syndrome(20%), and patellar tendinitis(20%). In the CNRS, the mean number of before treatment was 60.6 and after was 66.5. 10 cases among the 15 patients were improved(66.6%). Conclusions : These results suggest that the acupuncture therapy combined with active movements of involved side was effective treatment modality on microtraumatic injuries of the knee joint.

• Journal of Korean Physical Therapy Science
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• v.6 no.3
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• pp.1-7
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• 1999

The objectives of this study was to investigate the incidence and any correction between hemiplegia with pusher syndrome and neuropsychological symptoms such as hemineglect and anosognosia. Pusher syndrome defines that the patient leans toward the hemiplegic side regardless of the position that patient was placed on and resists any attempt for passive correction of posture that would move his weight toward the midline of the body. The subjects of this study were 69 acute hemiplegia who had been rehabilitated at department of rehabilitation medicine, Asan Medical Center from May 1. 1999 through July 31. 1999. The data were analyzed by researchers who were trained for assessment of anosognosia and hemineglect. 12 subjects were excluded for confusion. The method of statistical analysis used for our study was Fisher's exact test. Results of the study disclosed 21 hemiplegia(38.6%) with pusher syndrome. In conclusion, these hemiplegic patients with pusher syndrome did not have any correlation with hemineglect and anosognosia and also had no preference of stroke side.

• Proceedings of the IEEK Conference
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• 2002.07b
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• pp.1216-1219
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• 2002

It is understood so far that the center of mass does not make any linear movement from the rotatory movement of a rigid body in the closed system. However, it has been found that the center of mass of the system could make a closed linear movement due to production of an instantaneous center of mass by the Coriolis force in the rotatory movement of a rigid body in the closed system. The nature of the closed linear movement in the non-inertial system and that of the open movement in the inertial system are different from each other. That is, the closed movement is described like the time integration of frictional forces, which is different from the open movement usually considered and described like the time integration of external forces. It is shown in this paper that the Coriolis forces, called a fictitious force in the classical mechanics, is similar to the frictional force so that it causes to move the center of mass of a closed system. In this paper, following an explanation of the closed linear movement of a non-inertial system and the open movement of an inertial system, the source of the closed linear movement phenomenon of a rotatory rigid body is presented.

• Journal of Drive and Control
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• v.19 no.2
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• pp.27-35
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• 2022

This study presents one man-portable, hazardous gas detecting and capturing robot. The robot can be fit in the trunk of a sedan car. Its weight is less than 20 kg. A dedicated gas intake mechanism is proposed for the robot. The robot can detect and capture gases at a height of 2 m above the ground, although the height of the robot is about 0.2 m. The performance of the gas intake mechanism is verified through computational fluid dynamics (CFD) analysis and experiments. Its gas detecting signals were acquired by serial communication and processed in Robot Operating System (ROS) based control software. The proposed robot can successfully move on rough terrains such as stairs, sand roads, and rock roads.

• Childhood Kidney Diseases
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• v.27 no.1
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• pp.46-53
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• 2023

Pleuroperitoneal communication (PPC) is a rare mechanical complication of peritoneal dialysis (PD), which causes dialysate to move from the peritoneal cavity to the pleural cavity, resulting in pleural effusion. Typically, PPC is discovered through pleural effusion in PD patients who are not in volume overload status. A unique characteristic of the pleural effusion caused by PPC is that it is not resolved by increasing ultrafiltration by dialysis. In this report, we present a 7-year-old girl with PD after birth with the history of various infectious PD-related complications, presenting with fever ongoing for 6 months. PPC-associated pleuritis was suspected as the cause of fever, which eventually developed after long-term PD and induced complicated pleural effusion, lung inflammation, and prolonged fever for 6 months.

• Korean Journal of Radiology
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• v.1 no.1
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• pp.33-37
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• 2000

Objective: To describe the radiologic findings of migrating lobar atelectasis of the right lung. Materials and Methods: Chest radiographs (n = 6) and CT scans (n = 5) of six patients with migrating lobar atelectasis of the right lung were analyzed retrospectively. The underlying diseases associated with lobar atelectasis were bronchogenic carcinoma (n = 4), bronchial tuberculosis (n = 1), and tracheobronchial amyloidosis (n = 1). Results: Atelectasis involved the right upper lobe (RUL) (n = 3) and both the RUL and right middle lobe (RML) (n = 3). On supine anteroposterior radiographs (n = 5) and on an erect posteroanterior radiograph (n = 1), the atelectatic lobe(s) occupied the right upper lung zone, with a wedge shape abutting onto the right mediastinal border. On erect posteroanterior radiographs (n = 6), the heavy atelectatic lobe(s) migrated downward, forming a peri- or infrahilar area of increased opacity and obscuring the right cardiac margin. Erect lateral radiographs (n = 4) showed inferior shift of the anterosuperiorly located atelectatic lobe(s) to the anteroinferior portion of the hemithorax. Conclusion: Atelectatic lobe(s) can move within the hemithorax according to changes in a patient s position. This process involves the RUL or both the RUL and RML.