• Journal of Institute of Control, Robotics and Systems
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• v.17 no.10
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• pp.1006-1013
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• 2011

In this paper, we propose an optimal posture control law for an unmanned bicycle by deriving linear bicycle model from fully nonlinear differential equations. We calculate each equilibrium point of a bicycle under any given turning radius and angular speed of rear wheel. There is only one equilibrium point when a bicycle goes straight, while there are a lot of equilibrium points in case of turning. We present an optimal equilibrium point which makes the leaning input minimum when a bicycle is turning. As human riders give rolling torque by moving center of gravity of a body, many previous studies use a movable mass to move center of gravity like humans do. Instead we propose a propeller as a new leaning input which generates rolling torque. The propeller thrust input makes bicycle model simpler and removes input magnitude constraint unlike a movable mass. The proposed controller can hold optimal equilibrium points using both steering input and leaning input. The simulation results on linear control for circular motion are demonstrated to show the validity of the proposed approach.

• YAKHAK HOEJI
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• v.36 no.1
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• pp.26-36
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• 1992

The metabolic profile of triprolidine, 2-[1-(4-methylphenyl)-3-(1-pyrrolidinyl-1-propenyl)] pyridine, was determined in rat urine and bile. The free fractions of urinary and biliary extracts were obtained without hydrolysis, and the conjugated fractions of extracts were obtained with enzyme hydrolysis using ${\beta}-glucuronidase$ from Escherichia coli. The mixture of N-methyl-N-trimethylsilyltrifluoroacetamide/trimethylsilyl chloride (100 : 1, v/v) was used to derivatize the extracts and then analyzed by gas chromatography/mass spectrometry. Hydroxymethyltriprolidine, hydroxytriprolidine, triprolidine carboxylic acid, dihydroxytriprolidine 1, dihydroxytriprolidine 2, oxotriprolidine carboxylic acid and unchanged triprolidine were detected in rat urine and bile, which were obtained after oral treatment with triprolidine hydrochloride. The maximum urinary excretion rate of triprolidine and hydroxymethyltriprolidine which were extracted from free fraction was at 1 to 2 hours after drug administration. Hydroxymethyltriprolidine was detected in conjugated fraction, and the maximum urinary excretion rate of that metabolite was at 2 to 3 hours in rat. In rat bile analysis, triprolidine was detected only in free fraction and its biliary excretion rate showed the maximum within 30 minutes after drug administration and decreased continuously thereafter. The excretion percentage of triprolidine and hydroxymethyltriprolidine to the initial dose of the parent drug in bile and urine of rats were all low.

• Journal of Community Nutrition
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• v.6 no.3
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• pp.121-124
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• 2004

Objective : The paper aims to provide predictive coefficients via BIA for the assessment of body composition in children and adolescents to serve clinical as well as research purposes. Methods : Body composition via dual-energy x­ray absorptiometry (DXA) and bioelectric impedance as well as other anthropometric index were derived from meaurements on 1026 children and adolescents aged from 6 to 18 years from Beijing City. The best subset regression and principle component analysis were adopted to build the predictive coefficients with the logarithm of body composition via DXA as response variable. Results : Condition index ${\varphi}$ of fat-free mass multiple linear regression achieves 113.49 and 91.18 for males and females respectively, demonstrating severe multicollinearity among anthropometric indexes in children and adolescents. BIA predictive coefficients base on the best subset regression and principle component analysis boast a content predictive value for lean mass ($r^2$ = 0.9697 and 0.9664 for boys and girls respectively, p < 0.0001) and for Fat$\%$ ($r^2$ = 0.7705 and 0.6959 for boys and girls respectively, p < 0.0001). Conclusions : BIA method is applicable for the prediction of body composition for children and adolescents.

• Bulletin of the Korean Chemical Society
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• v.32 no.4
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• pp.1158-1164
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• 2011

5-Methoxy-N,N-diisopropyltryptamine (5-MeO-DIPT), a psychoactive tryptamine derivative, is a hallucinogenic drug of abuse. In this study, 5-OH-DIPT and its metabolites were identified and the quantitative method was developed and validated by using hydrophilic interaction chromatography-tandem mass spectrometry (HILICMS/MS). Chromatographic separation was achieved on an Atlantis HILIC silica column ($5{\mu}m$, $100{\times}2.1\;mm$). The metabolites of 5-MeO-DIPT in rat urine were characterized via Q1 scanning and product ion scanning. As a consequence, 5-MeO-IPT, 5-OH-DIPT, 6-OH-5-MeO-DIPT and their glucuronide conjugates were detected and identified as the metabolites of 5-MeO-DIPT. Subsequently, a quantitative method for 5-MeO-DIPT and its major metabolites, 5-MeO-IPT and 5-OH-DIPT, was developed in multiple reactions monitoring (MRM) mode. The calibration curves for all analytes evidenced good linearity over the concentration range of 1-1000 ng/mL with linear correlation co-efficients ($r^2$) in excess of 0.99. The intra- and inter-day accuracy and precision were 92.2-110.2% and 1.5-9.9%, respectively.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.33 no.2
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• pp.141-148
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• 1997

This paper is concerned with the vibration control of multi-layer structure for ultra-tall buildings and main tower of large bridge etc. We have modeled the multi-layer structure with the distributed mass system as the lumped mass system of two-degree-of-freedom structure and made experimental equipment. The LQ optimal control theory is applied to the design of the control system. The designed control system is simulated by computer. As a result, the LQ regulator showed good vibration control performance with impact excitation.

• Korean Journal of Applied Biomechanics
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• v.28 no.4
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• pp.213-218
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• 2018

Objective: The purpose of this study was to examine the effect of the core muscle strength enhancement of the elderly on 8 weeks training using the core exercise equipment for the elderly on the ability to control the whole-body center of mass in posture stabilization. Method: 16 females (10 exercise group, 6 control group) participated in this study. Exercise group took part in the core strength training program for 8 weeks with total of 16 repetitions (2 repetitions per week) using a training device. External perturbation during standing as pulling force applied at the pelvic level in the anterior direction was provided to the subject. In a UCM model, the controller selects within the space of elemental variables a subspace (a manifold, UCM) corresponding to a value of a performance variable that needs to be stabilized. In the present study, we were interested in how movements of the individual segment center of mass (elemental variables) affect the whole-body center of mass (the performance variable) during balance control. Results: At the variance of task-irrelevant space, there was significant $test^*$ group interactions ($F_{1,16}=7.482$, p<.05). However, there were no significant main effect of the test ($F_{1,16}=.899$, p>.05) and group ($F_{1,16}=1.039$, p>.05). At the variance of task-relevant space, there was significant $test^*$ group interactions ($F_{1,16}=7.382$, p<.05). However, there were no significant main effect of the test ($F_{1,16}=.754$, p>.05) and group ($F_{1,16}=1.106$, p>.05). Conclusion: The results of this study showed that the 8 weeks training through the core training equipment for the elderly showed a significant decrease in the $Vcm_{TIR}$ and $Vcm_{TR}$. This result indicates that the core strength training affects the trunk stiffness control strategy to maintain balance in the standing position by minimizing total variability of individual segment CMs.

• Proceedings of the PSK Conference
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• 2003.10b
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• pp.214.1-214.1
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• 2003

Metabonomic analysis using Liquid Chromatography-Mass Spectrometry (LC-MS) was employed to test the feasibility to predict chemical-induced toxicity. Time-dependent metabolic variations were evaluated in rats treated with the model hepatotoxin, ${\alpha}$- naphthylisothiocyanate (ANIT). Urine samples of ANIT treated group and control group were collected up to 7 days postdose. Urine samples were analyzed by gradient HPLC combined with electrospray mass spectrometry. The chromatographic results were data-reduced and analyzed using principal component analysis to show the time dependent biochemical variations induced by ANIT toxicity. (omitted)

• The Korean Journal of Food And Nutrition
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• v.20 no.4
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• pp.433-439
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• 2007

The purpose of this study was to evaluate the body composition, health status, and dietary behaviors of middle-aged women in a weight control program at a community health center. The study subjects were 66 middle-aged women who lived in Ansan city, and they participated in the program for 24 weeks. Anthropometries, blood pressure, and serum biochemical indices were measured. These measurements were taken both before and after the weight control program, and the data were analyzed using the SPSS 12.0 program. Weight, fat mass, body fat %, and the waist-hip ratio all decreased. According to the decreases in body fat %, blood pressure, serum biochemical indices and dietary behaviors were improved after the weight control program. Thus, this study demonstrated the desirable changes of a weight control program offered at a community health center, for health conditions and physical fitness.

• Journal of Korean Association for Spatial Structures
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• v.20 no.4
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• pp.83-91
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• 2020

In this study, a tuned mass damper(TMD) was installed to control the displacement response to earthquakes by generalizing to six analysis models according to the shape of the upper structure based on the case of various large spatial structures around the world. The six analysis models are ribbed type, latticed type, elliptical type, gable type, barrel type, and stadium type composed of 3D arch trusses. In this paper, ribbed type, latticed type and elliptical type were analyzed. The mass of each TMD was set to 1% of the total structural mass. Result of analyzing the optimal number and position of the analysis model, the displacement response control was the most excellent in the model with 6 and 8 TMDs, and the displacement response decreased in most cases. The displacement response control was better with installing the TMD at the edge point than focusing the TMD at the center of the analysis model. However, when 10 or more TMDs are installed or concentrated in the center, large loads intensively act on the structure, resulting in increased displacement. Therefore, although it is slightly different depending on the shape, it is judged that the displacement response control is the best to install 6 and 8 TMDs at the close to the edge point.

• Journal of Korean Association for Spatial Structures
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• v.20 no.4
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• pp.73-81
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• 2020

In this study, a tuned mass damper(TMD) was installed to control the displacement response to earthquakes by generalizing to six analysis models according to the shape of the upper structure based on the case of various large spatial structures around the world. The six analysis models are ribbed type, latticed type, elliptical type, gable type, barrel type, and stadium type composed of 3D arch trusses. In this paper, ribbed type, latticed type and elliptical type were analyzed. The mass of each TMD was set to 1% of the total structural mass. Result of analyzing the optimal number and position of the analysis model, the displacement response control was the most excellent in the model with 6 and 8 TMDs, and the displacement response decreased in most cases. The displacement response control was better with installing the TMD at the edge point than focusing the TMD at the center of the analysis model. However, when 10 or more TMDs are installed or concentrated in the center, large loads intensively act on the structure, resulting in increased displacement. Therefore, although it is slightly different depending on the shape, it is judged that the displacement response control is the best to install 6 and 8 TMDs at the close to the edge point.