• Journal of the Korean Society of Manufacturing Process Engineers
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• v.18 no.1
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• pp.109-115
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• 2019

In arc-welding applying to the present automobile part manufacturing process, a wrist-hollow type arc welding robot can shorten the welding cycle time, because feedability of a welding wire is not affected by a robot posture and thus facilitates high-quality arc welding, based on stable feeding with no entanglement. In this paper, we will propose the optimization of wrist design for a wrist-hollow type 6-Axis articulated robot. Specifically, we will perform the investigation on the optimized design of inner diameter of hollow arms (Axis 4 and Axis 6) and width of the upper arm by using the simulation of robot motion characteristics, using a Genetic Algorithm (i.e., GA). Our simulations are based on $SolidWorks^{(R)}$ for robot modeling, $MATLAB^{(R)}$ for GA optimization, and $RecurDyn^{(R)}$ for analyzing dynamic characteristics of a robot. Especially $RecurDyn^{(R)}$ is incorporated in the GA module of $MATLAB^{(R)}$ for the optimization process. The results of the simulations will be verified by using $RecurDyn^{(R)}$ to show that the driving torque of each axis of the writs-hollow 6-axis robot with the optimized wrist design should be smaller than the rated output torque of each joint servomotor. Our paper will be a guide for improving the wrist-hollow design by optimizing the wrist shape at a detail design stage when the driving torque of each joint for the wrist-hollow 6-axis robot (to being developed) is not matched with the servomotor specifications.

• Journal of Korean Physical Therapy Science
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• v.16 no.3
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• pp.55-66
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• 2009

Background: The purpose of this research was to investigate the factors affecting the low back pain of workers in hospital. 214 subjects waking at two general hospitals in Yosu city participated in this survey. Subjects consisted of doctors, nurses, medical engineers, officers and general laborers. The survey data were collected by a written questionnaire which made out by themselves for 25 days, from fourth August to 29th August, 2008. Methods: The questionnaire consisted of four categories, general, occupational, working habitual and the daily living characteristics. The collected data were analyzed by Chi-square test based on the present or absent of low back pain. Results: 1. In the general characteristics, low back pain had no significant relationship to all factors, sex, ago, body mass index, weight and height. 2. In the occupational characteristics, the phase of distribution of low back pain had statistical significant differences in the working hours a week, satisfaction of pay, satisfaction of occupation(p<0.05). However low back pain did not significantly related to the kind of occupation, period of work and degree of stress. 3. In the habitual characteristics, low back pain was significantly influenced by working posture, frequency of using lumbar and heavy material lifting, monotonous repetition of working operation and noise(p<0.05). No significant difference was shown in the factor of convenience of chair. 4. In the daily living characteristics, low back pain shown the significant differences in walking time a day, status of health and smoking pattern(p<0.05). there were, however, no significant differences in the aspect of the kind of house and bed, sleeping attitude, driving, riding time on the vehicle, exercising, frequency of cultural life and drinking alcohol. Conclusion: when I see above resultants totally, it appears a higher incidence caused by working environment rather than living habit and then consequently compared to hospital workers, they also have high incidence like others. In order to reduce incidence of low back pain and enjoy the our life we need to educate ourselves preventing program for low back pain and try to effort for preventing of low back pain on each department and individual.

• Journal of the Korean Society for Precision Engineering
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• v.27 no.2
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• pp.130-136
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• 2010

For stability analysis of the lumbar spine, the hypothesis presented is that the disc has stress sensors driving feedback mechanism, which could react to the imposed loads by adjusting the contraction of the muscles. Fusion in the motion segment of the lumbar spinal column is believed to alter the stability of the spinal column. To identify this effect finite element (FE) models combined with optimization technique was applied and quantify the role of each muscle and reaction forces in the spinal column with respect to the fusion level. The musculoskeletal FE model was consisted with detailed whole lumbar spine, pelvis, sacrum, coccyx and simplified trunk model. Vertebral body and pelvis were modeled as a rigid body and the rib cage was constructed with rigid truss element for the computational efficiency. Spinal fusion model was applied to L3-L4, L4-L5, L5-S1 (single level) and L3-L5 (two levels) segments. Muscle architecture with 46 local muscles was used as acting directions. Minimization of the nucleus pressure deviation and annulus fiber average axial stress deviation was selected for cost function. As a result, spinal fusion produced reaction changes at each motion segment as well as contribution of each muscle. Longissimus thoracis and psoas major muscle showed dramatic changes for the cases of L5-S1 and L3-L5 level fusion. Muscle force change at each muscle also generated relatively high nucleus pressure not only at the adjacent level but at another level, which can explain disc degeneration pattern observed in clinical study.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.21 no.1
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• pp.49-56
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• 2015

Background: Although many of those who drive for a living are exposed to repetitive and awkward posture and whole body vibration which cause them cumulative trauma disorder, therapeutic studies related to the problems from the transport unit are still somewhat inadequate. The purpose of this case report is to identify the effect of combined exercise program on patients suffering chronic neck pain caused by long hour of intra-city bus driving. Method: A total of 4 subjects are selected as patients, all of whom have more than 10 years of experience in intra-city bus transportation services. These people have suffered from neck pain for years. We ran the combined exercise program 3 times a week for 4 weeks and respectively evaluated the results after the 2nd and 4th week. We implemented conventional physiotherapy for 40 minutes, another 40 minutes of combined exercise program, and then educated the patients to enable themselves to do active stretching program as a home program. The combined exercise program contained 3 different stages. 1st stage: active stretching program, 2nd stage combined stabilization exercise and strengthening exercise, 3rd stage: proprioceptive exercise Result: After 4 weeks of intervention, there was enhance in the range of motion. $12^{\circ}$ increase in flexion, $10^{\circ}$ in extension, $6^{\circ}$ in lateral flexion respectively, and $10^{\circ}$ in rotation on average. VAS(visual analgue scale) decreased by 33% on average, NDI(neck diability index) by 28% and fatigability by 23%. Conclusion: There were improved results in the range of motion, NDI, VAS, and in fatigability after applying combined exercise program to intra-city bus drivers exposed to whole body vibration and cumulative trauma disorder.

• Journal of Practical Engineering Education
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• v.8 no.1
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• pp.9-14
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• 2016

Depending on the college graduation project and graduation thesis regulations for the certification and graduation requirements, the quadcopter acting as a Li-Po battery that charges by solar energy are proposed a design method and improvements in theory. Quadcopter posture is balanced and confirmed by the position sensor, through a PID (Proportional Integral Differential) control. Battery switching circuit is composed of two Li-Po battery. Driving the quadcopter as one battery, and does not use other battery is charged by solar energy. A battery switching circuit is fabricated in a manner that uses two types of relays. Even if completely not charged to the battery is being driven a certain switch by the battery charging voltage from time to time, it proposes a method for increasing the endurance time and range.

• Journal of agriculture & life science
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• v.52 no.6
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• pp.127-138
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• 2018

In this study, the operational characteristics of a domestic vegetable transplanter were investigated. The main functional components and power path of the tranplanter were analyzed. The link structure of transplanting device waskinematically analyzed, and 3D modeling and dynamic simulation were performed. Based on this analysis, the trajectory of the bottom end of the transplanting hopper was analyzed. Also, the plant spacing according to the engine speed and the shifting stage of transplanting transmission was analyzed and verified by field test. As main results of this study, the transplanting device is one degree of freedom(DOF) 4-bar link type mechanism which comprises 10 links and 13 rotating joints. The transplanting hopper plants seedlings in a vertical direction while maintaining a constant posture by the links of transplanting device. The power is transmitted to both the driving part and transplanting part from the engine, and the maximum and minimum plant spacing of the transplanting device were 428.97 mm and 261.20 mm.

• Journal of the Institute of Convergence Signal Processing
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• v.22 no.2
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• pp.79-84
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• 2021

The most important device of the AGV is the guide sensor, and the typical function of this sensor is high accuracy and extraction of the road. If the accuracy of the guide sensor is low or the sensor device is extracted the wrong track, this causes the problems such as the AGV collision, track-out, the load falling due to AGV swing. In order to improve these problems, this study is proposed a signal processing method of the guide sensor based on multi-maskings and the center of gravity method, and evaluated its performance. As a result, the proposed method showed that the mean error of absolute value is 2.32[mm] and it showed performance improvement of 27[%] than the center of gravity method of existence. Therefore, when the proposed signal processing method is applied, It is thought that the posture control and driving stability of the AGV will be improved.

• Physical Therapy Rehabilitation Science
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• v.11 no.3
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• pp.363-369
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• 2022

Objective: The purpose of this study was to prepare evidence for the prevention and management of nonspecific chronic neck pain (NSCNP) by examining the correlation between activity of daily living and physical activities of office workers with NSCNP. Design: Crossed-sectional study Methods: 89 patients with NSCNP were recruited for this study. But 2 subjects met the exclusion criteria and were dropped out, and 86 subjects finally participated. Numerical pain rating scale (NPRS) and neck disability index (NDI) were used to check the pain intensity and disability of patients with neck pain, respectively. For the activity of daily living, computer use time, sleep time, and driving time were used. To find out the physical activities of the subjects, International Physical Activity Questionnaires (IPAQ-SF) was used. Correlation analysis was performed to find out the correlation of each variable. Results: A clear positive correlation was established between computer use time and pain (p<0.05), and a clear positive correlation was established between computer use time and disability index (p<0.05). The correlation between NPRS and NDI and physical activity total time, high intensity activity score, moderate intensity activity score, and walking score were not statistically significant (p>0.05). Conclusions: In treating patients with NSCNP, it is necessary to reduce the computer usage time as a professional factor or to educate the proper posture. In addition, rather than emphasizing physically comprehensive physical activity, grafting therapeutic exercise directly related to neck pain could have a more positive effect on NSCNP patients.

• The Journal of Korean Physical Therapy
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• v.17 no.2
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• pp.22-37
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• 2005

This study was performed to investigate LBP(low-back pain) prevalence rate and its related factors inphysical therapists. A self-administered questionnaire survey was conducted to 522 physical therapists in Daegu and Gyeongsangbuk. The LBP prevalence rate for recent 6 months was $61.7\%$. According to age, the prevalence rate was highest in the group aged 24 or less for both male and female physical therapistis. For male physical therapists , it was higher in smokers and drivers, but for female ones, it was not in a significant relationship with smoking and driving. According to work experience, the prevalence rates of those who had been working for less than one year were the highest, and those who had been working at hospitals and clinics were $69.1\%$, significantly high. According to therapy techinque, the prevalence rate related ti PNF was $71.6\%$, the highest and to occupational therapy was $34.3\%$, the lowest. According to working environment for six months, in both male and female physical therapists. LBP prevalence rate was in a statistically significant relationship with work hours during the day, night and weekend duties, repetitive works, motions that bend or twist the waist, the number of patients per day, the number of time to help patients per day, the number of time to carry medical equipment per day and the length of time to work standing. The rate was also higher when physical therapists fekt nire stress from their work. According to the result of multiple logistic regression analysis, male was in a significant relationship with work experience and motions that bend or twist the waist and female was in a significant relationship with work hours during the night and weekend duties, the number of time to help patients per day, motions that bena or twist the waist, actions taken to protect the waist. As for the developmental pattem of LBP in the group of physical therapists with LBP for six moths, $15.7\%$ of them had LBP for first time, $42.3\%$ had recurred LBP, and $42.0\%$ had chronic LBP. As for the causes of LBP, $51.7\%$ said that it was because they worked in the same posture for a long time, and as for how to treat LBP, 48.8% said that they treated themselvs or got help from their co-wokers. The results presented above suggest that physical therapists are exposed to high risk of LBP caused form occupational activities. Therefire, it is necessary to improve working environment to reduce the occurrence of LBP and to develop education programs for preventing the occurrence and recurrence of LBP.