• 제어로봇시스템학회논문지
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• 제17권12호
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• pp.1227-1233
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• 2011

An effective method of obstacle avoidance for omni-directional mobile robots is proposed to avoid moving obstacles in dynamic environments. Our method uses the concept of circle lists which represent the trajectories of robot and obstacles. This method predicts not only collision position but also collision time, and hence it enables the robot avoiding the most urgent collision first. In order to avoid obstacles, our method uses artificial repulsive force and contraction force. Simulation results show that the robot could avoid obstacles effectively.

• Archives of Plastic Surgery
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• 제50권5호
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• pp.496-500
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• 2023

Fournier's gangrene is a life-threatening infection which requires prompt recognition, early surgical debridement of unhealthy tissue, and initiation of broad-spectrum antibiotics. Relook debridement are usually performed until all the devitalized tissue has been removed. Involvement of the anal sphincter may result in significant morbidity such as permanent incontinence. Dynamic reconstruction of the anal sphincter has always been one of the holy grails in the field of pelvic reconstruction. We demonstrate a new method of camera shutter style double-opposing gracilis muscle flaps that allows dynamic sphincteric function without the need for electrostimulation. The bilateral gracilis muscles are inset in a fashion that allows orthograde contraction of the muscle to narrow and collapse the neoanal opening. With biofeedback training, the patient is able to regain dynamic continence and return to function without a stoma. There was also no need for neurotization or microsurgery techniques to restore sphincteric function to the anus. The patient was able to reverse his stoma 14 months after the initial insult and reconstruction with biofeedback training without the use of electrostimulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.155-159
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• 1993

In this paper, we consider the problem of a stochastic optimal switching control, which can be applied to the control of a system with uncertain demand such as a control problem of a power plant. The dynamic programming method is applied for the formulation of the optimal control problem. We solve the system of Quasi-Variational Inequalities(QVI) using an algoritlim which involves the finite difference approximation and contraction mapping method. A mathematical example of the optimal switching control is constructed. The actual performance of the algorithm is also tested through the solution of the constructed example.

• 제어로봇시스템학회논문지
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• 제4권6호
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• pp.703-706
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• 1998

본 논문에서는 확률 최적 제어문제에서 발생되는 Elliptic type H-J-B(Hamilton-Jacobi-Bellman) 방정식에 대한 수치해를 구하였다. 수치해를 구하기 위하여 Contraction 사상 및 유한차분법을 이용하였으며, 시스템은 It/sub ∧/ 형태의 Stochastic 방정식으로 취하였다. 수치해는 수학적인 테스트 케이스를 설정하여 검증하였으며, 최적제어 Map을 방정식의 해를 구하면서 동시에 구하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.440-444
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• 1998

In this paper, we consider numerical solution of a H-J-B (Hamilton-Jacobi-Bellman) equation of elliptic type arising from the stochastic control problem. For the numerical solution of the equation, we take an approach involving contraction mapping and finite difference approximation. We choose the It(equation omitted) type stochastic differential equation as the dynamic system concerned. The numerical method of solution is validated computationally by using the constructed test case. Map of optimal controls is obtained through the numerical solution process of the equation. We also show how the method applies by taking a simple example of nonlinear spacecraft control.

• The Journal of Korean Physical Therapy
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• 제17권4호
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• pp.621-631
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• 2005

The purpose of this study was to measure magnitude of lower leg muscle activity during dynamic stability tests performed on an unstable board by subjects with sprained lateral ankles. Fifteen lateral ankle sprain subjects(8 male, 7 female) participated in this study. The muscle activity was measured at gastrocnemious, tibialis anterior, peroneus longus during dynamic stability tests performed on Biodex stability system as surface EMG. The EMG amplitude of each muscle was normalized to the amplitude in the maximal voluntary isometric contraction(MVIC) of each muscle. As results, peroneus longus evidenced significant difference at stable and unstable grade comparing injured with uninjured sides. Gastrocnemious and tibialis anterior evidenced no significant difference. Change of muscle activity with stable and unstable grade evidenced no significant difference on injured and uninjured sides. The data provided information on peroneus longus contributes to dynamic stability after lateral ankle sprains. Peroneus longus training program may have to be emphasized after an ankle sprain.

• 한국전문물리치료학회지
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• 제14권2호
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• pp.68-75
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• 2007

Reductions in strength and range of motion in older persons have been associated with decreased functional mobility and risk of falls. The purpose of this research was to investigate the effect of intensive dynamic balance exercise (DBE) during 8 weeks on onset time of medial gastrocnemius and tibialis anterior muscle contraction after perturbation in older women. Thirty subjects were randomly assigned into DBE group or control group. The DBE group participated in 50 minutes 3 days a week for 8 weeks. Surface electromyography (EMG) activity was recorded from the medial gastrocnemius and tibialis anterior muscles of left side. Outcome data were collected both groups at the pre-exercise and post-exercise. Independent t-test and paired t-test were used to determine the statistical difference. Results showed that the passive range of motion and functional reach test were significantly increased in the DBE group than the control group at the post-exercise (p<.05). The onset time of both muscles and discrepancy of onset time significantly reduced in the DBE group than the control group at the post-exercise (p<.05). The onset time of both muscles were significantly reduced in the post-exercise than the pre-exercise in the DBE group (p<.05). The discrepancy of onset time in the DBE group was significantly reduced in the post-exercise than the pre-exercise (p<.05). These findings suggest that intensive dynamic balance exercise for the eight weeks was effective in improving the postural control with older persons.

• 한국재료학회지
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• 제31권1호
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• pp.43-53
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• 2021

Dynamic behavior of piezoelectric ZnO nanowires is investigated using finite element analyses (FEA) on FE models constructed based on previous experimental observations in which nanowires having aspect ratios of 1:2. 1:31, and 1:57 are obtained during a hydrothermal process. Modal analyses predict that nanowires will vibrate in lateral bending, uniaxial elongation/contraction, and twisting (torsion), respectively, for the three ratios. The natural frequency for each vibration mode varies depending on the aspect ratio, while the frequencies are in a range of 7.233 MHz to 3.393 GHz. Subsequent transient response analysis predicts that the nanowires will behave quasi-statically within the load frequency range below 10 MHz, implying that the ZnO nanowires have application potentials as structural members of electromechanical systems including nano piezoelectric generators and piezoelectric dynamic strain sensors. When an electric pulse signal is simulated, it is predicted that the nanowires will deform in accordance with the electric signal. Once the electric signal is removed, the nanowires exhibit a specific resonance-like vibration, with the frequency synchronized to the signal frequency. These predictions indicate that the nanowires have additional application potential as piezoelectric actuators and resonators.

• Journal of Chest Surgery
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• 제46권6호
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• pp.457-460
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• 2013

Dynamic left ventricular (LV) outflow tract obstruction is a characteristic feature of hypertrophic cardiomyopathy; however, it can also occur in association with hyperdynamic LV contraction and/or changes in the cardiac loading condition, even in a structurally normal or near-normal heart. Here, we report a case of anemia-induced systolic anterior motion of the mitral valve and the resultant intraventricular obstruction in a patient who underwent coronary artery bypass grafting and suffered from anemia associated with recurrent gastrointestinal bleeding.

• The Journal of Korean Physical Therapy
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• 제13권3호
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• pp.777-789
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• 2001

The purpose of this study was to investigate the possibility of using surface electromyographic signals as a measure of muscle fatigue during the wheelchair propulsion. Subjects performed wheelchair exercise tests on a motor-driven treadmill with a constant-velocity of 1.25 m/sec. During each test, the raw EMC signals were acquired from the surface electrodes attached on the belly of five muscle groups: biceps brachii, pectoralis major. deltoid, triceps brachii, and trapezius. The median power frequency(MPF), and the root mean square(RMS) amplitude were calculated for each cyclic contraction in order to quantify muscle fatigue. During the wheelchair propulsion, the MPF decreased and the RMS increased in the trapezius and deltoid. However, the decreasing MPF and the increasing RMS also fluctuated severly during dynamic muscle contractions. Therefore, the MPF and RMS values should be estimated with well-designed methods and used with caution to quantify muscle fatigue during wheelchair propulsion.