• Journal of Biomedical Engineering Research
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• v.29 no.1
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• pp.32-39
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• 2008

This paper reports on a realtime OS based master-slave configuration robot control system for laparoscopic surgery robot which enables telesurgery and overcomes shortcomings with conventional laparoscopic surgery. Surgery robot system requires control system that can process large volume information such as medical image data and video signal from endoscope in real-time manner, as well as precisely control the robot with high reliability. To meet the complex requirements, the use of high-level real-time OS (Operating System) in surgery robot controller is a must, which is as common as in many of modem robot controllers that adopt real-time OS as a base system software on which specific functional modules are implemened for more reliable and stable system. The control system consists of joint controllers, host controllers, and user interface units. The robot features a compact slave robot with 5 DOF (Degree-Of-Freedom) expanding the workspace of each tool and increasing the number of tools operating simultaneously. Each master, slave and Gill (Graphical User Interface) host runs a dedicated RTOS (Real-time OS), RTLinux-Pro (FSMLabs Inc., U.S.A.) on which functional modules such as motion control, communication, video signal integration and etc, are implemented, and all the hosts are in a gigabit Ethernet network for inter-host communication. Each master and slave controller set has a dedicated CAN (Controller Area Network) channel for control and monitoring signal communication with the joint controllers. Total 4 pairs of the master/slave manipulators as current are controlled by one host controller. The system showed satisfactory performance in both position control precision and master-slave motion synchronization in both bench test and animal experiment, and is now under further development for better safety and control fidelity for clinically applicable prototype.

• Korean Institute of Interior Design Journal
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• v.23 no.2
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• pp.71-79
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• 2014

The purpose of this study is to elucidate that photo, which has been used as original photo's purpose of information transfer in modern age, is now used as romantic reproduction which is the communication methods of architect's idea and thought through photographic vision which is beyond photograph own capabilities. The photos of Mies van der Rohe and Le Corbusier's architectural works are taken as an example for studying and analysing the way of deliverying the concept of creative work in the functional spaces in the modern era. It looked at the way of modern archirecture configuration, which architects wanted to show by pictures, such as concurrency, movement, sense of exhibition and concept of time-space and planarity on photographic vision such as multiview, movement, daily life exclusion, scenography and perspective loss. Reflecting that, I presents Le Corbusier and Mies van der Rohe's intention through photo by analyzing their picture of architecture by way of photograph techniques-camera position moving, over exposure, photomontage, silhouette technic and overlap technic. Mies van der Rohe and Le corbusier demonstrated the change and manipulation of the their architectural photos in different point of view. They express their architectural theories by photos of their works and overcome the limitation of expression of constructed building designed by them. The photos of architects's works in the case study with photos and descriptions introduce to their design concept. The design concept of the architects have become ideal concept for many contemporary architects and keep reproducing through the photos of their architectural works.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.31 no.10
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• pp.999-1008
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• 2007

The spacer grid set is a component in the nuclear fuel assembly. The set supports the fuel rods safely. Therefore, the spacer grid set should have sufficient strength for the external impact forces such as earthquake. The fretting wear occurs between the spring of the fuel rod and the spacer grid due to flow-induced vibration. Conceptual design of the spacer grid set is performed based on the Independence Axiom of axiomatic design. Two functional requirements are defined for the impact load and the fretting wear, and corresponding design parameters are selected. The overall flow of design is defined according to the application of axiomatic design. Design for the impact load is carried out by using nonlinear dynamic analysis to determine the length of the dimple. Topology optimization is carried out to determine a new configuration of the spring. The fretting wear is reduced by shape optimization using the homology theory. The deformation of a structure is called homologous if a given geometrical relationship holds before, during, and after the deformation. In the design to reduce the fretting wear, the deformed shape of the spring should be the same as that of the fuel rod. This condition is transformed to a function and considered as a constraint in the shape optimization process. The fretting wear is expected to be reduced due to the homology constraint. The objective function is minimizing the maximum stress to allow a slight plastic deformation. Shape optimization results are confirmed through nonlinear static analysis.

• Fashion & Textile Research Journal
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• v.14 no.4
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• pp.588-596
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• 2012

This research was intended to design an experimental girdle with thermal insulation function for adult women in their 20s. The design of the experimental girdle was based on the pattern of commercially available girdle. The final pattern of the experimental girdle was established according to the drawing equations determined based on the result of appearance evaluation. The equations were (waist circumference${\times}0.88$)/2 for waist circumference, (hip circumference${\times}0.77$)/2 for hip circumference, and (thigh circumference${\times}0.85$) for thigh circumference. In order to develop a heating device, the most effective fabric heater was adopted based on the experiments about the number of caron fibers, heater size and attachment site. Three heaters-one with a size of $14.5{\times}9.5$ cm, and the other two with the size of $8.0{\times}15.0$ cm-were attached to the areas corresponding to the lower abdomen and the hip, 5 cm below the waist. A heater was developed by connecting these heaters to a controller, 2 batteries (7.4 V 2000 mAh lithium polymer batteries) and a switch (for mode conversion between high/medium/low temperatures). The heater was integrated into the inside of the girdle, so that attachment and detachment were possible without the change of appearance. The tentative configuration plan was proposed for the development of a functional smart girdle with an excellent thermal insulation effect.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.18 no.3
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• pp.111-117
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• 2018

Heterogeneous multi-core environment integrated with different functional cores is the powerful tool for the embedded system that became more complex and diverse. Specialized application requires one chip solution with different operating system over different cores. But this heterogeneity causes difficult configuration of the development environment, makes hard to develop and test software. We show the environment of heterogeneous multi-core processing can be mapped to symmetric multi-core environment. We construct Linux based RPMsg for the data exchange between processes similar with the heterogeneous multi-core RPMsg and experiment that the proposed environment can be used to reduce the steps of the heterogeneous multi-core application development. With this simplification, we suggest simulation method for easy development and debugging the heterogeneous multicore environment that makes complex steps to simple.

• Journal of Satellite, Information and Communications
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• v.9 no.3
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• pp.121-126
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• 2014

ETRI(Electronics and Telecommunication Research Institute) has joined National GNSS Research Center program of Defense Acquisition Program Administration and Agency for Defense Development in 2010. The research subject is technology for MSAR(Military Search and Rescue) system configuration. In this project, we analyses the ways in order to improve the accuracy, reliability, availability for MSAR system from M&S(Modeling and Simulation). The MSAR System M&S Software can be used for performance analysis of new elements, such as ground elements and satellite elements without any hardware development. In this paper, after introduction of the architecture design and functional scope of the simulator, the performance analysis result for MSAR M&S software is presented.

• Journal of Biomedical Engineering Research
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• v.28 no.2
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• pp.218-228
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• 2007

Modem concepts of gait rehabilitation after stroke favor a task-specific repetitive approach. In practice, the required physical effort of the therapists limits the realization of this approach. Therefore, a mechanized gait trainer enabling nonambulatory patients to have the repetitive practice of a gait-like movement without overstraining therapists was constructed. In this study, we developed an active gait training system for patients with gait disorder. This system provides joint movements to patients who cannot carry out an independent gait. It provides a normal stance-swing ratio of 60:40 using an eccentric configuration of two gears. Joint motions of the knee and the ankle were evaluated with using the 3D motion analysis system and compared with the results from the multi-body dynamics simulation. In addition, clinical investigations were also performed for low stroke patients during the 6-week gait training. Results from the dynamics simulation showed that joint movements of the knee and the ankle were affected by the gear size, the step length and the length of the foot plate, except the radius of curvature of the foot guide plate. Also, the 6-week gait training revealed relevant improvements of the gait ability in all low subjects. Functional ambulation category levels of subjects after training were 2 in three patients and 1 in a patient. The developed active gait trainer seems feasible as an adjunctive tool in gait rehabilitation after stroke.

• Molecules and Cells
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• v.41 no.4
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• pp.301-310
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• 2018

LysR-type transcriptional regulators (LTTRs) contain an N-terminal DNA binding domain (DBD) and a C-terminal regulatory domain (RD). Typically, LTTRs function as homotetramers. VV2_1132 was identified in Vibrio vulnificus as an LTTR that is a homologue of HypT (also known as YjiE or QseD) in Escherichia coli. In this study, we determined the crystal structure of full-length VV2_1132 at a resolution of $2.2{\AA}$, thereby revealing a novel combination of the domains in the tetrameric assembly. Only one DBD dimer in the tetramer can bind to DNA, because the DNA binding motifs of the other DBD dimer are completely buried in the tetrameric assembly. Structural and functional analyses of VV2_1132 suggest that it might not perform the same role as E. coli HypT, indicating that further study is required to elucidate the function of this gene in V. vulnificus. The unique structure of VV2_1132 extends our knowledge of LTTR function and mechanisms of action.

• Korean Institute of Interior Design Journal
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• v.24 no.3
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• pp.156-164
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• 2015

Nursing Homes do not have a defined standard in the space area nor does it have a detailed standard facility requirement by law. This can possibly lead to the deterioration of the facility and the system. This directly affects the medical treatment space area within the nursing home. The medical treatment area provides medical treatment to seniors and this is where the seniors get most of their daily services. Therefore, this is research is about the study of the space area of the medical center and the ratio trend of the space area for the medical treatment facility located in senior nursing homes. Ten facilities have been selected in this study to analyze the correlation factors between space area and its trends. The analysis performed includes the conditions relating to the area and what affects the center. We have followed up with a proposal for improvement of the facility and area configuration for the medical treatment facility. Based on the analysis, the following conclusion can be made: First, the senior welfare centers are mostly used as a residence purpose followed a temporary stay of residence facility for the seniors. Second, research indicates that the bigger the facility, nursing and public functions took a larger portion of the space area compared to other services within the senior welfare centers. Third, the study shows the management space area took up about 1%~6% of the entire medical center within the nursing home which is a narrow space area because of the integrated management. Fourth, analysis based on the trend in the time-series indicate after the adoption of the system, there is a continued decline in the space area of nursing, management and public areas. Lastly, since before and after 2008, the space area composition of the nursing facility shows a continuous decline in our study. We can safely conclude that the revised senior welfare act's construction plan has an effect in the facility and is effectively working to meet its requirement. Therefore, the revision of the law is required to reflect the social needs of the residents.

• Proceedings of the KSAR Conference
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• 2001.03a
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• pp.41-41
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• 2001

Chromatin configuration and microtubule assembly were determined in porcine maturing and activated oocytes following intracytoplasmic sperm injection. Microtubule localization was confirmed using a mouse monoclonal antibody to $\alpha$-tubulin and detected using a fluorescent labeled goat anti-mouse secondary antibody. DNA was stained with propidium iodide. The image of microtubules and chromatin was captured using laser scanning confocal microscope. In germinal vesicle stage oocyte, sperm chromatin remained condensation and sperm derived microtubules were not observed at 8 to 12 h after sperm injection. At 24 h after injection, the sperm nucleus developed to the metaphase chromatin along the metaphase structure of female nucleus. In some metaphase I stage oocytes, sperm chromatin decondensed at 8 h to 12 h after injection, sperm aster was seen soon after sperm injection. At 24 h after sperm injection into metaphase I stage oocyte, male chromatin developed to the metaphase chromatin while female chromatin extruded first polar body and formed the metaphase chromatin. At 12 to 15 h after sperm injection into preactivated oocytes, condensed sperm nucleus was located in close proximity of female pronucleus. However, the condensed nucleus did not fuse with female pronucleus. In preactivated ocytes, injected sperm remained condensation, a few sperm organized small microtubular aster. Instead, maternal derived microtubules were organized near the female chromatin, which seem to move condensed male chromatin near to the female pronucleus. These results suggest that sperm nuclear decondensing activity and nucleation activity of centrosome during fertilization are cell cycle dependent. In absence of male functional centrosome, female origin centrosome takes over the role of microtubule nucleation for nuclear movement.