• Journal of Korean Medical classics
• /
• v.24 no.6
• /
• pp.49-61
• /
• 2011

The concept of Mingmen(命門) was originated from "Neijing(內經)" and "Nanjing(難經)", respectively meaning eye in "Neijing" and right kidney in "Nanjing". But the Mingmen theory had been developed on the basis of the concept of Mingmen in "Nanjing" thereafter, and it had been influenced by the Taoist alchemy in the process of explaining the relation between the concept of Xianghuo(相火) and Yuanqi(元氣). Out of this the Mingmen theory had been changed as a thing that comprises newly the concept of Huo(火), and consequentially the dispute about the arrangement between Mingmen and Xin(心) had been consistently progressed, because Xin is the center of Huo. And on the other hand, because Xin is also the center of mind, the influence of the state of Xin which is projected to Mingmen had also been discussed. Based on the facts like this, this study will discuss the possibility of the extension of the concept about the function of Mingmen. That is, this study will add up the concept of Mingmen in "Neijing" to the Mingmen theory so far, will add up the concept of Zhijue(知覺) to the Mingmen theory. The concept of Zhijue had been originated from the Neo-Confucianism in Song dynasty, and this study thinks, in the light of the concept of Zhijue, the concept of Mingmen could be viewed from a new perspective, that is, from a view of mind.

• Biomedical Science Letters
• /
• v.18 no.4
• /
• pp.428-434
• /
• 2012

Epilepsy is a chronic neurological disease showing a symptom of repeated seizures without any other physical disorders. Among the diagnostic examination for epilepsy, the electroencephalogram (EEG) has been known as an important test. This study aimed to investigate the EEG with photic stimulation in the pediatric epilepsy patients. They underwent digital sleep and waking EEGs or waking EEGs with photic stimulation. Epilepsy type, seizure history, and season of occurring seizure were analyzed. Epilepsy patients showed more response during the period of photic-on and eye close at the frequency of 10~20 Hz during the EEG activation procedure. Photoparoxysmal response (PPR) was shown in 206 patients out of total 1,551 epilepsy patients. PPR was appeared more frequently during summer and winter seasons, and especially in the patients who had a history of seizure. During the PPR, EEG pattern showed spike (77.18%), theta (9.71%), and spike + theta (13.11%). On the other hand, beta and theta waves were not significantly changed by photic stimulation. However, alpha wave was decreased and delta wave was increased by photic stimulation (P<0.05). These changes may be due to temporarily altered electrophysiological function of the epileptic patient's brain by the photic stimulation. There was no difference in the EEG pattern between the left and right side in the brain. In conclusion, condition of photic-on with closed eyes and frequency of 10~20 Hz during the procedure of EEG activation could be appropriate for obtaining a definite photoparoxysmal response in the electroencephalogram of the pediatric epilepsy patients.

• Journal of Korean Academy of Nursing
• /
• v.28 no.3
• /
• pp.760-772
• /
• 1998

The purpose of this study was to explore the concept of quality of life for bone marrow transplant (BMT) survivors and to gain understanding of nursing interventions that may improve QOL in this population. The data was gathered from 32 BMT survivors using seven open-ended questions. The items were based on previous research of Ferrell et al., (1992). Content analysis was performed on written responses to seven questions regarding BMT and QOL. The results were as follows : 1. The meaning of QOL for BMT survivors were "being healt", "being able to take a role", "having relationships", "self-accomplishment", "peace of mind", "spiritual well-being", "economic stability" and "being alive". 2. The impact of BMT on physical well-being were "skin impairment", "digestive problems", "infections ", "fatigue/weakness", "arthralgia", "eye dryness". "weight gain", "amenorrhea" and "hand tremor". 3. The impact of BMT on psychological well-being were "fear of recurrence", "sence of peace" and "hope". 4. The impact of BMT on socioeconomic status were "financial burden", "limitation of social activities" and "sence of withdrawal". 5. The impact of BMT on spiritual well-being were "dependency on Supreme Being", "spiritual arousal " and "spiritual maturity". The findings of the study will be useful in constructing a instrument to measure QOL in BMT and in understanding the conceptual basis of QOL for the BMT population.ency on Supreme Being", "spiritual arousal " and "spiritual maturity". The findings of the study will be useful in constructing a instrument to measure QOL in BMT and in understanding the conceptual basis of QOL for the BMT population.L for the BMT population.

• Journal of the Korean Society of Safety
• /
• v.24 no.4
• /
• pp.104-110
• /
• 2009

In this driving simulation study, the impairing effects of various types of electronic devices usage(i. e., destination search by using in-vehicle navigation system, TV watching and dialing cellular phone) during driving on front-to-rear-end collision avoidance were investigated. Percentage of collisions, driving speeds when the drivers collided, and initial reaction time for collision avoidance were analyzed and compared as the dependent measures. The results indicated that (1) any types of electronic devices usage during driving induced more serious collision-related impairment than control condition where no additional task was required, and (2) in general, destination search task appeared to impair drivers collision avoidance performance more than the other task requirements in terms of percentage of collisions and initial reaction time for collision avoidance, but TV watching induced most serious collision impact. These results suggested that any types of electronic device usage could distract drivers attention from the primary task of driving, and be resulted in serious outcome in potentially risky situation of front-to-rear-end collision. In particular, mandatory use of eye-hand coordination and receiving feedback seemed to one of essential factor leading the drivers visual attentional distraction.

• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.1539-1543
• /
• 2004

This paper describes platform overview, system integration and dynamic walking control of the humanoid robot, KHR-2 (KAIST Humanoid Robot - 2). We have developed KHR-2 since 2003. KHR-2 has totally 41 DOF (Degree Of Freedom). Each arm including a hand has 11 DOF and each leg has 6 DOF. Head and trunk also has 6 DOF and 1 DOF respectively. In head, two CCD cameras are used for eye. In order to control all joints, distributed control architecture is adopted to reduce the computation burden of the main controller and to expand the devices easily. The main controller attached its back communicates with sub-controllers in real-time by using CAN (Controller Area Network) protocol. We used Windows XP as its OS (Operating System) for fast development of main control program and easy extension of peripheral devices. And RTX, HAL(Hardware Abstraction Layer) extension program, is used to realize the real-time control in Windows XP environment. We present about real-time control of KHR-2 in Windows XP with RTX and basic walking control algorithm. Details of the KHR-2 are described in this paper.

• Journal of the Korean Society for Precision Engineering
• /
• v.23 no.11 s.188
• /
• pp.58-67
• /
• 2006

Due to the variety of signal processing and complicated mathematical analysis, it is not easy to accomplish 3D bin-picking with non-contact sensor. To solve this difficulties the reliable signal processing algorithm and a good sensing device has been recommended. In this research, 3D laser scanner and CCD camera is applied as a sensing device respectively. With these sensor we develop a two-step bin-picking method and reliable algorithm for the recognition of 3D bin object. In the proposed bin-picking, the problem is reduced to 2D intial recognition with CCD camera at first, and then 3D pose detection with a laser scanner. To get a good movement in the robot base frame, the hand eye calibration between robot's end effector and sensing device should be also carried out. In this paper, we examine auto-calibration technique in the sensor calibration step. A new thinning algorithm and constrained hough transform is also studied for the robustness in the real environment usage. From the experimental results, we could see the robust bin-picking operation under the non-aligned 3D hole object.

• Journal of Welding and Joining
• /
• v.14 no.6
• /
• pp.68-80
• /
• 1996

When a workpiece is to be arc welded around the outside corner, continuous welding without welding seam in the neighborhood of comer still remains a very difficult technique. Skilled welders weld comers by delicate“hand-eye coordination”while turning the workpiece manually, However, there is not a very clear solution to this problem in robotized arc welding process. In order to solve this problem, the coordination of a robot and a positioner with one or two axes is necessary. This paper presents a method of continuous welding around the corner of workpiece using the coordinated motion of a robot and a positioner. The positioner is either revolute jointed or prismatic jointed. In this paper, a clothoid curve is chosen for welding trajectory. The clothoid curve is excellent in connecting straight and curved weld-lines with good continuity and accommodates various welding conditions. By using this welding trajectory, the deceleration, which leads to widening of the melt and the heat affected zone, at comer area is reduced with strategic rotation of robot torch in coordination with a positioner providing smooth transition of welding torch orientation. Two types of special clothoid curves are developed for different weld slope conditions. These clothoid curves are applied to the case of linear and rotary Positioners at arc welding robot work-cell.

• Journal of Institute of Control, Robotics and Systems
• /
• v.15 no.11
• /
• pp.1122-1129
• /
• 2009

Recently taping robot with smart recognition function have been studied in the coil manufacturing field. Due to the difficulty of 3D surface processing from the complicated working environment, it is not easy to accomplish smart tape attachment motion with non-contact sensor. To solve these problems the applicable surface recognition algorithm and a flexible sensing device has been recommended. In this research, the fusion method between 1D displacement and 3D laser scanner is applied for robust tape attachment about cold rolled coil. With these sensors we develop a two-step exploration and the smart algorithm for the awareness of non-aligned coil's information. In the proposed robot system for tape attachment, the problem is reduced to coil's radius searching with laser displacement sensor at first, and then position and orientation detection with 3D laser scanner. To get the movement at the robot's base frame, the hand-eye compensation between robot's end effector and sensing device should be also carried out respectively. In this paper, we examine the auto-coordinate transformation method in the calibration step for the real environment usage. From the experimental results, it was shown that the taping motion of robot had a robust under the non-aligned cold rolled coil.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.940-943
• /
• 1996

In teleoperating, as seeing the monitor screen obtained from a camera instituted in the working environment, human operator generally controls the slave arm. Because we can see only 2-D image in a monitor, human operator does not know the depth information and can not work with high accuracy. In this paper, we proposed a traded control method using an visual sensor for the purpose of solving this problem. We can control a teleoperation system with precision when we use the proposed algorithm. Not only a human operator command but also an autonomous visual sensor feedback command is given to a slave arm for the purpose of coincidence current image features and target image features. When the slave arm place in a distant place from the target position, human operator can know very well the difference between the desired image features and the current image features, but calculated visual sensor command have big errors. And when the slave arm is near the target position, the state of affairs is changed conversely. With this visual sensor feedback, human does not need coincide the detail difference between the desired image features and the current image features and proposed method can work with higher accuracy than other method without, sensor feedback. The effectiveness of the proposed control method is verified through series of experiments.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.20 no.10
• /
• pp.3038-3047
• /
• 1996

In telerobot systems, visual servoing of a task object for a slave arm with an eye-in-hand has drawn an interesting attention. As such a task ingenerally conducted in an unstructured environment, it is very difficult to define the inverse feature Jacobian matrix. To overcome this difficulty, this paper proposes an auto-tuning fuzzy rule-based visual servo algorithm. In this algorithm, a visual servo controller composed of fuzzy rules, receives feature errors as inputs and generates the change of have position as outputs. The fuzzy rules are tuned by using steepest gradient method of the cost function, which is defined as a quadratic function of feature errors. Since the fuzzy rules are tuned automatically, this method can be applied to the visual servoing of a slave arm in real time. The effctiveness of the proposed algorithm is verified through a series of simulations and experiments. The results show that through the learning procedure, the slave arm and track object in real time with reasonable accuracy.