• 제목/요약/키워드: Independent joint control

검색결과 115건 처리시간 0.028초

스마트에너지 방식을 적용한 전력신산업 활성화 모델 사례 연구: ESS, 전기차 충전, 전력수요관리 중심으로 (New Energy Business Revitalization Model with Smart Energy System: Focused on ESS, EV, DR)

  • 신재우
    • 한국IT서비스학회지
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    • 제21권6호
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    • pp.117-125
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    • 2022
  • In respond to climate change caused by global environmental problems, countries around the world are actively promoting the advancement of new electricity industries. The new energy business is being applied to energy storage systems (ESS), electric vehicle charging business, and power demand response using cutting edge technologies. In 2022, the Korean government is also establishing a policy stance to foster new energy industries and making efforts to improve its responsiveness to power demand response with the innovative technologies. In Korea, attempts to commercialize energy power are also being made in the private and public sectors to control energy power in houses, buildings, and industries. For example, private companies, local governments, and central government are making all-out efforts to develop new energy industry models through joint investment. There are forms such as establishing energy-independent facilities by region, establishing an electric vehicle charging system, controlling urban lighting systems with Information technologies, and managing demand between power suppliers and power consumers. This study examined the business model applied with energy storage system, electric vehicle charging business, smart lighting, and power demand response based on information communication technology to examine the site where smart energy system was introduced. According to this study, company missions and government tasks are suggested to apply new energy business technologies as economical energy solutions that meet the purpose of use by region, industry, and company.

방문건강관리사업을 통한 재가 관절통증환자 집중관리 프로그램의 효과 (The Effects of Intensive Management Program of Home Visiting Health Service for community dwelling Clients with Arthralgia)

  • 박금숙;정헌영;김영희;이경완
    • 대한예방한의학회지
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    • 제18권2호
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    • pp.69-80
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    • 2014
  • Objective : The purpose of this study was to investigate the effects of Intensive management program of home visiting health service for community dwelling Clients with Arthralgia. Method : A nonequivalent control group pretest-posttest design was used for this study. Elderly people who agreed to participated in the study were assigned to an experimental group (n=30) or a control group (n=30). For an experimental group, The Intensive Management program was given as a home visiting health service once a week for 8 weeks. Study outcomes were measured by structured questionnaires from August, 2013 to october. For data analysis, Chi-square test, Fisher's exact probability test, independent t-test, and paired t-test were performed using SPSS version 17.0. Results : Changes in pain, fatigue, medical service utilization and self management compliance were significantly different between the two groups in pretest and posttest(t=-4.828, p < .001), (t=-4.944, p =.001), (t=2.176, p =.039), (t=3.141, p =.003). And there were significant difference between the two groups in left extension and flexion of knee(t=-2.241, p < .031), (t=2.166, p < .037). Conclusion : The intensive management program was effective on decreasing pain, fatigue, medical service utilization, and increasing flexibility of knee joint and self-management compliance of community dwelling clients with arthralgia.

Gait Characteristic in a Stroke Patient with an Intact Corticospinal Tract and Corticoreticular Pathway: A Case Study

  • Yeo, Sang Seok;Cho, In Hee
    • The Journal of Korean Physical Therapy
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    • 제30권2호
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    • pp.73-77
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    • 2018
  • Purpose: The prefrontal lobe, supplementary motor area, cerebellum, and basal ganglia are activated during gait. In addition, gait is controlled by nerves, such as the corticospinal tract (CST) and corticoreticular pathway (CRP). In this study, the presence of an injury to the CST and CRP was identified by diffusion tensor imaging and the characteristics of the gait pattern were investigated according to inferior cerebral artery infarction. Methods: One patient and six control subjects of a similar age participated. A 69-year-old female patient had an injury to the left basal ganglia, insular gyrus, corona radiata, dorsolateral prefrontal cortex, and postcentral gyrus due to an inferior cerebral artery infarction. Diffusion tensor imaging (DTI) data was acquired 4 weeks after the stroke. The kinematic and spatio-temporal parameters of gait were collected using a three-dimensional gait analysis system. Results: On 4 weeks DTI, the CST and CRP in the affected hemisphere did not show injury to the affected and unaffected hemisphere. Gait analysis showed that the cadence of spatio-temporal parameter was decreased significantly in the patient. The angle of the knee joint was decreased significantly in the affected and unaffected sides compared to the control group. Conclusion: The results of diffusion tensor imaging showed that although the patient was evaluated to be capable of an independent gait, the quality and quantity of gait might be reduced. This study could help better understand the gait ability analysis of stroke patients and the abnormal gait pattern of patients with a brain injury.

전자체중계를 이용한 환측 체중부하훈련이 편마비 환자의 제중지지율과 보행에 미치는 효과 (Effects of continuous involved weight bearing training on symmetrical weight supporting rate improvement and gait characteristics of patients with Hemiplegia)

  • 이석민;심태호
    • 대한물리치료과학회지
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    • 제10권1호
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    • pp.7-17
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    • 2003
  • The purpose of this study was to investigate the effect of the involved lower limb weight bearing training on symmetrical weight supporting rate improvement and gait characteristics of patients with hemiplegia including their gait velocity, cadence, stride length, step length of the non affected side, step length of the affected side, foot angle of the non affected side, foot angle of the affected side, base of support, and so on. The subject of the study was 28 men and women patients with hemiplegia from 22 to 77 age, among patients who doctor diagnosed as hemiplegia due to stroke or traumatic brain injury, were possible to do independent gait more than 45m without others assistance, the flexion contracture of hip pint was less than $15^{\circ}$, did not have contracture for knee pint and one more than $5^{\circ}$ for ankle joint, did not have contraindication for exercise or gait did not show visual defect due to brain injury. The patients, the subject of the study, were classified into 14 patients of treatment. group applying continuous involved weight bearing with general therapeutic exercise and 14 patients of control group applying general therapeutic exercise, and then analyzed their gait before and after exercise. Temporal distance gait analysis(Boening, 1977) was used to analyze their gait, and ink foot-print was applied as one of measurement methods. However, it was statistically signifiant in the change rate(%) of gait characteristics, and treatment group's patients with hemiplegia had been highly changed in gait characteristics in comparison with control group. From the above-mentioned results, could find that continuous involved weight bearing training for patients with hemiplegia was effective to improve their gait ability and it could increase the ability in comparison with general exercise.

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비탄력 고정식 벨트가 노인 여성의 균형능력과 낙상예방에 미치는 영향 (The Effect of Application of a Non-Elastic Fixation Belt on the Balance Ability and Fall Prevention in Elderly Women)

  • 이장태;천승철
    • 한국산학기술학회논문지
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    • 제18권2호
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    • pp.398-404
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    • 2017
  • 본 연구의 목적은 노인 여성의 약화된 천장관절 안정화를 위하여 비탄력 고정식 벨트를 적용하여 균형 능력과 낙상예방에 미치는 영향을 알아보고자 하였다. 노인 여성들은 출산과 폐경으로 천장관절의 약화 및 골반 주위근육들의 약화로 인하여 균형능력의 감소와 낙상위험률이 증가된다. 그러나 이와 관련된 연구는 불충분하다. 연구 대상자들은 실험군과 대조군으로 각각 20명씩 무작위로 배정하였으며, 비탄력 고정식 벨트를 실험군에게 적용한 후 균형 측정기를 사용하여 균형능력과 낙상 위험률을 평가하였다. 또한 비탄력 고정식 벨트를 적용한 실험군에서 하복부근육의 근두께를 초음파기기를 사용하여 실험 전후에 측정하였다. 통계방법은 연구대상자의 일반적 특성을 위하여 독립 t-검정, 균형 및 낙상지수를 위하여 $2{\times}2$ 반복 측정 분산분석 및 근두께를 위하여 짝비교 t-검정을 사용하였다. 두 그룹의 교호작용 효과는 안정성 지수(F1,38=47.24, p=0.001), 퓨리에 지수(F1,38=88.83, p=0.001), 체중분포 지수(F1,38=50.21, p=0.001) 및 낙상 지수(F1,38=21.59, p=0.001)에서 모두 통계적으로 유의하게 나타났다. 또한 비탄력 고정식 벨트를 적용한 결과 실험 후 복횡근(p=0.001)과 내복사근(p=0.001)의 근두께는 통계적으로 유의하게 증가하였다. 노인 여성들의 약화된 천장관절의 강화 및 안정화 방법으로 비탄력 고정식 벨트는 균형 및 낙상 예방에 긍정적이며 용이성, 보편성 및 경제적으로 효과적임을 알 수 있었다.

스테레오 비젼 시스템에서 3차원정보와 광 상관기를 이용한 3차원 물체추적 방법 (3-D Object Tracking using 3-D Information and Optical Correlator in the Stereo Vision System)

  • 서춘원;이승현;김은수
    • 방송공학회논문지
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    • 제7권3호
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    • pp.248-261
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    • 2002
  • 본 논문에서는 스테레오 비젼 시스템의 3차원 정보에 의해 가변되는 윈도우 마스크와 광 BPEJTC(binary phase extraction joint transform correlator)를 이용하여 스테레오 카메라를 제어하는 새로운 3차원 물체추적 시스템을 제안하였다. 즉, 스테레오 비젼 시스템의 구성 요소에 의해 3차원 정보인 추적 물체까지의 거리 정보를 쉽게 구할 수 있고, 이 거리 정보로 윈도우 마스크를 가변 시켜 추적물체 영역을 추출할 수 있다. 이 추적물체 영역은 다음 기준영상으로 갱신하여 사용된다. 그리고 이 기준영상과 스테레오 입력 영상간에 광 BPEJTC를 실행하여 추적 물체의 위치 값을 구하고. 이 값으로 스테레오 카메라의 주시각과 팬/틸트를 제어하여 3차원 물체추적이 이루어진다. 실험 결과 제안한 알고리즘은 스테레오 입력 영상에서 배경잡음과 관계없이 추적 물체영역을 추출하여 3차원 물체추적이 가능하고, 이의 구현으로 3차원 원격작업 시스템이나 적응적인 3차원 물체 추적기 등의 구현 가능성을 제시하였다.

Comparison of the Electromyographic Changes in the Vastus Medialis Oblique and Vastus Lateralis Muscles According to the Knee Joint Angle During Squat Exercise Using a Gym Ball

  • Jeong, Hee-won;Chon, Seung-chul
    • 한국전문물리치료학회지
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    • 제23권4호
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    • pp.9-15
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    • 2016
  • Background: Squatting is one of the best functional exercises to strengthen the quadriceps muscle in independent gait and activities of daily living. Although the use of a gym ball during squat exercise is the most common way of strengthening the vastus medialis oblique (VMO) muscle, published data on this subject are limited. Objects: The purpose of this study was to compare the sequential muscle activation of the VMO and vastus lateralis (VL) muscles during squat exercise using a gym ball at different knee flexion angles. Methods: Forty healthy adults were randomly divided into experimental (squat exercise using a gym ball) and control (squat exercise alone) groups, in which squats were performed at $45^{\circ}$ and $90^{\circ}$ knee flexion. Electromyographic (EMG) activity data were collected over 10 seconds under the 2 angles of knee flexion ($45^{\circ}$ and $90^{\circ}$). Results: There was significant group and time interaction effect for VMO and VL muscle activation at $45^{\circ}$ knee flexion. This was similarly demonstrated at $90^{\circ}$ knee flexion. No significant group main effect and time main effect for VMO and VL muscle activation were noted at $45^{\circ}$ knee flexion, respectively. In contrast, there was significant group main effect and time main effect for VMO and VL muscle activation at $90^{\circ}$ knee flexion. These significant differences were demonstrated through two-way analysis of variance over repeated measurements, suggesting that the EMG activity of the VMO muscle during squatting with a gym ball showed remarkable improvement compared to that of the VL muscle. Conclusion: This research suggests that squat exercise using a gym ball may be more beneficial in improving the activity of VMO than of the VL muscle at both $45^{\circ}$ and $90^{\circ}$ of knee flexion, respectively. We highly recommend squat exercises with a gym ball for selective strengthening of the VMO muscle in knee rehabilitation.

컴퓨터 그래픽스를 이용한 사각보행로보트의 기구적 해석 (Kinematic Analysis of the Quadruped Robot Using Computer Graphics)

  • 최병욱;임준홍;정명진;변증남
    • 대한전자공학회논문지
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    • 제25권10호
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    • pp.1173-1182
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    • 1988
  • 보행로보트에 있어서 다리의 기구적 특성은 안정도, 에너지 효율 및 걷는 영역 등에 영향을 준다. 보행로보트 중에서 안정도 여유가 비교적 큰 사각보행로보트는 보폭이 크다. 그리고 수직운동과 수평운동이 서로 분리되어 있는 팬토그래프 구조의 다리를 갖는 보행로보트는 기구적인 복잡성으로 인하여 움직임을 예상하기가 어렵게 된다. 따라서, 보행로보트의 3차원적인 이동을 해석하기 위하여 그래픽스를 이용한 방법이 중요하게 쓰일 수 있다. 본 논문에서는 서로 다른 조인트 구동방식을 갖는 세 개의 사각보행로보트를 모델링하고, 각각에 대하여 몸의 중심으로 표시된 경로로써 작업지시를 하여 걷는 모습을 애니메이션 함으로써 그 기구적인 특성을 해석할 수 있게 하였다. 그리고 회전걸음이나 옆걸음을 위하여 다리 제어를 하였고, 조인트의 이동에 대한 정보를 위하여 Sun-3 시스템에서의 윈도우를 이용하였다.

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무릎뼈 관절가동술을 동반한 운동프로그램이 무릎관절 전치환술 환자의 관절가동범위, 근력, 보행에 미치는 영향 (The Effect of an Exercise Program with Patella Mobilization on Range of Motion, Muscle Strength and Gait in Patients with Total Knee Arthroplasty)

  • 이재홍;민동기;이상재
    • 대한통합의학회지
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    • 제8권1호
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    • pp.1-14
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    • 2020
  • Purpose : The purpose of this study was to investigate the effect of an exercise program with patella mobilization on range of motion, muscle strength, and gait in patients with total knee arthroplasty. Methods : Thirty patients under the age of 65 who visited the T hospital in Daegu Metropolitan City and underwent total knee arthroplasty surgery were selected for this study. Fifteen patients were randomly assigned to the experimental group and took part in an exercise program with patella mobilization, and fifteen patients were randomly assigned to the control group and took part in just the exercise program. Each group took part in their intervention three times a week for four weeks. The measurement tools used included a goniometer, handheld dynamometer, and 10-meter walking test. In the statistical analysis results, to compare the about pre and post test differences within each group, a paried t-test was used, and to compare the differences between each group, an independent t-test was used. Results : There was a significant difference (p<.05) in the range of motion, muscle strength of the quadriceps femoris and, hamstrings, and 10-meter walking test within each individual group and between the two groups before and after the intervention (p<.05). Conclusion : All the results for the experimental group were significant. Therefore, it is expected that an exercise program with patella mobilization will be helpful for the recovery of the knee joint in patients who have undergone total knee arthroplasty.

(s,S)-정책하의 연속형 내부재고를 갖는 M/M/1 대기행렬모형 분석 (Analysis of an M/M/1 Queue with an Attached Continuous-type (s,S)-inventory)

  • 박진수;이현근;김종현;윤은혁;백정우
    • 한국산업정보학회논문지
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    • 제23권5호
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    • pp.19-32
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    • 2018
  • 본 논문은 연속형 내부재고를 갖는 M/M/1 대기행렬모형을 다룬다. 고객은 포아송과정으로 도착하고 선입선출 서비스를 받는다. 각 고객의 서비스시간은 독립적이며 동일한 지수분포를 따른다. 고객은 서비스를 받기 위해 일반분포를 따르는 확률변수 H의 내부재고를 소비하며, 서비스 완료시점에 감소한다고 가정한다. 재고시스템은 전통적인 (s,S)-정책에 따라 운용되며, 재고의 조달 시간은 일반분포를 따른다고 가정한다. 재고가 없는 기간에 도착한 고객은 유실된다. 본 논문은 이처럼 운영되는 재고-대기행렬모형의 고객수 및 재고량에 대한 안정상태 결합확률분포를 유도하고 수치예를 보인다. 또한 장기적인 비용을 최소화하는 재고운용정책을 고찰한다.