• 대한전기학회논문지:전력기술부문A
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• 제48권9호
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• pp.1140-1146
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• 1999

In this paper, a force estimation method is proposed for force control without force sensor. For this , a disturbance observer is applied to each joint of an {{{{ { n}_{ } }}}} degrees of freedom manipulator to obtain a simple equivalent robot dynamics(SERD) being represented as an n independent double integrator system. To estimate the output of disturbance observer due to internal torque, the disturbance observer output estimator(DOOE) is designed, where uncertain parameters of the robot manipulator are adjusted by the gradient method to minimize the performance index which is defined as the quadratic form of the error signal between the output of disturbance observer and that of DOOE. when the external force is exerted, the external force is estimated by the difference between the output of disturbance observer and DOOE, since output of disturbance observer includes the external torque signal as well as the internal torque estimated by the output of DOOE. And then, a force controller is designed for force feedback control employing the estimated force signal. To verify the effectiveness of the proposed force estimation method, several numerical examples and experimental results are illustrated for the 2-axis direct drive robot manipulator.

• 웰빙융합연구
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• 제5권2호
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• pp.29-32
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• 2022

Purpose: The purpose of this study is to observe the immediate effects of elastic taping and isometric exercises on balance ability in the elderly. Research design, data and methodology: 15 elderlies were participated in this study and randomly assigned into two group. The intervention group was applied elastic taping on ankle joint while the control group performed isometric ankle exercise in three sets for 30 seconds per set. Anterior-posterior and medial-lateral postural sway speed were measured after the experiment. To compare the change in balance ability between groups after the experiment, independent t-test was used. To investigate the change in balance ability between pre- and post-experiment within the groups, paired t-test was used. Results: A significant difference in medial-lateral postural sway speed was found after elastic taping application only in the intervention group (p>0.05). However, there was no significant difference between the groups. Conclusions: In conclusion, this finding supported that elastic taping would be helpful to support ankle stability and increase balance ability for the elderly as well as performance for sports athlete that was demonstrated in previous studies. Further studies will be necessary to confirm the long-term effects of elastic taping application on motor control and the risk of falling.

• 대한산업공학회지
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• 제34권1호
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• pp.32-41
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• 2008

This paper studies a joint EOQ and EPQ model in which a stationary demand can be satisfied by recycled products as well as newly purchased products. The model assumes that a fixed quantity of the used products are collected from customers and later recovered for reuse. The recovered products are regarded as perfectly new ones. We also assume that the number of orders for newly purchasing items and the number of recovery setups in a cycle can be mutually independent integers. Under these assumptions, we develop an optimization model obtaining the economic order quantity for newly procured products, the optimal lot size for the recovery process, and the sequence of the orders and the setups, simultaneously. And then a simple solution procedure to find a local optimal control parameter set is proposed. To validate the model and the solution procedure, finally, some computational experiments are presented.

• 한국국방경영분석학회지
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• 제30권2호
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• pp.32-49
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• 2004

The Tactical Data Link System is a standardized communication link to exchange and interface positional, situational information, command and control in real time. It has been evaluated that this Link would play an important role for tactical interoperability, situation awareness, and execution of joint operations in the future war. But considering the rapidly changing war situations, even though being admitted the necessity of the Tactical Data Link System of Army helicopter, one of superpowers in the Army, substantially we don't still have any concrete concept to build it. Therefore, this work presents how to embody the Tactical Data Link System through computer-aided system engineering on the base of Tactical Data Link System operating concept analysis of helicopters-ground units.

• Journal of Electrical Engineering and Technology
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• 제8권2호
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• pp.385-392
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• 2013

An uncalibrated visual servo control method for tracking a target is presented. We define the robot-positioning problem as an unconstrained optimization problem to minimize the image error between the target feature and the robot end-effector feature. We propose a method to find the residual term for more precise modeling using the secant approximation method. The composite image Jacobian is estimated by the proper method for eye-to-hand configuration without knowledge of the kinematic structure, imaging geometry and intrinsic parameter of camera. This method is independent of the motion of a target feature. The algorithm for regulation of the joint velocity for safety and stability is presented using the cost function. Adaptive regulation for visibility constraints is proposed using the adaptive parameter.

• 근관절건강학회지
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• 제27권1호
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• pp.12-21
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• 2020

Purpose: The study was to develop a tailored education and coaching program (TECP) for cancer patients, and to identify the effects of TECP on pain severity, daily living impairment, barriers on pain management, self-efficacy, and pain management satisfaction. Methods: A randomized controlled trial was used. Patients referred to an oncology nurse specialist from oncologists for pain management were randomly assigned to TECP (25) or usual education program (UEP, 22). The intervention was offered by educating the method of taking opioid medication, managing opioid-induced side effects, reducing pain misconceptions and enhancing self-efficacy for communicating with a medical team on cancer pain severity, and pain-related impairment. Patients completed questionnaires before the education program and on the next visit 3~4 weeks later. Data were analyzed by SPSS 19.0 program using percentage, frequency, mean, standard deviation, x² test and independent t-test. Results: At all levels, pain severity improved significantly in the experimental group-worst pain (8.16 to 3.80, p<.001), average pain (6.16 to 2.52 p=.008), and least pain (3.32 to 0.96, p=.038)-but not in the control group. Pain management satisfaction also showed significant differences (t=2.93, p=.005) between experimental (4.70±0.49) and control (4.17±0.73) groups. Interference with daily living, barriers to managing cancer pain, and self-efficacy for managing pain improved in both groups but there were no significant differences. Conclusion: The findings suggest that TECP should be considered for outpatients who need cancer pain management.

• 대한물리치료과학회지
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• 제29권2호
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• pp.28-37
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• 2022

Background: The purpose of this study was to investigate the effects of differences in the tension of Kinesio tape applied to the tibialis anterior muscle on muscle strength, joint range of motion and balance of ankle joint in young adults. Design: Randomized Controlled Trial. Methods: 41 young college students participated in this study. And the subjects were allocated randomly to two group. The experimental group had a tension difference (10%G, n=20). And there was no difference in tension in the control group (0%G, n=21). Jtech power track II, goniometer, and Biorescue were used to measure muscle strength, joint range of motion and balance. The paired t-test was performed to examine the differences within the groups before and after taping, and the independent t-test was performed to examine the differences between the groups. Result: 1) As a result of measuring muscle strength of each group, all measurements except 0%G of plantar flexion showed insignificant results. 2) Measurement of joint range of motion each group showed that neither 0%G nor 10%G was significant. 3) As a result of measuring the baladncing ability of each group there was a significant decrease in length, and average speed of the balancing capability (p<.05). 4) Comparisons between groups showed significant differences in the area among balance capability (p<.05). Conclusions: Based on these findings, the tension difference of Kinesio tape applied to the tibialis anterior muscle shows little effect on the muscle strength, range of motion, and balance of ankle joints. Given the current lack of research on the tension of kinesio tapes many studies are needed in the future to establish clear theories.

• The Journal of Asian Finance, Economics and Business
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• 제6권3호
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• pp.327-337
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• 2019

The aim of this research is to contribute to enhancing the competitiveness of automotive parts suppliers while departing from the dependent relationship structure, by developing and interpreting factors that affect sale, which are financial achievements, in a practical way. The research data covered 200 companies from 2013-2017. The study hypothesis was verified by dividing the hypothesis into Model1 with control variables only and Model2 with control variables in independent variables. As a result of hypothesis testing, regarding sales, only capital size showed to have an effect in Model1, while in Model2, asset size, number of employees and joint ventures with foreign companies did but the other remaining factors did not. In particular, the results showed that an increase in financial performance required 'Economies of scale', and that companies that concentrated on a small number of items, diversified products into four or more items, or owned two to four suppliers, reaped positive results in financial performance. Therefore, in addition to the selection and concentration of corporate management for production items and account management, applying strategies, like the inter-company M&A, consortiums and co-branded strategies to achieve 'Economy of scale', would highly enhance the financial performance of automotive parts suppliers.

• 여성건강간호학회지
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• 제13권1호
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• pp.43-50
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• 2007

Purpose: There is a need to apply the Tai Chi program to help early mastectomy patients improve their upper limb functions and for the emotional state as well. Method: Participants were recruited at breast cancer centers of two general hospitals from February 17 to April 25, 2005. Twenty-five subjects in the experimental group and 23 subjects in the control group participated for 12 weeks. The Tai chi program consisted of breast cancer self management education and a Tai Chi exercise program. Range of motion of the shoulder joint was determined by the Uni-level inclinometer, and functional assessment of the shoulder was evaluated with the tool. Data was analyzed by SPSS 11. Results: The experimental group had significantly increased shoulder range of motion, especially in external rotation, upper limb function and emotional state compared with the control group after program for 12 weeks. Conclusion: This program makes it possible to be independent and have a positive everyday life. In addition, it can help keep a healthy lifestyle in mastectomy women.

• The Journal of Korean Physical Therapy
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• 제34권6호
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• pp.326-331
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• 2022

Purpose: The stroke patients have gait dysfunction due to impaired neural tracts; corticospinal tract (CST), corticoreticular pathway (CRP), and vestibulospinal tract (VST). In this study, we investigated characteristics of gait pattern according to the injury aspect of the neural track in a stroke patient. Methods: One patient and six control subjects of similar age participated. A 19-year-old male patient with spontaneous intracerebral hemorrhage on right basal ganglia, thalamus, corona radiata and cerebral cortex due to arteriovenous malformation rupture. Diffusion tensor imaging (DTI) data was acquired 21 months after the stroke. Kinematic and spatio-temporal parameters of gait were collected using a three-dimensional gait analysis system. Results: On 21 months DTI, the CST and CRP in affected hemisphere showed severe injury, in contrast, the VST in affected hemisphere showed intact integrity. Result of gait analysis, walking distance and speed were significantly decreased in a patient. The stance rate of unaffected lower limb, the swing rate of affected lower limb and the duration of double stance significantly increased compared with normal control. The knee and hip joint angle were significantly decreased in a patient. Conclusion: We found recovered independent gait ability may be associated with unimpaired VST in a patient with severe injury in CST and CRP.