• Journal of Magnetics
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• v.22 no.1
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• pp.162-167
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• 2017

Magnetic spiral-type microrobots, which are driven by a rotating magnetic field, have excellent locomotive abilities, whereas their medical applications are limited in the terms of function, such as the ability to drill in blood vessels. In this study, we propose a new robot with superior applications using a magnetic spiral-type machine. The proposed robot can be applied to stent transportation and installation without a catheter. In particular, the robot can be applied to the cardiovascular system, cerebrovascular disease, and nonvascular stent applications depending on the robot size. The robot consists of two independent spiral-type machines and four magnets in total. We controlled directions of thrust force of the two machines, respectively, for active locomotion with a task. We conducted a preliminary validation of the proposed robot for stent transportation and installation through experimental analyses.

• KIEE International Transaction on Electrical Machinery and Energy Conversion Systems
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• v.3B no.3
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• pp.133-138
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• 2003

In this paper, a BLDC motor and its controller are developed for treadmill application. Motor size and structure are restricted in the design stage due to the limited and enclosed space of the treadmill. The shape of the rotor magnet is analyzed using FEM with restricted design conditions. Manufacturing, cost and performance are also considered. A biomechanical analysis of human locomotion with the change of velocity is considered in the design of the controller. For stable operation of the treadmill, current and temperature are to be detected by the DSP controller. The prototype BLDCM and its controller are tested to verify its performances.

• Proceeding of EDISON Challenge
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• 2016.03a
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• pp.404-410
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• 2016

Compared to wheel locomotion, walking has many advantages : Better to cross over obstacles, the contact with ground is in a determined point, the ground is damaged less. Because Theo Jansen mechanism can make walking motion that is very soft, there are many researches about that mechanism. In this paper, We designed walking robot based on Theo Jansen mechanism. Most important design factor is velocity and stability. First of all, we considered kinematics knowledge and then, we made a new model by using simulation. Finally we developed the model by solving few design problems.

• Journal of Biomedical Engineering Research
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• v.15 no.2
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• pp.209-216
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• 1994

The objective of the research reported in this paper is to design locomotion system of the motorized wheelchair, to develope the wall following algorithm. The indoor navigation of a motorized wheelchair can be based on the wall following techniques. In this paper, it is proposed to enhance stability and efficiency using the 3 ultrasonic sensors arranged at a same perpendicular pivot. Using this method, the angle between the motorized wheelchair and the wall is detected and the range of control commands has been increased. For the better stability, the calculated slope of a wall using LSLF algorithm was fed back to the control part. By adapting the suggested algorithm and method, the motorized wheelchair could follow a wall in 4 seconds, for a change of distance between the wheelchair and wall from 30 to 100cm.

• Proceedings of the KOSOMBE Conference
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• v.1996 no.11
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• pp.95-98
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• 1996

In this paper, The vehicle's path construction method for motorized wheelchair's autonomous navigation in a building through analysis of a corridor image using vision system has been proposed and We detected lines of vertical axis through camera distortion parameter, which was measured by camera calibration in a corridor image. Then we got the feature points in the lines. We analyzed the distance of feature points and what is feature points. we reconstructed corridor image to vehicle's path.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.41.6-41
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• 2001

As autonomous mobile robot become more widely used in industry, the importance of navigation system is rising, But eh primary method of locomotion is with wheels, which cause man problems in controlling tracked mobile robots. In this paper, we discuss the used navigation control of tracked mobile robots with multiple sensors. The multiple sensors are composed of ultrasonic wave sensors and vision sensors. Vision sensors gauge distance using a laser and create visual images, to estimate robot position. The 80196 is used at close range and the vision board is used at long range. Data is managed in the main PC and management is distributed to ever sensor. The controller employs fuzzy logic.

• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.264-269
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• 2019

This paper presents mechanical design and control of a bio-inspired legged robot. To achieve a fast legged running mechanism, a novel linkage leg structure is designed based on hind legs of domestic cats. The skeletomuscular system and parallel leg movement of a cat are analyzed and applied to determine the link parameters. The hierarchical control architecture is designed according to the biological data to generate and modulate desired gaits. The effectiveness of the leg mechanism design and control is verified experimentally. The legged robot runs at a speed of 46 km/h, which is comparatively higher speed than other existing legged robots.

• Journal of Microbiology and Biotechnology
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• v.33 no.5
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• pp.680-686
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• 2023

Aging is a complex series of multi-organ processes that occur in various organisms. As such, an in vivo study using an animal model of aging is necessary to define its exact mechanisms and identify anti-aging substances. Using Drosophila as an in vivo model system, we identified Crataegus pinnatifida extract (CPE) as a novel anti-aging substance. Regardless of sex, Drosophila treated with CPE showed a significantly increased lifespan compared to those without CPE. In this study, we also evaluated the involvement of CPE in aging-related biochemical pathways, including TOR, stem cell generation, and antioxidative effects, and found that the representative genes of each pathway were induced by CPE administration. CPE administration did not result in significant differences in fecundity, locomotion, feeding amount, or TAG level. These conclusions suggest that CPE is a good candidate as an anti-aging food substance capable of promoting a healthy lifespan.

• The Journal of Korea Robotics Society
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• v.2 no.4
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• pp.317-326
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• 2007

Recently, robotic automation in clinical laboratory becomes of keen interest as a fusion of bio and robotic technology. In this paper, we present a new robotic platform for clinical tests suitable for small or medium sized laboratories using mobile robots. The mobile robot called Mobile Agent is designed as transfer system of blood samples, reagents, microplates, and any instruments. Also, the developed mobile agent can perform diverse tests simultaneously based on its cooperative and distributed ability. The driving circuits for the mobile agent are embedded in the robot, and each mobile agent communicates with other agents by using Bluetooth communication. The RFID system is used to recognize patient information. Also, the magnetic hall sensor is embedded to remove and compensate the cumulated error of locomotion at the bottom of mobile agent. The proposed mobile agent can be easily used for various applications because it is designed to be compatible with general software development tools. The Mobile agents are manufactured, and feasibility of the robot and localization of the agents using magnetic hall sensor are validated by preliminary experiments.

• Physical Therapy Korea
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• v.10 no.1
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• pp.1-13
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• 2003

The purpose of the study was to determine if there was a difference in the Functional Ambulation Performance score of senior adults with or without a history of falls during walking at a preferred velocity. Twelve subjects with a history of falling (mean age=73.8) and eight subjects with no history of falling (mean age=70.4) participated in the study. Temporal and spatial parameters of gait were analyzed using the computerized GAITRite system. The GAITRite system integrates specific components of locomotion to provide a single, numerical representation of gait, the Functional Ambulation Performance score. The Functional Ambulation Performance score is a Quantitative means of assessing gait based on specific temporal and spatial parameters. Statistical analysis of the two groups demonstrated a significant decrease in Functional Ambulation Performance score for those with a history of falls. They had lower values for step/extremity ratios, mean normalized velocity, and greater values for step times, percent in double support. These results indicate that the GAITRite system can be useful in detecting footfall patterns and selected time and distance measurements of persons with a history of falls and the Functional Ambulation Performance score can be used as indicators of gait performance for senior adults with a history of falls.