• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1609-1614
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• 2003

This paper presents a new method driving multiple robots to their goal position without collision. To consider the movement of the robots in a work area, we adopt the concept of avoidability measure. To implement the concept in collision avoidance of multiple robots, relative distance between the robots is proposed. The relative distance is a virtual distance between robots indicating the threat of collision between the robots. Based on the relative distance, the method calculates repulsive force against a robot from the other robots. Also, attractive force toward the goal position is calculated in terms of the relative distance. The proposed method is simulated for several cases. The results show that the proposed method steers robots to open space anticipating the approach of other robots. The proposed method works as a local collision-free motion coordination method in conjunction with higher level of task planning and path planning method for multiple robots to do a collaborative job.

• International journal of advanced smart convergence
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• v.12 no.2
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• pp.167-172
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• 2023

In this study, the absolute and relative strength of six upper extremity resistance exercises were measured by classifying resistance exercise experts and non-experts. As a result, the skilled group showed higher absolute and relative muscle strength than the unskilled group in the 6 upper extremity resistance exercises. These results are judged to be the hypertrophy of fast-twith muscles, the mobilization of motor units, and the increase in the speed of nerve conduction while the skilled person consistently performs resistance exercise. Experts use intermuscular coordination efficiently to stably perform the load according to the movement and exercise intensity performed during exercise, whereas the inexperienced person uses relatively large muscle groups rather than efficiently using intermuscular coordination. It is considered that exercise motion and load were performed by mobilizing. In addition, as a result of comparing the absolute and relative muscle strength between the 6 types of upper limb resistance exercises, there was a difference between the 6 types of upper limb resistance exercises in the two groups. It can be judged that greater muscle strength and endurance were created through liver coordination.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.474-474
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• 2000

This paper shows that a system with two-link arm can obtain hand reaching movement to a target object projected on a visual sensor by reinforcement learning using a layered neural network. The reinforcement signal, which is an only signal from the environment, is given to the system only when the hand reaches the target object. The neural network computes two joint torques from visual sensory signals, joint angles, and joint angular velocities considering the urn dynamics. It is known that the trajectory of the voluntary movement o( human hand reaching is almost straight, and the hand velocity changes like bell-shape. Although there are some exceptions, the properties of the trajectories obtained by the reinforcement learning are somewhat similar to the experimental result of the human hand reaching movement.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.10
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• pp.4971-4987
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• 2019

Node localization is the basic task of underwater wireless sensor networks (UWSNs). Most of the existing underwater localization methods rely on ranging accuracy. Due to the special environment conditions in the ocean, beacon nodes are difficult to deploy accurately. The narrow bandwidth and high delay of the underwater acoustic communication channel lead to large errors. In order to reduce the ranging error and improve the positioning accuracy, we propose a localization algorithm based on ranging correction and inertial coordination. The algorithm can be divided into two parts, Range Correction based Localization algorithm (RCL) and Inertial Coordination based Localization algorithm (ICL). RCL uses the geometric relationship between the node positions to correct the ranging error and obtain the exact node position. However, when the unknown node deviates from the deployment area with the movement of the water flow, it cannot communicate with enough beacon nodes in a certain period of time. In this case, the node uses ICL algorithm to combine position data with motion information of neighbor nodes to update its position. The simulation results show that the proposed algorithm greatly improves the positioning accuracy of unknown nodes compared with the existing localization methods.

• Journal of the Korean Academy of Clinical Electrophysiology
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• v.5 no.2
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• pp.35-45
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• 2007

The purpose of this study was to examine spiral way movement of a trunk exerts on the movement ability. The details established to achieve for this article. This examination confirmed the weight, weight/height2 index, ratio of lumbar to pelvic, musculoskeletal quantity, push up for 2 minute, pitch a ball and voluntary isometric contraction with flexion and extension of knee joint of the subjects with spiral direct movement. Healthy eighteen subjects who understand fully the significance of procedure, consented to a plan, without neuromuscular disease were participated in two groups of experiment. The group were a spiral movement(9), rectilinear movement(9). Trunk movement tested 2 sessions of a spiral movement and rectilinear movement with a push up for 2 minute, 5days per a week, for the 4 weeks. This experiment tested 3 times with a sufficient rest for fatigue limitation. An analysis of the results used a paired samples t-test for difference from before and after experiment. The following results were obtained; At an internal change of the body, the musculoskeletal quantity was increased significantly to spiral movement group, but the weight was increased significantly, the musculoskeletal quantity was not significant to rectilinear movement. The movement ability evaluation for a external change was increased significantly in a push up for 2 minute, pitch a ball, isometric contraction with extension of knee joint of a spiral movement group, but a push up for 2 minute was increased significantly in a push up for 2 minute on the abdominal muscle training of a rectilinear movement group. As compared with a rectilinear movement, a spiral movement was more effect by cooperation with nerve and musculoskeletal system and an increase in movement ability was caused by learning acknowledgment, muscular reeducation. These results lead us to the conclusion that a spiral movement of trunk was more effect than a rectilinear movement, the coordination of nerve and musculoskeletal system was of importance of Multi-direction movement. Therefore, A further studies concerning the therapeutic exercise intervention and active-dynamic analysis could enhance the development of the most effect on the trunk.

• Physical Therapy Korea
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• v.24 no.2
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• pp.58-65
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• 2017

Background: Children with cerebral palsy (CP) have impaired postural control, but critically require the control of stability. Consequently, therapeutic interventions for enhancing postural control in children with CP have undergone extensive research. One intervention is sensorimotor training (SMT) using a Flexi-bar, but this has not previously been studied with respect to targeting trunk control in children with CP. Objects: This study was conducted to determine the effect of SMT using a Flexi-bar on postural balance and gait performance in children with CP. Methods: Three children with ambulatory spastic diplegia (SD) participated in the SMT program by using a Flexi-bar for forty minutes per day, three times a week, for six weeks. Outcome variables included the pediatric balance scale (PBS), trunk control movement scale (TCMS), 10 meter walking test (10MWT), and 3-dimensional movement coordination measurement. Results: The SMT provided no statistically significant improvement in PBS, TCMS, 10MWT, or 3-dimensional movement coordination measurement. However, positive changes were observed in individual outcomes, as balance and trunk control movement were improved. Conclusion: SMT using a Flexi-bar may be considered by clinicians as a potential intervention for increasing postural balance and performance in children with SD. Future studies are necessary to confirm the efficacy of Flexi-bar exercise in improving the functional activity of subjects with SD.

• Korean Journal of Applied Biomechanics
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• v.16 no.3
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• pp.149-163
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• 2006

The purpose of this study was to compare the lower extremity's joint and segment coupling patterns between forward and backward running in subjects who were twelve healthy males. Three-dimensional kinematic data were collected with Qualisys system while subjects ran to forward and backward. The thigh internal/external rotation and tibia internal/external rotation, thigh flexion/extension and tibia flexion/extension, tibia internal/external rotation and foot inversion/eversion, knee internal/external rotation and ankle inversion/eversion, knee flexion/extension and ankle inversion/eversion, knee flexion/extension and ankle flexion/extension, and knee flexion/extension and tibia internal/external rotation coupling patterns were determined using a vector coding technique. The comparison for each coupling between forward and backward running were conducted using a dependent, two-tailed t-test at a significant level of .05 for the mean of each of five stride regions, midstance(1l-30%), toe-off(31-50%), swing acceleration(51-70%), swing deceleration(71-90), and heel-strike(91-10%), respectively. 1. The knee flexion/extension and ankle flexion/extension coupling pattern of both foreward and backward running over the stride was converged on a complete coordination. However, the ankle flexion/extension to knee flexion/extension was relatively greater at heel-strike in backward running compared with forward running. At the swing deceleration, backward running was dominantly led by the ankle flexion/extension, but forward running done by the knee flexion/extension. 2. The knee flexion/extension and ankle inversion/eversion coupling pattern for both running was also converged on a complete coordination. At the mid-stance. the ankle movement in the frontal plane was large during forward running, but the knee movement in the sagital plane was large during backward running and vice versa at the swing deceleration. 3. The knee flexion/extension and tibia internal/external rotation coupling while forward and backward run was also centered on the angle of 45 degrees, which indicate a complete coordination. However, tibia internal/external rotation dominated the knee flexion/extension at heel strike phase in forward running and vice versa in backward running. It was diametrically opposed to the swing deceleration for each running. 4. Both running was governed by the ankle movement in the frontal plane across the stride cycle within the knee internal/external rotation and tibia internal/external rotation. The knee internal/external rotation of backward running was greater than that of forward running at the swing deceleration. 5. The tibia internal/external rotation in coupling between the tibia internal/external rotation and foot inversion/eversion was relatively great compared with the foot inversion/eversion over a stride for both running. At heel strike, the tibia internal/external rotation of backward running was shown greater than that of forward(p<.05). 6. The thigh internal/external rotation took the lead for both running in the thigh internal/external rotation and tibia internal/external rotation coupling. In comparison of phase, the thigh internal/external rotation movement at the swing acceleration phase in backward running worked greater in comparison with forward running(p<.05). However, it was greater at the swing deceleration in forward running(p<.05). 7. With the exception of the swing deceleration phase in forward running, the tibia flexion/extension surpassed the thigh flexion/extension across the stride cycle in both running. Analysis of the specific stride phases revealed the forward running had greater tibia flexion/extension movement at the heel strike than backward running(p<.05). In addition, the thigh flexion/extension and tibia flexion/extension coupling displayed almost coordination at the heel strike phase in backward running. On the other hand the thigh flexion/extension of forward running at the swing deceleration phase was greater than the tibia flexion/extension, but it was opposite from backward running. In summary, coupling which were the knee flexion/extension and ankle flexion/extension, the knee flexion/extension and ankle inversion/eversion, the knee internal/external rotation and ankle inversion/eversion, the tibia internal/external rotation and foot inversion/eversion, the thigh internal/external rotation and tibia internal/external rotation, and the thigh flexion/extension and tibia flexion/extension patterns were most similar across the strike cycle in both running, but it showed that coupling patterns in the specific stride phases were different from average point of view between two running types.

• Therapeutic Science for Rehabilitation
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• v.4 no.1
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• pp.7-17
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• 2015

Objective : To investigate the current researches which identify the improvement of bilateral coordination skill of children with hemiplegic cerebral palsy after bimanual intensive training. Methods : We systematically examined papers published in journals from 2004 to 2014, using RISS, Pubmed. Total 6 studies were included in the analyses. Result : All of the selected 6 studies were foreign papers, and the Pedro score was 5 or more. Among various interventions, modified CIMT designs were the most. The primary outcome measure tools are AHA and JTTHF for evaluating bilateral coordination and hand functions, and QUEST, ABILHAND-Kids, COPM, GAS, PEDI, 3-D movement kinematics were used for evaluating various aspects of effectiveness of interventions. Conclusion : Through this systematic review, it is identified that bilateral intensive training provides positive effects to not only hand functions but also bilateral coordination. Furthermore, it also provided supports to participate in ADL requiring bilateral coordination. These results will provides evidence concerning the effectiveness of BIT for children with hemiplegic cerebral palsy.

• The Journal of Korean Academy of Sensory Integration
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• v.20 no.3
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• pp.72-85
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• 2022

Objective : This study was conducted to examine self-selected goals and the outcome measures used in the Cognitive Orientation to daily Occupational Performance (CO-OP) approach for Developmental Coordination Disorder. Methods : Studies published from January 2012 to October 2022 in the PubMed, Embase, ScienceDirect, Cochrance Library databases were searched. Keywords used for search were ('developmental coordination disorder' OR 'DCD') AND ('Cognitive Orientation to daily Occupational Performance' OR 'Cognitive Orientation to Occupational Performance' OR 'CO-OP'). Among 211 searched studies, 7 selected studies that match the thesis of this study were analyzed. Results : The selected studies showed a relatively high level of evidence overall, including two randomized experimental studies, one non-random two-group study, three non-random one-group studies, one single-subject study. The self-selected goals preference of the children was high in the order of play, education, and daily life activities. Most of applicable sessions were conducted 10 times during a 1-h period, and intervention effects showed positive outcomes on the occupation performance motor domain. To measure the effectiveness of CO-OP, the improvement of occupational performance was evaluated using Canadian Occupational Performance Measure (COPM) and Performance Quality Rating Scale (PQRS), and the improvement of motor skills was evaluated using Movement Assessment Battery for Children (M-ABC). Conclusion : This study is expected to be used as basic clinical data when applying the CO-OP approach to Developmental Coordination Disorder.

• Phonetics and Speech Sciences
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• v.3 no.3
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• pp.27-33
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• 2011

This paper explores two articulatory characteristics of inter-consonantal coordination observed in lingual-lingual (/kt/, /ks/) and labial-lingual (/pt/) sequences. Using electromagnetic articulometry (EMMA), temporal aspects of the lip movement and lingual movement (of the tongue tip and the tongue dorsum) were examined. Three sequences (/ks/, /kt/, /pt/) were investigated in two respects: gestural overlap in C1C2 and formation duration of coronals in C2 (/t/ or /s/). Results are summarized as follows. First, in a sequence of two stop consonants gestural overlap did not vary with order contrast or a low-level motor constraint on lingual articulators. Gestural overlap between two stop consonants was similar in both /kt/ (lingual-lingual; back-to-front) and /pt/ (labial-lingual; front-to-back). Second, gestural overlap was not simply constrained by place of articulation. Two coronals (/s/ and /t/) shared the same articulator, the tongue tip, but they showed a distinctive gestural overlap pattern with respect to /k/ in C1 (/ks/ (less overlap) < /kt/ (more overlap)). Third, temporal duration of the tongue tip gesture varied as a function of manner of articulation of the target segment in C2 (/ks/ (shorter) < /kt/ (longer)) as well as a function of place of articulation of the segmental context in C1 (/pt/ (shorter) < /kt/ (longer)). There are several implications associated with the results from Korean non-assimilating contexts. First, Korean can be better explained in the way of its language-specific gestural pattern; gestural overlap in Korean is not simply attributed to order contrast (front-to-back vs. back-to-front) or a physiological motor constraint on lingual articulators (lingual-lingual vs. nonlingual-lingual). Taking all factors into consideration, inter-gestural coordination is influenced not only by C1 (place of articulation) but also C2 (manner of articulation). Second, the jaw articulator could have been a factor behind a distinctive gestural overlap pattern in different C1C2 sequences (/ks/ (less overlap) vs. /kt/ and /pt/ (more overlap)). A language-specific gestural pattern occurred with reference to a physiological motor constraint on the jaw articulator.