• Transactions of the Korean Society of Mechanical Engineers
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• v.8 no.5
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• pp.488-497
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• 1984

In the assembling process by industrial robots, many difficulties stem from the fact that the assembly operation is impossible or the parts to be assembled can be damaged by reaction forces due to even little misalignment in part mating. In this paper a flexible and sensible robot wrist is developed to make possible the precision insertion operation. The flexibility of the developed wrist were evaluated both analytically and experimentally in actual insertion process. The results show that without the use of feedback control the wrist is capable of doing insertion operations with a small clearance at a low inserting force. For smaller clearance the assembly process was devised involving insertion force feedback and a control algorithm for this active accommodation was developed. The simulation results show that if the active feedback control is used the insertion action can be performed with much less force, as compared with a passive accommodation method.

• Structural Engineering and Mechanics
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• v.50 no.2
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• pp.241-255
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• 2014

The girder of self-anchored suspension bridge is subjected to large compression force applied by main cables. So, serious damage of the girder due to breakage of hangers may cause collapse of the whole bridge. With the time increasing, the hangers may break suddenly for their resistance capacities decrease due to corrosion. Using nonlinear static and dynamic analysis methods and adopting 3D finite element model, the responses of a concrete self-anchored suspension bridge to sudden breakage of hangers are studied in this paper. The results show that the sudden breakage of a hanger has significant effects on tensions of the hangers next to the broken hanger, bending and torsion moments of the girder, moments of the towers and reaction forces of the bearings. The results obtained from dynamic analysis method are very different from those obtained from static analysis method. The maximum tension of hanger produced by breakage of a hanger exceeds 2.2 times of its initial value, the maximum dynamic amplification factor reaches 2.54, which is larger than the value of 2.0 recommended for cable-stayed bridge in PTI codes. If two adjacent hangers on the same side of bridge break one after another, the maximum tension of other hangers exceeds 3.0 times of its initial value. If the safety factor adopted to design hanger is too small, or the hangers have been exposed to corrosion, the bridge may collapse due to breakage of two adjacent hangers.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.5
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• pp.393-400
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• 2015

This paper describes the development of a chest-wearable robot that can efficiently perform self walking rehabilitation without a helper. The features of the developed robot are divided into three parts. First, as a mechanical characteristic, the conventional elbow crutch is attached at the forearm. However, the proposed robot is attached to the patient's chest, enabling them to feel free to use their hands and eliminate the burden of the arms. Second, as a characteristic of the driving algorithm, pressure sensors attached to the chest automatically perceive the patient's walking intention and move the robot-leg thereafter. Also, for safety, it stops operating when an obstacle is found in front of the patient by using ultrasonic sensors and generates a beeping sound. Finally, by using the scotch yoke mechanism, supporting legs are moved up and down using a rotary servo motor without excessive torque that is generated by large ground reaction forces. We showed that the developed robot can effectively perform self walking rehabilitation through walking experiments, and its performance was verified using Electromyograph (EMG) sensors.

• Journal of Sensor Science and Technology
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• v.27 no.4
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• pp.237-241
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• 2018

The real-time enrichment and detection of pathogens are serious issues and rapidly evolving field of research because of the ability of these pathogens to cause infectious diseases. In general, bacterial detection is accomplished by conventional colony counting or by polymerase chain reaction (PCR) after DNA extraction. As colony counting requires considerable time to cultivate, PCR is an attractive method for rapid detection. A small number of pathogens can cause diseases. Hence, a pretreatment process, such as enrichment is essential for detecting bacteria in an actual environment. Thus, in this study, we developed a microfluidic chip capable of performing rapid enrichment of bacteria and the extraction of their genes. A lectin, i.e., Concanavalin A (ConA), which shows binding affinity to the surface of most bacteria, was coated on the surface of magnetic particles to nonspecifically capture bacteria. It was subsequently concentrated through magnetic forces in a microfluidic channel. To lyse the captured bacteria, magnetic particles were irradiated by a wavelength of 532nm. The photo-thermal effect on the particles was sufficient for extracting DNA, which was consequently utilized for the identification of bacteria. Our device will help monitor the existence of bacteria in various environmental situations such as water, air, and soil.

• Korean Journal of Applied Biomechanics
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• v.21 no.1
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• pp.1-7
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• 2011

The purpose of this study was to investigate changes in kinetic and kinematic variables associated with an increase in upper body weight. Eighteen healthy male university students($175.96{\pm}4.19\;cm$, $70.79{\pm}8.26\;kg$) participated. Eight motion analysis cameras(Qualysis Oqus 500) and 2 force AMTI platforms(Advanced Mechanical Technologies Inc. OR6-7, US) were used to record motion and forces during the drop landing at a frequency of 120 Hz and 1200 Hz, respectively. QTM software(Qualisys Track Manager) was used to record the data, and the variables were analyzed with Visual 3D and Matlab 2009. For the drop landing, a box of $4{\times}2{\times}0.46\;m$ was constructed from wood. Knee and ankle maximum flexion angle, knee flexion angle, knee and ankle angle at landing, time for maximum ankle flexion after landing, and time for maximum knee flexion after landing were calculated. There was a significant change in the time for maximum and minimum ground force reaction and the time for maximum dorsal flexion after landing(p<.05) with increasing weight. There was no significant change for the hip, knee, and ankle ROM, whereas there was an increase in the angle ROM as the weight increased, in the order of ankle, knee, and hip ROM. This result shows that the ankle joint ROM increased with increasing weight for shock attenuation during the drop landing. There was a trend for greater ankle ROM than knee ROM, but there was no clear change in the ROM of the hip joint with increasing weight. In conclusion, this study shows the importance of ankle joint flexibility and strength for safe drop landing.

• Korean Journal of Applied Biomechanics
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• v.20 no.3
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• pp.267-275
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• 2010

The purpose of this study was to investigate the effects of balance ability improvement exercise program which applied to the elderly people for increasing balance, stability and range of motion. Ten elderly people and ten university students were recruited as the subjects. Kinematic data were collected by seven real-time infrared cameras while subjects walk stair descent as a pre-test. Korean folk dance exercise program was applied to the elderly for 12 weeks. Same experiment on stair descent walk was performed as post-test. Results indicated that CM movement and selected joint angle patterns of elderly group after treatment changed to the similar patterns of young group. However, ankle joint angle and vertical GRF of elderly group after treatment also increased compared to those of the elderly group before treatment. This might be explained by the fact that elderly used a different walking strategy which maximize support base for increasing stability. Overall, these results indicated that the exercise treatment may affect to adapt and improve the gait pattern of stair descent of elderly people.

• Proceedings of the Korean Vacuum Society Conference
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• 1999.07a
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• pp.203-203
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• 1999

Mass spectrometry technique provides the molecular weight distribution, data on the sequence of repeat units, polymer additives, and impurities, and structural information. time-of-Flight secondary Ion Mass Spectrometry (TOF-SIMS) has been used for structural characterization of various polymers1-2. the masses of repeat units and terminal groups and molecular weight distributions of polymers have been determined from their TOF-SIMS spectra. TOF-SMIS provides good sensitivity and structural specificity for high mass ions so that intact oligomers and large polymer fragments are observed. In this study, we investigated the detailed structural information on the oligomers and fragment ions of branched poly(1,3-butylene adipate) and branched poly[di(ethylene glycol) adipate] and the transesterification products of branched polyesters with trifluoroacetic acid or chloro difluoroacetic acid. Branched polyesters were chosen because they are important polymers but difficult to characterize; thus branched polyesters provide challanging test for TOF-SIMS. TOF-SIMS spectra of polyesters are obtained from thin polymer films cast from solution on a silver substrate. A good solvent for a polumer solution disrupts intermolecular forces between polymer chains but leaves the polumer intact. Transesterification reactions are potentially useful for characterization of high molecular weight and intractable polyesters. Transesterification products of polyesters and trifluoroacetic acid or an integral number of polyester repeat units and an additional diol. The progress of such reactions was monitored using peak intensities of reactants and products in TOF-SIMS spectra. The increasing abundance of tagged ions indicates that the reaction has progressed with time.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.1709-1712
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• 2008

The trunk is inclined to the loaded side when carrying an object as one of activities of daily living. As the reaction to this behavior the human body may be inclined to his/her trunk to unloaded side. The present study investigated the biomechanical effects of weight variation for sided load carriage during walking upon joint moments and muscle torques, through the tracker agent and joint driving dynamic analysis. To perform the experiment one male was selected as subject for the study. Gait analysis was performed by using a 3D motion analysis system. Thirty nine 14mm reflective markers, according to the plug-in marker set, were attached to the subject. We used BRG.LifeMOD(Biomechanics Research Group, Inc., USA), for skeletal modeling and inverse and joint driving dynamic simulation during one gait cycle. In walking with a sided load carriage, the subject modeled held the carriage with the right hand, which weighed 0, 5, 10, 15kg, 20kg respectively. The result of this simulation showed that knee and hip in the coronal plane were inclined to the loaded side and loaded side had larger moments as the sided load carriage was increased. On the other hand thoracic and lumbar in the coronal plane had larger negative values as the sided loaded carriage was increased. The thoracic and lumbar in the transverse plane also had larger values as the sided load was increased. And the several muscles of loaded side were increased as increasing sided load. It could be concluded that human body is adopted to side loaded circumstances by showing more biologic force. These results could be very useful in analysis for delivery motion of daily life.

• Asian Pacific Journal of Cancer Prevention
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• v.13 no.3
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• pp.781-784
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• 2012

The aim of this study was to evaluate the effect of the adenovirus-mediated double suicide gene (CD/TK) for selective killing of gastric cancer cells. Gastric cancer cells SCG7901 and normal gastric epithelial cell lines were infected by adenoviruses Ad-survivin/GFP and Ad-survivin/CD/TK. GFP expression and CD-TK were detected by fluorescence microscopy and reverse transcriptase polymerase chain reaction (RT-PCR), respectively. After treatment of the infected cells with the pro-drugs ganciclovir (GCV) and/or 5-FC, the cell growth status was evaluated by methyl thiazolyl tetrazolium assay. Cell cycle changes were detected using flow cytometry. In nude mice bearing human gastric cancer, the recombinant adenovirus vector was injected directly into the tumor followed by an intraperitoneal injection of GCV and/or 5-FC. The subsequent tumor growth was then observed. The GFP gene driven by survivin could be expressed within the gastric cancer line SCG7901, but not in normal gastric epithelial cells. RT-PCR demonstrated the presence of the CD/TK gene product in the infected SCG7901 cells, but not in the infected normal gastric epithelial cells. The infected gastric cancer SCG7901, but not the gastric cells, was highly sensitive to the pro-drugs. The CD/TK fusion gene system showed significantly greater efficiency than either of the single suicide genes in killing the target cells (P<0.01). Treatment of the infected cells with the pro-drugs resulted in increased cell percentage in G0-Gl phase and decreased percentage in S phase. In nude mice bearing SCG7901 cells, treatment with the double suicide gene system significantly inhibited tumor growth, showing much stronger effects than either of the single suicide genes (P<0.01). The adenovirus-mediated CD/TK double suicide gene driven by survivin promoter combined with GCV an 5-FC treatment could be an effective therapy against experimental gastric cancer with much greater efficacy than the single suicide gene CD/TK combined with GCV or 5-FC.

• The Journal of Korean Physical Therapy
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• v.22 no.2
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• pp.15-23
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• 2010

Purpose: This study was done to establish reference data for temporo-spatial, kinematic and kinetic parameters for normal Koreans as they age. Methods: Normal adults and children without a previous history of musculoskeletal problems were enrolled in this study. The normal subjects were divided by age into three groups: Group I: children ($11.95{\pm}0.29$ years); Group II: young adults ($23.90{\pm}3.67$ years); Group III: older adults ($71.40{\pm}4.08$ years). The temporo-spatial and kinematic data were measured using 6 MX3 cameras while each subject walked through a 10 m walkway at a self-selected speed. The kinetic data were measured using 2 force plates and were calculated by inverse dynamics. Results: Motion patterns are typically associated with a specific phase of the gait cycle. Our results were as follows: 1. There were significant differences between the different age groups in temporo-spatial parameters such as cadence, double support, time of foot off, stride length, step length, and walking speed. 2. There were significant differences between the groups in kinematic parameters such as range of motion (ROM) of the hip, knee and ankle in the sagittal plane, ROM of the pelvis, hip and knee in the coronal plane and ROM of the pelvis, hip and ankle in the transverse plane. 3. There were significant differences between the groups in kinetic parameters such as joint moments of force, joint mechanical power generation or absorption and ground reaction forces. Conclusion: The results of this study can be utilized (a) as a reference for kinematic and kinetic data of gait analysis in normal Koreans, and (b) as an aide in evaluating and treating patients who have problems relating to gait.