• Structural Engineering and Mechanics
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• v.30 no.4
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• pp.427-444
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• 2008

A mathematical model for the nonlinear dynamics of a rotating beam with flexible root attached to a rotating hub with elastic foundation is developed. The model is developed based on the large planar and flexural deformation theory and the potential energy method to account for axial shortening due to bending deformation. In addition the exact nonlinear curvature is used in the system potential energy. The Lagrangian dynamics and the assumed mode method is used to derive the nonlinear coupled equations of motion hub rotation, beam tip deflection and hub horizontal and vertical displacements. The derived nonlinear model is simulated numerically and the results are presented and discussed for the effect of root flexibility, hub stiffness, torque type, torque period and excitation frequency and amplitude on the dynamic behavior of the rotating beam-hub and on its stability.

• Proceedings of the KACD Conference
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• 2001.05a
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• pp.259-259
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• 2001

;A new root canal instrument and instrumentation technique: a preliminary report. Cleaning and shaping the root canal system has been and continues to be a challenge for even the most experienced endodontist. Curved. narrow canals. in particular. cause difficulties for the beginner as well as the specialist. A new instrument designed to incorporate new concepts was developed to ameliorate the problems in cleaning and shaping root canal systems. This new instrument has been given the name of SW (Senia and Wildey). The new SW instrument uses controlled right and left rotational forces. This motion was used to clean and shape simulated root canals in plastic blocks and root canals in extracted teeth. Instrumentation appeared to be easier. faster. and more precise than with conventional instruments. especially in curved canals where there was remarkable reduction of canal transportation. A mechanical version of the SW instrument was also developed. It was used to flare the coronal portion of the root canal system. Wildey WL. Senia ES., Oral Surg Oral Med Oral Pathol1989 Feb:67(2):198-207 Another look at root canal instrumentation. Several aspects of root canal instrumentation need additional research. Various factors must be considered in an analysis of instrumentation of the root canal system: the dentin that is cut: the technique used to cut it: the design of the instruments: the material and manufacturing process used to make the instruments: the irrigant used during the procedure: and the anatomic configuration of the root canal system. An analysis of these factors clearly indicates that existing root canal instruments and techniques are less than ideal and. in fact. do not accomplish what is expected of them. Root canals must be properly. but. at the same time. destructive and unnecessary removal of dentin should be kept to a minimum. The Flex-R and Canal Master instruments were developed to address some of the shortcomings of existing instruments and techniques. More scientifically based research is needed to fully evaluate these new instruments and techniques and to develop future instruments. Wildey WL; Senia ES. Montgomery S., Oral Surg Oral Med Oral Pathol1992 Oct:74(4):499-50799-507

• Physical Therapy Korea
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• v.13 no.2
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• pp.61-69
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• 2006

The purpose of this study was to compare the electromyography (EMG) activities of the lumbar extensor muscles during motion of trunk flexion-extension and compare range of motion (ROM) with a 3-dimensional motion analysis system of the lumbar region between subjects with chronic low back pain (CLBP) and healthy subjects during the trunk flexion-extension, trunk rotation and trunk lateral flexion cycle. Thirty CLBP subjects and thirty healthy subjects were included. We measured the root mean square (RMS) value of the lumbar extensor muscles from resting, standing, lumbar flexion and return position. The RMS ratio was normalized from maximal EMG activity of the lumbar extensor muscles during trunk motion. The results of this study showed that the RMS ratio of the lumbar extensor was significantly higher in CLBP subjects than healthy subjects during all of trunk motion (p<.05). The ratio of the highest RMS value during flexion and extension was higher in CLBP subjects than in healthy subjects (p<.05). The ROM of the lumbar region was significantly lower in CLBP subjects than healthy subjects during trunk flexion-extension, trunk rotation and lateral flexion cycle. The relationship between the RMS ratio for full lumbar flexion and the ROM of lumbar flexion was not correlated significantly. CLBP subjects have both decreased ROM of the lumbar region and higher muscle activities of the lumbar extensor muscle than healthy subjects.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.488-491
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• 2003

A motion compression method by min s-norm composite fuzzy relational equations (dual-MCF) is proposed, where a motion sequence is divided into intra-pictures (I-pictures) and predictive-pictures (P-pictures). The I-pictures and the P-pictures are compressed by using uniform coders and non-uniform coders, respectively. A design method of non-uniform coders is proposed to perform an efficient compression and reconstruction of the P-pictures, based on the dual overlap level of fuzzy sets and a fuzzy equalization. An experiment using 10 P-pictures confirms that the root means square errors of the proposed method is decreased to 82.9％ of that of the uniform coders, under the condition that the compression rate is 0.0055. An experiment of motion compression and reconstruction is also presented to confirm the effectiveness of the dual-MCF based on the non-uniform coders.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.21 no.10
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• pp.934-939
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• 2011

This paper experimentally deals with the relationship between the ankle electromyogram(EMG) and walking motion in order to activate the ankle joint of a walking-assistance robot for rehabilitation. Based on the anatomical structure and motion pattern of an ankle joint, major muscles were selected for EMG measurements. Surface EMG signals were monitored for several human bodies at various stride distances and stride frequencies. Root-mean-squared magnitude of EMG signals were related with the walking conditions. It appeared that the magnitude of the ankle EMG signal was linearly proportional to the stride distance and stride frequency, and thus to the walking speed.

• Journal of Drive and Control
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• v.14 no.3
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• pp.25-31
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• 2017

This study presents a methodology for simulating a unified approach that controls interaction force between tool and objective by using a synthesis method of robot interacting control law for stabilizing the transient process of motion. Root locus is used to analyze stabilization of motion deviation characteristics. Based on responses of motion deviation, contact force is derived to satisfy exponential stability and we generate control input with respect to motion trajectories and interaction force. Moreover, simulation is applied to experimental application of a Cartesian robot driven by two stepper motors, and the noise of feedback signals is considered as presence of system inaccuracies, and the unified approach of interaction force control is examined precisely.

• Journal of the Korea Computer Graphics Society
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• v.27 no.5
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• pp.55-61
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• 2021

The character motion control based on physics simulation using reinforcement learning continue to being carried out. In order to solve a problem using reinforcement learning, the network structure, hyperparameter, state, action and reward must be properly set according to the problem. In many studies, various combinations of states, action and rewards have been defined and successfully applied to problems. Since there are various combinations in defining state, action and reward, many studies are conducted to analyze the effect of each element to find the optimal combination that improves learning performance. In this work, we analyzed the effect on reinforcement learning performance according to the state representation, which has not been so far. First we defined three coordinate systems: root attached frame, root aligned frame, and projected aligned frame. and then we analyze the effect of state representation by three coordinate systems on reinforcement learning. Second, we analyzed how it affects learning performance when various combinations of joint positions and angles for state.

• Journal of IKEEE
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• v.22 no.2
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• pp.362-368
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• 2018

This paper has implemented a mutual conversion system that mutually converts between body motion signals and both visual and auditory signals. The present study is based on intentional synesthesia that can be perceived by learning. The Euler's angle was used in body movements as the output of a wearable armband(Myo). As a muscle sense, roll, pitch and yaw signals were used in this study. As visual and auditory signals, MIDI(Musical Instrument Digital Interface) signals and HSI(Hue, Saturation, Intensity) color model were used respectively. The method of mutual conversion between body motion signals and both visual and auditory signals made it easy to infer by applying one-to-one correspondence. Simulation results showed that input motion signals were compared with output simulation ones using ROS(Root Operation System) and Gazebo which is a 3D simulation tool, to enable the mutual conversion between body motion information and both visual and auditory information.

• Journal of Korean Medicine Rehabilitation
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• v.26 no.4
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• pp.107-115
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• 2016

The occurrence of brain stem stroke after lumbar selective nerve root block seem to be an uncommon event comparing it to after cervical selective nerve root block. We recently experienced a 60-year-old man who were diagnosed as left lateral medullary infarction (Wallenberg's syndrome) after lumbar selective nerve root block. He was treated by traditional Korean medicine with acupunture, Pulsed electromagetic therapy (PEMT), herb medicine. The range of motion of upper and lower extremity, manual muscle test, Korean version of Berg balance scale (K-BBS) and Korean version of Barthel index (K-MBI) were adopted to measure the resulting recovery after 4 weeks treatment. Traditional Korean medicine was effective for rehabilitation of patient. Further studies are needed to set up and Korean medical protocol for Wallenberg's syndrome.

• Progress in Medical Physics
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• v.27 no.3
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• pp.117-124
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• 2016

Intrafractional motion of patients, such as respiratory motion during radiation treatment, is an important issue in image-guided radiotherapy. The accuracy of the radiation treatment decreases as the motion range increases. We developed a control system for a robotic patient immobilization system that enables to reduce the range of tumor motion by compensating the tumor motion. Fusion technology, combining robotics and mechatronics, was developed and applied in this study. First, a small-sized prototype was established for use with an industrial miniature robot. The patient immobilization system consisted of an optical tracking system, a robotic couch, a robot controller, and a control program for managing the system components. A multi speed and position control mechanism with three degrees of freedom was designed. The parameters for operating the control system, such as the coordinate transformation parameters and calibration parameters, were measured and evaluated for a prototype device. After developing the control system using the prototype device, a feasibility test on a full-scale patient immobilization system was performed, using a large industrial robot and couch. The performances of both the prototype device and the realistic device were evaluated using a respiratory motion phantom, for several patterns of respiratory motion. For all patterns of motion, the root mean squared error of the corresponding detected motion trajectories were reduced by more than 40%. The proposed system improves the accuracy of the radiation dose delivered to the target and reduces the unwanted irradiation of normal tissue.