We present a two-step evolution system that produces controllable virtual creatures in physically simulated 3D environment. Previous evolutionary methods for virtual creatures did not allow any user intervention during evolution process, because they generated a creature's shape, locomotion, and high-level behaviors such as target-following and obstacle avoidance simultaneously by one-time evolution process. In this work, we divide a single system into manageable two sub-systems, and this more likely allowsuser interaction. In the first stage, a body structure and low-level motor controllers of a creature for straight movement are generated by an evolutionary algorithm. Next, a high-level control to follow a given path is achieved by a neural network. The connection weights of the neural network are optimized by a genetic algorithm. The evolved controller could follow any given path fairly well. Moreover, users can choose or abort creatures according to their taste before the entire evolution process is finished. This paper also presents a new sinusoidal controller and a simplified hydrodynamics model for a capped-cylinder, which is the basic body primitive of a creature.
Kim, Jwa-Jun;Rho, Min-He;Goo, Bong-Oh;Ahn, So-Youn
The Journal of Korean Physical Therapy
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v.17
no.3
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pp.339-350
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2005
This study is the quasi-experimental study on the gait training rehabilitation. The purpose of this study is to prepare the baseline data for most suitable of gait while we were scrutinizing how the walking characters, functional walking ability, gait quality of stroke patients were affected by the gait on BWSTT (Body Weight Supported Treadmill Training) through the change of treadmill velocity and body weight support. To accomplish this purpose, this study used thirty subjects, more than 3 months post stroke, for rehabilitation who were divided between two gait training groups they received the neurophysiological physical therapy. For 6 weeks, 5 times a week for 15 minutes per session, the BWSTT group participated in 30 sessions structured speed-dependent treadmill training with 30% body weight supported, and the ratio of body weight support was gradually decreased as the patients advanced the capability of more self-support. The OGT(Over Ground Training) group received the same quantity of equal sessions like BWSTT. Firstly, we measured the absolute improvement of walking velocity (m/s), capacity(min/m) and cadence(steps/min) among walking characters. Secondly, we measured the functional walking ability such as Functional Ambulatory Category(FAC, score out of 5), Modified Motor Assesment Scale(MMAS, score out of 6) and Gait Quality Chart(score out of 41). Data analysis was performed with using SPSS 10.0 win program. The descriptive analysis was used to obtain average and standard deviation. The independent t-test and the paired t-test were used to compare both the groups about pre and post training test. Treatment effects were established by pre and post assessment. Subjects tolerated the training well without side-effects. Therefore, the results of this study were as follows; 1. There was a more significant difference from the improvement of walking velocity(0.09m/s), endurance(4.53min/m), cadence(4.20steps/min), FAC(0.26score), MMAS(0.33 score) and hip joint and pelvic of gait quality(0.39 score) ever before in the BWSTT group(p<.05). 2. There was a more significant increase from the walking velocity(0.01m/s) in the OGT group(p<.05). 3. There was a more statistical significant increase from comparing the average of walking velocity in both groups ever before(0.42m/s in BWSTT group and 0.31m/s in OGT group)(p<.05). There was a statistical significant difference from the average of cadence in both groups(61.87step/min in BWSTT group and 3.60steps/min in OGT group)(p<.05). As we can see from above, the findings suggest that BWSTT may be more effective than the OGT for improving some gait parameters such as gait velocity and cadency. This conclusion also suggest that BWSTT is more effective for the improvement of gait of stroke patients.
An, Young-jun;Hur, Min-goo;Yang, Seung-dae;Shin, Dae-seob;Lee, Dong-hoon
Journal of the Korea Institute of Information and Communication Engineering
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v.19
no.11
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pp.2689-2696
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2015
Radioactive isotopes which are manufactured using a cyclotron in a radioisotope used for radiation diagnosis is affected by the production yield according to size and shape of the beam and beam uniform degree from irradiated location when the proton beam investigated the target by cyclotron. Therefore, in this paper developed the BPM(Beam Profile Monitor) device capable of measuring the beam cross-section at the cyclotron beam line. It was configured so as to be able to remote control the BPM device in LabView and used the BPM program it was to be able to easily monitor and display to analyze the graph of two-dimensional graph and a three-dimensional beam distribution numerical information of the beam obtained while scanning the tungsten wire to the X and Y axis. The time it takes to measure the beam can be confirmed 37seconds when step motor driving speed was 2000pps. Through a beam readjusted based on the measured beam distribution information by optimizing the beam distribution it can be made to maximize the RI production yield and contribute supply stabilization.
The design requirements of modern satellites vary depending on the purpose of operation. Like conventional medium and large-scale satellites, small satellites which operate on low orbit may also serve military purposes. As a result, there is increased demand for high-resolution photos and videos and multi-target observation becomes important. The most important design parameter for multi-target observation is the satellites' maneuverability. For increased maneuverability, the miniaturization is required to increase the stiffness of the satellite as this decreases the mass moment of inertia of the satellite. In the case of a solar panel having relatively low stiffness compared to the satellites' body, vibrations are generated when the attitude maneuver is performed, which greatly influences the image acquisition. For verification of such vibrational characteristics, the satellites is modeled as a reduced model, and experimental zig for simulating attitude maneuver is introduced. A rigidity simulator for simulating the stiffness of the satellite is also proposed. Additionally, the objective of the experimental method is to simulate the maneuvering angle of the satellite based on the winding length of the wire using a step motor, and to experimentally verify the vibration characteristics of the satellite body and the solar panel generated during the maneuvering test.
Kim, Kyeong-Mi;Lee, Ji-Hyun;Jung, Hyerim;Choi, Jeong-Sil;Hong, Eunkyoung
The Journal of Korean Academy of Sensory Integration
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v.19
no.1
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pp.24-38
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2021
Objective : This study aimed to create a Korea translation of the Evaluation in Ayres Sensory Integration (EASI) and to then test the adapted version for construct validity. Methods : The translation and content validation process were conducted in accordance with a four-step process, namely translation, integration, content validity examination, and backward translation. The construct validity of the translated version was evaluated using the EASI for children aged 3~12 years with and without sensory integration problems, comparing the two groups as well as preschool and school-aged groups. The group comparison was analyzed using the Mann-Whitney U test in SPSS. Results : In terms of content validity, all 20 items averaged more than 3.17 points. Of the four EASI categories, there was a difference in Sensory Perception (p=0.044) between the typical and sensory integration groups, and there was a statistical difference between tactile and vestibular sensations. Between the preschool and school-aged children, statistical difference was observed in two categories, namely Praxis and Ocular-Postural-Bilateral Motor Integration. Conclusion : Based on its construct validity, the Korean version of EASI is suitable for use in research. The construct validity study highlighted items that explain differences between typical and diagnostic children and items that explain those differences by age. Our findings could therefore be considered when interpreting EASI results.
Wooseok Choi;Soon-beom Hong;Johanna Inhynag Kim;Jung Lee;Soomin Jang;Yebin D Ahn;You Bin Lim;Sumin Kim;Mee Rim Oh;Bung-Nyun Kim
Journal of the Korean Academy of Child and Adolescent Psychiatry
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v.34
no.1
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pp.37-44
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2023
Objectives: Tic disorders are highly heritable; however, growing evidence suggests that environmental factors play a significant role in their pathogenesis. Studies on these factors have been inconsistent, with conflicting results. Therefore, this study aimed to examine the associations of pre- and perinatal exposure to Tourette syndrome (TS) or chronic tic disorders (CTD) in Korean school-aged children. Methods: This case-control study used data from a large prospective cohort study. The primary outcome was TS/CTD diagnosis according to the Diagnostic and Statistical Manual of Mental Disorders, 5th edition (DSM-5) criteria and Kiddie-Schedule for Affective Disorders and Schizophrenia-Present and Lifetime Version-Korean Version. Demographic, pre-, and perinatal information was obtained from the maternal questionnaires. Data between the TS/CTD and control groups were compared using the chi-squared or Student's t-test, as appropriate. Two-step logistic regression analyses were used to test the association between TS/CTD and pre- and perinatal risk factors. Results: We included of 223 children (78 with TS/CTD and 145 controls). Significant differences in the demographic data between the two groups were observed. The male sex ratio, mean parental age, parental final education level, and family history of tics were included as confounders. In the final adjusted multivariable model, TS/CTD was significantly associated with antiemetic exposure during pregnancy (odds ratio [OR]=16.61, 95% confidence interval [CI] 1.49-185.22, p=0.02) and medically assisted reproduction (OR=7.89, 95% CI 2.28-27.28, p=0.01). Conclusion: Antiemetic exposure and medically assisted reproduction are significantly associated with the risk of TS/CTD. These results should be replicated in future prospective and gene-by-environment studies.
Asia-pacific Journal of Multimedia Services Convergent with Art, Humanities, and Sociology
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v.8
no.11
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pp.215-222
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2018
In this paper, the research on the energy storage system adapting super-capacitor has been performed. The most advanced features compared to the conventional lead-acid battery systems is that it can obtain high power capability due to the super capacitor power characteristics. The suggested system can attain high power in short times and achieve high power quality improvements. The application areas are power quality improvement system, motor start power which requires high power during transient times. The energy conversion system consists of bi-directional converter and inverter and advantages of high speed, high power charging and discharging performances. The design steps for the two loop controller of the bi-directional inverter are suggested and verified by the experiment and manufacturing. The two loop controller design starts from linearized transfer function which is calculated from the state averaging model including state decoupling method. The current controller requirements are 20% overshoot and settling time and voltage controller are no overshoot and settling time which is 10 times longer than current controller. The design is verified from the step input response. The designed controllers have unity power factor characteristics and thus can improve the power quality of the grid. It also has fast response time and zero steady state error.
Objectives To evaluate the neuroprotective effects of modified Yuldahanso-tang (MYH) in a Parkinson's disease mouse model. Methods 1) Four groups (each of 8 rats per group) were used in this study. 2) The neuroprotective effect of MYH was examined in a Parkinson's disease mouse model. C57BL/6 mice treated with 1-methyl-4-phenyl-1,2,3,6-tetrahydropyridine (MPTP, 30 mg/kg/day), intraperitoneal (i.p.) for 5 days. 3) The brains of 2 mice per group were removed and frozen at $-20^{\circ}C$, and the striatum-substantia nigra part was seperated. The protein volume was measured by Bradford method following Bio-Rad protein analyzing kit. Using mouse/Rat Dopamine ELISA Assay Kit. 4) The brains of 2 mice per group were separated and removed. TH-immunohistochemical was examined in the MPTP-induced Parkinson's disease mice to evaluate the neuroprotective effects of MYH on ST and SNpc. 5) Two mice out of each group were anesthetized and skulls were opened from occipital to frontal direction to take out the brains. The brains added TTC solution for 20 minutes for staining. 6) The water tank used for morris water maze test was filled with $28^{\circ}C$ water, and a round platform of 10cm in diameter was installed for mice to step on. The study was carried out once a day within 30 seconds, keep exercising to step on the platform in the pool. 7) The brains of two mice out of each group were fixed in 10% formaldehyde solution and paraphillin substance was infiltrated. They were fragmented by microtome, and observed under an optical microscope after Hematoxylin & Eosin staining. 8) A round acrylic cylinder with its upper side open was filled with clean water and depressive mouse models were forced to swim for 15 minutes. After 24 hours the animals were put in the same equipment for 5 minutes and were forced to swim. 9) The convenient, simple, and accurate high-performance liquid chromatography (HPLC) method was established for simultaneous determination of Neurotransmitters in MPTP-MYH group. Results 1) MYH possess Dopamine cell protective effect on MPTP-induced injury in striatum and substantia nigra pars compacta. 2) MYH inhibits the loss of tyrosine hydroxylase-immunoreacitive (TH-IR) cells in the striatum and substantia nigra pars compacta on MPTP-induced injury in C57BL/6 mice. 3) MYH possesses improvement effect on MPTP-induced memory deterioration in C57BL/6 mice through the reduction of prolongated Sort of lost time by MPTP injection using the Morris water maze test. 4) MYH possesses hippocampal neuron protective effect on MPTP-induced injury in C57BL/6 mice. 5) MYH possesses improvement effect on MPTP-induced motor behaviour deficits and depression in C57BL/6 mice through the reduction of prolongated losing motion by MPTP injection using the Forced swimming test. 6) MYH increases serotonin product amount on MPTP-induced injury in C57BL/6 mice. Conclusions This experiment suggests that the neuroprotective effect of MYH is mediated by the increase in Dopamin, TH-ir cell, Hippocampus and Serotonin. Furthermore, MYH essential oil may serve as a potential preventive or therapeutic agent regarding Parkinson's disease.
Purpose: We developed an animal SPECT system using clinical Philips ARGUS scintillation camera and pinhole collimator with specially manufactured small apertures. In this study, we evaluated the physical characteristics of this system and biological feasibility for animal experiments. Materials and Methods: Rotating station for small animals using a step motor and operating software were developed. Pinhole inserts with small apertures (diameter of 0.5, 1.0, and 2.0 mm) were manufactured and physical parameters including planar spatial resolution and sensitivity and reconstructed resolution were measured for some apertures. In order to measure the size of the usable field of view according to the distance from the focal point, manufactured multiple line sources separated with the same distance were scanned and numbers of lines within the field of view were counted. Using a Tc-99m line source with 0.5 mm diameter and 12 mm length placed in the exact center of field of view, planar spatial resolution according to the distance was measured. Calibration factor to obtain FWHM values in 'mm' unit was calculated from the planar image of two separated line sources. Te-99m point source with i mm diameter was used for the measurement of system sensitivity. In addition, SPECT data of micro phantom with cold and hot line inserts and rat brain after intravenous injection of [I-123]FP-CIT were acquired and reconstructed using filtered back protection reconstruction algorithm for pinhole collimator. Results: Size of usable field of view was proportional to the distance from the focal point and their relationship could be fitted into a linear equation (y=1.4x+0.5, x: distance). System sensitivity and planar spatial resolution at 3 cm measured using 1.0 mm aperture was 71 cps/MBq and 1.24 mm, respectively. In the SPECT image of rat brain with [I-123]FP-CIT acquired using 1.0 mm aperture, the distribution of dopamine transporter in the striatum was well identified in each hemisphere. Conclusion: We verified that this new animal SPECT system with the Phlilps ARGUS scanner and small apertures had sufficient performance for small animal imaging.
This study analyzed the geometric, compressive, cutting and friction properties of oriental melons in order to design a gripper capable of soft handling and a cutter for cutting oriental melon vine among the end effector of oriental melon as a preliminary step for developing the end effector of the robot capable of harvesting oriental melons in protected cultivation. As a result, the average length, diameter at the midpoint, weight, volume and roundness of the oriental melons were 108 mm, 70 mm, 188 g, 333 mL and 3.8 mm. Nonlinear regression analysis was performed on the equation $W=L^a{\times}D_2^b$ with variation of the length (L) and diameter (D2) of the weight (W) of the oriental melons. As a result, it was shown that there was a correlation between a of 2.0279 and b of -0.9998 as a constant value. The average diameter of the oriental melon vine was 3.8 mm, and most vines were distributed within a radius of 5 mm from the center. The average yield value, compressive strength and hardness of the oriental melons were $36.5N/cm^2$, $185.7N/cm^2$ and $636.7N/cm^2$, respectively. The average cutting force and shear strength of the oriental melon vines were $2.87{\times}10^{-2}\;N$ and $5.60N/cm^2$, respectively. The maximum friction coefficient of the oriental melons was rubber of 0.609, followed by aluminium of 0.393, stainless steel of 0.177 and teflon of 0.079. It was considered possible to apply it to the size of the gripper and cutter, turning radius, dynamics of drive motor and selection of materials and their quality in light of the position error and safety factor according to the movement when designing end effector based on the analyzed data.
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