• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.5
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• pp.640-647
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• 2007

This paper presents a joint controller for a humanoid robot based on genetic algorithm. h humanoid robot has basically instability during walking because it isn't fixed on the ground. Moreover nonlinearities of the joints increase its instability. If one of them isn't satisfied, the robot may fall down at the ground during walking. To attack one of those problems, joint controller is proposed. It can perform tracking control preciously and reduce the effect of nonlinearities by gear, limitation of the input voltage, coulomb friction and so on. This controller is based on fuzzy-sliding mode controller (FSMC) and compensator and control gains are searched by a proposed genetic algorithm. It can reduce the effect by nonlinearities. Also, to improve the tracking performance, the proposed controller has motion controller. From the given controller, a humanoid robot can moved more preciously. Here, all the processes are investigated through simulations and it is verified experimentally in a real joint system for a humanoid robot.

• The Journal of Korean Physical Therapy
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• v.34 no.5
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• pp.255-266
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• 2022

Purpose: This study sought to study the effects of cross-legged sitting posture on joint motion. It also examined the correlation between the changes in the joint range of motion, musculoskeletal symptoms, and facial asymmetry. Methods: The Acumar Digital Inclinometer (Lafayette Instrument Company, USA) was used to measure the range of motion (ROM). We measured the flexion and extension of the cervical, thoracic, and lumbar spine using a dual inclinometer, and measured the ROM of the shoulder and hip joint with a single inclinometer. The Likert scale questionnaire was used to investigate musculoskeletal symptoms and facial asymmetry. Results: The data analysis was performed using the Jamovi version 1.6.23 statistical software. After confirming the normality of the ROM with descriptive statistics, it was compared with the normal ROM through a one-sample t-test. Correlation matrix analysis was performed to confirm the association between facial asymmetry and musculoskeletal symptoms. The result of the one-sample t-test showed a significant increase in the thoracic spine extension and right and left hip external rotation (p<0.001^***), while most other joints were restricted. As per the frequency analysis, facial asymmetry was found to be 81.70%. Conclusion: The independent variable, namely cross-legged sitting posture led to an increase in ROM. The study also suggests that facial asymmetry and musculoskeletal symptoms could occur. Therefore, to prevent the increase and limitation of ROM and to prevent the occurrence of facial asymmetry and musculoskeletal symptoms, it is suggested that the usual cross-legged sitting posture should be avoided.

• Journal of the Korean Arthroscopy Society
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• v.12 no.2
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• pp.102-106
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• 2008

Purpose: To evaluate the anatomical localization of neurovascular bundle at the level of the korean knee joint using a magnetic resonance imaging study and minimize the risk of neurovascular injury from arthroscopy surgery. Materials and Methods: The transverse and central axes were described on axial MRI scans of 100 korean knee joints. The distance between the neurovascular bundle and central axis was measured. The differences in neurovascular bundle localization according to sex and side were analyzed. The results were evaluated with SPSS(ver. 10.1). The influence of sex was evaluated by t-test. The difference between right and left side was evaluated by paired t-test. Significance was considered as p<0.05. Results: Whereas neurovascular bundle localization was lateral to the central axis in 94 cases(94%), it was on central axis in 6 cases(6%). There was no statistically significant difference of sex and side(P>0.05). Conclusion: Preoperative evaluation of neurovascular bundle with MR axial scans may prevent neurovascular injury when performing arthroscopic posterior cruciate ligament reconstruction and interventions on the posterior horns of menisci.

• Journal of the Microelectronics and Packaging Society
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• v.7 no.4
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• pp.7-15
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• 2000

The purpose of this work is to evaluate the solderahility and characteristics of solder joints. Bridge defect of solder joint was examined in natural atmosphere and $N_2$ condition. Consequently, wettability was excellent for each of Sn-Pb plated Cu specimen, Sn plated Cu specimen, and Cu polished in $N_2$ condition. The wetting time in $N_2$ condition was shorter than that of natural atmosphere condition, showing the decreasing values of about 0.2~0.45 seconds. The max. wetting force under the $N_2$ condition was more increasing that of natural atmosphere condition, showing the increasing values of about 1.8~2.8 N. With the result of wetting balance test, the wetting time ($t_2$) and wetting farce according to increasing amount of $N_2$ from 10 1/min to 30 1/min, the wetting time ($t_2$) was reduced about 0.25 second and wetting force was increased about 2.3 N. In non-cleaning flux, when $N_2$ gas is applied, it is compensated to decrease of wettability. In the case of using the $N_2$ gas, the wettability was improved. The reason for improving wettability is due to preventing the formation of dross. The generation rate of bridge in $N_2$ condition decreased than that of natural atmosphere, and when the specimen had a fine pitch, the rate of bridge defects was considerably decreased in $N_2$ condition, showing the decreasing rate of 25~75%.

• IMMUNE NETWORK
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• v.3 no.2
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• pp.136-144
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• 2003

Oral administration of antigen has long been considered as a promising alternative for the treatment of chronic autoimmune diseases including rheumatoid arthritis (RA), and oral application of type II collagen (CII) has been proven to improve pathogenic symptoms in RA patients without problematic side effects. To further current understandings about the immune suppression mechanisms mediated by orally administered antigens, we examined the changes in IgG subtypes, T-cell proliferative response, and proportion of interleukin (IL)-10 producing Th subsets in a time course study of collagen induced arthritis (CIA) animal models. We found that joint inflammation in CIA mouse peaked at 5 weeks after first immunization with CII, which was significantly subdued in mice pre-treated by repeated oral administration of CII. Orally tolerized mice also showed increase in their serum level of IgG1, while the level of IgG2a was decreased. T-cell proliferation upon CII stimulation was also suppressed in lymph nodes of mice given oral administration of CII compared to non-tolerized controls. When cultured in vitro in the presence of CII, T-cells isolated from orally tolerized mice presented higher proportion of $CD4^+IL-10^+$ subsets compared to non-tolerized controls. Interestingly, such increase in IL-10 producing cells were obvious first in Peyer's patch, then by 5 weeks after immunization, in mesenteric lymph node and spleen instead. This result indicates that a particular subset of T-cells with immune suppressive functions might have migrated from the original contact site with CII to inflamed joints via peripheral blood after 5 weeks post immunization.

• Journal of Acupuncture Research
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• v.25 no.4
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• pp.81-94
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• 2008

Rheumatoid arthritis(RA) is a general, chronic, inflammatory and auto-immune disease and it can lead to joint edema, pain, stiffness which are caused by an inflammation in synovium covering our joints. Ulmus davidiana Planchon is a traditional herb used for the treatment on various inflammations, gastrointestinal trouble, ENT(ear, nose, and throat) disease, edema, cancer etc. and it works effectively on arthritis as well. In these study to search for the treatment efficacy of Ulmus davidiana Planchon in RA, I measure manifestation of cytokine gene in synoviocyte treated with Ulmus davidiana Planchon herbal acupuncture and in EL-4 cell, manifestation of cytokine gene cell related to T-cell. And after Ulmus davidiana Planchon herbal acupuncture treatment in Collagen induced arthritis(CIA) which has been known by a general model of RA, DBA mice, I observed foot thickness, general shape of synovium, early cytokine induce CIA and, generation and mutation of cytokine related to the control of T-cell specialization. It comes to conclusion as belows. 1. In synovium treated with Ulmus davidiana Planchon herbal acupuncture, there was the decrease in MIF mRNA does-dependently. Incase of CIA mice treated with Ulmus davidiana Planchon herbal acupuncture, there were the decrease in the damage in synovium and generation of the MIF which is related to induction of the early RA cytokine and IL-6 proinflammatory cytokine. 2. In case of EL-4 treated with Ulmus davidiana Planchon herbal acupuncture, there were decrease in the manifestation of the IL-2 mRNA, but the increase in the manifestation of the IL-4 does-dependently. 3. In the synovium of CIA mice treated with Ulmus davidiana Planchon herbal acupuncture, there were the decrease in generation of IL-2, IL-12 and CD-28, but the increase in generation of IL-4. These result suggest that Ulmus davidiana Planchon can block the process of the early RA by Inhibiting MIF activation, and mitigate Rheumatoid Arthritis by controlling Tcell specialization.

• Journal of the Korea Concrete Institute
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• v.24 no.6
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• pp.705-714
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• 2012

Precast reinforced concrete bridge columns with hollow rectangular section were tested under cyclic lateral load with constant axial force to investigate its seismic performance. After all the precast column segments were erected, longitudinal reinforcement was inserted in the sheath prefabricated in the segments, which were then mortar grouted. Main variables of the test series were column aspect ratio, longitudinal reinforcement ratio, amount of lateral reinforcement, and location of segment joints. The aspect ratios were 4.5 and 2.5, and the longitudinal steel ratios were 1.15% and 3.07%. The amount of lateral reinforcement were 95%, 55%, 50%, and 27% of the minimum amount for full ductility design requirements in the Korean Bridge Design Code. The locations of segment joints in plastic hinge region were 0.5 and 1.0 times of the section depth from the bottom column end. The test results of cracking and failure mode, axial-flexural strength, lateral load-displacement relationship, and displacement ductility are presented. Then, safety of the ductility demand based seismic design in the Korean Bridge Design Code is discussed. The column specimens showed larger ductility than expected, because buckling of longitudinal reinforcing bar was prevented due to confinement developed not only by transverse steel but also by sheath and infilling mortar.

• Journal of Acupuncture Research
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• v.33 no.2
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• pp.21-34
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• 2016

Objectives : The aim of the present study is to examine the effect and mechanism of Erycibae Caulis and Corydalis Tuber Pharmacopuncture (ECP) on a mouse model with collagen induced rheumatoid arthritis (CIA). Methods : We evaluated the Aspartate aminotransferase (AST), Alanine aminotransferase (ALT), Creatinine, and the Blood urea nitrogen (BUN) of serum to examine the safety of this study. In vivo, we compared the results of the non-treated group, the normal saline pharmacopuncture treated control group, the indomethacin treated group and the ECP group. We evaluated rheumatoid arthritis manifestation and the Rheumatoid Arthritis Index (AI). Also, immune cells in blood affected by ECP were evaluated by calculating the level of white blood cells (WBC), neutrophil, lympocytes and monocytes. Next, the level of Immunoglobulin M (IgM), Immunoglobulin G (IgG), Interleukin (IL)-$1{\beta}$, IL-6, IL-17, Tumor Necrosis Factor (TNF)-${\alpha}$ and Granulocyte-macrophage Stimulating Factor (GM-CSF)in serum were measured. We examined the imaging of cartilage degeneration using micro CT-arthrography of the hind paw. Additionally, we examined the effects of reducing bone volume (BV) ratio and bone surface/bone volume (BS/BV) ratio with 3D Micro-CT. Finally, we did a histopathologic examination analysis. Results : The absence of liver and kidney toxicity was evident. In vivo, edema of the joints of the ECP group decreased greatly in macroscopic observation. AI measurement of the ECP group also decreased significantly compared to the control group. The level of WBC, neutrophil, lympocytes, and monocytes in the blood decreased but there was no statistical significance of this data. IgM of the ECP group decreased significantly compared to the control group. IL-$1{\beta}$, IL-6, TNF-${\alpha}$, and GM-CSF production of the ECP group decreased significantly compared to the control group. As a result of examining joint condition with 3D micro CT, deformation and destruction of the joint was shown to have decreased. Bone density of ECP group increased at a statistically significant level compared to the control group. Degree of joint inflammation of ECP group decreased significantly compared to the control group. After H&E and M-T staining, infiltration of immune cells, subsidence of the cartilage, damage to the synovial cells and joint erosion decreased. Conclusion : This study showed that ECP hindered the process of rheumatoid arthritis and protected joints and cartilage.

• Investigative Magnetic Resonance Imaging
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• v.10 no.2
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• pp.63-69
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• 2006

Purpose : Marrow edema and fatty degeneration of the hip joint bones could be initial and late signs in hip joint and its bone diseases respectively, which might be differentiated from age-related marrow conversion pattern. So authors have investigated normal marrow conversion pattern of the femur and acetabulum around the hip joints. Materials and methods : Three coronal MR images of 288 hip joint bones in 144 subjects, aged 2 days to 76 years divided to 8 groups every 10 years, were retrospectively analysed for the location and appearance of the converted yellow marrow. The converted yellow marrow were divided to head, neck, and trochanter in the proximal femur and below and above 50% in acetabulum of the hip. Results : The most common type of marrow conversion is the converted yellow marrow in the entire proximal femur and below 50% of acetabulum of the hip. We observed the start of marrow conversion in just before and after 2 years old and stopped at just before and after 20 years old. Conclusion : The understanding of age-related marrow conversion pattern of the hip joint bones would provide some information for differentiation from pathologic condition of them such as edema, fatty degeneration, metastasis, or leukemia.

• Journal of Korean Society of Steel Construction
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• v.29 no.2
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• pp.181-192
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• 2017

A beam splice method using inclined end-plates and high-strength tension bolts was developed. The end-plates welded to a bracket and a spliced beam are connected each other by using the tension bolts. In the present study, six exterior beam-to-column moment connections were tested under cyclic loading. Test parameters were the end-plate details and bolt arrangements. All specimens were designed so that moment resistances of the end-plates and bolts were greater than the required moment at the beam splice, in accordance with the design methods of AISC Design Guide 4. Test results showed that in the beam splices with the extended end-plates, the beam moment successfully transferred to the bracket, without any defeats such as excessive prying action of the end plates and brittle failure at the end plate-to-beam flange weld joints. However, the deformation capacities of the overall beam-to-column connections were limited due to the brittle failure of the beam-to-column flange weld joints. From the test results, recommendations for seismic design and detailing of the beam-to-column moment connection with inclined end-plate beam splice were given.