• The Journal of Korea Robotics Society
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• v.11 no.3
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• pp.183-192
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• 2016

Generating motion of center of mass for biped robots is a challenging issue since biped robots can easily lose balance due to limited contact area between foot and ground. In this paper, we propose force control method to generate high-speed motion of the center of mass for horizontal direction without losing balancing condition. Contact consistent multi-body dynamics of the robot is used to calculate force for horizontal direction of the center of mass considering balance. The calculated force is applied for acceleration or deceleration of the center of mass to generate high speed motion. The linear inverted pendulum model is used to estimate motion of the center of mass and the estimated motion is used to select either maximum or minimum force to stop at goal position. The proposed method is verified by experiments using 12-DOF torque controlled human sized legged robot.

• Journal of Korean Biological Nursing Science
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• v.10 no.1
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• pp.96-104
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• 2008

Purpose: We had executed the 3 3 5 5 walking club program for 12 weeks for one hour three times per week to evaluate the effect of the program on health of the elderly. Methods: A pre and post measurement tool of the program was applied to measure obesity, rate of body fat, blood pressure, vital capacity, standard vital capacity, intake capacity of maximum oxygen, grasping power, reaction of whole body, pulse, body mass index (BMI), total bodily score, age of bodily strength, age of health. Data collected from this tool was analyzed by SPSS in paired t-test. Results: The 3 3 5 5 walking club program has affected the weight control of the participants. The participants of 3 3 5 5 walking club program reduced their weight from 61.7 kg to 61.25 kg, rate of body fat from 21.89 kg to 21.22 kg, standard vital capacity from 2,393.56 ml to 2,380.44 ml, reaction of whole body from 475.38 msec to 439.33 msec, and increased grasping power from 22.06 to 23.16 ml (p<.05), total bodily score 68.91 points to 71.38 points significantly (p<.05). Conclusion: The result indicated that the 3.3.5.5 Walking club program has an positive effect on improving health care of the elderly without special exercise tools.

• Journal of Drive and Control
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• v.15 no.3
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• pp.1-7
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• 2018

Humanoid robots have fascinated many researchers since they appeared decades ago. For the requirement of both accurate tracking control and the safety of physical human-robot interaction, torque control is basically desirable for humanoid robots. Humanoid robots are highly nonlinear, coupled, complex systems, accordingly the calculation of robot model is difficult and even impossible if precise model of the humanoid robots are unknown. Therefore, it is difficult to control using traditional model-based techniques. To realize model-free torque control, time-delay control (TDC) for humanoid robot was proposed with time-delay estimation technique. Using optimal walking trajectory obtained by particle swarm optimization, TDC with proposed scheme is implemented on whole body of a humanoid, not on biped legs even though it is performed by a virtual humanoid robot. The simulation results show the validity of the proposed TDC for humanoid robots.

• Journal of Nutrition and Health
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• v.39 no.7
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• pp.610-616
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• 2006

This study was performed to investigate the effect of whole mandarin, peel or pulp intake of Citrus unshiu Marc. on antioxidative capacity and oxidative DNA damage in fifteen-month aged rats. Forty-eight male Sprague-Dawley rats $(621.9\;{\pm}\;10.1\;g)$ were blocked into four groups according to their body weights as control group, whole mandarin powder group, mandarin peel powder group and mandarin pulp powder group. Rats were raised with diets containing 5% (w/w) freeze dried mandarin formulations for four weeks. Total polyphenol content and total antioxidant status (TAS) of mandarin formulations were highest in peel powder, followed by whole powder and then pulp powder. The 8-hydroxy2'-deoxyguanosine concentrations of kidney in all mandarin groups were significantly lower than that of control group, and that of mandarin peel group was much lower than whole powder and pulp groups. Plasma TAS levels of all the experimental groups were higher than that of control group, and among mandarin groups, peel group showed higher level than remaining two groups. In conclusion, all the mandarin formulations were effective on antioxidative capacity in fifteen-month aged rats, and the peel was most effective one among three formulations.

• Korean Journal of Pharmacognosy
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• v.29 no.4
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• pp.283-292
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• 1998

The hemopoietic effects of deer blood (whole blood, blood cell, plasma, respectively) were examined using in vivo rat model. Experimental animals (Sprague-Dawley rat, male, 200 g) were divided into negative control group (injection of saline), positive control group (injection of Sipjeondaebotang) experimental groups (injection of whole blood, blood cell, plasma) and healthy control group. Cyclophosphamide(150mg/kg) was injected into experimental groups, negative and positive control group to induce bone marrow supression. After 8 days, freez dried deer blood (whole blood, blood cell, plasma respectively) and Sipjeondaebotang of 200 mg/kg in dose was administered orally into experimental groups and positive control group, once a day for 3 days (A group) and once a day for 12 days (B group) respectively. And then body weight and organ weight, biochemical profile (ALB, GOT, GPT, PRO, CRE), hematological values (WBC, RBC, HGB, HCT, MCV, MCH, MCHC, PLT) and CBC differentiation (Neutro, Lymph, Mono, Reticulo) were carried out. Finally, platelets were specially increased in the plasma treated A group and reticulocytes were specially increased in the plasma treated B group.

• Journal of the East Asian Society of Dietary Life
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• v.17 no.3
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• pp.329-337
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• 2007

In this study, the interest of female high school students's(N=500) for weight control, as well as nutrient intake status, were analyzed. The mean age, height, and weight of the subjects were, 19.3 years, 162.2 cm and 55.4 kg respectively. Mean BMI was $21.1 kg/m^2$. According to BMI, the percentage of underweight, normal weight, overweight, and obese were 18.5 %, 60.3%, 11.3%, and 11.3% respectively. By the BMI criteria, 60.3% of the subjects were normal weight while the rate of self-recognition was 41.5%. The degree of satisfaction regarding self-body image was only 17.1% and 60.9% showed an interest in weight control. The reason for weight reduction were appearance(65.1 %) and health(24.2%). The body areas where subjects wanted to lose weight included the thighs(32.9%) and whole body(29.3%). They believed the most effective weight control strategy was exercise(81.1 %) and the strategies they used were diet(59.1 %) and exercise(40.4%). Energy intake was 1,733.4 kcal which was 86.7% of the estimated energy requirements(EER). Calcium, vitamin $B_2$, and vitamin C intakes were less than EAR by 34.4%, 40.4%, and 59.6% respectively. The intake of dietary fiber was 5.1 g only 21.1 % of the adequate intake(AI). In summary, high school females interested in weight control have significantly less calcium intake than their peers. The correlations between interest in weight control and weight and BMI were significant(p<0.001). The results of this study suggest that to achieve optimal growth, improved diets that include calcium, vitamin $B_2$, and vitamin C are recommended. High school females interested in weight control should especially be targeted for education on calcium intake.

• Journal of Drive and Control
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• v.17 no.1
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• pp.44-50
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• 2020

For the requirement of accurate tracking control and the safety of physical human-robot interaction, torque control is basically desirable for humanoid robots. Because of the complexity of humanoid robot dynamics, the TDC (time-delay control) is practical because it does not require a dynamic model. However, there occurs a considerable error due to discontinuous non-linearities. To solve this problem, the TDC-FLC (fuzzy logic compensator) is applied to humanoid robots. The applied controller contains three factors: a TDE (time-delay estimation) factor, a desired error dynamic factor, and FLC to suppress the TDE error. The TDC-FLC is easy to execute because it does not require complicated humanoid dynamic calculations and the heuristic fuzzy control rules are intuitive. TDC-FLC is implemented on the whole body of a humanoid, not on biped legs even though it is performed by a virtual humanoid robot. The simulation results show the validity of the TDC-FLC for humanoid robots.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.187-189
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• 2004

This paper presents the system widely used for extraction of human body recognition system in the field of bio-metric identification. The Human body recognition system is used in many fields. This biological is appled to the human recognition in banking and the access control with security. The important algorithm of the identification software usese hand lines and hand shape geometry. We used the simple algorithm and recognizing the person by their hand image from the input camera. The geometrical characteristics in hand shape such as length of finger to whole hand length thickness of finger to length, etc are used.

• Journal of Fashion Business
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• v.17 no.1
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• pp.81-97
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• 2013

The purpose of this study is to summarize systematically and understand the characteristics of the production process of whole garments in order to develop knitwear using a real whole garment machine and propose this as a development case for high value added knitwear design. Concerning research methods, the study looked at existing research into whole garment knitwear and relevant data, data on websites, and the whole garment knitting machine made by Shima Seiki, a Japanese company, which has been the most commonly used machine in Korea. Also the study collected program data concerning a knitting machine and knitting by participating in the production process of whole garment knitwear, and the production line was filmed directly. In addition, the study conducted research into the development of knitwear design using the SWG-X 12 gauge. The conclusions obtained from the production process of whole garments and product development include the following. First, whole garment knitwear is appropriate for expressing a sophisticated look that makes the body appear to be in one form through natural connection without any seam allowance. Second, it is very suitable for response production since it does not go through the pattern, cutting, and processing stages. Furthermore, because of the consistent management of the entire process by computer control, it may be the highest cutting-edge fashion area in which planning and proposal style industry may be realizable. Third, it is easy to approach design through a programming process, and it is possible to develop diverse patterns; thereby, it is appropriate for producing high value added knitwear products.

• Korean Journal of Agricultural Science
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• v.40 no.1
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• pp.13-18
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• 2013

Effect of electric pulse stimulation was tested on the fruit body formation of valuable mushroom Tricholoma matsutake in the field of natural habitat of this mushroom. After applying the electric stimulator to the specific area of pine forest we found that the treatment especially stimulated the fructification of T. matsutake. And the most valuable findings of our study was that only our treatment plots showed fruit body formation whereas the control plots and the whole natural habitats of our study area showed zero production of this mushroom during the same time. From the point of view of mushroom production, our experiment shows that fruit body production can be upgraded by using pulsed power as an electrical stimulation in the field of the natural habitat of this mushroom. These findings from our experiment confirm the effectiveness of the significance of pulsed power technology for the improvement of T. matsutake fruit body production in the natural habit of this mushroom.