• Journal of Institute of Control, Robotics and Systems
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• v.20 no.9
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• pp.964-970
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• 2014

In this study we have developed an anthropomorphic robot hand and arm by using tendon-tubes which can be used for people's everyday life as a robot's dynamic power transmission device. Most previous robot hands or arms had critical problem on dynamic optimization due to heavy weight of power transmission parts which placed on robot's finger area or arm area. In order to resolve this problem we designed light-weighted robot hand and arm by using tendon-tubes which were consisted of many articulations and links just like human's hand and arm. The most prominent property of this robot hand and arm is reduction of the weight of robot's power transmission part. Reduction of weight of robot's power transmission parts will allow us to develop energy saving and past moving robot hands and arms which can be used for artificial arms. As a first step for real development in this study we showed structural design and demonstration of simulation of possibility of a robot hand and arm by tendon-tube. In the future research we are planning to verify practicality of the robot hand and arm by applying sensing and controlling method to a specimen.

• Physical Therapy Korea
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• v.19 no.1
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• pp.86-93
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• 2012

The purpose of this study was to assess the feasibility of task-oriented arm training for chronic hemiparetic stroke patients. The experimental design in this study was the pre-test and post-test with control group for 4-week intervention. Thirty patients with chronic hemiparetic stroke were recruited from 2 rehabilitation units. The subjects were divided randomly into experimental and control groups. The experimental group conducted task-oriented approach, involving 3 subparts of upper extremity activities, and the control group involved in the general upper extremity exercises. Functional movements of the upper extremities were assessed using clinical measures, including the Fugl-Meyer Assessment-Upper Extremity Section, Box and Block Test, and Action Research Arm Test. The score of Fugl-Meyer Assessment showed greater increases in the experimental group than in the control group after training. The improvement in Box and Block Test between pre-test and post-test measurements was significantly greater after task-oriented arm training compared to general upper extremity exercises. Action Research Arm Test scores also improved after task-oriented arm training compared to exercises in the control group. The task-oriented arm training improves the gross and fine motor activities and encouraging the use of the paretic arm through activity dependent intervention expedites the recovery of functional activities in the upper extremities for chronic hemiparetic stroke.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.9
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• pp.887-891
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• 2013

Human rights at poor working condition is the severe problem in modern manufacturing system. The industrial dual-arm robot is being developed to meet these social issues fundamentally. The dual-arm robot can work instead of human workers. We developed the new dual-arm robot for manufacturing mobile phone and TV. It has advantages such as the solo controller for both arms, the human sized body and arms. The software platform for the industrial dual-arm robot is being developed which has strength in its convenience and intelligence compared to conventional the robot software platforms. Here the development of the dual-arm robot software platform is introduced.

• Journal of the Korean Society of Clothing and Textiles
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• v.10 no.3
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• pp.17-25
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• 1986

The objectives of this study are to investigate the variation of the sleeve form by changing arm movements and to study the relationship among the three aspects of sleeve (sleeve height, width and armhole girth) by changing arm movements. Plasrun gyps were used for this experimental research. The subjects of this study were elementary schoolgirls (9$\~$12 years old). Arm mevements were 4 types($0^{\circ},\;45^{\circ},\;90^{\circ},\;135^{\circ}$) to the vertical directions. The statistical methods used to analyze the data included mean, standard deviation, the Pearson's correlation coefficients and coefficients of determination. The results obtained from this study were as follows; 1. According to the arm movements, the sleeve form changed more in the front than in the back. 2. As the arm movements were increased vertically, the heights of sleeves and the girths of the armholes were decreased, and the widths of sleeves were increased. 3. Variation rates by changing arm movements were different according to the variation of arm movement, and were the highest in sleeve height. 4. There was a negative correlation between sleeve height and width, and a positive correlation between sleeve height and armhole girth.

• Journal of the Korean Society of Food Culture
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• v.18 no.1
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• pp.9-16
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• 2003

The purpose of this study was to develop the standardized recipe and to analyze the nutrients of stir-fried whip-arm octopus as one of the kind of traditional local foods in Busan. The standardized recipe was developed by using cookbooks, home recipes, and the recipes by commercial food restaurants. The nutrient was analyzed by using an AOAC method. Sensory evaluations were made on nine sensory attributes by a 12-member panel. As the results, the whip-arm octopus was recorded as a food source for health, rejuvenation in Jasanobo. Since early 1900, the stir-fried method has been used for cooking with the ship-arm octopus. The main ingredients were whip-arm octopus, onion, large green onion as the local stir-fried whip-arm octopus in Busan. The ingredients of soup were shrimp, little neck clam, and water. Seasoning sauce was mixed with red pepper powder, soy sauce, sesame oil, chopped garlic, chopped onion, and sugar. The seasoning sauce was fermented for three days. The results of sensory scores were salty seasoning 3.66/5.00, taste 3.75/5.00, thickness 3.84/5.00, and smell 4.09. Nutrient retention per 100g of the stir-fried whip-arm octopus was 67.54kcal, protein 6.43g, fat 1.66g, Ca 28.06mg, Fe 2.56mg, cholesterol 68mg, and taurin 51mg. Fatty acid consists of various unsaturated fatty acids such as linoleic acid(46.24%) and oleic acid(33.67%).

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.4
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• pp.1947-1953
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• 2011

OSEK/VDX is a joint project aiming at an industry standard for ECUs in vehicles and OSEK OS is a real-time operating system that meets OSEK/VDX specifications. In this paper, we suggest an implementation of task switching and interrupt handling mechanisms of OSEK operating system based on ARM processors. Considering the requirements of OSEK OS and characteristics of ARM processor, we have designed task switching and interrupt handling mechanisms. For evaluating the validation of the suggested mechanisms, we have checked the functional correctness on an experimental embedded board with ARM processor and calculated the time of task switching and interrupt handling.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.1
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• pp.216-223
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• 2000

A robot arm with free joints has some advantages over conventional ones. A light weight and low power consumed arm can be made by a reduction of the number of joint actuators. And this arm can easily overcomes actuator failure due to unexpected accident. In general such underactuated arm does not have controllability because of the lack of joint actuators. The two-link arm with a free joint introduced in this paper is also uncontrollable in the sense of linear system theory. However, the linearized system sometimes can not represent the inherent dynamic behavior of the nonlinear system. In this paper the dynamic characteristics of the two-link arm with a free joint in view of global motion including damping and friction effect of the joints is investigated. In the case of considering only the damping effect, the controllable goal positions are confined to a specific trajectories. But in the case of considering the friction effect, the system can be controlled to arbitrary positions using the friction of the free joint as a holding brake. Also numerical example of position control is presented.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.22 no.5
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• pp.105-110
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• 2022

Domestically, we are capable of designing high-end memory semiconductors, but not in processors, resulting in unbalance. Using Vivado as a development enivronment and implementing the processor on a Xilinx FPGA reduces time and cost dramatically. In this paper, the popular language VHDL which is widely used in Europe, universities, and research centers around the world for the digital system design is used for designing a pipelined 32-bit ARM processor, implemented on FPGA and verified by Integrated Logic Analyzer. As a result, the ARM processor implemented on FPGA could execute ARM instructions successfully.

• Radiation Oncology Journal
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• v.13 no.1
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• pp.33-40
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• 1995

Purpose : To assess the efficacy and toxicity of the preoperative radiotherapy with or without chemotherapy in locally advanced rectal cancer Methods : Forty three patients (clinically diagnosed stages above or equal to Astler-Coiler stage B2 without distant metastasis) were assigned to preoperative radiotherapy alone arm (n=16) or combined preoperative radiotherapy and chemotherapy arm (n=27). Preoperative radiotherapy of 4500 cGy to whole pel-vis +/-540 cGy boost to primary site and concurrent chemotherapy of 2 cycles of 5-FU (500 mg/$m^2$) and leucovorin (20 mg/$m^2$) were used. Fifteen patients of preoperative radiotherapy alone arm and 19 of combined arm received surgical resection after preoperative treatment. Results : During the preoperative treatment, no significant complication was developed in both groups. Pathologic results were as follows; complete remission 1, Bl 1, B2 6, C1 2, C2, 5 in preoperative radiotherapy alone arm and complete remission 2, Bl 8, B2 4, C2 3, D 2 in combined arm. Postoperative complications were delayed perineal wound healing in three patients, intestinal obstruction in three patients (one managed by conservative medical treatment, two by surgical treatment). Conclusion : The combined preoperative radiotherapy and chemotherapy arm was more effective in pathological response and lymph node negativity rate than the preoperative radiotherapy alone arm. Both the preoperative radiotherapy alone arm and the combined arm were generally well tolerated and did not result in an increased postoperative morbidity.

• Korean Journal of Digital Imaging in Medicine
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• v.11 no.1
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• pp.21-26
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• 2009

In operation room, the use of the C-arm unit is increasing. So, the radiation dose of the person who work in operation room was even more increased than before. Thus, this study is shown the measurement of expose dose and the way for decrease of the radiation dose by using the C-arm unit. The experiment was performed with the C-arm unit and used a phantom which is similar to tissue of the human body and fluoro-glass dosimeter for dose measurement. The expose dose were measured by the tube position(over tube, under tube) of the C-arm unit, distance(50, 100$\sim$200cm), direction(I, II, III, IV), runtime(1min, 3min), wearing of the apron. The radiation dose was decreased twice and three times at under tube rather than over tube. The I direction was measured 20$\sim$30% more than the others. The biggest expose dose is 50cm from center on distance. The expose dose is decreased to far from center. In case of Wearing of the apron, the radiation dose was decreased 60$\sim$90% by the distance. But there weren't change of the radiation dose by C-arm tube position. In present, by increasing the usage of the C-arm unit, the radiation dose is inevitable. So, this study recommends us to use the under tube of the C-arm unit. Also, Wearing of the apron is required for minimum of the radiation exposure.