• Journal of Biosystems Engineering
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• v.38 no.2
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• pp.138-148
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• 2013

Purpose: Determining an appropriate path is a top priority in order for a robot to maneuver in a dynamically efficient way especially in a pick-and-place task. In a non-standardized work environment, current robot arm executes its motion based on the kinematic displacements of joint variables, though resulting motion is not dynamically optimal. In this research we suggest analyzing and applying motion patterns of the human arm as an alternative to perform near optimum motion trajectory for arbitrary pick-and-place tasks. Methods: Since the motion of a human arm is very complicated and diverse, it was simplified into two links: one from the shoulder to the elbow, and the other from the elbow to the hand. Motion patterns were then divided into horizontal and vertical components and further analyzed using kinematic and dynamic methods. The kinematic analysis was performed based on the D-H parameters and the dynamic analysis was carried out to calculate various parameters such as velocity, acceleration, torque, and energy using the Newton-Euler equation of motion and Lagrange's equation. In an attempt to assess the efficacy of the analyzed human motion pattern it was compared to the virtual motion pattern created by the joint interpolation method. Results: To demonstrate the efficacy of the human arm motion mechanical and dynamical analyses were performed, followed by the comparison with the virtual robot motion path that was created by the joint interpolation method. Consequently, the human arm was observed to be in motion while the elbow was bent. In return this contributed to the increase of the manipulability and decrease of gravity and torque being exerted on the elbow. In addition, the energy required for the motion decreased. Such phenomenon was more apparent under vertical motion than horizontal motion patterns, and in shorter paths than in longer ones. Thus, one can minimize the abrasion of joints by lowering the stress applied to the bones, muscles, and joints. From the perspectives of energy and durability, the robot arm will be able to utilize its motor most effectively by adopting the motion pattern of human arm. Conclusions: By applying the motion pattern of human arm to the robot arm motion, increase in efficiency and durability is expected, which will eventually produce robots capable of moving in an energy-efficient manner.

• Journal of Korean Physical Therapy Science
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• v.29 no.3
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• pp.12-20
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• 2022

Background: The purpose of this study was to investigate the changes of trunk and lower extremity muscle activity according to the compensation of arm during bridge movement of healthy subject. Design: Cross-sectional Study. Methods: Twenty healthy subjects participated in this study. The subjects performed bridge exercise with 3 different arm positions(arm abduction 45°, 90° and cross-arms) and measured the muscle activity of the trunk and lower extrimity. During bridge exercise with 3 different arm positions, trunk (rectus abdominis, erector spinae) and lower extrimity muscle activity (gluteus medius, biceps femoris, tibialis anterior) were measured using wireless surface EMG. Results: Rectus abdominis and gluteus medius muscle were most activated during bridge exercise with arm abduction 90° and erector spinae and biceps femoris muscle were most activated during bridge exercise with arm abduction 45°. In addition, tibialis anterior muscle was most activated during bridge exercise with arm cross. However, these difference in muscle activity according to the arm position was not statistically significant. Conclusion: As a result of this study, we think that the change in arm position does not induce sufficient instability to increase the muscle activity of the trunk and lower extremity muscles. Therefore, various approaches for inducing instability of the support surface for increasing muscle activity when applying bridge movement in clinical practice should be explored.

• The Journal of the Convergence on Culture Technology
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• v.10 no.3
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• pp.819-825
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• 2024

The reason for recording dose data when using a diagnostic radiation source is to record and manage the dose to healthcare personnel and patients. The purpose of this study was to verify the difference in radiation dose when using diagnostic radiation generating devices and to inform users' awareness of dose reduction through measurement and analysis of dose in situations with and without shielding. The dose analysis of each equipment for two Korean C-arms and two German C-arms showed that the Korean FPD type C-arm had the highest dose value, followed by the German I.I type C-arm, German FPD type C-arm, Korean, and I.I type C-arm. The results of the dose analysis with and without shielding showed that the dose to the human phantom in a normal atmosphere increased by about 2 times due to scattered radiation, but the dose to the human phantom was reduced by about 5 times by wearing a shield (0.5mm/lead apron). More important than the management of radiation dose is the study of how to reduce exposure when using radiation, and since the radiation dose output from different equipment is different, it is necessary to provide dose information with and without shielding.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.6
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• pp.738-743
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• 2007

In this paper, a muscle motion sensing system and an artificial arm control system are studied. The artificial arm is for the people who lost one's forearm. The muscle motion sensing system detect the intention of motion from the upper arm's muscle. In sensing system we use flex sensors which is electrical resistance type sensor. The sensor is attached on the biceps brachii muscle and coracobrachialis muscle of the upper arm. We propose an algorithm to classify the one's intention of motions from the sensor signal. Using this algorithm, we extract the 4 motions which are flexion and extension of the forearm, pronation and supination of the arm. To verify the validity of the proposed algorithms we made experiments with two d.o.f. artificial arm. To reduce the control errors of the artificial arm we also proposed a fuzzy PID control algorithm which based on the errors and error rate.

• Journal of the Korea Institute of Information Security & Cryptology
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• v.28 no.5
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• pp.1233-1246
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• 2018

With the proliferation of smart mobiles, disassembly techniques for position-independent code (PIC) composed of ARM architecture instructions in computer security are becoming more important. However, existing techniques have been studied on x86 architecture and are focused on solving problems of non-PIC and generality. Therefore, the accuracy of the collected address information is low to apply to advanced security technologies such as binary measurement. In this paper, we propose a disassembly technique that reflects the characteristics of PIC composed of ARM instructions. For accuratly collecting traceable addresses, we designed value-set analysis having symbol-form domain. To solve the main problem of disassembly, we devised a heuristic using the characteristics of the code generated by the compiler. To verify the accuracy and effectiveness of our technique, we tested 669 shared libraries and executables in the Android 8.1 build, resulting in a total disassembly rate of 91.47%.

• Journal of the Korean Applied Science and Technology
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• v.35 no.1
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• pp.36-42
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• 2018

This study was to investigate the difference of muscle activities in trunk, upper arm, and shoulder during push-up exercise based on 3 types of different arm position(posterior position, PP; normal position, NP; and anterior position, AP) and to provide effective push-up arm position for each muscle development. Fifteen healthy males(age, $21.5{\pm}0.5years$; height, $172.7{\pm}1.0cm$; body mass, $70.5{\pm}1.3kg$; shoulder width, $42.3{\pm}0.6cm$; and BMI, $23.6{\pm}0.5kg/m^2$) participated in this study. PP, NP, and AP of the arm were used to conduct push-up exercise and 8 muscles(deltoideus p. acromialis: DA; pectoralis minor: PMI; pectoralis major: PMA; serratus anterior: SA; biceps brachii: BB; triceps brachii: TB; latissimus dorsi: LD; and infraspinatus: IS) of right side were selected to measure muscle activities. Total 9 counts of push-up exercise were conducted and EMG data signals of 5-time(from $3^{th}$ to $7^{th}$) push-up movement were used for measuring muscle activities. PP push-up exercise showed that there was a significantly higher muscle activity of DA, PMI, PMA, SA, BB, LD, and IS(p<.05) and AP push-up exercise showed a significantly higher TB activity(p<.05). It would be suggested that different arm position evokes various muscle activities when conducting push-up exercise. PP would be the best push-up arm position for inducing various trunk, upper arm, and shoulder muscle activities compared to NP and AP.

• Korean Journal of Applied Biomechanics
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• v.16 no.4
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• pp.153-164
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• 2006

This thesis is focused on kinematical and kinematical analysis of each types(Type #1 : use both swing of arm and reaction of knee, Type #2 : Use only swing of arm, not reaction of knee, type #3 : Neither use of swing of arm nor reaction of knee) of vertical jumps according to gender of High School Students. The subjects of this study is High School Student's male and female, 5 each, for analyzation of actions 3D image analyzing and GRF machines were used. To identify the differences of analyzed variables, an independent T-test on gender, an One-way ANOVA on types were used. Summery of the results are stated below. first of all, female students showed differences on Hip Joint angle and Joint Velocity from male students on Kimentic Variable. So training on hip joint force of flection and extension of female students is needed. Both male and female students showed relatively bigger result of arm's Angular Momentum than thigh's Angular Momentum on Type #1. This is regarded of faster Joint Velocity of Arm. Bigger result of female students of arm's contribution on Type #1 than male students can be said as Female student's weaker hip joint's angular muscle force than male student's, so the dependency of arm is heavier than male students. In Kinetic variable, GRF showed bigger result on male students than female students. So female students need to enhance joint's torque to increase GRF than male students. On vertical Impulse, high numeric data of last two reaction of tiptoe of vertical GRF and antero-posterior GRF helped increasing impulse by extending action time of force.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.875-881
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• 2014

The redundancy resolution of the seven DOF (Degree of Freedom) upper limb exoskeleton is key to the synchronous motion between a robot and a human user. According to the seven DOF human arm model, positioning and orientating the wrist can be completed by multiple arm configurations that results in the non-unique solution to the inverse kinematics. This paper presents analysis on the kinematic and dynamic aspect of the human arm movement and its effect on the redundancy resolution of the seven DOF human arm model. The redundancy of the arm is expressed mathematically by defining the swivel angle. The final form of swivel angle can be represented as a linear combination of two different swivel angles achieved by optimizing two cost functions based on kinematic and dynamic criteria. The kinematic criterion is to maximize the projection of the longest principal axis of the manipulability ellipsoid of the human arm on the vector connecting the wrist and the virtual target on the head region. The dynamic criterion is to minimize the mechanical work done in the joint space for each of two consecutive points along the task space trajectory. The contribution of each criterion on the redundancy was verified by the post processing of experimental data collected with a motion capture system. Results indicate that the bimodal redundancy resolution approach improved the accuracy of the predicted swivel angle. Statistical testing of the dynamic constraint contribution shows that under moderate speeds and no load, the dynamic component of the human arm is not dominant, and it is enough to resolve the redundancy without dynamic constraint for the realtime application.

• Journal of Advanced Research in Ocean Engineering
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• v.4 no.3
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• pp.115-123
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• 2018

This study was carried using the new approach method to design appropriately the Loading Arm length and the alarm setting according to ship movements on Loading and Unloading marine Berth. The quasi-static mooring analysis was performed to estimate 110,000DWT ship's movements based on environmental conditions such as wind, current and wave. The mooring motion of the ship is very important to determine the loading arm scope, and in this case, the operation condition is performed on the ship without considering the damaged condition of the mooring line because the ship movement in case of damage is larger than intact, and all operations are stopped, the loading arm being released due to control system. From the result of mooring analysis, motion displacements, velocities and accelerations were simulated. They were used to simulate the maximum drifting speeds and distances. The maximum drifting speeds were checked to be satisfied within drifting speed limits. The total maximum drifting distances were simulated with alarm steps of the new approach method. Finally, the loading arm envelopes using the total maximum drifting distances were completed. Therefore, it was confirmed that the new approach method for loading arm envelopes and alarm settings was appropriate from the above results. In the future, it will be necessary to perform the further advanced dynamic mooring analysis instead of the quasi-static mooring analysis and to use the precise computer program analysis for various environments and ship movement conditions.

• Composites Research
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• v.13 no.6
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• pp.39-46
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• 2000

Electrical discharge machining (EDM) cuts metal by discharging electric current across a thin gap between tool and workpiece. Electrical discharge wire cutting, a special form of EDM, uses a continuously moving conductive wire as an electrode, and is widely used for the manufacture of punches, dies and stripper plates. In the wire cutting process, the moving wire is usually supported by cantilever arm and wire guides. As the wire traveling speed has been increased in recent years to improve productivity, the vibration of the cantilever arm occurs, which reduces the positional accuracy of the machine. Therefore, the design and manufacture of the cantilever arm with high dynamic characteristics have become important as the machining speed increases. In this paper, the cantilever arm for guiding the moving wire was designed and manufactured using carbon fiber epoxy composite in order to improve the static and dynamic characteristics. Specimens for the composite cantilever arm were manufactured and tested to investigate the effect of the number of reinforcing plies and length fitted to steel flange on the load capacity. Also, the finite element analysis using layer and contact elements was performed to compare the calculated results with the experimental ones. From the results, the prototype of the composite cantilever arm for the electrical discharge wire cutting machine was manufactured and the static and dynamic characteristics were compared with those of the conventional steel cantilever arm.