• 제어로봇시스템학회논문지
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• 제18권5호
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• pp.487-495
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• 2012

In this paper, a Smart Home Service Robot, McBot II, which performs mess-cleanup function etc. in house, is designed much more optimally than other service robots. It is newly developed in much more practical system than McBot I which we had developed two years ago. One characteristic attribute of mobile platforms equipped with a set of dependent wheels is their omni- directionality and the ability to realize complex translational and rotational trajectories for agile navigation in door. An accurate coordination of steering angle and spinning rate of each wheel is necessary for a consistent motion. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A specialized anthropomorphic robot manipulator which can be attached to the housemaid robot McBot II, is developed in this paper. This built-in type manipulator consists of both arms with 4 DOF (Degree of Freedom) each and both hands with 3 DOF each. The robotic arm is optimally designed to satisfy both the minimum mechanical size and the maximum workspace. Minimum mass and length are required for the built-in cooperated-arms system. But that makes the workspace so small. This paper proposes optimal design method to overcome the problem by using neck joint to move the arms horizontally forward/backward and waist joint to move them vertically up/down. The robotic hand, which has two fingers and a thumb, is also optimally designed in task-based concept. Finally, the good performance of the developed McBot II is confirmed through live tests of the mess-cleanup task.

• Asian Pacific Journal of Cancer Prevention
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• 제13권8호
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• pp.4163-4167
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• 2012

Aims: To prospectively assess the efficacy and safety of moderately hypofractionated conformal radiotherapy in patients with thoracic esophageal cancer. Methods and Materials: From Sept. 2002 to Oct, 2005, 150 eligible patients with T2-4N0-1M0 stage thoracic esophageal squamous cell cancers were enrolled to receive either conventional fractionated radiation (CFR) or moderately hypofractionated radiation (MHR) with a three-dimensional conformal radiation technique. Of the total, 74 received moderately hypofractionated radiation with total dose of 54-60Gy/18-20fractions for 3.5-4 weeks in the MHR arm, and 76 received conventional radiation with total dose of 60Gy/30 fractions for 6 weeks in the CFR arm. Concurrent chemotherapy comprised of paclitaxel and cisplatin. Safety was evaluated, and local control and overall survival rates were calculated. Results: Statistically significant differences between the CFR versus MHR arms were observed in local/regional failure rate (47.3% v 27.0%, P=0.034) and the percentage of patients with persistent local disease (26.3% v 10.8%, P=0.012). But 3 and 5-year overall survival rates (43.2%, 38.8% v 38.2%, 28.0%, respectively) were not different between the two arms (P=0.268). There were no significant differences in the incidences of grade 3 or higher acute toxicities (66.3% v 50.0%) and late complications rates (27.0% v 22.4%) between the MHR and CFR arms. Conclusions: Moderately hypofractionated, three-dimensional radiation treatment could improve the local control rate of esophageal cancer and potentially increase patients' survival.

• Strategy21
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• 통권40호
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• pp.162-189
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• 2016

This research deals with the PLAN's capabilities and its implication for regional security, and suggests some measures for maritime security cooperation among regional states. China has began to focus its national strategy more on 'rising as a new maritime power' since the 18th Party Convention in November 2012. Chinese new strategy aims at building a strong navy, contributing economic prosperity and national security, and thus elevating its prestige in international society. Most of all, building a strong navy is the foremost task at this time, and that is why the PLAN has the priority for military modernization. Chinese new maritime strategy could cause naval arms race in East Asia and aggravate maritime territorial disputes among concerned parties. It is the time for regional states to discuss some measures to build confidence, such as arms control of naval weapons, establishment of multilateral maritime security mechanism, and foundation of regional security regime, thus enhancing regional maritime cooperation.

• 한국정밀공학회지
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• 제15권12호
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• pp.148-161
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• 1998

We investigate a design methodology for master arm which is employed in remote-site control. Though counter-balancing has been employed for the purpose of lessening the actuator loads, it results in the increase of dynamic load at the task position. Therefore, there exists a trade-off between counter-balancing and dynamic performance. The concept of a composite index is introduced to simultaneously consider those two effects in the design of master arms. Several alternative designs of master arms are suggested.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 추계학술대회 논문집
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• pp.233-238
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• 2001

In the design and operation of robot arms with flexible links, the equations of motion are required to exactly model the interaction between rigid motion and elastic motion and to be formulated efficiently. Thus, the flexible link is represented on the basis of the D-H rigid link represented to measure the elastic deformation. The equations of motion of robot arms, which are configured by the generalized coordinates of elastic and rigid degrees of freedom, are formulated by using F.E.M to model complex shaped links systematically and by eleminating elastic mode of higher order that does not largely affect option to reduce the number of elastic degree of freedom. Finally presented is the result of simulation to flexible robotic arm whose joints are controlled by direct or PD control.

• The Journal of Korean Physical Therapy
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• 제17권4호
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• pp.493-504
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• 2005

The purpose of this study is to determine the effect of constraint-induced movement therapy on the involved hand function and ADL in stroke patients. Five subjects with fixing unaffected arms by CIMT were assigned to the experimental patient group and the other five patients to control group without fixing unaffected arms. The function of hand for both groups were evaluated by using Jebsen-Taylor hand function test and ADL for both groups were evaluated by FIM(Functional Independence Measure) before and after task practice. In conclusion, results of this study showed that improved hand function and ADL by CIMT in stroke patients. We concluded that CIMT can improved the involved hand function and ADL in stroke patients.

• 한국정밀공학회지
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• 제30권2호
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• pp.171-176
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• 2013

In this research a Self-Standable mobile Robot with standing arms based on an Wheeled Inverted Pendulum is developed. Almost existing mobile robots have wide planar shape that is statistically stable and it is sometimes hard for them to run or steer on a narrow road. A Wheeled Inverted Pendulum based mobile robot has vertical shape that is upright-running and easily steering on a narrow road. It, however, requires actively balancing control and never restores the shape once it falls down. This research develops a Self-Standable mobile robot which equips standing arms and is able to change its chassis' posture freely from planar to vertical shape or vice versa.

• 드라이브 ㆍ 컨트롤
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• 제15권3호
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• pp.29-35
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• 2018

This paper presents the design of attachments for dual arms of disaster responding heavy machine. The heavy machine handles a variety of tasks such as cutting, shredding, picking and moving in unstructured environment. Despite the need for rapid response, the heavy machine has difficulty in repeatedly replacing the attachment depending on the task. Thus, we propose a method to solve this physical and functional contradiction relation by using TRIZ separation principles. Above all, the existing equipment and the required working scenarios were surveyed and summarized in order to separate the attachments functionally for right-handed, left-handed and two-handed operation. Then, we proposed the design directions and conceptual design as following: multi function type attachment A, for precise operation and various operations; grab type attachment B, for grasping irregular objects and auxiliary device for both arms to handle bulky objects.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.627-634
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• 1989

A collision-free trajectory planning algorithm using the iterative learning concept is proposed for dual robot arms in a 3-D workspace to accurately follow their specified paths with constant velocities. Specifically, a collision-free trajectory minimizing the trajectory error is obtained first by employing the linear programming technique. Then the total operating time is iteratively adjusted based on the maximum trajectory error of the previous iteration so that the collision-free trajectory has no deviation from the specified path and also the operating time is near-minimal.

• 대한약학회:학술대회논문집
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• 대한약학회 2003년도 Proceedings of the Convention of the Pharmaceutical Society of Korea Vol.2-2
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• pp.212.1-212.1
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• 2003

The purpose of the this study was to characterize the putative anxiolytic-like effects of the aqueous extract of Albizzia julibrissin stem bark using the elevated plus maze (EPM) in rats. The water extract of Albizzia julibrissin was orally administered at 10, 50, 100 or 200 mg/kg to adult male SD rats, 1 h before behavioral evaluation in an EPM, respectively. Control rats were treated with an equal volume of saline, and positive control rats buspirone (1 mg/kg). Single or repeated treatment (for 7 days) of the water extract of Albizzia julibrissin (at 100 or 200 mg/kg) significantly increased time-spent and arm entries into the open arms of the EPM, and decreased time-spent and arm entries in the closed arms of the EPM versus saline controls (P ＜ 0.05). (omitted)