• The Journal of Korea Robotics Society
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• v.18 no.3
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• pp.241-250
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• 2023

This paper describes the posture stabilization control of a bipedal transformer robot being developed for military use. An inverted pendulum model with a rectangular that considers the robot's inertia is proposed, and a posture stabilization moment that can maintain the body tilt angle is derived by applying disturbance observer and state feedback control. In addition, vertical force and posture stabilization moments that can maintain the body height and balance are derived through QP optimization to obtain the necessary torques and vertical force for each foot. The roll and pitch angles of the IMU sensor attached to the robot's feet are reflected in the ankle joint to enable flexible adaptation to changes in ground inclination. Finally, the effectiveness of the proposed algorithm in posture stabilization is verified by comparing and analyzing the difference in body tilt angle due to disturbances and ground inclination changes with and without algorithm application, using Gazebo dynamic simulation and a down-scale test platform.

• Journal of Environmental Health Sciences
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• v.38 no.1
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• pp.66-72
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• 2012

Objectives: The AHERA method by the US EPA, ASTM E2356-04, and HSG264 by the UK HSE, all of which are hazard/risk assessment methods for asbestos-containing building materials, were reviewed and compared based on 231 homogeneous areas. In addition, the current Act on Asbestos Safety Management (enforcement: April 29, 2012) was reviewed and analyzed. This trial provided fundamental data for improving the current asbestos hazard/risk assessment method. Methods: For the hazard/risk assessment of 77 asbestos-containing public buildings including schools, 231 homogeneous areas were selected, each of which was assessed using AHERA, ASTM E2356-04, and HSG264. Results: The matching rate of the hazard/risk assessment stood at 20.4 percent between AHERA and ASTM, at 71.4 percent between AHERA and HSG264 and at 17.8 percent between ASTM and HSG264. The AHERA method includes a seven-category rating scale. There were three categories, two of which have three subcategories. ASTM provides two decision-making charts consisting of ten rating scales for current condition estimation and for potential for disturbance estimation. In addition, the HSG264 method has a total of 20 scores with four items, and then provides four grades. This HSG264 method cannot clearly separate current condition and potential for disturbance. Conclusions: In the Korean Act on Asbestos Safety Management, the hazard/risk assessment method for asbestos-containing building materials should consider balance between current condition estimation and the potential for disturbance estimation.

• Geomechanics and Engineering
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• v.23 no.6
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• pp.513-521
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• 2020

In this paper, due to the need for cutting cement-soil group pile composite foundation under the 7-story masonry structure of Zhenghe District and the shield tunnel of Zhengzhou Metro Line 5, a field test was conducted to directly cut cement-soil single pile composite foundation with diameter Ф=500 mm. Research results showed that the load transfer mechanism of composite foundation was not changed before and after shield tunnel cut the pile, and pile body and the soil between piles was still responsible for overburden load. The construction disturbance of shield cutting pile is a complicated mechanical process. The load carried by the original pile body was affected by the disturbance effect of pile cutting construction. Also, the fraction of the load carried by the original pile body was transferred to the soil between the piles and therefore, the bearing capacity of composite foundation was not decreased. Only the fractions of the load carried by pile and the soil between piles were distributed. On-site monitoring results showed that the settlement of pressure-bearing plates produced during shield cutting stage accounted for about 7% of total settlement. After the completion of pile cutting, the settlements of bearing plates generated by shield machine during residual pile composite foundation stage and shield machine tail were far away from residual pile composite foundation stage which accounted for about 15% and 74% of total settlement, respectively. In order to reduce the impact of shield cutting pile construction on the settlement of upper composite foundation, it was recommended to take measures such as optimization of shield construction parameters, radial grouting reinforcement and "clay shock" grouting within the disturbance range of shield cutting pile construction. Before pile cutting, the pile-soil stress ratio n of composite foundation was 2.437. After the shield cut pile is completed, the soil around the lining structure is gradually consolidated and reshaped, and residual pile composite foundation reaches a new state of force balance. This was because the condensation of grouting layer could increase the resistance of remaining pile end and friction resistance of the side of the pile.

• Journal of Acupuncture Research
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• v.20 no.3
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• pp.34-44
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• 2003

Objective : Bone homeostasis is maintained by balance of bone formation and resorption. Therefore, bone related diseases arose by disturbance of this balance between osteoblast and osteoclast activities. To develop a successful screening system the therapeutic components based on oriental medicine is essential to set up systematic approach for that purpose. The purpose of this study is to the know the gene expression using cDNA microarray assay. Methods : Cervi Pantotricuhum Cornu Herbal-acupuncture extract was prepared by boiling. human osteosarcoma cells(HOS) were treated with Cervi Pantotricuhum Cornu Herbal-acupuncture solution. Then mRNA was extracted and cDNA microarray assay was performed. Results : Human osteosarcoma cells(HOS) treated with Cervi Pantotricuhum Cornu Herbal-acupuncture solution($500{\mu}g/m{\ell}$) showed that thioredoxin, TAFII31 and two novel genes were increased. However many genes decreased their expression by Cervi Pantotricuhum Cornu Herbal-acupuncture. Conclusions : This type of approach will give a good chance to explore the favorable effects of Cervi Pantotricuhum Cornu Herbal-acupuncture. Further study is needed for investigating the effect of Cervi Pantotricuhum Cornu Herbal-acupuncture.

• Journal of Acupuncture Research
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• v.18 no.5
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• pp.135-146
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• 2001

Objective : Bone homeostasis is maintained by balance of bone formation and resorption. Therefore, bone related diseases arose by disturbance of this balance between osteoblast and osteoclast activities. To develop a successful screening system of the therapeutic components based on oriental medicine is essential to set out systematic approach for that purpose. Methods : This study was perforated Sprague-Dawley rat femur for bony defects(${\phi}5mm$) by the fissure bur. And experimetal group were treated with Cervi Pantotricuhum Cornu injection at both $Sh{\grave{e}}nsh{\tilde{u}}$(BL23) & $D{\grave{a}}zh{\grave{u}}(BL11)(0.2m{\ell})$. This was evaluated by radiography and histological analysis with in situ hybridization. Results : Cervi Pantotricuhum Cornu Herbal Acupuncture has weak effect on bony defect healing and this was evaluated by X-ray taking and histological analysis with in situ hybridization. Osteocalcin gene expression was not changed by Cervi Pantotricuhum Cornu Herbal Acupuncture in bony defects animal model. Conclusion : Taken together this study show that the Cervi Pantotricuhum Cornu herbal-acupuncture has a weak effect healing of bony defects, this type of approach might give a good chance to explore the favorable effects of Cervi Pantotricuhum Cornu herbal-acupuncture on bone tissue.

• Journal of Korean Medicine Rehabilitation
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• v.33 no.4
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• pp.243-249
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• 2023

This case study showed improvement both in pain and gait disturbance caused by SCH. KM can be a positive treatment for reducing pain or improving gait disturbance caused by SCH, and it can be considered a treatment option for SCH. Future studies with a larger number of cases and longer period of follow-up in SCH with gait disturbance and rigidity are needed.

• The Journal of Internal Korean Medicine
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• v.38 no.2
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• pp.289-300
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• 2017

Objectives: This case report describes the effect of Hominis placenta pharmacopuncture (HPP) on multiple sclerosis. Methods: A multiple sclerosis patient with gait disturbances, tremors, spasms of both lower limbs, and diplopia was treated with only HPP for two weeks. To evaluate the effects of HPP on the balance ability of the patient, the Functional System (FS) scale, Expanded Disability Statue Scale (EDSS), visual analog scale (VAS), manual muscle test (MMT), and Berg Balance Scale (BBS) were used. Results: The HPP treatment reduced the patient's gait disturbance, tremors, spasms of the lower limbs, and diplopia. According to the FS scale, the patient's cerebellar and optic functions were enhanced. In addition, the patient's performance on the EDSS improved from 4.0 to 3.0.3. As shown by the MMT, the lower extremities showed a mild improvement (from F+ to G.4). Furthermore, the VAS showed a considerable improvement, decreasing from 9 to 6.5 post-treatment. The patient's performance on the BBS, which denotes balance ability, showed a considerable improvement, increasing from 38 to 49. Conclusion: Treatment with only HPP could help to ameliorate the symptoms of multiple sclerosis.

• Journal of the Korea Society of Computer and Information
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• v.19 no.3
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• pp.11-16
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• 2014

In this paper, the two-wheels robot using a predictive controller to maintain the balance of the posture control in real time have been examined. A reaction wheel pendulum control method is adopted to maintain the balance while the bicycle robot is driving. The objective of this research was to design and implement a self-balancing algorithm using the dsPIC30F4013 embedded processor. To calculate the attitude in ARS using 2 axis gyro(roll, pitch) and 3 axis accelerometers (x, y, z). In this study, the disturbance of the posture for the asymmetrical propose to overcome the predictive controller which was a problem in the control of a remote system by introducing the two wheels of the robot controller and the linear prediction of the system controller combines the simulation was performed. Also, the robust characteristic for realizing the goal of designing a loop filter too robust controller is designed so that satisfactory stability of the control system to improve stability of the system to minimize degradation of performance was confirmed.

• Journal of Korean Academy of Dental Administration
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• v.11 no.1
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• pp.78-88
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• 2023

This study aimed to analyze the correlation between working from home and sleep disorders among domestic workers using data from the 5th Working Environment Survey in 2017. Out of the total 30,108 wage workers, 818 employees work from home and 4,090 work in an office. A random sample of 1:5 pairs, considering gender and occupational group, was selected from these employees as the study subjects. The analysis included personal characteristics, occupational characteristics, work-from-home arrangements, and sleep disorders. Age, education, employment status, years in the workforce, weekly working hours, work-life balance, self-perceived health, depression, and anxiety were all adjusted as potential confounding variables. Conditional logistic regression analysis was conducted to examine the relationship between working from home (independent variable) and sleep disorder (dependent variable). This analysis aimed to analyze the correlation between working from home and sleep disorder. The analysis revealed that working from home was associated with sleep onset latency disorder OR=3.23 (95% CI=2.67~3.91), sleep maintenance disorder OR=3.67 (95% CI=3.02~4.45), and non-restorative sleep OR=3.01 (95% CI=2.46~3.67), which showed a statistically significant relationship with all three types of sleep disorders. Factors influencing the correlation between working from home and sleep disorders included work-life balance, social isolation, and anxiety.

• Journal of the Korean Applied Science and Technology
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• v.40 no.2
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• pp.290-300
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• 2023

This study was understood the risk mechanism of falls in the elderly and reviewed previous research data to see if the principle of Pilates rehabilitation exercise could have a positive effect on balance ability and postural stabilization in the elderly, and the purpose of this study is to present literature-based data on the fall prevention effect of rehabilitation Pilates exercise. First, the rehabilitation Pilates exercise makes it available for strengthening the center of the body to stabilize the spine and pelvis and stimulates the nerve root, thereby having an effect on the balance and the joint stabilization. Second, a proprioceptive sensory impairment and a musculoskeletal degenerative disease due to aging increase the loss of balance ability and the instability in posture maintenance, thereby coming to raise the risk of a fall damage caused by the difficulty in performing motor functions and by the gait disturbance. Third, the rehabilitation Pilates exercise leads to improving the core muscle strength in older adults, resulting in being capable of expecting the betterment in the balance and the reaction time motor function. And there is a positive impact on the improvement in body imbalance and on the stability in movement involved in the fall prevention, resulting in being able to suggest the possibility of likely contributing to a reduction in a fall risk rate. In conclusion, the rehabilitation Pilates as the elderly exercise program showed effects on the improvement in the body's muscular strength, on the upgrade in a sense of balance, and on the stabilization of core. Thus, it was considered to diminish the risk factors for a fall damage caused by musculoskeletal degeneration and to be capable of preventing a serious disorder of activity due to a chronic senile disease.