• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.377-381
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• 1990

In this paper, the stability analysis for the bilateral control of tele-manipulator is considered. Two-port network model is used to describe the tele-manipulator system. The stable conditions are derived using impedance matrix and passive network theory for two different types of bilateral control scheme. It is also shown that such conditions can be succefully applied to the n-d.o.f tele-manipulator system in which the kinematics and dynamics of master and slave manipulators are different.

• Asian Journal of Business Environment
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• 제6권1호
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• pp.19-24
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• 2016

Purpose - This paper aims to find and analyze factors that determine the flows of bilateral foreign direct investment in intra-ASEAN. It specifically focuses on the dimension of macro-economic, natural resources, human resources, and the quality of governance. Research design, data, and methodology - Data were collected from 64 bilateral relations between ASEAN nations from 2002 to 2013. Panel gravity model was utilized to find factors that determine the flows of bilateral foreign direct investment. Results - Significant factors were identified that determine the flows of bilateral foreign direct investment: GDP home country, GDP host country, real interest rate, distance, and total natural resources rent. Unexpectedly, natural resources have a negative effect. Conclusions - In a situation of increasing the flow of FDI among the countries of ASEAN, the government should control the interest rates and maintain good relations with nearby countries. The negative effect of total natural resource rents implies that ASEAN countries should not depend on their natural resources to attract foreign investments.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.524-527
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• 1988

Basic types of bilateral servo systems were described and practical consideration in the bilateral servo controller design was introduced. Power assistance to the operator is essential for high efficiency and accurate force reflection is necessary for dexterous manipulation. This paper shows a controller structure under development at KIMM which employs nonlinear friction compensation and memory based gravity compensation technique for efficiency and dexterity.

• Clinical and Experimental Reproductive Medicine
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• 제11권2호
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• pp.27-39
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• 1984

The purpose of this experiment was to investigate the effects of experimental cryptorchidism on the levels of testicular FSH, LH receptor. One hundred and thirty two male rats weighing 100${\pm}$10g, 45 days old, were divided into three groups of control, bilateral cryptorchidism and unilateral cryptorchidism which was subdivided into two groups of scrotal testis and abdominal testis. Thirty to forty two heads of rats were allotted to each group. Five to eight rats from each group were randomely sacrificed at 1, 2, 3, 4 and 5 weeks after surgical induction of cryptorchidism. Testis was removed for assay of FSH, LH receptors. The results obtained were as follows. 1. The levels of FSH receptors per 10mg testicular tissue in abdominal testis of unilateral cryptorchid group and bilateral cryptorchid group tended to decrease gradually toward 5th week and these levels at 2nd, 3rd, 4th and 5th week were significantly lower than those levels of control group and scrotal testis of unilateral cryptorchid group. On the other hand; the ranges of affinities of FSH receptors of abdominal testis in unilateral and bilateral cryptorchid group were 2.2 - 6.67 ${\times}10^{11}M^{-1}$ and 3.6 - 4.8 ${\times}10^{11}M^{-1}$ respectively, and these values were slightly higher than those of control group (1.43 - 3.98 ${\times}10^{11}M^{-1}$) or those of scrotal testis in unilateral cryptorchid group (1.41 - 3.25 ${\times}10^{11}M^{-1}$). Especially at I and 4 weeks after treatment the affinities of abdominal testis in unilateral and bilateral cryptorchid group were significantly higher than those of other group (P <0.01). 2. The levels of LH receptors in 10mg testicular tissue tended to increase with elapse of time in control and in scrotal testis of unilateral cryptorchid group. But the levels of LH receptors of abdominal testis in unilateral and bilateral cryptorchid group tended to decrease after treatment and were significantly lower than control group at 1 (P <0.01),2,4 and 5 weeks after treatment (P < 0.05). The affinities of LH receptors were not significantly different among treatments except those of bilateral cryptorchid group and abdominal testis of unilateral cryptorchid group being significantly higher than that of the control at 4 weeks after treatment.

• 재활치료과학
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• 제6권2호
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• pp.47-58
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• 2017

목적: 뇌졸중 환자에게 의미 있는 작업을 기반으로 한 양측성 상지 훈련의 효과를 알아보기 위한 예비연구로 실시되었다. 연구방법: 뇌졸중으로 인한 편마비를 가진 환자 4명을 대상으로 실험군(2명)과 대조군(2명)으로 나누어 진행되었다. 2016년 5월부터 8월까지 진행하였으며, 대상자 당 총 5주간, 주 3회, 회기 당 60분의 작업기반 양측성상지훈련 중재와 전통적 양측성 상지 훈련을 각 각 실시하였다. 중재 전 후로 EMG, 가속도계, ARAT, Y-BAT, SIS, COPM를 실시하여 각 군간 비교 하였다. 결과: 실험군은 대조군 보다 노쪽 손목폄근과 앞 어깨 세모근의 근 활성도, SIS에서 손 기능(Hand function), 기억력(Memory)항목을 제외한 모든 항목에서 중재 전 후 큰 변화량을 나타냈으며, 양손의 사용량을 측정한 가속도계와 COPM, Y-BIT, ARAT평가의 잡기(grasp), 집기(pinch), 대동작 (gross movement)항목에서 실험군은 대조군 보다 중재 전 후 큰 변화량을 나타냈다. 결론: 본 연구를 통해 작업기반 양측성 상지 훈련이 신경학적 변화를 통한 상지기능 회복 및 사회참여 등에 효과적임을 알 수 있었다. 추후 연구에서는 작업기반 양측성 상지 훈련 프로토콜의 내용에 대해 높은 내용 타당도를 확보하기 위한 개발 연구가 필요할 것이며, 이를 토대로 많은 뇌졸중 환자를 대상으로 한 무작위대조군 실험 연구를 통한 효과 검증과 효과지속성에 대한 검증이 필요할 것이다.

• Journal of Acupuncture Research
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• 제15권2호
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• pp.301-310
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• 1998

Infrared thermographic imaging visualizes noninvasively various abnormal condition by detecting the skin temperature. As the imaging represents the objective condition by the changes in blood flow under the control of autonomic nervous system, it is used to diagnosis and monitor the lumboscral radiculopathy. And asymmetry is important in the diagnosis of disc herniation. The most common type of disc herniation occurs psoterolaterally. This frequently causes nerve root compression leading to a radiculopathy in the distribution of the involved nerve root, most of which also provoke the asymmetric changes in thermography. Central disc herniation, which accounts for 5% to 35% of disc herniation, is typically associated with low back pain. But radiculopathy is usually abscent unless central disc heriniaton is large enough to cause compression of the cauda equina. To evalute the diagnostic value of the thermographic imaging in the diagnosis of central disc herniation, the imaging of 15 normal subjects and 48 patients with central disc herniation documented by CT scan were analyzed. The patients had either bilateral radiculophathy or no radiculopathy. The imaging of patient group with non rediculopathy did not show any significant thermal difference to control. While bilateral radiculopathy group reveled hypothermic pattern compared twith control. Thermal difference between left and right side did not present any significance in non radiculopathy group but hypothermia in bilateral radiculopathy group. Large herniation group demonstrated hyperthemic pattern while the others showed no significant change. Cranial caudal thermal difference did not show any difference between experiment groups. These results shows that infrared thermographic imaging can be used central disc herniation with bilateral radiculopathy, while it seems to little useful on the diagnosis of non radiculopathic disc herniation.

• Journal of Korean Neurosurgical Society
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• 제30권4호
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• pp.456-462
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• 2001

Objective : Although cingulotomy has been applied to patients with affective disorders more frequently, there are numerous reports of its use for the control of severe pain. The goal of this study was to investigate the role of stereotactic bilateral anterior cingulotomy for intractable cancer pain. Method : Between January and June, 2000, we underwent stereotactic bilateral anterior cingulotomy in 6 patients for intractable cancer pain with poor response to opioids. The patients were suffering from widespread musculoskeletal or visceral pain. We made four lesions along the two tracks on either side of the cingulate cortex. Result : In all patients, pain reliefs after cingulotomy were dramatic and immediate. Five out of six patients did not require any opioids and one patient could reduce dose of opioids. There were no deaths or serious complications related to the procedure. Conclusion : These results suggested that a bilateral anterior cingulotomy might be useful method to control intractable cancer pain associated with the widespread metastatic disease. To provide rationale of bilateral anterior cingulotomy in intractable cancer pain, the theoretical mechanisms and role of bilateral anterior cingulotomy are discussed, along with our surgical techniques and the course of our patients.

• 한국콘텐츠학회논문지
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• 제20권9호
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• pp.520-530
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• 2020

본 연구의 목적은 작업기반 양측성 상지 훈련과 경 두개 직류 전류 자극이 뇌졸중 환자들의 상지기능에 미치는 효과를 알아보는 것이었다. 만성 뇌졸중 환자를 대상으로 작업기반 양측성 상지훈련과 경두개 직류전류자극을 실시한 실험군 13명, 작업기반 양측성 상지훈련만 실시한 대조군 13명으로 나누어 총 4주간, 50분씩, 주 5회 실시하였으며, 캐나다 작업수행 평가(Canadian Occupational Performance Measure;COPM), 가속도계 (Accelerometer), 퍼글 마이어 검사(Fugle-Meyer Assessment;FMA), 운동 홛동 척도(Motor Activity Log;MAL)를 사용하여 평가하였다. 연구 결과, 실험군과 대조군은 작업 만족도와 수행도, 환측과 건측의 사용량, 상지 기능의 회복과 움직임의 질에서 모두 유의미한 개선을 보였으며, 특히, 환측 사용량에서 실험군은 대조군 보다 유의한 차이를 나타냈다. 따라서 작업기반 양측성 상지 훈련과 경 두개 직류 전류 자극의 결합 중재가 뇌졸중 환자의 상지기능회복에 긍정적인 효과를 보임을 알 수 있었다.

• Journal of Mechanical Science and Technology
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• 제18권7호
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• pp.1131-1139
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• 2004

A new impedance controller is proposed for bilateral teleoperation under a time delay. The proposed controller does not need to measure or estimate the time delay in the communication channel using the force loop-back. In designing a stable impedance controller, absolute stability is used as a stability analysis tool, which results in a less conservative controller than the passivity concept. Moreover, in order to remove the conservatism associated with the assumption of infinite port impedances, the boundaries of human and environment impedance are set to finite values. Based on this, this paper proposes a parameter design procedure for stable impedance controllers. The validity of the proposed control scheme is demonstrated by experiments with a 1-dof master/slave system.

• The Korean Journal of Physiology
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• 제22권1호
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• pp.79-88
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• 1988

The effect of cervical proprioceptors on the control of eye movement and body posture was examined in unanesthetized labyrinthine intact and bilateral labyrinthectomized cats. Cervico-ocular reflex(COR) was elicited by stimulation of the cervical proprioceptors by means of sinusoidal rotation of head or body in the darkness. The following results were obtained: 1) In labyrinthine intact cats, sinusoidal rotation of the whole body elicited compensatory eye movement(vestibulo-ocular reflex: VOR); the direction of eye movement was opposite to the direction of head rotation. 2) Anticompensatory eye movement was observed by sinusoidal rotation of the body with head fixed in labyrinthine intact cats; the direction of eye movement was the same as the direction of head rotation. 3) Compensatory eye movement was observed by sinusoidal rotation of the head with body fixed or sinusoidal rotation of the body with head fixed in both acute and chronic bilateral labyrinthectomized cats. These results suggest that the cervical proprioceptors are important in the control of ocular movement and posture in the bilateral labyrintectomized cats, although they are questionable in labyrinthine intact cats.