• Journal of Institute of Control, Robotics and Systems
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• v.4 no.3
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• pp.342-348
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• 1998

A majority of industrial robots are controlled by a simple joint servo control of joint actuators. In this type of control, the performance of control is greatly influenced by the joint interaction torques including Coriolis and centrifugal forces, which act as disturbance torques to the control system. As the speed of the robot increases, the effect of this disturbance torque increases, and hence makes the high speed - high precision control more difficult to achieve. In this paper, the joint disturbance torque of robots is analyzed. The joint disturbance torque is defined using the coefficients of dynamic equation of motion, and for the case of a 2 DOF planar robot, the conditions for the minimum and maximum joint disturbance torques are identified, and the effect of link parameters and joint variables on the joint disturbance torque are examined. Then, a solution to the optimal path placement problem is propose that minimizes the joint disturbance torque during a straight line motion. The proposed method is illustrated using computer simulation. The proposed solution method can be applied to a class of robots that are controlled by independent joint servo control, which includes the vast majority of industrial robots.

• Korean Journal of Child Studies
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• v.36 no.4
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• pp.71-89
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• 2015

The present study examined the effects of child maltreatment and self-control on reactive aggression amongst middle-school students and investigated whether students' self-control had any form of moderating effect on the relationship between child maltreatment and reactive aggression. The participants of this study consisted of 482 students (204 boys and 278 girls) from four middle schools located in Seoul and Gyoung-gi province. The Peer Conflict Scale (Marsee, Kimonis, & Frick, 2004) was used to measure the level of reactive aggression. The level of child maltreatment was assessed by means of the Child Trauma Questionnaire (Bernstein & Fink, 1998). Self-control was measured by the Self-Control Scale (Nam, 1999). Statistical analyses of data used for this study comprised the following methods; frequency, mean, standard deviation, and hierarchical regression. The moderating effect of self-control was analyzed by using the procedures proposed by Baron and Kenny (1986). The results indicated that the level of child maltreatment increased the level of reactive aggression whereas the level of self-control decreased the level of reactive aggression. In addition, self-control moderated the influence of child maltreatment on student's reactive aggression. As a result, the influence of child maltreatment upon reactive aggression was greater when the level of self-control was low, compared to when it was high.

• The Journal of Internal Korean Medicine
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• v.22 no.4
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• pp.601-611
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• 2001

Objectives : We aimed to identify the dose-dependent inhibitory effects of Cheonsagunja-tang(喘四君子湯), leech(Hirudo medicinalis/水蛭) roasted with Ephedrae Herba(麻黃) on the mRNA expression of IL-6, IL-16, GM-CSF involved in the asthma model. Methods : In the study BEAS-2B cell lines, human epithelial cells were used. These cells were stimulated with tumor necrosis factor(TNF)-${\alpha}$ for artificial inflammatory expression. ${\beta}$-actin messenger RNA(mRNA) was used by internal standard. After 24 hours of the Cheonsagunja-tang, leech-treatment, total cellular RNAs were collected treating RNA zol directly on the living cells. Then the transcriptional activities of IL-6, 16 and GM-CSF were measured by RT-PCR with electrophoresis. Results: In the Cheonsagunja-tang study, the mRNA expression of IL-6 showed 30% transcriptional inhibitory effect compared to the control group in the $100{\mu}l/ml$ category(p<0.005). In the IL-16, there was 26%, 31% and 31% transcriptional inhibitory effect compared to the control groups in the $4{\mu}l/ml$, $20{\mu}l/ml$ and $100{\mu}l/ml$ categories, respectively(p<0.05). In the GM-CSF, the experimental group had 56% transcriptional inhibitory effect compared to the control group in the $100{\mu}l/ml$ category(p<0.001). In other concentrations, there was no inhibitory effect. In the leech study, the mRNA expression of IL-6 showed 37% transcriptional inhibitory effect compared to the control group in the $100{\mu}l/ml$ category(p<0.001). In the IL-16, there was 63% and 67% transcriptional inhibitory effect compared to the control groups in the $20{\mu}/ml$ and $100{\mu}/ml$ categories, respectively(p<0.001). In the GM-CSF, there was 64% and 68% transcriptional inhibitory effect compared to the control groups in the $20{\mu}l/ml$ and $100{\mu}l/ml$ categories, respectively(p<0.001). In other concentrations, there was no inhibitory effect. Conclusions : This study shows that Cheonsagunja-tang and leech roasted with Ephedrae Herba have dose-dependent inhibitory effects on the mRNA expression of IL-6, IL-16 and GM-CSF in BEAS-2B cell lines, human epithelial cells.

• Journal of Acupuncture Research
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• v.19 no.2
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• pp.65-77
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• 2002

Objective : This study was undertaken to determine which compound of Bee Venom for herb-acupuncture has cytotoxicity on mouse mast cell line. Methods : We compared crude bee venom and its compounds such as melittin, mast cell degranulating peptide (MCD peptide), apamin with control groups on cytotoxicity by 3-(4,5-dimethylthiazol-2-yl)-2,5-diphenyltetrazolium bromide (MTT) assay. Results & Conclusion : 1. Crude bee venom showed significant cytotoxic effect(p<0.01) in 1 hour treatment with $1{\mu}g/m{\ell}$ in comparison with control group in 1 hour treatment with low concentration of $10-4{\mu}g/m{\ell}$, $10-3{\mu}g/m{\ell}$, $10-2{\mu}g/m{\ell}$, $10-1{\mu}g/m{\ell}$ and $1{\mu}g/m{\ell}$, but it showed no significant cytotoxic effect in 6 hours treatment. 2. Melittin group showed no significant cytotoxic effect in comparison with control group in 1 and 6 hours treatment with low concentration of $10-4{\mu}g/m{\ell}$, $10-3{\mu}g/m{\ell}$, $10-2{\mu}g/m{\ell}$, $10-1{\mu}g/m{\ell}$ and $1{\mu}g/m{\ell}$. 3. MCD peptide and Apamin group showed no significant cytotoxic effect in comparison with control group in 1 and 6 hours treatment with low concentration of $10-4{\mu}g/m{\ell}$ $10-3{\mu}g/m{\ell}$, $10-2{\mu}g/m{\ell}$, $10-1{\mu}g/m{\ell}$ and $1{\mu}g/m{\ell}$. 4. Crude bee venom showed significant cytotoxic effect(p<0.01) in 1 and 6 hours treatment in comparison with control group in 1 and 6 hours treatment with high concentration of $10{\mu}g/m{\ell}$, $20{\mu}g/m{\ell}$ and $102{\mu}g/m{\ell}$. 5. Melittin group showed significant cytotoxic effect(p<0.01) in 1 hour treatment in comparison with control group in 1 hour treatment with high concentration of $10{\mu}g/m{\ell}$ but it showed no significant cytotoxic effect in 6 hours treatment. 6. Crude bee venom and its compounds have more cytotoxic effect in 1 hour treatment than in 6 hours treatment. It means cytotoxicity tends to decrease according to the treatment time.

• Journal of Digital Convergence
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• v.18 no.9
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• pp.145-157
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• 2020

The purpose of this study is first to analyze the effects of university students' autonomous motivations to start a business on their attitude toward entrepreneurship, subjective norms, and perceived behavioral control, second to analyze the effect of university students' attitude toward entrepreneurship, subjective norms, and perceived behavioral control on entrepreneurship intentions, and third to analyze the moderating effect of entrepreneurship education for university students on entrepreneurship intention. Based on the previous research, a research model and a research hypothesis were established. 251 questionnaire responses were collected through a survey of university students in Seoul and Gyeonggi Province and empirical analysis was performed using SPSS 24 and AMOS 23. As a result of the analysis, first, the autonomous motivation was found to have a positive effect on attitude, subjective norms, and perceived behavioral control. In addition, attitude, subjective norms, and perceived behavioral control all showed a positive effect on entrepreneurship intention. Entrepreneurship education for university students was found to control the effect of subjective norms on entrepreneurship intention and the effect of perceived behavioral control on entrepreneurship intention in the positive direction. The results of this study can contribute to the establishment of more effective educational policies and startup support program planning that can increase the entrepreneurial intention of university students.

• Journal of Acupuncture Research
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• v.37 no.3
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• pp.177-180
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• 2020

Background: The aim of this study was to examine whether the effects of acupotomy therapy were beneficial for the treatment of protrusion of lumbar intervertebral disc. Methods: The number of patients (n = 80) were equally assigned into treatment group and control group. Treatment group was given acupotomy therapy twice a week, and control group was given acupuncture 3 times a week, for 4 weeks. The beneficial effect and changes in score of the Japan Orthopedic Association (JOA) for low back pain were observed. Results: Among 40 cases in the treatment group, there were 25 (62.5%) with an excellent effect, 13 (32.5%) with good effect, 1 (2.5%) with a medium effect and 1 (2.5%) with poor effect, with the total experiencing an excellent/good effect of 95.0%. Among 40 cases in the control group, there were 11 (27.5%) with an excellent effect, 17 (42.5%) with good effect, 10 (25.0%) with a medium effect, and 2 (5.0%) with poor effect, with an excellent/good rate of 70.0%. The result of the rank sum test showed Z = -4.923, p < 0.05 in the comparison, indicating a significantly better outcome following acupotomy compared with acupuncture. JOA scores increased in both groups after treatment (p < 0.05), which was more significant in the acupotomy treatment group (p < 0.05). Conclusion: Acupotomy therapy has a beneficial effect on protrusion of lumbar intervertebral disc.

• Journal of Distribution Science
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• v.16 no.10
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• pp.39-46
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• 2018

Purpose - this research is to examine the relationship between Franchise's experiential value, lovemarks, respectful recognition, and brand loyalty focusing on the control variables. Control variables such as age, occupation, education, monthly income, and kinds of restaurant are included to measure influence on these as well. Research, design, data, and methodology - 500 questionnaires were distributed from June 10th to July 10th, 2017. 225 respondents were totally included in this analysis using SPSS and AMOS program. In order to test hypothesis, factor analysis and reliability verification firstly were employed, and then covariance structure analysis was used. Results - Empirical results are as followed. First, it can be mentioned that the esthetics of dessert cafe is analyzed to have a positive effect on the perception of love and respectful perception. Second, playfulness has a positive effect on perception of love. Third, respect perception has a positive effect on brand loyalty. When variables such as age, occupation, education, monthly income, and restaurant type were used as control variables, only monthly income had a significant effect on respect recognition. This shows that the control variable has a significant effect on the causal relationship of the variables. Conclusions - In summary, it can be stated that it is necessary for marketers to establish marketing strategies in order to boost customers' experiential value such as esthetics of franchise and also to strengthen lovemarks for respectful recognition and brand loyalty.

• Journal of Environmental Health Sciences
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• v.19 no.2
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• pp.61-68
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• 1993

This study aimed at evaluating the preventive effect of Glycyrrhizae Radix and Glycine Semen Extract (GGE) against NAC intoxication. NAC is widely used pesticide in many countries and derivative of carbamats and GGE is well-known antidote to some kinds of toxicants which was referenced from oriental medicine text. The results obtained were as follows: 1) After injecting NAC (100,140 mg/kg), determined Ch.E activities decrease 44.77~50.86% for all experimental groups at one hour after exposure, and were gradually recovered in the course of time. 2) In toxicity test of GGE, there were no sign of death or poisoning up to 5000 mg/kg of GGE for p.o. in mice. From this, we suggest that the LD$_{50}$ of GGE would be above 5000 mg/kg. 3) The Ch.E activity in control group was 471.43 $\pm$ 4.85 luff, group I was 215.27 $\pm$ 23.13 IU/l, group II and group III were 304.03 $\pm$ 9.03 IU/l, 433.81 $\pm$ 21.73 IU/l, respectively. Compare to the control group with experimental group I, remarkable difference revealed (p< 0.01), but the Ch.E activities of group II and III were similar to those of control group. This is indicate that GGE possess a potent activity of recovering Ch.E. GGE had a very remarkable preventive effect on NAC toxicity, and it was able to know that Ch.E activity dramatically increased according to GGE dosage increasing. 4) When GGE and NAC were administered by p.o. simultaneously, LD$_{50}$ and confidence intervals of each group were as follows: the control group: 270 mg/kg, 234.99~310.23 mg/kg, group I and II (GGE 500 mg/kg, 1000 mg/kg by p.o.): 310 mg/kg, 271.69~353.71mg/kg, and 325 mg/kg, 285.09~370.50 mg/kg, respectively. In the comparison with the control group, the protective index was 1.1 and 1.2, respectively. From the above result, GGE has reactivation effect to decreasing Ch.E activity induced by exposure to NAC. Furthermore, GGE shows a preventive effect on NAC intoxication.

• Korean Journal of Oriental Medicine
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• v.3 no.1
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• pp.241-260
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• 1997

Effect of Jeongkicheonhyangtang and Kamijeongkicheonhyangtang have been experimentally studied. The results have been obtained as follows : 1. It is proved that analgecic effect on sample I group and sample II group are clearly decreased than control group. Thus, the statistically significant decrease is p<0.005. 2. It is proved that anti-inflammatory effect on sample I group and sample II group are decreased compare to control group. Thus, the statistically significant decrease of sample I group is p<0.05 in 30 and 60-minute, p<0.01 in 90-minute, and p<0.005 in 120 and 180-minute. And those of sample ll group is p<0.05 in 30 and 60-minute and p<0.005 in 90, 120 and 180-minute. 3. It is proved that appearance of gastric ulcer is decreased compare to the control group and the statistically significant decrease is p<0.05. 4. It is proved that plasma epinephrine contents of sample I and II group are clearly decreased compare to the Control Group and the statistically significant decrease is p<0.005. 5. It is proved that plasma norepinephrine contents of sample I group is drastically decreased compare to the control group and the statistically significant decrease is p<0.005. 6. It is proved that plasma dopamine contents of sample I and II group are decreased than the contort group and statistically significant decrease of the sample I group is p<0.005, and those of the sample II group is p<0.05. As the above mentioned results of experiment, It is belived that Jeongklcheonhyang and Kamijeongkicheonhyang have effect for stress.

• Korean Journal of Pharmacognosy
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• v.44 no.1
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• pp.83-90
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• 2013

The aim of this study was to evaluate the effect of hot water extract of peduncle obtained from Hovenia dulcis Thunb (HD) which is commercially developed for the protective effect on the alcoholic hepatotoxicity, on the endurance capacity for weight loaded forced swimming mice. The swimming times to exhaustion in mice fed 100 and 200 mg/kg HD for 2 weeks were prolonged 3.6 and 3.7 fold, and for 4 weeks 1.9 and 2.7 fold compared with each vehicle control ($42.8{\pm}20.5$ min and $67.7{\pm}47.8$ min, for 2 and 4 weeks), respectively. Blood biochemical parameters for ALT, AST, creatinine and BUN were not significantly different between from HD fed or control mice. Although HD fed mice swam over 2 fold longer time than vehicle control mice at 4 weeks, blood biomarkers of physical fatigue such as glucose, triglyceride and free fatty acid, lactate were not significant different and even tended to ameliorate. Hepatic lipid peroxidation and SOD activity did not significantly change in HD fed- and vehicle control exhausted swimming mice at 2 or 4 weeks. However, catalase activity in HD-fed mice was significantly increased in a dose-dependent manner compared with vehicle control mice. The present study indicates that HD improved physical fatigue and exercise performance in mice. Therefore, it has a potential for the pharmacological effect of anti-fatigue.