• Journal of Biomedical Engineering Research
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• v.32 no.3
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• pp.230-236
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• 2011

The aim of this study was to investigate the alteration of lumbar spine and trunk postures on different load-carrying types and amounts under static loading. Two load-carrying types(unilateral carrying: UC vs. bilateral carrying: BC) and four different loads(0, 5, 10, and 15 kg) were randomly tested in this study. Carrying a heavy bag would affect human body posture, specifically lumbar spine curvature, which is considered as one of sources of back problems. Previous studies have not paid attention to the approach of the multisegment model of the lumbar spine and trunk. This study separated two compartments of trunk segment(the lumbar and thorax) in the analysis. The multisegment model of the lumbar spine in addition to Helen-Hayes marker set was used. Eight motion analysis cameras and a force plate were utilized. Ten male subjects(mean mass, $70.6{\pm}3.97$ kg; mean height, $178{\pm}4.18$ m) having no musculoskeletal disease participated in this study. We analyzed trunk angles in three anatomical planes and the spinal curvature in sagittal and frontal planes. Increased loading in both UC and BC significantly resulted in increases in trunk forward lean but only UC induced increases in trunk lateral lean. In addition, increased loading in BC produced flatten lumbar curvature in sagittal plane. As far as coupling motion, subjects tended to use axial rotation of the lumbar spine in transverse plane in response to increased UC loading. Finally, it is concluded that the increased static loading in UC rather than in BC tends to causes combined alterations of the spinal postures(sagittal and transverse planes together), which would be vulnerable to improper mechanical stresses on the spine.

• Journal of Digital Contents Society
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• v.5 no.1
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• pp.22-27
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• 2004

To handle the high level radioactive materials such a spent fuel, the master-slave manipulaters (MSM) are wide1y used as a remote handling device in nuclear facilities such as the hot cell with sealed and shielded space. In this paper, the Digital Mockup which simulates the remote operation of the Advanced Conditioning Process(ACP) is developed. Also, the workspace and the motion of the slave manipulator, as well as, the remote operation task should be analyzed. The process equipment of ACP and Maintenance/Handling Device are drawn in 3D CAD model using IGRIP. Modeling device of manipulator is assigned with various mobile attributes such as a relative position, kinematics constraints, and a range of mobility. The 3D graphic simulator using the extermal input device of spare ball displays the movement of manipulator. To connect the exterral input device to the graphic simulator, the interface program of external input device with 6 DOF is deigned using the Low Level Tele-operation Interface(LLTI). The experimental result show that the developed simulation system gives much-improved human interface characteristics and shows satisfactory reponse characteristics in terms of synchronization speed. This should be useful for the development of work`s education system in the environment.

• Journal of Biomedical Engineering Research
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• v.24 no.6 s.81
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• pp.495-500
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• 2003

The purpose of this investigation was to study the kinematics of joints between the foot segments based on computer graphic model during the stance? phase of walking. In the model, all joints were assumed to act as monocentric. single degree of freedom hinge joints. The motion of foot was captured by a video collection system using four cameras. The model fitted in an individual subject was simulated with this motion data. The range of motion of the first tarsometatarsal joint was $-8^{\circ}\;\~\;-13^{\circ}$, and the first metatarsophanlangeal joint was $-13^{\circ}\;\~\;-48^{\circ}$. The kinematic data of tarsometatarsal joint and metatarsophanlangeal joint were similar to the previous data. Therefore, our method based on the graphical computer model is considered useful.

• Korean Journal of Applied Biomechanics
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• v.33 no.4
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• pp.175-184
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• 2023

Objective: The purpose of this study is to investigate the effects of human motion and javelin kinematics during the energy transfer in javelin throwing on records, and to provide evidence-based training insights for athletes and coaches to enhance records. Method: Three javelin throw athletes (age: 22.67 ± 0.58 years, height: 178.33 ± 7.37 cm, weight: 83.67 ± 1.15 kg) were recruited for this study. Each athlete attempted ten maximum record trials, and the kinematic data from each performance were analyzed to determine their influence on the records. The Theia3d Markerless system was used for motion analysis. Results: Key factors were modeled and identified at each moment. In E1, main variables were COM Y (𝛽 8.162, p<.05) and COM velocity Z (𝛽 -72.489, p<.05); in E2, COM X (𝛽 -17.604, p<.05); in E3, COM X (𝛽 -18.606, p<.05), COM velocity Y (𝛽 38.694, p<.05), and COM velocity X (𝛽 66.323, p<.05). For the javelin throw dynamics in E3, key determinants were Attitude angle and Javelin velocity in the Y-axis. Conclusion: The study reveals that controlled vertical movement, center of mass management during braking, and enhanced pelvic rotation significantly improve javelin throw performance. These kinematic strategies are critical for record enhancement in javelin throwing.

• Physical Therapy Rehabilitation Science
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• v.13 no.2
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• pp.152-162
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• 2024

Objective: This study was conducted to analyze the effect of wearable Electromyography-controlled functional electrical stimulation (EMG-controlled FES) System on Gait Function and cardiopulmonary metabolic efficiency during walking in older adults. Design: Cross-section study Methods: Total 22 older adult participants suitable to selection criteria of this study participated in this study. The EMG-controlled FES System, which functions as a wearable physical activity assist FES system was used. All participations performed randomly assigned two conditions (Non-FES assist [NFA], FES assist [FA]) of walking. In all conditions, spatio-temporal parameters and kinematics and kinetics parameters during walking was collected via 3D motion capture system and 6 minutes walking test (6MWT) and metabolic cost during walking and stairs climbing was collected via a portable metabolic device (COSMED K5, COSMED Srl, Roma, Italy). Results: In Spatio-temporal parameters aspects, The EMG-controlled FES system significantly improved gait functions measurements of older adults with sarcopenia at walking in comparison to the NFA condition (P<0.05). Hip, knee and ankle joint range of motion increased at walking in FA condition compared to the NFA condition (P<0.05). In the FA condition, moment and ground reaction force was changed like normal gait during walking of older adults in comparison to the NFA condition (P<0.05). The EMG-controlled FES system significantly reduced net cardiopulmonary metabolic energy cost, net energy expenditure measurement at stairs climbing (P<0.05). Conclusions: This study demonstrated that EMG-controlled FES is a potentially useful gait-assist system for improving gait function by making joint range of motion and moment properly.

• Journal of Navigation and Port Research
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• v.39 no.3
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• pp.253-260
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• 2015

There are many efforts to mechanize the process for underwater port construction due to the severe and adverse working environment. This paper presents an underwater construction robot to level rubbles on the seabed for port construction. The robot is composed of a blade and a multi-functional arm to flatten the rubble mound with respect to the reference level at uneven terrain and to dig and dump the rubbles. This research analyzes the kinematics of the blade and the multi-functional arm including track and swing motions with respect to a world coordinate assigned to a reference depth sensor. This analysis is conducted interfacing with the position and orientation sensors installed at the robot. A hydraulic control system is developed to control a track, a blade and a multi-functional arm for rubble leveling work. The experimental results of rubble leveling work conducted by the robot are presented in land and subsea. The working speed of the robot is eight times faster than that of a human diver, and the working quality is acceptable. The robot is expected to have much higher efficiency in deep water where a human diver is unable to work.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.10
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• pp.3873-3879
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• 2010

Home service robot are not working in the fixed task such as industrial robot, because they are together with human in the same indoor space, but have to do in much more flexible and various environments. Most of them are developed on the base of the wheel-base mobile robot in the same method as a vehicle robot for factory automation. In these days, for holonomic system characteristics, omni-directional wheels are used in the mobile robot. A holonomicrobot, using omni-directional wheels, is capable of driving in any direction. But trajectory control for omni-directional mobile robot is not easy. Especially, azimuth control which sensor uncertainty problem is included is much more difficult. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A trajectory controller for an omni-directional mobile robot, which each motor is controlled by an individual PID law to follow the speed command from inverse kinematics, needs a precise sensing data of its azimuth and exact estimation of reference azimuth value. It has imprecision and uncertainty inherent to perception sensors for azimuth. In this paper, they are solved by using fuzzy logic inference which can be used straightforward to perform the control of the mobile robot by means of the fuzzy behavior-based scheme already existent in literature. Finally, the good performance of the developed mobile robot is confirmed through live tests of path control task.

• Journal of Korea Game Society
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• v.9 no.5
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• pp.25-41
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• 2009

The objective of this study is to develop an analytic framework to code systematically the gamer's behaviour in MMO(Massively Multi-player Online) gameplay experience, to explore their gameplay as a problem solving procedure empirically. Previous studies about model human processor, content based protocol, and procedure based protocol are reviewed in order to build the outline of the analytic framework related to MMO gameplay. The specific gameplay actions and contents were derived by using concurrent protocol analysis method through the empirical experiment executed in MMORPG gameplay. Consequently, gameplay are divided into six actions : kinematics, perception, function, representation, simulation, and rule (heuristics, following, and transcedence). The analytic framework suitable for MMO gameplay was built. As a result of this study, we found three rule spaces in the problem solving domain of gameplay that are an heuristics, a following of the rule, and a transcendence of the rule. 'Heuristics' denotes the rule action that discovers the rule of game through trial-and-error. 'Following' indicates the rule action that follows the rule of game embedded in game by game designers. 'Transcendence' presents the rule action that transcends that. The new discovered rule spaces where 'Following' and 'Transcendence' actions occur and the gameplay pattern in them is provided with the key basis to determine the level design elements of MMO game, such as terrain feature, monster attribute, item, and skill et cetera. Therefore, this study is concludes with key implications to support game design to improve the quality of MMO game product.

• Clinical and Experimental Reproductive Medicine
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• v.36 no.1
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• pp.45-53
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• 2009

Objectives: To determinate the optimal culture condition to maintain lifespan in human sperm, we evaluated the effect of different temperature on sperm motility and viability up to 5 days in normal specimens. Methods: Ejaculated semen samples with normal semen parameters were gently washed in HEPES buffered Tyrod's-Albumin-Lactate-Pyruvate (HTALP) media. Each 5 ml of HTALP + 0.3% albumin with $1{\times}10^6$ sperm/ml was incubated for 5 days in $37^{\circ}C$, $22^{\circ}C$, and $4^{\circ}C$. The sperm motility and kinematics were analyzed using computer assisted sperm analysis (CASA), membrane integrity was assessed by hypoosmotic swelling test (HOST), and capacitation status was evaluated by chlorotetracycline (CTC) fluorescence pattern. Each parameter was measured on day 1, 3, and 5, respectively. Results: The motility, viability and live/uncapacitated pattern were demonstrated significantly in temperature- and time-dependent difference (p<0.05). While the sperm cultured for 1 day in each temperature was not significantly different, the sperm cell kept in $22^{\circ}C$ after 3 days were preserved sperm motility, viability, membrane integrity, and F pattern better than in other culture temperatures. Conclusions: HTALP can be used a basic medium for culture and longevity preservation, and sperm cell kept at $22^{\circ}C$ is beneficial for assisted reproductive techniques.

• Applied Chemistry for Engineering
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• v.31 no.5
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• pp.526-531
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• 2020

Manganese ions contained in water phase are acting as a toxic substance in the human body and also known to affect the nervous system. In particular, effective treatment technology is required since manganese removal is difficult due to its high solubility in a wide pH range. In this study, Prinus densiflora bark was chemically modified with hydrogen peroxide, and the modified adsorbent was used for removing manganese ions in an aqueous solution. The modified adsorbent showed high removal capacity of 82.1 and 56.2%, respectively, at conditions of 5 and 10 mg/L manganese ions. Also, the adsorption isotherm from the data was applied to the theoretical equation. As a result, the adsorption behavior of manganese ions was better suited to the Langmuir than Freundlich model, and it was also found from kinematics that the pseudo-second order kinetic model was more suitable. In addition, the changes of Gibbs free energy indicated that the adsorption reaction became more spontaneously with increasing temperature. Consequently, these experimental results may be used as a water treatment technology which can efficiently treat manganese ions contained in water.