• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1024-1027
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• 2005

This paper describes the performance index of mobile robot and development of testbed which is used to evaluate the index. The developed testbed has rectangular structure similar to a living room of home. It is semi-automation testbed system for evaluation of cleaning performance index. This system is composed with scattering and cleaning equipment of test materials, equipment rifting of objects in inner space and sides itself, vision processing system. To be consistent of performance evaluation of cleaning robot, we make use of camera in this system for the sake of measurement of robot s mobility, path and suction quantity.

• Bulletin of the Korean Chemical Society
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• 제31권1호
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• pp.41-46
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• 2010

In this work, we report on the characterization of six low-$T_g$ poly[methyl-3-(9-carbazolyl) propylsiloxane] based photorefractive (PR) composites sensitized with poly(3-hexylthiophene) (P3HT) in different concentrations, ranging from 0.2 to 1 wt %. At 632.8 nm, photoconductivity, space charge field, refractive index modulation, and grating buildup time were measured versus external electric field. The photoconductivity was strongly dependent on the visible light absorption and mobility. The magnitude of space charge field was affected by the conductivity contrast $\sigma_{ph}/(\sigma_{ph}+\sigma_d)$. The refractive index modulation increased with the magnitude of space charge field and the PR grating buildup speed increased with the photoconductivity.

• 기본간호학회지
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• 제20권3호
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• pp.220-229
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• 2013

Purpose: The purpose of the study was to investigate activities-specific balance confidence and risk of fallings among rehabilitation patients with impaired of mobility, and to identify the influence of activities-specific balance confidence on their risk of fallings. Method: Data for 132 rehabilitation patients were collected between October June 20 and August 20, 2012 at nine hospitals in a metropolitan city. Data were analyzed using t-test, ANOVA, Pearson correlation coefficient and stepwise multiple regression with SPSS/WIN 20.0. Result: The mean score for rehabilitation patients' activities-specific balance confidence was 40.18 out of a possible range of 0-100 and the mean score for risk of fallings among rehabilitation patients was 31.10 within a possible range of 0-125. Significant factors affecting the risk of fallings among the rehabilitation patients were 'activity level', 'dementia', 'body mass index', 'anxiety', and 'presence of a caregiver', which together explained 34.7% of the variance. The most significantly factor influencing rehabilitation patients' risk of fallings was activities-specific balance confidence which explained 23.5% of the variance. Conclusion: The study results indicate that activities-specific balance confidence as well as physical factors should be considered for interventions to decrease risk of fallings in rehabilitation patients with impaired mobility.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제9권3호
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• pp.206-212
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• 2009

This paper presents an optimized integrated task planning and control approach for manipulating a nonholonomic robot by mobile manipulators. Then, we derive a kinematics model and a mobility of the mobile manipulator(M2) platform considering it as the combined system of the manipulator and the mobile robot. to improve task execution efficiency utilizing the redundancy, optimal trajectory of the mobile manipulator(M2) platform are maintained while it is moving to a new task point. A cost function for optimality can be defined as a combination of the square errors of the desired and actual configurations of the mobile robot and of the task robot. In the combination of the two square errors, a newly defined mobility of a mobile robot is utilized as a weighting index. With the aid of the gradient method, the cost function is minimized, so the path trajectory that the M2 platform generates is optimized. The simulation results of the 2 ink planar nonholonomic M2 platform are given to show the effectiveness of the proposed algorithm.

• The Korean Journal of Pain
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• 제34권1호
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• pp.114-123
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• 2021

Background: Evaluation of the effectiveness of caudal epidural injection on pain, spine mobility, disease activity, and activity of daily living in axial spondyloarthritis (SpA) patients. Methods: A total sample of 47 patients were registered in this study. They were randomly assigned into 2 groups; Group I received caudal epidural injections, ultrasound-guided, with 1% lidocaine hydrochloride mixed with triamcinolone, whereas Group II did not receive any injections. All participants fulfilled the ASAS criteria for axial SpA. Outcome measures were as follows: visual analogue scale, Oswestry disability index (ODI), modified Schober test, lateral lumbar flexion, and Ankylosing Spondylitis Disease Activity Score (ASDAS) with assessment at baseline, 2 weeks, and 8 weeks post-treatment. This clinical trial was registered on clinicaltrials.gov under the number NCT04143165. Results: There was a significant difference between both groups regarding pain, ODI, spine mobility and ASDAS scores in favor of group I. This effect was at its maximum after 2 weeks. Despite the decline of this effect after 2 months, the difference between the groups remained significant. Higher disease activity, younger age, and shorter disease duration were associated with better outcomes. Conclusions: Epidural injection of lidocaine and triamcinolone is a cost effective and a practical technique for controlling pain, as well as improving the function of the spine and disease activity scores in axial SpA patients with acceptable complications and relatively sustained effect.

• 대한한의학회지
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• 제23권3호
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• pp.11-25
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• 2002

Objectives: This study was undertaken to investigate the effects of Yijin-tang and GamiYijin-tang on the gastrointestinal functions of rats Methods: Sprague-Dawley rats were used as experimental animals, and were administered Yijin-tang (Sample I group, 47.5 mg/ml) and GamiYijin-tang(Sample II group, 38.37 mg/ml, Sample ill group, 85.3 mg/ml) water extract once a day. Changes of gastric juice volume and intestinal mobility index were measured. The effects on colitis induced by dextran sulfate sodium in the rats were also observed. Results: 1. Gastric juice volume was decreased significantly in the sample I group (P<0.05) compared to the control group; there was not significant effect in the sample II and sample III groups. 2. The moving distance of carbon bolus was increased significantly in the sample n (p<0.05) and sample II (p<0.05) groups compared to the control group; there was not significant effect in the sample I group. 3. The intestinal mobility index was increased significantly only in the sample II group (P<0.05) compared to the control group. 4. The feces consistency was increased significantly on the 3rd and 5th day of the sample I group (P<0.05), on 3rd, 4th, and 5th day of the sample II (p<0.05) and the sample III (p<0.05) groups compared to the control group. 5. The feces property index was increased significantly only on the 5th day of the sample III group (p<0.05) compared to the control group. 6. The number of WBC and RBC, levels of hemoglobin and hematocrit were not changed in all sample groups compared to the control group. 7. The number of the type B Goblet cells were increased significantly in the sample II (p<0.05) and the sample III (P<0.05) groups, but the number of the type C Goblet cells were decreased significantly only in the sample ill group (P<0.05) compared to the control group. Conclusions: According to the above results, GamiYijin-tang compared to the Yijin-tang were decreased hight significantly in gastrointestinal mucose and histological antidiarrheal function with protection of the goblet cell more excellently were observed.

• Journal of Periodontal and Implant Science
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• 제25권2호
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• pp.397-406
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• 1995

The purpose of this study was to evaluate the changes of interproximal bone density by means of videodensitometer and to examine the clinical applicability of videodentitometer to assess the periodontal disease activity.Twelve interproximal sites, with periodontal pockets deeper than 5mm and vertical loss of bone on standard dental radiograph, were treated by subgingival curettage. The papilla bleeding index, the plaque index, the degree of mobility, the depth of pockets, and the level of attachment were measured. Standardized reproducible radiographs were taken by using the occlusal stent with parallelling film holder. The density of the interdental bone was measured on the radiographs by a videodensitometer at three levels: the most 'superficial' level; the 'deep' level, arbitrarily 1.5mm below: and the 'apical' level, where no bony changes were to be expected. The clinical parameter and the radiographical change were measured at initial, and 1 month, 3 months, and 6 months after treatment.The results were as follows :1. The papilla bleeding index and the degree of mobility decreased significantly until 3 months after subgingival curettage and showed the Same level in the remaining experimental periods. 2. The pocket depth mainly decreased due to the gingival recession until 1 month after treatment, but to the attachment gain after 1 month. 3. The density of the interdental bone did not show a significance increase until 1 month after treatment, but showed a steady increase throughout the 6 months of observation. 4. The close relationships were shown between the decrease in pocket depth and the gain of attachment and the improvement of bone density at 6 months after treatment.

• Journal of Periodontal and Implant Science
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• 제23권2호
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• pp.352-357
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• 1993

The purpose of the present study was to evaluate and compare the periodontal conditions of distally extending cantilever bridges(CB) and removable patial dentures(RPD). 78 patients treated with removable partial dentures were divided into 2 groups; bilateral free-ending (type 1) and unilateral free-ending(type 2). 43 patients treated with distally extending cantilever bridges were divided into 4 groups according to position of missing molars and number of including abutment tooth (or teeth) (type 1-4). Prosthodontic status of the abutment teeth were assessed; overcontoured crown, overhanged margin, embrasure closure, and others. Their Periodonted status were assessed with Plaque Index Gingial Index(GI) Sulcus bleedy Index (SBI), Tooth mobility(TM) & Posher depth(PPD). 35.9% of RPD group and 38.1 of CB grouphad disconfort on mastication with prosthetics. 16.7% of RPD group and 6.1% of CB group showed on opposing sites. Overhanged margins were 58.3% for RPD group and 86.6% for GB group. 45.5% of RPD group and 72% of CB group had embrasure closure on the abutment teeth. 30.5% of GB group had oversized pontic. Gb group showed much higher clinical parameters than RPD groups, but statistically not significant. Type 2 of RPD group showed lower GI and SBI, but statistically not significant. Type 3 of CB group showed the highest GI and SBI and type 2 showed the highest tooth mobility, but there is no differences between the same type of groups. In conclusion, only minor differences in periodontal conditions were recorded in RPD and CB group.

• 정보저장시스템학회:학술대회논문집
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• 정보저장시스템학회 2005년도 추계학술대회 논문집
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• pp.215-216
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• 2005

Nowadays, mobility as well as basic performances has been the important performance index of hard disk drive, It makes a system unstable to satisfy mobility, huge storage capacity and high transfer rate. Shock and vibration analysis has been important because hard disk drive could be exposed by external shock and vibration. The probability of this situation has been increasing. In this research, each component and the whole system of 2.5in HDD are made to a finite element model. Results of finite element analysis are compared with the results of experimental modal analysis. Shock analysis is executed for 2.5in hard disk drive.

• 융합신호처리학회논문지
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• 제7권1호
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• pp.38-44
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• 2006

The omnidirectional mobility of a mobile robot may lose significance in motion control, unless the isotropy characteristics of the mechanism is maintained well. This paper investigates the local and global isotropy of an omnidirectional mobile robot with three caster wheels. All possible actuations with different number and combination of rotating and steering joints are considered. First, the kinematic model based on velocity decomposition and the algebraic conditions for the local isotropy are obtained. Second, the geometric conditions for the local isotropy are derived and all isotropic configurations are fully identified. Third, the global isotropy index is examined to determine the optimal parameters in terms of actuation set, characteristic length, and steering link length.