무인 화물이송 이동로봇의 설계에 관한 연구

정동혁(Dong-Hyuk Jeong),박진일(Jin-Il Park),김용태(Yong-Tae Kim) 한국지능시스템학회 2013 한국지능시스템학회논문지 Vol.23 No.3

본 논문은 물류 창고 내에서 화물이송을 위한 무인이송로봇을 설계 제작하고 운영기법을 제안한다. 무인이송로봇의 자율 주행을 위해서는 먼저 실시간으로 자기위치를 파악하고 목표지점까지의 경로를 추종해야 한다. 기존의 여러 방식이 제안되었지만 설치 및 유지보수에 대한 비용이 많이 들기 때문에 목적에 따라 유동적으로 작업 환경을 바꾸기는 어렵다는 단점이 있다. 무인 화물이송로봇의 리프트는 상하 운동을 통하여 수화물이 적재된 팔레트의 승하차가 가능하며, 구동 중 다양한 환경에서 여러 기능을 수행하기 위해 초음파센서, LRF센서, RFID, QR코드, 카메라를 장착하였으며, 목표지점까지 효과적으로 주행하며 화물운송을 하는 운영방법을 제안하였다. 제안한 주행 및 운영기법은 실험을 통하여 검증하였다. In the paper, we design a autonomous mobile robot for freight transportation and propose an operation method of the robot in the warehouse. In order to implement autonomous navigation, it is needed to recognize the position of the robot and track the path to the target. Previous methods are hard to change the workspace environment and need high cost to install and keep a maintenance of the system. The lifter of freight transportation robot is designed to load and unload a baggage through up and down motion. Also, ultrasonic sensor, RFID, QR-code and camera sensor is used to carry out various functions while the robot navigates in the various environment. We design an operation method of the mobile robot in order to effectively arrive a goal position and transport a freight. The proposed methods are verified through various experiments.

복합운동과 크레아틴 복용이 요통환자의 근기능과 통증에 미치는 영향

정동혁 ( Dong Hyuk Jeong ),김수근 ( Soo Keun Kim ),서정훈 ( Jeong Hun Seo ) 한국운동영양학회 2009 Physical Activity and Nutrition (Phys Act Nutr) Vol.13 No.3

The purpose of this study was to examine the effects of combined exercise and creatine consumption to muscular function and pain in 24 middle-aged men in back pain patients. The patients were categorized into three groups; 8 patients underwent combined exercise alone, 8 patients underwent creatine consumption as well as combined exercise and the control group was 8 patients without these options. The follow-up period was 10 weeks doing aerobic exercise, resistance exercise or creatine consumption. The group that underwent creatine intake as well as combined exercise simultaneously showed significant increase on the 0°, 12°, 24°, 36°, 48°, 60° and 72° of back muscular power in the muscular function changes compared to control group, furthermore, it showed statistically significant improvement on the 24°, 36°, 48° and 60° in the combined exercise group compared to control group. However, between the group that underwent creatine consumption as well as combined exercise and the group that underwent combined exercise, the back muscular power was high in the all angles, but it was not statistically significant. The group that performed both creatine consumption and combined exercise showed pain relief relatively, comparing with either combined exercise or control group and the pain was also alleviated in the combined exercise group.

화물이송을 위한 전방향 이동로봇의 설계에 관한 연구

정동혁(Dong-Hyuk Jeong),박종한(Jong-Han Park),박진일(Jin-Il Park),김용태(Yong-Tae Kim) 대한전기학회 2012 정보 및 제어 심포지엄 논문집 Vol.2012 No.10

복합 바퀴-다리 이동형 로봇의 저전력 보행 기반 장애물 회피 알고리즘

정동혁(Dong-Hyuk Jeong),이보훈(Bo-Hoon Lee),김용태(Yong-Tae Kim) 한국지능시스템학회 2012 한국지능시스템학회논문지 Vol.22 No.4

최근 다양한 환경에서 지능형 로봇의 안정된 이동방법에 대한 연구가 활발히 이루어지고 있다. 본 논문에서는 복합 바퀴-다리형 이동 로봇의 설계 방법을 제안하고, LRF(Laser Range Finder)센서를 이용한 복합 이동형 로봇의 저전력 보행 기반 장애물 회피 알고리즘을 제안하였다. 로봇의 자세 안정화와 소비에너지를 줄이기 위해 모터 전류값을 바탕으로 자세를 보정하여 저전력 보행 알고리즘을 구현하였고, 이를 기반으로 LRF센서를 이용한 장애물 회피 알고리즘을 제안하였다. 로봇의 각 다리에서 소비되는 전력을 고르게 분포시키게 자세를 보정하여 보행을 안정화시키고, 최단 경로로 장애물을 회피하여 이동함으로써 전체 소비 에너지를 감소시키며 보행 안정성을 향상하였다. 본 연구에서 제안한 방법들은 실제 복합 이동 로봇의 보행 및 장애물 회피 실험을 통해 성능을 검증하였다. There are many researches to develop robots that improve its mobility to adapt in various uneven environments. In the paper, a hybrid wheeled and legged mobile robot is designed and a obstacle avoidance algorithm is proposed based on low power walking using LRF(Laser Range Finder). In order to stabilize the robot’s motion and reduce energy consumption, we implement a low-power walking algorithm through comparison of the current value of each motors and correction of posture balance. A low-power obstacle avoidance algorithm is proposed by using LRF sensor. We improve walking stability by distributing power consumption and reduce energy consumption by selecting a shortest navigation path of the robot. The proposed methods are verified through walking and navigation experiments with the developed hybrid robot.

무인 화물이송 이동로봇의 설계에 관한 연구

정동혁(Dong-Hyuk Jeong),박진일(Jin-Il Park),김용태(Yong-Tae Kim) 한국지능시스템학회 2013 한국지능시스템학회 학술발표 논문집 Vol.23 No.1

복합 바퀴-다리 이동형 로봇의 저전력 보행 기반 장애물 회피 알고리즘

정동혁(Dong-Hyuk Jeong),이보훈(Bo-Hoon Lee),김용태(Yong-Tae Kim) 한국지능시스템학회 2012 한국지능시스템학회 학술발표 논문집 Vol.22 No.1

서킷 웨이트트레이닝이 노인들의 등속성 근력과 신체구성에 미치는 영향

장정훈,정동혁,Chang Ghung-Hoon,Jeong Dong-Hyuk 대한물리치료학회 2003 대한물리치료학회지 Vol.15 No.2

The purpose of this study was to investigate the effects of circuit weight training(CWT) on isokinetic muscle strength and body composition in elderly. The subjects who engaged in this experiment exercised at 40$\%$ of 1-RM, 12 repetitions, followed by 15 sec as the subject moved to the each break training program which was consist of the circuit of 10 stations performed on 3 set a day, circuits 3 days a week during 10 weeks. The assessment of isokinetic factor was in concentric flexors and extensors of right and left knee joint. Tests were performed on the Cybex 770 Isokinetic Dynamometer and body composition were estimated the three parts of chest, abdomen and anterior thigh by using skinfold caliper, calculated the average and followed by Seri and Brozek way. Statistical analysis were performed using analysis of variance paired t-test, accepting level for all significant was above $\alpha$=.05 and $\alpha$=.01. Following is as a result of 10 weeks circuit weight training. 1. At the $60_{\circ}$ /sec, the right and left knee isokinetic concentric flexors and extensors peak torque increased significantly (p < .01). 2. At the $180_{\circ}$ /sec, the right and left knee isokinetic concentric flexors and extensors peak torque increased significantly (p < .01). 3. At the $60_{\circ}$ /sec, the right and left knee isokenetic concentric flexors and extensors average power increased significantly(p < 0.5, p < .01) and at the $180_{\circ}$ /sec, the right extensors didn't show any statistical significant. 4. At the $60_{\circ}$ /sec, the right and left knee Isokinetic concentric flexors and extensors total work increased significantly(p < .05, p < .01) but at the $180_{\circ}$ /su right concentric flexors didn't show any statistical significant. 5. The body composition changed significantly(p < .01). These results suggest that 10 weeks circuit weight training increases the peak torque, average power, total work significantly and decreases the $\%$body fat significantly.

임상물리치료에 있어서 아로마테라피의 활용

장정훈,정동혁,박래준,Chang Chung-Hoon,Jeong Dong-Hyuk,Park Rae-Joon 대한물리치료학회 2003 대한물리치료학회지 Vol.15 No.1

Our health is intimately connected to the health of our environment. The contemporary world view which sees a radical distinction between humans as subjects and world as object can obscure our recognition of how much we rely on nature for health and survival. Indigenous traditions and contemporary scholars remind us that we live in a universe in which all things are connected, and in which nature continues to offer its gifts in co-creative partnership for the health and wellbeing of all. Living in awareness of our relationship with nature enables us to open more to the experience of nature's nurturing. Many complementary therapies derive from ancient practices that involve nature in healing partnership. Essential oils have been used for thousands of years. Hippocrates claimed that the way to health was through aromatic baths and massages. Much anecdotal evidence exists regarding aromatherapeutic positive effects on recipients. Aromatherapy is a branch of complementary or alternative therapy which is increasing in popularity, yet has scant scientific credibility. Aromatherapy should be defined as treatment using odors and practised as such. However, essential oils are usually used in conjunction with therapeutic massage and often combined with counselling of some kind. Aromatherapy complements and enhances the therapeutic powers of massage. Massage is one of the most wonderful ways to relax and is throughly beneficial to health. Massage can help unknot tense and aching muscles and other minor symptoms of stress, leaving patients fresh and energized. As the use of aromatherapy within a health care setting has grown so rapidly in recent years, and will continue to do so, the need for suitable training has become apparent. No health service can afford the risk of having staff who are inadequately trained in the practice of aromatherapy using essential oils incorrectly on those in a state of ill-health, especially if the essential oils used are not to a standard suitable for therapeutic use. Training to an acceptable level in aromatic therapy is essential for safety and effectiveness. Knowledge of the nature and make-up of essential oils, their effect on the body and the emotions, and how, when, and where to apply them is imperative in order for them to be beneficial to a patient's health. In order to achieve best practice, further research is necessary to explore the use of aromatherapy in the management of multiple disorder.

서킷 웨이트트레이닝이 노인들의 등속성 근력과 신체구성에 미치는 영향

장정훈,정동혁,Chang Ghung-Hoon,Jeong Dong-Hyuk 대한물리치료학회 2003 대한물리치료학회지 Vol.15 No.4

The purpose of this study was to investigate the effects of circuit weight training(CWT) on isokinetic muscle strength and body composition in elderly. The subjects who engaged in this experiment exercised at $40\%$ of 1-RM, 12 repetitions, followed by 15 sec as the subject moved to the each break training program which was consist of the circuit of 10 stations performed on 3 set a day, circuits 3 days a week during 10 weeks. The assessment of isokinetic factor was in concentric flexors and extensors of right and left knee joint. Tests were performed on the Cybex 770 Isokinetic Dynamometer and body composition were estimated the three parts of chest, abdomen and anterior thigh by using skinfold caliper, calculated the average and followed by Seri and Brozek way. Statistical analysis were performed using analysis of variance paired t-test, accepting level for all significant was above ${\alpha}=.05$ and ${\alpha}=.01$. Following is as a result of 10 weeks circuit weight training. 1. At the $60_{\circ}$ /sec, the right and left knee isokinetic concentric flexors and extensors peak torque increased significantly(p<.01). 2. At the $180_{\circ}$ /sec, the right and left knee isokinetic concentric flexors and extensors peak torque increased significantly(p<.01). 3. At the $60_{\circ}$ /sec, the right and left knee isokenetic concentric flexors and extensors average power increased significantly(p<.05, p<.01) and at the $180_{\circ}$ /sec, the right extensors didn't show any statistical significant. 4. At the $60_{\circ}$ /sec, the right and left knee Isokinetic concentric flexors and extensors total work increased significantly(p<.05, p<.01) but at the $180_{\circ}$ /sec right concentric flexors didn't show any statistical significant. 5. The body composition changed significantly(p<.01). These results suggest that 10 weeks circuit weight training increases the peak torque, average power, total work significantly and decreases the $\%$body fat significantly.

노인물리치료를 위한 저항트레이닝 처방에 대한 탐색

신홍철,정동혁,Shin Hong-Cheul,Jeong Dong-Hyuk 대한물리치료학회 2003 대한물리치료학회지 Vol.15 No.1

There can be little dissension that the ultimate goal of all physical therapy interventions with the elderly is to restore or maintain the highest level of function possible for the individual. Whenever physical therapists take on this challenge, they assist elders in maintaining their identities as competent adults. Advancing age is associated with profound changes in body composition, including increased fat mass, decreased fat-free mass(particularly muscle), decreased total body water and decreased bone density. Along with these changes in body compositions, and perhaps as a direct result of them, elderly people have lower energy needs, reduced strength and functional capacity and a greatly increased risk for such diseases as noninsulin-dependent diabetes mellitus and osteoporosis. Resistance training is considered a promising intervention for reversing the loss of muscle function and the deterioration of muscle structure that is associated with advanced age. This reversal is thought to result in improvements in functional abilities and health status in the elderly by increasing muscle mass, strength and power and by increasing bone mineral density. In the past couple of decades, many studies have examined the effects of Resistance training on risk factors for age-related diseases or disabilities. We have explored the positive and negative aspects of older adults' participation in resistance training programs. The benefits to older adults are reported to be increased strength, endurance, muscle capacity, and flexibility; more energy; and improved self-image and confidence. The negative aspects include some pain or stiffness and other nonspecific problems. The positive and negative aspects of resistance training are therefore very similar to those in younger populations. Scientific investigations over the past 10 years have demonstrated that resistance training can be safely and successfully implemented in older populations. Even the frail and very sick elderly can benefit and improve their quality of life. Proper design and progression of a resistance training program for older adults is vital to optimal benefits from resistance exercise. The results of data provided by this research on resistance training for health shows that there is enough existing evidence to conclude that resistance training, particularly when incorporated into a comprehensive fitness program, can offer substantial health benefits which can be obtained by persons of all ages. These benefits, including improvements in functional capacity, translate into an improved quality of life.