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이병주,김선필 漢陽大學校 工學技術硏究所 1999 工學技術論文集 Vol.8 No.1
일반적인 로봇 매니퓰래이터에서는 필요 이상으로 관절공간에서 소모되는 에너지가 많은 것으로 알려져 있다. 본 논문에서는 직렬형 로봇 매니퓰래이터의 관절공간에서의 에너지 소모현상에 대한 해석을 수행하고 인체의 근육구조를 활용한 인체형 로봇에서는 이러한 에너지 소모현상을 최소화할 수 있음을 정성적인 해석을 통하여 소개하고자 한다. 본 논문의 연구결과는 에너지 소모를 최소화하는 원격로봇 시스템에 유용하게 적용될 수 있으리라 기대한다. It is known that energy is consumed more than required in the joint space of manipulators. In this paper, we perform analysis on the energy consumption for a serial robot manipulator and propose that the energy consumption can be minimized when employing an anthropomorphic robot resembling the musculoskeletal structure of the human upper extremity. The result of this study can be effectively employed to remote control applications which require energy saying.
열공형과 비열공형 피질하 혈관성 치매에서 위험인자의 차이에 관한 비교 연구
배희준,정지향,유경호,나덕렬,김상윤,최경규,양동원,손의주,이상도,김재우,박경원,김응규,이재홍,박미영,한일우,함동석,최문성,하충건,최성혜,이애영,이병철,한설희 대한치매학회 2003 Dementia and Neurocognitive Disorders Vol.2 No.2
Backgrounds and Objectives: Vascular dementia is a group of dementing disoders arising from various stroke syndrome. Among these. subcortical ischemic vascular dementia (SIVD) is regarded as a relatively distinct clinical entity. However, MRI patterns of SIVD are not homogenous. In some patients, lacunes are dominant, and in others, subcortical white matter changes are. This study was designed to compare risk factor profiles between SIVD with and without multiple lacunes. Methods: We divided 47 subjects (22 males, mean age. 68 years) recruited from VADAPET (Multicenter Trial For Evaluation Of The Changes In the PET Images Of Subcortical Vascular Dementia Patient) study into two groups one with more than 5 lacunes in deep gray matter (lacune group) and the other with 5 or less(non-lacune group) Clinical characteristics and laboratory findings of two groups were compared. Results: Nineteen of 47 patients (40%) belonged to the lacune group. The lacune and non-lacune groups d d not differ in the following variables: age, hypertension, diabetes mellitus, hyperlipidemia heart disease, history of stroke or TIA, history of trauma or major surgery, family history of hypertension stroke, or dementia, age at diagnosis of dementia, body mass index, white blood cell count, ESR, CRP, fibrinogen, hemoglobin A1C, total cholesterol. LDL cholesterol creatinine, proteinuria, glucosuria, and microhematuria. However, male sex, smoking alcohol. hemoglobin, and HDL cholesterol were possibly associated more with lacune group SIVD than with non-lacune group (p<0 1) Multivariate analyses revealed that smoking, hemoglobin, and HDL cholesterol were independent predictors of SIVD with multiple lacunes Conclusion: Our study suggests that SIVD with multiple lacunes may be significantly different in smoking habits hemoglobin, and HDL cholesterol from SIVD without multiple lacunes.
Multi-task oriented design of an asymmetric 3T1R type 4-DOF parallel mechanism
Yi, Byung-Ju,Kim, Sung Mok,Kwak, Hyun Koo,Kim, Wheekuk SAGE Publications 2013 Proceedings of the Institution of Mechanical Engin Vol.227 No.10
<P>In performing tasks requiring less than 6 degrees-of-freedom (DOF), lower mobility robots having a parallel structure are effective. This work investigates an asymmetric type 4 degrees-of-freedom parallel mechanism having Schönflies motions. This mechanism would be useful for multi-purpose tasks because it incorporates a transmission linkage with appropriate output modules. The mobility analysis, kinematic modelling, and singularity analysis for the mechanism are performed. Optimal design parameters with respect to both the workspace size and kinematic isotropy are identified by employing composite global design index. In addition, to cope with the singularity problem, a new design involving redundant actuation is suggested. And dynamic simulations are conducted to reaffirm its high potential in real manufacturing applications.</P>
A Study On Active Suspension System Using Adjustable Springs
Yi, Byung-Ju,Yang, Sung-Il 漢陽大學校 工學技術硏究所 1997 工學技術論文集 Vol.6 No.1
This work investigates antagonism inherent in redundantly actuated physical systems. Five different energy domains are considered to show the principle of antagonism. Stiffness is shown to be a good means of characterizing these antagonisms, Antagonistic stiffness is generated by preloading a physical system with redundant actuation and can be potentially utilized to design active springs. In particular, it is shown that the system's geometry and internal loading mode are of significance in ensuring the generation of active springs. Possible applications of active springs are discussed.
Yi, Sun-Ju,Hwang, Seong Yun,Oh, Myung-ju,Kim, Kyunghwan,Jhun, Byung H. ZOOLOGICAL SOCIETY OF KOREA 2018 ANIMAL CELLS AND SYSTEMS Vol.22 No.2
<P><B>ABSTRACT</B></P><P>p130 Crk-associated substrate (Cas) is an adaptor protein associating with many other signaling proteins and regulates a various biological processes including cell adhesion, migration, and growth factor stimulation. However, the exact functional role of Cas in growth factor signaling pathway was poorly understood. Here we investigated the role of Cas and its domains in the effects of insulin, EGF, and IGF-1 on c-Jun gene expression, DNA synthesis, cytoskeletal reorganization. We found that microinjection of anti-Cas antibody and C-terminal domain of Cas (Cas-CT) specifically inhibited EGF-induced, but not insulin- or IGF-1-induced, c-Jun expression. Cell cycle progression and cytoskeleton reorganization induced by insulin and EGF, but not by IGF-1, were inhibited by microinjected anti-Cas and Cas-CT. In contrast, microinjection of the substate domain (Cas-SD) of Cas did not have any inhibitory effects. These results revealed that the Cas-CT is differentially implicated in insulin and EGF-mediated, but not IGF-1-mediated, c-Jun expression, DNA synthesis and membrane ruffling.</P>
Difference of Lumbar Lordosis in Patients with Low Back Pain and Controls
Yi, Seung-Ju,Bae, Sung-Soo,Park, Rae-Joon,Kim, Chung-Sun,Chun, Byung-Yeol,Kim, Byung-Gon The Korean Society of Physical Therapy 2001 대한물리치료학회지 Vol.13 No.2
Objectives: The purpose of this study was to compare the difference of Lumbar Lordosis Angle (LLA)between patients with Low Back Pain (LBP) and control groups. Methods: Questionnaires were completed by 40 adults LBP patients seeking physical therapy services and by 40 controls at the department of Physical Therapy, SaeJong Neurosurgical Clinic in Taegu city, South Korea from October 1999 to March 2000. LLA was measured on lateral x-ray films with standing position. The angle between a line parallel to tile top of the first Lumbar (Ll) and the top of the fifth Lumbar (L5) was defined LLA. Results: LLA of 29.88$^{\circ}$ for LBP patients was statistically significant decrease from that of 35.31$^{\circ}$ for controls in the difference of lumbar lordosis (p<0.01). There were statistically significant differences between genders in patients groups. Females(32.22$^{\circ}$) had significantly greater angles than males (27.32$^{\circ}$) (p<0.05), while 36.63$^{\circ}$ for female was also greater than 34.12$^{\circ}$ for male in the controls. No significant difference was found between age. In patient groups, 27.95$^{\circ}$ for below age 40 was a smaller than 32.32$^{\circ}$ for above, however, 35.82$^{\circ}$ for below age 40 was a little greater than 34.27$^{\circ}$ for above in controls. Patients in sitting posture had greater LLA (31.35$^{\circ}$). than those standing (28.93$^{\circ}$), however. values for controls were similar to each other. Conclusions: Results from this study indicate that distinct difference exist among patients and controls and gender, whereas little difference exists in age and working posture.