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Design and Analysis of Decoupled Parallel Mechanism with Redundant Actuator
김선호,김선호,전동수,신현표,인우성,김종원 한국정밀공학회 2009 International Journal of Precision Engineering and Vol. No.
This paper presents a redundantly actuated six degrees-of-freedom parallel kinematic mechanism with a partially decoupled architecture in its rotational motion. This mechanism is developed to eliminate kinematic complexity of original Eclipse-II known as a redundant parallel mechanism. Since the original Eclipse-II mechanism use kinematic redundancy of parallel mechanism to achieve an advantage in enlarging the workspace of the system, it needs a motion planning algorithm to choose the specific control inputs to determine the desired motion trajectory. This motion planning algorithm causes difficulty in achieving real-time control performance due to its structural complexity. However the redundant parallel mechanism presented in this paper is a redundant parallel mechanism with partially decoupled architecture in its rotational motion. Therefore modified Eclipse-II redundant parallel mechanism can realize effective real-time control performances and continuous 360-degree rotational motion in any direction of the moving platform with six degrees of freedom.
김선호,송미순 노인간호학회 2006 노인간호학회지 Vol.8 No.1
This study was done to investigate the existing health services of Korean senior centers and to provide base-line data for planning senior center-based health promotion programs. The questionnaires were sent to all of the senior centers by mail. Response rates were 68.5%(87 among 127). The results were as follows: 77 facilities (88.5%) of the senior centers were located in the urban area, 73 facilities(83.9%) were established since 1996. 40 facilities(46%) had at least one nurse. Physical therapy, health educations of DM(77.0%) and hypertension (75.9%) were provided more frequently than other services of senior centers. The Nurses at senior centers mainly provided with health education, counseling, preventive screening services. Comparison revealed that senior centers with a nurse provided with more health promotion services than those without a nurse. To promote self care of chronic illnesses for the community-residing older adults, education, counseling, support for self care groups of chronic illness and physical activity programs need to be enhanced. Furthermore, regulation to mandate a registered nurse to be included among senior center's staffs must be established.