Walking method based zero moment position algorithms that can guarantee the stability of the biped walking robot while walking, but it moves the legs for the stability of the walking in a way that is not related to energy conservation. Walking method using ZMP can cause low battery efficiency and load on leg joints. The walking method using the passive walking, which is a natural and efficient method of walking, can reduce the load on the joints of the robot by using the method without using the inertia that occurs when walking and reduced control elements and efficient use of battery. In this paper, a biped robot with an actuator based on the principle of passive dynamic walker mechanism is applied to a passive walking algorithm. In order to solve the problem of stabilization of the posture during walking, the posture was stabilized by using the swing motion of the arm. and the walking movement of the robot was observed using the AHRS sensor applied to the robot .It was confirmed that the posture can be stabilized based on measured values using AHRS.

소극적 안락사를 이해한다는 것은 단지 죽음에 대한 생물학적 이해를 벗어나 하나님에 관한 이해를 필요로 한다. 따라서 기독교 관점에서 죽음은 하나님의 주권을 인식하는 방법 중의 하나다. 안락사 는 자연사가 아니다. 환자로 하여금 편안하고 쉽게 죽고, 가정의 사회경 제적인 비용을 절감한다는 함의를 가지고 있음에도 비자연적인 죽음은 허용돼서는 안 된다. 그것은 성경에서 기록되어 있는 대로 하나님에 의해서만 허용되어야 한다. 본 연구는 세 가지의 관점으로 검토되었다. 첫째, 안락사는 어떤 경우에도 고통을 절대적인 악으로 간주되기 때문에 단지 고통을 경감하 기 위한 죽음이 되어서는 안 된다. 그것은 환자의 극단적인 고통이 계속되고 그의 가족이 사회경제적인 어려움을 겪기 때문에 가장 최선의 대안으로 이해하는 것이 필요하다. 따라서 적절한 대안은 환자가 죽음 과 하나님의 의지를 받아들이는 것이 준비된 경우 호스피스를 활용할 수 있을 것이다. 둘째, 기독교윤리는 생명경시사상을 불식하기 위한 조건 하에서 이루어져야 하고 의학적인 윤리 조건은 안락사를 포함하여 확립되어야 한다. 이 경우에도 하나님의 주권과 생명의 존엄성은 깊이 있게 논의되어야 한다. 셋째, 환자가 회복할 가능성이 없고 사망에 임박해 있는 경우, 우리 사회는 가정의 경제적인 고통을 분담해야 한다. 따라서 의료적인 비용에 대한 사회적 책임은 더욱 더 중대한 방법으로 논의되어야 하고, 건강보험제도는 의료보험 혹은 공공부조제 도를 포함하여 환자 혹은 가정을 위해 그 제도의 재구조화와 관련하여 개선되어야 한다. 본 연구는 소극적인 안락사에 관한 학제적인 연구를 토대로 하고 있고 선교적인 실천방안의 관점에서 방향성 혹은 대안을 찾고 있다는 점에서 그 중요한 단서를 제공하고 있다.

The purpose of this study is to evaluate the performance of a tube and badge type NO2 passive air sampler. The principle of the method is a colorimetric reaction of NO2 with N-1-naphthylethylendiamine under acidic conditions. The sampling rates for the tube and badge type passive air samplers was determined 12.3 ± 4.4 mL/min and 27.3 ± 4.9 mL/min, respectively, as obtained from the slope of the linear correlation between the NO2 mass collected by the passive air sampler and the NO2 concentration with the NO2 analyzer. The tube and badge type passive air sampler were moderately correlated with a correlation coefficient of 0.9112. The measurement for the precision and accuracy of the passive air sampling was carried out with duplicate measurement of passive air samplers. The passive air sampler had good precision and accuracy for measuring NO2 in atmosphere. A good correlation was observed between the passive air sampler and the NO2 analyzer with a coefficient of determination of 0.9153 (tube type) and 0.9514 (badge type). This passive air sampler would be suitable for the NO2 concentration monitoring in atmosphere.

In this study, shaking table test has been carried out for the dual frame passive control system for seismic performance verification of the proposed system. The proposed system was separated into two independent frameworks that are strength resistant core and frame structure by connecting to the damper. Moreover, the seismic performance improvement of the proposed system has been verified by comparing and analyzing the experimental results of the proposed system with an existing core system. As a result of the shaking table test, acceleration and displacement responses of dual-frame vibration control system are decreased than those of the existing strength resistant type core system. In the case of the core system, while the damage was concentrated on the column of first floor, the damage of the dual system was dispersed in each layer. The damage also was concentrated on the damper, almost no damage occurs to the structural members. It has been emphasized that installed dampers in the proposed dual system reduce the input energy of whole structure by absorbing seismic input energy, which leads overall system damage to be reduced.

The contents of this paper is to develop a passive sampler for H2S measurement. When the H2S gas exists in the air, AgNO3 solution coated filter of white used phenomenon which is exchanged with black. If the H2S gas concentration increased, the color of AgNO3 solution coated filter is discolored more black. H2S passive sampler measures the H2S gas concentration by changed color of AgNO3 solution coated filter. The reproducibility of the H2S passive sampler is very stable to within an error 5%RSD. The black color of AgNO3 solution coated filter showed a linear relationship with the H2S gas concentrations. In addition, correlation of the developed CDM and CR-10(Minolta, Japan) showed a high correlation to 0.99. Manufactured H2S passive sampler must be kept refrigerated, stability and reactivity was observed for up to 20 days

The purpose of this study was to examine the relationships between the ankle dorsiflexion passive range of motion (DF PROM) under a non-weight bearing condition and the normalized reach distance in three directions of the Y-Balance Test (YBT). Sixty-one healthy adults (32 males and 29 females, age: 23.0±3.0 years, height: 169.3±8.9 ㎝, weight: 61.9±5.4 ㎏) participated in this study. The ankle DF PROM was measured using a goniometer. To assess dynamic balance, all subjects performed three trials to determine the maximum lower extremity reach in the anterior, posteromedial, and posterolateral directions of the YBT. The relationship between the ankle DF PROM and both the normalized reach distance in each direction and the composite score of the YBT were analyzed using the Pearson correlation. Only the normalized reach distance in the anterior direction of the YBT was significantly related to the ankle DF PROM measured under a non-weight bearing condition (r=.50, p＜.001). Neither the normalized reach distances in the posterior directions nor the composite score of the YBT were significantly correlated with the ankle DF PROM measured under a non-weight bearing condition. These findings suggest that ankle DF PROM does not affect the overall dynamic balance of the lower extremity, with only the anterior dynamic balance affected among the three directions.

In recent years, with the development of economy, the proportion of building energy consumption in the national energy consumption is growing. To reduce building energy consumption, has become an important measure to reduce energy consumption, and on the basis of general building sustainability into the design is closely related to residential design. To restrict the problems existing in the cold region residential energy saving construction in our country, the study of cold region in winter heating technology to design, is to summarize a set of suitable heating technology applied in the cold region sustainable residential promotion. The article is divided into five parts, the first part is the introduction, describes the research background, contents, methods, purpose, etc.; The second part mainly introduces the passive solar energy heating technology; The third part mainly introduces the sustainability of residential status and development prospects; The fourth part is how to passive solar heating technology is applied to sustainable residence that is application techniques to explore. The fifth part is through the research, the conclusion and the outlook for the future.

This research is carried out to investigate the odor emission characteristics in a sewage treatment plant. The plantwas divided into four areas (boundary areas, sewage treatment processes, sludge treatment processes and odortreatment plants), and measured around 27 sampling points. Odor characteristics from each areas were evaluatedby air dilution olfactory method and NH₃/SO₂/VOCs passive sampler, mainly in terms of spatial distribution. Themain odor emission sources were found out to be dewatering plant (S-4) of sludge, sludge transshipment place(S-5), and the outlet of odor treatment plant (B-2, B-3). The correlation between dilution number (OU) and ammoniaconcentration of passive sampler appeared to be low; correlation coefficient 0.49, but correlation coefficient for theresults of sulfur dioxide and toluene were very high, 0.95 and 0.93, respectively. These results indicate that odorcompounds form sewage treatment facility are mainly due to sulfur compounds and volatile organic compounds.

The purpose of this study were to determine the intra-rater and inter-rater reliability of shoulder passive range of motion measurement using the “Clinometer + bubble level”, a smartphone application and to compare with the intra-rater and inter-rater reliability of measurement using a goniometer. Twenty six patients with stroke were recruited for this study. Two raters measured the passive range of motion of four types of shoulder movements (forward flexion; FF, abduction; ABD, external rotation at 90° abduction; ER90 and internal rotation at 90° abduction; IR90) using a goniometer and a smartphone to determine within-day inter-rater reliability. A retest session was performed thirty minutes later to determine within-day intra-rater reliability. The reliability was assessed using intraclass correlation coefficients (ICC) and the standard error of measurement (SEM). The ICC (2,1) for the inter-rater reliabilities of the goniometer and smartphone were good in FF and ABD [ICC (2,1)=.75∼.87] and excellent in ER90 [ICC (2,1)=.90∼.95]. The intra-rater reliabilities for the goniometer and smartphone were good or more than good, with an ICC (3,1) value >.75, the exception was IR90 measured by rater 2 on the smartphone. These results suggest that smartphone could be used as an alternative method tool for measurement of passive shoulder range of motion in patients with stroke.

The purpose of this study was to investigate the effects of active and passive postural perturbation on ankle dorsiflexor responses in stroke patients. The subjects consisted of 13 stroke patients. Using wireless electromyography, the patients’ ankle dorsiflexor muscle responses were measured under the following conditions: active dorsiflexion (AD), active perturbation (AP), and passive perturbation (PP). Tibialis anterior muscle activity increased most significantly during PP of the affected side (118.64±56.28). The most significant increase for the non-affected side was in AD (72.64±24.56). Tibialis anterior muscle activity was compared under each condition. The affected side showed significant differences between PP and AD and between PP and AP (p<.05). The non-affected side showed not significant differences between each condition. The ratios of tibialis anterior muscle activity under AP to that under AD were 1.00 on the affected side and .75 on the non-affected side and the difference was not significant (p>.05). The ratios of tibialis anterior muscle activity under PP to that under AD were 3.30 on the affected side and 1.14 on the non-affected side and the difference was significant (p<.05). Passive perturbation improved tibialis anterior muscle activity on the affected side, and training based on this approach may have the potential to improve the ankle dorsiflexion of people with stroke.

In recent years, with the development of economy, the proportion of building energy consumption in the national energy consumption is growing. To reduce building energy consumption, has become an important measure to reduce energy consumption, and on the basis of general building sustainability into the design is closely related to residential design. To restrict the problems existing in the cold region residential energy saving construction in our country, the study of cold region in winter heating technology to design, is to summarize a set of suitable heating technology applied in the cold region sustainable residential promotion. The article is divided into five parts, the first part is the introduction, describes the research background, contents, methods, purpose, etc.; The second part mainly introduces the passive solar energy heating technology; The third part mainly introduces the sustainability of residential status and development prospects; The fourth part is how to passive solar heating technology is applied to sustainable residence that is application techniques to explore. The fifth part is through the research, the conclusion and the outlook for the future.

The aim of this study was to examine the effects of repeated passive movement (RPM) of different velocities on the improvement of knee joint position sense (JPS) in post-stroke patients with hemiplegia, thereby investigate the possibility of clinical application in the initial stage of rehabilitation for patients with post-stroke hemiplegia. Thirteen hemiplegic patients participated in this study. For the subjects' knee JPS tests, a passive angle reproduction test and an active angle reproduction test were performed prior to and after the intervention, which involved 30 repetitions of passive full-range-of-motion flexion and extension exercise of the knee joints at randomized degrees of , , and . Paired t-test analysis was done in order to compare changes in the pre- and post-intervention knee JPS. One-way repeated analysis of variance was used in order to compare changes in JPS after intervention at three different movement velocities. The level of significance was set at .05. The result was that the subjects' post-intervention knee JPS significantly improved after the RPM exercise at a and a relative to the RPM exercise (p<.05). JPS changes with RPM intervention at the rapid velocity of were most increased, suggesting the most effective enhancement in knee JPS is with intervention at the velocity (p<.05). Therefore, RPM intervention at a half or higher velocity improved stroke patients' knee JPS. During the initial stage of rehabilitation for patients with post-stroke hemiplegia, the efficient application of the RPM exercise at a half or higher velocity will be possible.

This study aimed to determine the usefulness of classifying patients with neck pain on the basis of the results of passive scapular elevation test. We classified 21 patients with neck pain into positive (n=12) and negative (n=9) groups on the basis of passive scapular elevation test; the 2 groups then equally performed scapular stabilization exercise program for 30 min, 3 times a week, for 4 weeks. Visual analogue scale (VAS), neck disability index (NDI), and range of motion (ROM) were recorded both before and after the intervention for both groups. Paired t-test was used to determine that there were significant changes between before and after the intervention, and independent t-test was used for analyzing changes between two groups of dependent variables. After 4 weeks of training, we observed significant decrease in pain and disability (p<.05) and a significant increase in rotation, flexion, extension, and side-bending ROM (p<.05) in both groups. Further, between pre- and post-intervention evaluations, we observed a significant decrease in pain and disability and a significant increase in rotation and flexion ROM in the positive group than in the negative group (p<.05). These results indicate that passive scapular elevation test may be used to identify mechanical disorders of the cervicoscapular muscle in patients with neck pain. Therefore, we recommend the use of passive scapular elevation test to determine appropriate treatment intervention when treating patients with neck pain.

The purpose of this study was to assess the influence of scapular alignment on the electromyographic (EMG) activity of the trapezius in people with a short pectoralis minor muscle. For the study, we recruited 15 volunteers who had positive results for short on a pectoralis minor muscle length test. We measured the EMG activity of the upper, middle and lower trapezius muscles. The participants lifted their dominant arm to ear level with the thumb up toward the ceiling in the prone position on a table with the shoulder at a flexion angle of 180 degrees and a horizontal abduction angle of 120 degrees. Scapula was manually aligned by an experienced physical therapist prior to arm lift for the scapular alignment condition. A paired t-test was used to compare the effects of scapular alignment on the EMG activity of the trapezius muscles. The EMG activity of the lower trapezius muscle was significantly increased during the test with the scapular alignment compared to that without scapular alignment (p<.05), while the upper trapezius and middle trapezius exhibited no significant difference between the two conditions (p>.05). The findings of this study suggest that a scapular alignment may alter the recruitment of the lower trapezius muscle during arm lifting in the prone position in people with a short pectoralis minor muscle.

This study was aimed to elucidate the cause of odor in a park, which was used for the landfill site about 20 years ago. For this purpose, VOCs concentration was measured using passive sampler at 10 sampling sites around a park for two times (spring and summer). The VOCs concentration measured in summer showed very low concentration and the relative VOCs ratio also showed no special patterns relating with other studies, which was caused to heavy rainfall during the sampling period. However, the relative ratio of toluene concentration of two sampling sites in spring appeared very high relating with other studies. It was thought that the high VOCs concentration in this park was caused not by landfill but by a neighboring painting materials company.

Exposure to environmental tobacco smoke (ETS) could adversely affect health. The aim of this study was to quantify the contribution of ETS exposure in nonsmokers of entertainment facilities. We simultaneously measured nicotine and nitrogen dioxide (NO₂), which are known as indicators of ETS, concentrations in indoor internet cafe, billiard, karaoke, bar and restaurant, and estimated exposure level of other harmful agents occurred from tobacco smoking. Mean nicotine concentration (10.57±2.53㎍ /m³ ) of internet cafe was the highest comparing to other facilities, whereas mean concentration of restaurant where was non-smoking area was 0.28±0.08㎍ /m³ . There was statistically not correlated between NO₂ and nicotine concentrations in entertainment facilities. Therefore, the use of NO₂ concentration as indicator of ETS exposure may not be available. To date, there are no standards about each agent occurred from ETS. Consequently administrative control and regulation, and further researches in relation to ETS exposure should be needed.

This study examined the effect of active and passive listening condition on young children's musical understanding of familiar and unfamiliar melody through researcher-invented notation. All subjects in this study were Korean children from 3 to 5 years of ages in a private prekindergarten in Seoul Korea. A pre-and posttest experimental design guided this study, which was conducted for five consecutive weeks, including three treatment sessions between pre-and posttest sessions in summer of 2009. The following research questions for the study were posed: 1) Is there a significant difference in young children's apparent understanding of tempo when comparing active and passive listening condition? and 2) Is there a significant difference in young children's apparent understanding of tempo according to familiarity of the melody? Listening conditions (independent variable) in this study were the presence or absence of body movement while children listened to short musical examples. The children's apparent musical understanding of tempo (independent variable) was captured through children's guided drawings that indicated where they understood tempo changes to occur in the music. The drawings were evaluated by three independent judges who scored four drawings for each child: for familiar and unfamiliar melodies in both the pre-and posttest. A two-way ANOVA was used to analyze the scores. The results revealed that there is no statistically significant difference between treatment and control groups, between familiar and unfamiliar melody, and no difference with the interaction of group and melody familiarity. Therefore, the null hypotheses for this study were accepted.

To obtain the effective sampling estuarine fauna by a passive net in the West Sea of Korea occurring strong tide, catch were collected by bag nets with various sampling trials off Ganghwa Island in November 2009. We compared the difference of community structures (on spring tide vs. neap tide, total sample vs. subsample and 4 nets vs. 1 net) with each species composition as a sampling unit by the Pearson chi-square test. Number of individual at the spring tide was more abundant than that at the neap tide (p<0.0001) although number of species at the spring tide was not significantly different with that at the neap tide (p=0.174). Both number of species (p=0.138) and number of individual (p=0.096) were not significantly different between total sample and random subsample. Number of species was not significantly different between the subsample by 1 net and the subsample by 4 nets (p=0.515), but number of individual was a little different on both samples (p=0.024). In conclusion, we suggest the subsample by 1 net at spring tide as the effective sampling estuarine fauna by a passive net in the West Sea occurring strong tide.

The purpose of this study was to establish the reliability and validity of the passive lumbar extension (PLE) test and prone instability test (PIT). Thirty-three subjects (14 males, 19 females) with lower back pain enrolled in the study and the subjects were divided into 2 groups (positive and negative instability groups) on the basis of radiographies of flexion and extension. Reliability was determined by the kappa coefficient and validity was examined using calculated sensitivity, specificity, and the likelihood ratio. The results showed that the reliability of the PLE test was higher than the PIT (intra-rater reliability: k=.86 and k=.81, interrater reliability: k=.65 and k=.62) and the validity of the PLE test was also higher than the PIT (sensitivity: 91% and 62%, specificity: 95% and 85% positive likelihood ratio: 20.00 and 4.10, negative likelihood ratio: .10 and .45). In conclusion, we think that the PLE test was a more reliable and valid method for lumbar instability than the PIT.