• Journal of the Institute of Convergence Signal Processing
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• v.23 no.1
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• pp.21-27
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• 2022

Traditional automobile or 2-wheeled robot have limitations on mobility because of their mechanical structure. As traditional automobile is being replaced by electric cars, robot technology is applied to the car industry. In robotics, many researchers worked on omnidirectional mobile robot and produced lots of noticeable results. However in many of the results, specialized wheels such as Mecanum wheels are required. That imposes restrictions on robot speed and outdoor driving. We proposed a 2-wheeled modular robot that has omnidirectional mobility without using specialized wheels. In this paper, we propose a 4-wheeled omnidirectional mobile robot that consists of those two modular robots. The proposed robot adopts electric brakes to combine wheel housings and the robot body or to separate wheel housings from the robot body. Two absolute-type encoders and four incremental encoders are used to control the position of the wheel housing and velocities of the wheels. The proposed robot has omnidirectional mobility and can move fast and outdoor with normal tire wheels. We implemented the proposed robot and the feasibility and stability of the robot is verified by two separate experiments.

• The Journal of the Acoustical Society of Korea
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• v.40 no.4
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• pp.261-269
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• 2021

Without any validation of the incompressible assumption, most of previous studies on cavitation flow and its noise have utilized numerical methods based on the incompressible Reynolds Average Navier-Stokes (RANS) equations because of advantage of its efficiency. In this study, to investigate the effects of the flow compressibility on the Tip Vortex Cavitation (TVC) flow and noise, both the incompressible and compressible simulations are performed to simulate the TVC flow, and the Ffowcs Williams and Hawkings (FW-H) integral equation is utilized to predict the TVC noise. The DARPA Suboff submarine body with an underwater propeller of a skew angle of 17 degree is targeted to account for the effects of upstream disturbance. The computation domain is set to be same as the test-section of the large cavitation tunnel in Korea Research Institute of Ships and Ocean Engineering to compare the prediction results with the measured ones. To predict the TVC accurately, the Delayed Detached Eddy Simulation (DDES) technique is used in combination with the adaptive grid techniques. The acoustic spectrum obtained using the compressible flow solver shows closer agreement with the measured one.

• Conservation Science in Museum
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• v.29
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• pp.33-46
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• 2023

Modern and contemporary cultural assets are defined as a collective term for tangible historical and cultural assets produced in the modern and contemporary period (around the opening of Joseon to the present) in Korea. Among them, rickshaws have been used as a major means of transportation for about 40 years since the opening of the ports in Joseon. The repair process for rickshaws divides the rickshaw into three parts, namely the body, the cover, and the wheels, applying a plaster treatment process by referring to the outcomes of the condition assessment and material analysis for the metal, wood, fiber, and paint used. Overall, the repair process is carried out through dry/wet cleaning, joining, stabilization, reinforcement of damaged parts, and other restoration treatments, which reveal metal decorations and patterns on the scaffolding (flowers, arabesque patterns, etc.) that were previously not observable with the naked eye, while also adding to the stability of the artifact. In addition, props were produced to ensure the artifact's safe exhibition.

• The Journal of Korean Academy of Prosthodontics
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• v.52 no.4
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• pp.279-286
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• 2014

Purpose: The aim of this study was to investigate the effect of implant thread profile on the marginal bone stresses which develop during implant insertion. Materials and methods: Four experimental implants were created by placing four different thread systems on the body ($4.1mm{\times}10mm$) of the ITI standard implant. The thread types studied in this study included the buttress, v-shape, reverse buttress, and square shape threads. In order to examine the insertion stress generation, 3D dynamic finite element analysis was performed which simulated the insertion process of implants into a 1.2 mm thick cortical bone plate (containing 3.5 mm pilot hole) using a PC-based DEFORM 3D (ver 6.1, SFTC, Columbus, OH, USA) program. Results: Insertion stresses higher than human cortical bone developed around the implants. The level of insertion stresses was much different depending on the thread. Stress level was lowest near the v-shape thread, and highest near the square shaped thread. Difference in the interfacial bone stress level was more noticeable near the valley than the tip of the threads. Conclusion: Among the four threads, the v-shape thread was turned out to minimize the insertion stress level and thereby create better conditions for implant osseointegration.

• KIPS Transactions on Software and Data Engineering
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• v.4 no.5
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• pp.219-224
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• 2015

In this paper, the designed fish robots DOMI ver1.0 is researched and development for aquarium underwater robot. The presented fish robot consists of the head, 1'st stage body, 2nd stage body and tail, which is connected two point driving joints. The model of the robot fish is analysis to maximize the momentum of the robot fish and the body of the robot is designed through the analysis of the biological fish swimming. Also, Lighthill was applied to the kinematics analysis of robot fish swimming algorithms, we are applied to the approximate method of the streamer model that utilizes techniques mimic the biological fish. The swimming robot has two operating mode such as manual and autonomous operation modes. In manual mode the fish robot is operated to using the RF transceiver, and in autonomous mode the robot is controlled by microprocessor board that is consist PSD sensor for the object recognition and avoidance. In order to the submerged and emerged, the robot has the bladder device in a head portion. The robot gravity center weight is transferred to a one-axis sliding and it is possible to the submerged and emerged of DOMI robot by the breath unit. It was verified by the performance test of this design robot DOMI ver1.0. It was confirmed that excellent performance, such as driving force, durability and water resistance through the underwater field test.

• Journal of Dental Rehabilitation and Applied Science
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• v.38 no.1
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• pp.42-51
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• 2022

Esthetic restoration of maxillary anterior implant heavily depends on the direction of installation of implant fixture. In patients with malpositioned implant, it is crucial to communicate the limitations of prosthetic outcome with the patient before starting on a restoration. To facilitate the communication, three-dimensional virtual representation by superimposing facial and intraoral digital scans with Computed Tomography (CT, dicom file) was used for visualization of the limitations of prosthesis. Through digital diagnostic wax-up, the profile of right maxillary anterior incisor implant was expected to be protrusive, which the patient was not satisfied with. Since the patient already had done root canal treatment on left maxillary anterior incisor due to previous trauma, a new prosthetic design including both right and left maxillary anterior incisors was presented to the patient. The second design was chosen and his comments were delivered to dental lab. The patient was satisfied with the new prosthesis, aesthetically and functionally.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.10 no.4
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• pp.315-320
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• 2016

In this study, we developed a response time measuring apparatus for fencing which can use fencing athlete's own electric sword and connectors. The measuring apparatus designed to be connected to upper back of dummy body and it's position can be changed by spinning itself. And it operates like a closed circuit composed of dummy helmet, the apparatus, reel signal connection, connector and electric sword of athlete. This measuring apparatus can provide response time to athlete immediately which response time is measured from the time of indicating random signal of light and sound to the time of attacking dummy by athlete. we carried out pilot test for couch and athlete of national fencing team and could validate availability of this system.

• Journal of the Korean Society for Precision Engineering
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• v.33 no.10
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• pp.821-828
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• 2016

Recently, the use of composite materials in the defense system has grown dramatically. The strength/weight and stiffness/weight ratios of composite structures are normally higher than of metals. Woven composites, especially, are increasingly considered for a variety of applications, because they offer good workability for complicated structures. HPW193/RS1222 is one of the most famous woven composites and has been used in many types of Korean military equipment, such as antenna pedestals and radar systems. In this study, we predicted the elastic modulus of HPW193/RS1222 using the principles of unidirectional composite stiffness predictions, such as ROM (Rule of Mixture), HSR (Hart Smith 10% Rule), CLA (Classical Laminate Analysis) and LAP (Laminate Analysis Program). We compared the dynamic characteristics with the experimental predictions and finite-element analysis (FEA). From our results we concluded that transversely isotropic materials are similar to isotropic materials when the shape of the composite structure is complicated.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.2
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• pp.133-138
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• 2016

Force control and collision detection for a robot are usually conducted using a 6-axis force/torque sensor mounted at the end-effector. However, this scheme suffers from high-cost and the inability to detect collisions at the robot body. As an alternative, joint torque sensors embedded in each joint were used, which also suffered from various errors in torque measurement. To resolve this problem, a robot joint module with an improved joint torque sensor is proposed in this study. In the proposed torque sensor, a cross-roller bearing and disk-type coupling are added to prevent the moment load from adversely affecting the measurement of the joint torque under consideration. This joint design also aims to reduce the stress induced during the assembly process of the sensor. The performance of the proposed joint torque sensor was verified through various experiments.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.14 no.1
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• pp.197-204
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• 2010

This paper proposes a new body-effect compensated switch configuration for low voltage and low distortion switched-capacitor (SC) applications. The proposed circuit allows rail-to-rail switching operation for low voltage SC circuits and has better total harmonic distortion than the conventional bootstrapped circuit by 19 dB. A 2-1 cascaded sigma-delta modulator is provided for performing the high-resolution analog-to-digital conversion on audio codec in a communication transceiver. An experimental prototype for a single-stage folded-cascode operational amplifier (opamp) and a 2-1 cascaded sigma-delta modulator has been implemented m a 0.25 micron double-poly, triple-metal standard CMOS process with 2.7 V of supply voltage. The 1% settling time of the opamp is measured to be 560 ns with load capacitance of 16 pF. The experimental testing of the sigma-delta modulator with bit-stream inspection and analog spectrum analyzing plot is performed. The die size is $1.9{\times}1.5\;mm$.