• Transactions of the Korean Society of Mechanical Engineers B
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• v.41 no.8
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• pp.505-510
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• 2017

This paper presents a low-cost robotic device for shoulder rehabilitation, which is capable of treating various shoulder disabilities. A 3-DOF passive shoulder joint tracking module was designed to allow for translational motion of the shoulder joint center during arm swing, which is essential for natural shoulder movement. The weight of the user's arm and the device were compensated for by springs, to enable gravity-free shoulder motion. In order to reduce the device's cost, only one actuator was used, which can be aligned with the user's shoulder joint in various orientations. The device is capable of implementing five representative shoulder motions, including flexion/extension, abduction/adduction, horizontal abd/adduction, internal/external rotation, and oblique raise. The proposed low-cost shoulder rehabilitation robot is expected to provide effective rehabilitation for patients with various shoulder impairments.

• Journal of Nuclear Fuel Cycle and Waste Technology(JNFCWT)
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• v.2 no.3
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• pp.189-199
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• 2004

A bridge transported servo manipulator (BTSM) system for the advanced spent fuel conditioning process (ACP) has been developed to overcome the limitation of access, which is a drawback of mechanical master-slave manipulators (MSM) for the equipment maintenance. The servo manipulator is composed of a slave manipulator attached to the telescoping tubesets equipped with the overhead bridge installed at a hot cell and a master manipulator installed at an out-of-hot cell. Each manipulator has 7 degrees-of-freedom (DOF): a body rotation, an upper-arm tilt, a lower-arm tilt, a lower-arm rotation, a wrist pan & tilt, and a grasp motion. A wire-driven mechanism for a lower-arm rotation, a wrist pan and tilt, and a grasp motion of the manipulator has been adopted to increase the handling capacity compared to the manipulator weight and decrease the friction. The main disadvantage of the wire-driven mechanism is that if one link is in motion, other links can be affected. In this paper, the transmission characteristics among the wire-driven links have been formulated to overcome this drawback. The unexpected behaviors are confirmed by analyses of transmission characteristics as well as experiments. Also, the experimental results show that the unexpected behaviors are greatly decreased by the proposed compensation equations.

• Proceedings of the KOR-KST Conference
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• 1998.10a
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• pp.510-519
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• 1998

사회전반에 걸친 물류단지의 필요성에 대한 인식은 날로 높아지고 있으나, 물류단지의 입지를 정작 어느 곳으로 할 것인가에 대한 연구는 거의 없는 실정이다. 본 논문에서는 물류단지의 입지를 결정하는 여러 요인들 중 일반적으로 계량화 작업이 많이 이루어진 수송비와 ,대규모 개발 사업시 가장 먼저 고려해야 하는 토지보상비를 결정하는 지가를 물류단지의 입지를 결정하는 입지비용이라 가정하고, 현재 화물수송이 가장 많이 이루어지고 있는 경부고속도로축을 중심으로 입지비용을 결정하는 지가와 소송비의 산출을 위한 근거를 제시하며, 이를 설명할 수 있는 지가와 수송비의 모형을 지가와 수송비의 산출을 위한 근거를 제시하며, 이를 설명할 수 있는 지가와 수송비의 모형을 개발하여, 이 모형을 토대로 물류단지의 규모와 서울도심에서의 거리의 변화에 따라 물류단지의 입지가 어떻게 변화하는 가를 밝혀, 물류단지의 최적입지를 제시하는데 그 목적이 있다. 본 논문의 결론을 요약하면 다음과 같다. 1) 물동량의 증가에 따라 수송비가 증가하고, 물동량을 처리하기 위한 소요부지면적이 증가하면, 지가와 수송비의 교차구간은 도심에서약 15~20km 떨어진 구간에서 형성되고, 이 때의 최적입지는 물동량과 소요부지면적에 상관없이, 도심에서 약 60km 떨어진 안성군 및 평택시지역(경부고속도로 주변지역에 한함)이 최적입지로 분석되었다. 2) 수송비와 지가, 건설비와의 장래 20년을 기준으로 한 누적비용분석결과 0~40km 구간의 경우 수송비의 누적비용이 지가와 건설비의 누적비용을 초과하지 않으며, 수송비의 누적비용이 지가와 건설비의 누적비용을 초과하는 기간이 가장 빠른 것은 물류단지가 50~55km 구간과 60~65km 구간에 입지 하였을 경우로, 이 구간에서의 수송비 누적비용이 지가와 건설비의 누적비용을 초과하는 기간은 9년 후인 2004년으로 분석되었다. 이는 도심과 인접한 지역의 경우 물류단지가 입지하지 못하는 것은 물류단지의 건설에 따른 수송비의 절감이 물류단지 건설에 따른 지가 및 건설비에 대한 비용부담에 못 미치기 때문인 것으로 분석되었으며, 화물의 특성상 불가피하게 도심지역과 가까운 곳에 물류단지의 입지를 고려해야 할 경우, 물류단지 조성시 정부에서의 세금완화, 물류단지 조성가능지역 설정, 지가에 대한 보조 등 정책적인 지원대책이 필요할 것으로 판단된다. 3) 입지 비용중 수송비를 누적시킨 수송누적비용과 지가와의 비교분석결과 수송비를 5년, 10년 누적시켰을 때 이 물류단지의 최적입지는 도심에서 약 60km떨어진 곳으로 분석되었으며, 수송비를 20년 누적시켰을 경우 물류단지의 최적입지는 도심에서 약 50km떨어진 지점의 물류단지의 최적입지로 분석되었다.

• Journal of the Korean Association of Geographic Information Studies
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• v.14 no.2
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• pp.53-68
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• 2011

A selection of viewpoint is a first priority for landscape evaluation. However, it has been artificially carried out by a subjective method without of criterion. Therefore, this study proposed the objective and quantitative viewpoint selection methods using space syntax and GIS. For this, the study area on samduk3 residential improvement district located at Daegu city was divided into 24 sectors of visibility zone by distance and direction. After that, the preliminary viewpoints equally distributed in space were selected by axial map analysis of space syntax and viewshed-frequency analysis of GIS. According to the result of selection of the final viewpoints using the VEI(Viewpoint Evaluation Index), all the final viewpoints were placed in the National Debt Repayment Movement; VEI value of VP-2 was 112.63 in the foreground, VP-10 was 18.31 in the middleground and VP-18 was 5.55 in the background. Selected viewpoints were verified as a big changing of landscape variation and high chance of view such as the public area, the park and the high-density residential area. Thus, VEI will be used as a quantitative method of selecting viewpoints and it is expected to be able to use as the objective indicator.

• Journal of Animal Environmental Science
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• v.12 no.3
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• pp.141-150
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• 2006

To optimise the efficient use of nutrients in pig slurry is to cultivate friendly environmental crops. This field survey is to investigate the actual conditions of pig slurry utilization for cultivation of crops in the agricultural farm, based on the survey for 407 selected farms in 9 provinces included 78 counties in Korea. The results obtained in this survey were summarized as follow ; The motive which came to use pig slurry in the agricultural farm were production of friendly environmental crops (29.7%), economy of chemical fertilizer (25.1%), spontaneously (19.2%), inducement of neighboring farmhouse (16.0%), increase of soil fertility (9.3%), and the others (0.7%), respectively. The proportions of pig slurry application land were 56.5% for.ice paddy, 22.6% for dry field, 13.3% for orchard, 4.4% for controlled agriculture and 3.2% for other, respectively. The number of times of pig slurry utilization per year were once (48.9%), twice (31.9%), thrice (14.0%), and the others (5.2%), respectively. The controversial points of pig slurry utilization were malodor (54.1%), insufficiency of spread equipment (22.1%), inconvenience (14.5%), over application (3.4%), over cost (2.9%), heavy metal (1.7%), sanitation (1.0%) and the other (0.2%), respectively. The results indicated that pig slurry could be used as fertilizer source of friendly environmental crops, but further studies are needed to determine the application method and value of the pig slurry for crop cultivation.

• Journal of Biomedical Engineering Research
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• v.18 no.3
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• pp.243-251
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• 1997

In this paper, we have reported two interesting flow effects arising in the TRFGE sequence using water flow phantom. First, we have shown that the TRFGE sequence is indeed not affected by "in-flow" effect from the unsaturated spins flowing into the imaging slice. Second, the enhancement of "in-plane flow" signal in the readout gradient direction was observed when the TRFGE sequence was used without flow compensation. These two results have many interesting applications in MR imaging other than fMRI. Results obtained were also compared with the results obtained by the conventional gradient echo(CGE) imaging. Experiments were performed at 4.7T MRI/S animal system (Biospec, BRUKER, Switzerland). A cylindrical phantom was made using acryl and a vinyl tube was inserted at the center(Fig. 1). The whole cylinder was filled with water doped with $MnCl_2$ and the center tube was filled with saline which flows in parallel to the main magnetic field along the tube. Tailored RF pulse was designed to have quadratic ($z^2$) phase distribution in slice direction(z). Imaging parameters were TR/TE = 55~85/10msec, flip angle = $30^{\circ}$, slice thickness = 2mm, matrix size = 256${\times}$256, and FOV= 10cm. In-flow effect : Axial images were obtained with and without flow using the CGE and TRFGE sequences, respectively. The flow direction was perpendicular to the image slice. In-plane flow : Sagittal images were obtained with and without flow using the TRGE sequence. The readout gradient was applied in parallel to the flow direction. We have observed that the "in-flow" effect did not affect the TRFGE image, while "in-plane flow" running along the readout gradient direction enhanced the signal in the TRFGE sequence when flow compensation gradient scheme was not used.

• The Journal of Korean Academy of Prosthodontics
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• v.46 no.1
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• pp.53-64
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• 2008

Statement of problem: Peri-implant marginal bone loss is an important factor that affects the success of implants in esthetics and function. Various efforts have been made to reduce this bone loss by improving implant design and surface texture. Previous studies have shown that early marginal bone loss is affected by implant neck designs. Purpose: The purpose of this study was to examine the influence of laser microtexturing of implant collar on peri-implant marginal bone loss. Materials and methods: Radiographical marginal bone loss was examined in patients treated with implant-supported fixed partial dentures. Marginal bone level was examined with 101 implant fixtures installed in 53 patients at three periods(at the time of implantation, prosthetic treatment and 6-month after loading). Four types of implants were examined. The differences of bone loss between implants(ITI standard) with enough biologic width and implants(ITI esthetic plus, Silhouette IC, Silhouette IC Laser-$Lok^{TM}$) with insufficient biologic width have been compared. Resorption angles were examined at the time of prosthetic delivery and 6-month after loading. Results and Conclusion: Within the limitation of this study, the following results were drawn. 1. The marginal bone loss of ITI standard and Silhouette IC Laser-$Lok^{TM}$ was less than that of ITI esthetic plus and Silhouette IC(P<0.05). The marginal bone loss between ITI standard and Silhouette IC Laser-$Lok^{TM}$ had no significant statistical difference(P>0.05). There was no significant statistical difference between marginal bone loss of ITI esthetic plus and Silhouette IC(P>0.05). 2. There was no significant difference in marginal bone loss between maxilla and mandible(P>0.05). 3. There was no significant difference in resorption angle among four types of implants(P>0.05). The marginal bone of implants with supracrestal collar design of less than that of biologic width had resorbed more than those with sufficient collar length. The roughness and laser microtexturing of implant neck seem to affect these results. If an implant with collar length of biologic width, exposure of fixture is a possible complication especially in the anterior regions of dentition that demand high esthetics. Short smooth neck implant are often recommended in these areas which may lack the distance between microgap and the marginal bone level. In these cases, the preservation of marginal bone must be put into consideration. From the result of this study, it may be concluded that laser microtexturing of implant neck is helpful in the preservation of marginal bone.