• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.2
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• pp.508-516
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• 2010

An autonomous and automatic home mess-cleanup robot is newly developed in this paper. Thus far, vacuum-cleaners have lightened the burden of household chores but the operational labor that vacuum-cleaners entail has been very severe. Recently, a cleaning robot was commercialized to solve but it also was not successful because it still had the problem of mess-cleanup, which pertained to the clean-up of large trash and the arrangement of newspapers, clothes, etc. Hence, we develop a new home mess-cleanup robot (McBot) to completely overcome this problem. The robot needs the capability for agile navigation and a novel manipulation system for mess-cleanup. The autonomous navigational system has to be controlled for the full scanning of the living room and for the precise tracking of the desired path. It must be also be able to recognize the absolute position and orientation of itself and to distinguish the messed object that is to be cleaned up from obstacles that should merely be avoided. The manipulator, which is not needed in a vacuum-cleaning robot, has the functions of distinguishing the large trash that is to be cleaned from the messed objects that are to be arranged. It needs to use its discretion with regard to the form of the messed objects and to properly carry these objects to the destination. In particular, in this paper, we describe our approach for achieving accurate localization using RFID for home mess-cleanup robots. Finally, the effectiveness of the developed McBot is confirmed through live tests of the mess-cleanup task.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.15 no.9
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• pp.5675-5682
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• 2014

As oral diseases are developed by mixed infections, not by any single element, an accurate analysis of the causative microorganisms related to dental caries and periodontal diseases is required. In this study, saliva was collected from selected adults to determine if the bacteria that are well known as the causative microorganisms of dental caries and periodontal diseases would be detected in their saliva. In addition, this study examined whether there would be any differences among adults according to age, smoking, drinking and presence or absence of diseases in the distribution of oral bacteria to determine the risk factors for oral bacteria. The study subjects were 120 adults ranging in age from 20 to 65 years. The experiment data was collected from March 15, to May 2014. The gDNA was collected from the saliva, and the distribution of bacteria for oral diseases was investigated by PCR. The findings of the study were as follows. S. mutans was detected from 72 adults, and P. intermedia was detected from 88 adults. Both bacteria were detected from 54 adults, and no oral bacteria was detected in 14 adults. An analysis of the risk factors of oral bacteria showed that smokers had a 2.8-fold higher risk of S. mutans than nonsmokers, and the former had a 3.5-fold higher risk of P. intermedia than the latter. Drinkers had a 3.3-fold higher risk of S. mutans than nondrinkers. Patients who suffered from systemic diseases had a 4.1-fold higher risk of P. intermedia than those with no diseases. Therefore, smoking, drinking and systemic diseases are factors that increase the likelihood of oral bacteria detection. More periodontal disease bacteria were detected from older adults, and more oral bacteria were found in adults who were in their 20s, as dental caries and periodontal diseases were more common in this age group. The adults in which oral bacteria were detected are more likely to have dental caries or periodontal diseases, and they should try to keep their mouth cavity clean and make regular visits to a dental clinic to prevent possible oral diseases.

• Journal of Astronomy and Space Sciences
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• v.22 no.1
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• pp.1-12
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• 2005

The Korean VLBI Network (KVN) will open a new field of research in astronomy, geodesy and earth science using the newest three Elm radio telescopes. This will expand our ability to look at the Universe in the millimeter regime. Imaging capability of radio interferometry is highly dependent upon the antenna configuration, source size, declination and the shape of target. In this paper, imaging simulations are carried out with the KVN system configuration. Five test images were used which were a point source, multi-point sources, a uniform sphere with two different sizes compared to the synthesis beam of the KVN and a Very Large Array (VLA) image of Cygnus A. The declination for the full time simulation was set as +60 degrees and the observation time range was -6 to +6 hours around transit. Simulations have been done at 22GHz, one of the KVN observation frequency. All these simulations and data reductions have been run with the Astronomical Image Processing System (AIPS) software package. As the KVN array has a resolution of about 6 mas (milli arcsecond) at 220Hz, in case of model source being approximately the beam size or smaller, the ratio of peak intensity over RMS shows about 10000:1 and 5000:1. The other case in which model source is larger than the beam size, this ratio shows very low range of about 115:1 and 34:1. This is due to the lack of short baselines and the small number of antenna. We compare the coordinates of the model images with those of the cleaned images. The result shows mostly perfect correspondence except in the case of the 12mas uniform sphere. Therefore, the main astronomical targets for the KVN will be the compact sources and the KVN will have an excellent performance in the astrometry for these sources.

• Journal of the Korean Institute of Traditional Landscape Architecture
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• v.31 no.1
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• pp.59-70
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• 2013

This study was to suggest cultural landscape preservation, value creation, as well as utilization plan to help landscape development of Hahoe village by identify the existence of Okyeonsipyeong(玉淵十詠) natural features, which were set around Buyongdae(芙蓉臺) in Hahoe Village by Seoae(西崖) Ryu, Seongryong(柳成龍), and understanding their characteristics and meanings of natural features and meanings. Based on the writings of "Okyeonseodanggi" and "Okyeonsipyeong", the major results of this study are as belows. 'Okyeon(玉淵)' letters carved on the rocks, also known as the name of pavilion in Okyeonjeongsa(玉淵精舍), is the center of Okyeonsipyeong that symbolizes the enlightenment of clean noble man, as well as the symbolic locational expression of studying room. One of Okyeonsipyeong, 'Wansimjae', is assumed to be the name from the combination of two Buddhist names, 'Wanjeok(玩寂)' and 'Seshim(洗心)', 'Dangho(堂號)', lined on both sides with Wonlakjae, the residence of Seoae, as the center. Wansimjae is after all the natural feature indicating the overall Okyeonjeongsa as the core of Okyeonsipyeong with west edge Gyeomamjeongsa(謙巖精舍). Among ten Okyeonsipyeong natural features, Wansimjae(玩心齋), Ganjukmun(看竹門), Gyeomamsa(謙菴舍), Dalgwandae(達觀臺), Ssangsongae(雙松厓), and Dohwacheon (桃花遷) are on the right side of the stairway from Okyeonjeongsa to Gyeomamjeongsa, while Chuwoldam(秋月潭), Neungpadae(凌波臺), Gyeseonam(繫船巖), and Jijuam(砥柱巖) are on the road to the cliff under river cliff in Buyongdae as well as to the dock, and all are located within 500m radius close and diameter area. As the results of lexeme and context analyses of Okyeonsipyeong poet, they are mainly about Confucian teachings symbolizing the constancy of the classical scholar including ego becoming one with the nature and back to the nature, unworldliness and farsighted view, transcendence and seclusion, as well as integrity spirit. In Dohwacheon and Gyeomamsa poets, there is Tao characteristics and brotherhood that pursue fairylands such as Mooreungdowon(武陵桃源). To create tourism brand and landscape of Okyeonsipyeong, it is necessary to prepare storytelling plans including the letters carved on the rocks introduction in Buyongdae area, and also synopsis of the Silgyeongsusang musical, 'Buyongjiae(芙蓉之愛)' that is related to 10 natural features. In addition, the related plans of the experience road from Gyeseonam, which is the boat stop in Buyongdae, to Ganjukmun of Okyeonjeongsa, and again to viewing routes on the stairways to Gyeomamjeongsa using boats are necessary. For preliminary preservation and maintenance plans, the safety of the stairway from Okyeonjeongsa to Gyeomamjeongsa should be secured, the rock inscription should be preserved, landscape interpretation plates should be installed, trees and shrubs around Dohwacheon rock inscription should be removed, Dalgwandae letters carved on the rocks should be restored, and the bamboo forest outside Ganjukmun as well as Prunus persica plantation around Dohwacheon should be pointed out.

• Journal of Korean Society for Atmospheric Environment
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• v.33 no.4
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• pp.377-392
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• 2017

A set of BFM (Brute Force Method) simulations with the CMAQ (Community Multiscale Air Quality) model were conducted in order to estimate self-contributions and conversion rates of PPM (Primary $PM_{2.5}$), $NO_x$, $SO_2$, $NH_3$, and VOC emissions to $PM_{2.5}$ concentrations over the SMA (Seoul Metropolitan Area). CAPSS (Clean Air Policy Support System) 2013 EI (emissions inventory) from the NIER (National Institute of Environmental Research) was used for the base and sensitivity simulations. SCCs (Source Classification Codes) in the EI were utilized to group the emissions into area, mobile, and point source categories. PPM and $PM_{2.5}$ precursor emissions from each source category were reduced by 50%. In turn, air quality was simulated with CMAQ during January, April, July, and October in 2014 for the BFM runs. In this study, seasonal variations of SMA $PM_{2.5}$ self-sensitivities to PPM, $SO_2$, and $NH_3$ emissions can be observed even when the seasonal emission rates are almost identical. For example, when the mobile PPM emissions from the SMA were 634 TPM (Tons Per Month) and 603 TPM in January and July, self-contributions of the emissions to monthly mean $PM_{2.5}$ were $2.7{\mu}g/m^3$ and $1.3{\mu}g/m^3$ for the months, respectively. Similarly, while $NH_3$ emissions from area sources were 4,169 TPM and 3,951 TPM in January and July, the self-contributions to monthly mean $PM_{2.5}$ for the months were $2.0{\mu}g/m^3$ and $4.4{\mu}g/m^3$, respectively. Meanwhile, emission-to-$PM_{2.5}$ conversion rates of precursors vary among source categories. For instance, the annual mean conversion rates of the SMA mobile, area, and point sources were 19.3, 10.8, and $6.6{\mu}g/m^3/10^6TPY$ for $SO_2$ emissions while those rates for PPM emissions were 268.6, 207.7, and 181.5 (${\mu}g/m^3/10^6TPY$), respectively, over the region. The results demonstrate that SMA $PM_{2.5}$ responses to the same amount of reduction in precursor emissions differ for source categories and in time (e.g. seasons), which is important when the cost-benefit analysis is conducted during air quality improvement planning. On the other hand, annual mean $PM_{2.5}$ sensitivities to the SMA $NO_x$ emissions remains still negative even after a 50% reduction in emission category which implies that more aggressive $NO_x$ reductions are required for the SMA to overcome '$NO_x$ disbenefit' under the base condition.

• Journal of Korean Society of Environmental Engineers
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• v.29 no.9
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• pp.1013-1019
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• 2007

Electronic wastes have increased tremendously. However, any reliable treatment methodologies have rarely been established. Electronic wastes have posed serious disposal problem due to their physico-chemical stability. This paper investigated the application possibility of pyrolysis for the purpose of recycling the p-CCL(phenol based Copper Clad Laminate). Thermogravimetric analysis(TGA) was used to investigate the thermal decomposition pattern of p-CCL. We elucidated the characteristics of pyrolysis by-products at operating temperatures of 280, 350 and $600^{\circ}C$. GC/MS and FT-IR were used to characterize the liquid by-products along with general characterization methods such as Ultimate Analysis, Proximate Analysis and Heating Value, whereas general characterization methods were only introduced for the solid by-products. At a heating rate of $5^{\circ}C$/min, TGA curves exhibited three decomposition stages: (1) low-temperature decomposition region$(<280^{\circ}C)$, (2) medium temperature region$(280\sim350^{\circ}C)$ and (3) high-temperature region$(>350^{\circ}C)$. The major compounds of liquid by-products at low- and medium-temperatures were accounted for by water and phenol, whereas branched phenols and furans were major compounds at high-temperatures. As the temperature increases, volatile quantities decreased but the fixed carbon increased. High heating values of solid by-products($7,400\sim7,600$ kcal/kg) would suggest that the solid by-products could be applicable as fuel. In addition, high fixed carbon but low ash content of the solid by-products offered an implication that they are capable of being upgradable for adsorbent after applying appropriate activating process.

• Korean Journal of Materials Research
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• v.15 no.3
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• pp.161-165
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• 2005

We investigated selective dry etching of GaAs over AlGaAs and InGaP in high density planar inductively coupled $BCl_3/SF_6$ plasmas. The process parameters were ICP source power (0-500 W), RE chuck power (0-30W) and gas composition $(60-100\%\;BCl_3\;in\;BCl_3/SF_6)$. The process results were characterized in terms of etch rate, selectivities of GaAs over AlGaAs and InGaP, surface morphology, surface roughness and residues after etching. $BCl_3/SF_6$ selective etching of GaAs showed quite good results in this study. Selectivities of GaAs $(GaAs:AlGaAs\~36:1,\;GaAs:InGaP\~45:1)$ were superior at $18BCl_3/2SF_6$, 20 W RF chuck power, 300 W ICP source power and 7.5 mTorr. Addition of $(5-15\%)SF_6\;to\;BCl_3$ produced relatively high selectivities of GaAs over AlGaAs and InGaP during etching due to decrease of etch rates of AlGaAs and InGaP (boiling points of etch products: $AlF_3\~1300^{\circ}C,\;InF_3>1200^{\circ}C$ at atmosphere) at the condition. SEM and AFM data showed slightly sloped sidewall and somewhat rough surface$(RMS\~9nm)$. XPS study on the surface of processed GaAs proved a very clean surface after dry etching. It shows that planar inductively coupled $BCl_3/SF_6$ plasmas could be a good candidate for selective dry etching of GaAs over AlGaAs and InGaP.

• Journal of the Korean Academy of Child and Adolescent Psychiatry
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• v.8 no.1
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• pp.22-33
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• 1997

The objective of this study is to understand disordered parent-child relationships of Reactive Attachment Disorder(RAD) systematically through the mother’ internal working model of child. In this study, RAD mothers’internal representations of the child were compared with mothers’of control group and association between mothers’ representation classifications and children’ attachment classifications was examined. Also individual differences in mother-child interaction by mothers’representation classifications was observed. The subjects of this study were 40 2-5 year-old children and their mothers, 20 attachment disordered dyads and 20 normal dyads of control group. Mothers were interviewed using the Working Model of the Child(Zeanah, Benoit & Barton 1986) to classify internal representations of child. Children’ attachment patterns were assessed by the Strange Situation Procedure. For observation of motherchild interaction, Each dyad was seen in DPICS devised by Eyberg and Robinson(1983). The results of the study were as follows：1) Among RAD group, 55% of mothers were classified as disengaged and 45% classified as distorted, while all mothers of control group were classified as balanced. In rating scales, there were significant differences in all 3 representation classifications in Intensity of involvement and Coherence. In Intensity of involvement disengaged representations had the lowest score and distorted representations had the lowest score in Coherence. 2) Mothers’representation classifications were related to children’ attachment classifications. All mothers of control group whose children were classified as secure were classified as balanced. Among RAD’ mothers, by contrast, 82% of mothers classified as disengaged had children classified as anxious-avoidant, 56% of mothers classified as distorted had children classified as disorganized / disoriented and 33% of mothers classified as distorted had children classified as anxious-resistant. 3) There were individual differences in mother-child interactions by mothers’representation classifications. In the child-centered play, mothers classified as disengaged used discriptive statement, reflective statement and discriptive-reflective question less than balanced mothers. Mothers classified as distorted used direct command and indirect command more than balanced mothers. In the clean-up task, mothers classified as disengaged and distorted used direct command and indirect command more than balanced mothers. The results of this study suggest that parents’working model of the child is an important factor to understand parent-child attachment relationships and their interactions. The understanding of parents’ working model of the child is thought to enrich our understanding of disordered parent-child relationships and to provide useful informations for specific and successful treatments.

• Korean Chemical Engineering Research
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• v.50 no.6
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• pp.1034-1042
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• 2012

This study was performed by using an LFR (laminar flow reactor), which can be used to carry out different types of research on coal. In this study, an LFR was used to analyze coal flames, tar and soot yields, and structures of chars for two coals depending on their volatile content. The results show that the volatile content and oxygen concentration have a significant effect on the length and width of the soot cloud and that the length and width of the cloud under combustion conditions are less than those under a pyrolysis atmosphere. At sampling heights until 50 mm, the tar and soot yields of Berau (sub-bituminous) coal, which contains a large amount of volatile matter, are less than those of Glencore A.P. (bituminous) coal because tar is oxidized by the intrinsic oxygen component of coal and by radicals such as OH-. On the other hand, at sampling heights above 50 mm, the tar and soot yields of Berau coal are higher than those of Glencore A.P. coal by reacted residual volatile matter, tar and light gas in char and flame. With above results, it is confirmed that the volatile matter content and the intrinsic oxygen component in a coal are significant parameters for length and width of the soot cloud and yields of the soot. In addition, the B.E.T. results and the images of samples (SEM) obtained from the particle separation system of the sampling probe support the above results pertaining to the yields; the results also confirm the pore development on the char surface caused by devolatilization.

• The Journal of Internal Korean Medicine
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• v.16 no.2
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• pp.146-177
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• 1995

The purpose of this study was to investigate the relationship between the teeth and Zhang-Fu(臟腑), dental diseases, and the hygiene of the mouth through the literature of oriental medicine. First, the relatonship between the teeth and Zhang-Fu is reviewed as follows: The teeth are influenced by Shen(腎) because they are the end of bone and Biao(標) of Shen. Gingiva is related to Wei(胃) and Da-Chang(大腸) because it is passed by Yangming-Channel(陽明經). The growth and nutrition of teeth depends on Shen. The pathological condition of Shen causes the gingival atrophy, the loose of teeth, dedentition due to aging, withering of teeth, and tartar: whereas the pathological condition of Wei and Da-Chang causes toothache, gingivitis, inflamed gums, bad breath, and gingival hemorrhage. Second, the causes and therapies of dental diseases through the literature can be summarized as follows: The major causes of toothache are the pathogenic condition of wind-heat and wind-cold, the heat syndrome of Wei, the damp-heat of intestine, flaring-up of fire of deficiency type, rotten tooth, etc... The principal causes of dedentition and the shaking and loose of teeth are the deficiency of Shen, and the rest of causes are the damp-heat of Yangming. Gingival atrophy is caused by the deficiency of Shen, whereas the gingival hemorrhage comes from the factors in the pathogenic factor of wind-heat of Yangming-Channel, the heat syndrome of stomach, and the deficiency of Shen. The causes of grinding of teeth during sleeping are stomach-heat, and the delayed dentition and the withering result from the deficiency of Shen-Jing.(腎精) The principal therapies of toothache are removing wind and heat, clearing away heat and prompting diuresis, clearing away the stomach-heat, replenishing vital essence to tonify the Shen, relieving superficial syndrome by wind-cold, and alleviating pain by destroying parasites. For the prescription of the principal therapies, there are Xijio Dihuang Tang, Jiajian Ganlu Yin, Qufeng Wan, Qingwei San, Tiaowei Chenggi Tang Shengong Wan, Liangge San Qingwei Tang Yunu Jian, Liuwei Dihuang Wan Zuogui Yin Bawei Wan Wanshao Dan, Xixin San Badou Wan Gianghuo Fuzi Tang, Jiuzi Tang Badou Wan, etc... The therapies of dedentition and the shaking and loose of teeth are replenishing vital essence to tonify the Shen, and warming and recuperating the Shen-Yang: as the prescription, there are Liuwei Dihuang Wana Zuogui Yin, and Bawei Wan Anshen Wan Wanshao Dan Yougui Wan etc... The therapies of gingival hemorrhage are clearing away the stomach-heat, replenishing vital essence to tonify the Shen, warming and recuperating the Shen-Yang(腎陽), and moisturing and purging intence heat with the prescription of Tiaowei Chenggi Tang Xijiao Dihuang Tang, Liuwei Dihuang Wan Zuogui Yin, Bawei Wan Anshen Wan, and Yunu Jian. The therapy of gingival atrophy is replenishing vital essence to tonify the Shen in the prescription of Liuwei Wan Bawei Wan Ziyin Dabu Wan. The therapies of grinding of teeth during sleeping are clearing away the stomach-heat and purging intense heat, and invigorating the spleen through eliminating dampness in the prescription of Qingwei San, Wumei Wan, etc... The therapy of delaed dentition is replenishing vital essence to tonify the Shen with the prescription of Liuwei Wan Buyin Jian, etc... Third, clinical treatment reports of dental diseases are reviewed as follows: The toothache due to stomach-heat was treated by medical herbs like Gypsum, Natrir Sulfas, Rehmanniae, Schizonepetal Herba, Menthae Folium, Cimicifugae Rhizoma, and Scrophulariae Radix. The therapies of toothache due to flaring-up of fire in deficiency type from deficiency of Shen provided with replenishment of vital essence to tonify the Shen and clean ministerial fire, and the prescription was the kind of Liuwei Wan, which worked very well. The therapy of dedentition and loose of teeth due to deficiency of Shen was done to stablize the teeth as tonifing the Shen with the prescription of Guchi Wan. The rate of imrovement was over 90%. The destruction of periodontal tissue due to periodonititis was cured of dispelling wind, reducing heat, and alleviating pain, It was improved by taking Zizhi Xingiong Tang, Guchi Xiaotong San, Yunii Jian, and Qingwei San about 3-7 days, and the rate of improvement was over 80%. Fourth, the prevention and regimens are reviewed as follows: As a physical and breathing exercise of the teeth, tapping teeth which stimulates the circulation of Qi(氣) and Xue(血) had been used. The tapping time of 14, 17, 36, etc... has been reported, and it should be applied based on the body condition. The medical herbs for gargling and brushing teeth have been used. Specifically, Cimicifugae Rhizoma, Gypsum, Gypsum Fibrosum, and Indigo pulrelrata Lereis have been used to reduce heat, Coptidis Rhizama and Yang Jinggu to eliminate damp-heat, Amomi Semen, Cyperi Rhizoma, Flos Caryophylli, Asari Radix, Piperis Longi Fructus, Santali Albae Lignum, Meliae Fructus, Moschus, Aquillaiae Lignum, and Borneol to promote the circulation of Qi and to relieve pain, Ligustici Radix, Angelice Radix, Rhizoma Nardostachydis, Tribuli Semen to relieve superficial syndrome by means of diaphiresis, and Cnidii Rhizoma, Angelicae sinensis Radix, and Olibanum to promote blood circulation to stop pain.