• 제어로봇시스템학회논문지
• /
• 제9권10호
• /
• pp.755-767
• /
• 2003

This paper proposes a robust fault-tolerant control framework for robot manipulators to maintain the required performance and achieve task completion in the presence of both partial joint failures and complete joint failures and uncertainties. In the case of a complete joint failure or free-swinging joint failure causing the complete loss of torque on a joint, a fully-actuated robot manipulator can be viewed as an underactuated robot manipulator. To detect and identify a complete actuator failure, an on-line fault detection operation is also presented. The proposed fault-tolerant control system contains a robust adaptive controller overcoming partial joint failures based on robust adaptive control methodology, an on-line fault detector detecting and identifying complete joint failures, and a robust adaptive controller overcoming partial and complete joint failures, and so eventually it can face and overcome joint failures and uncertainties. Numerical simulations are conducted to validate the proposed robust fault-tolerant control scheme.

• Journal of Chest Surgery
• /
• 제21권3호
• /
• pp.574-582
• /
• 1988

Endocardial cushion defects is a rare congenital heart disease. We experienced two complete endocardial cushion defects[ECD] and three partial ones, which were successfully repaired between 1986 and 1987. In a patient of complete ECD, associated with secundum ASD, Pulmonary stenosis and Down`s syndrome, the atrial and ventricular septal defects were closed separately with bovine pericardium and Dacron patches respectively, and then pulmonary stenosis was relieved by transannular patch widening in addition to valvotomy and infundibulectomy. In another patient with complete ECD, small interventricular communication was closed with simple suture with pledget and primum ASD was closed with pericardial patch. In first patient of partial ECD, primum atrial septal defect was closed with pericardial patch. In second patient of partial ECD, associated with secundum ASD, direct closure of secundum ASD and patch closure of primum ASD were performed. In third patient of partial ECD, associated with patent foramen ovale[PFO], primum ASD was closed with bovine pericardial patch and PFO was closed directly. In all patient except third patient of partial ECD, mitral clefts were closed with three or four 5-0 prolene interrupted sutures. Transient A-V dissociation developed postoperatively in two patients and transient nodal rhythm developed postoperatively in other two patients. Heart failure in complete ECD with Down`s syndrome was overcome with medical treatment.

• Radiation Oncology Journal
• /
• 제8권2호
• /
• pp.255-260
• /
• 1990

1985년 4월부터 1989년 9월까지 경북대학교병원 치료방사선과에서 두경부 악성 임파종으로 진단되어 복합화학요법 및 방사선 병용치료를 받은 26명을 대상으로 치료성적을 분석하였다. 완전관해율은 $88{\%}$, 부분관해율은 $12{\%}$였고 관해율에 영향을 미치는 예후인자는 없었다. 3년 생존율 및 3년무병생존율은 각각 $62.4{\%}$및 $65.2{\%}$였다. 생존율이 높았던 군은 편측성 임파절침범(p<0.05), 방사선량 5000 cGy 이상 (p<0.01), 화학요법 6회 이상 (p=0.06)등이었다. 26예 중 8예 (부분관해 3예 포함)에서 재발을 했으며 재발 양상은 국소재발 1예, 원격 전이 1예, 인접조직에 재발 1예, 국소 재발 및 원격전이 2예 등이었다.

• Radiation Oncology Journal
• /
• 제6권2호
• /
• pp.295-300
• /
• 1988

Chordoma is a malignant tumor arising from the primitive notochord involving the axial skeleton. It usually occurs at sacrococcygeal and besisphenoidal area but only rarely does at other vertebral areas, especially at the thoracic vertebrae. It has a slow growth rate and is locally aggressive with an extremely high rate of local recurrence. Either surgery or radiation alone often fails to cure the disease and the local failure is the main cause of treatment failure and death. Overall 5 year survival rate is less than $10\%$. Useful palliation or occasional cure can be obtained by the combination of surgery and radiotherapy. After incomplete resection, the tumor requires radiation dose of 7,000 cGy or more over 6-7 weeks for local control. Tumor regression is slow in response to irradiation and continuation of the regression for several months after completion of RT is not unusual. We report a case of chordoma of the thoracic vertebra, the site of extreme rarity, which showed good local control after partial resection and radiation therapy. He is well and alive without any evidence of recurrence after 13 months of treatment with near complete tumor regression.

• 대한치과보철학회지
• /
• 제41권4호
• /
• pp.493-502
• /
• 2003

Statement of problem : Removable partial denture and complete denture often require denture base relines to improve the fittness against tissue-bearing mucosa because of the gradual change in edentulous ridge contour and resorption of underlyng bony structure. Self-curing hard reline resins offers the immediate and relatively inexpensive means to be recondition the surface of denture base directly However weak bond between denture base resin and reline material can harbor bacteria, promote staining, or result in complete separation of the two materials. Purpose : The purpose of this study was to evaluate the effect of denture cleansers on bond strength and surface hardness of reline resin to denture base resin Denture base resin beams($60.0{\times}15.0{\times}3.0mm$) were made with Lucitone 199. Material and methods : 10mm section was removed from the center of each specimen. The samples were replaced in the molds and the space of l0mm sections were packed with Tokuso Rebase reline material. The specimens were immersed in denture cleansers (Polident, Cleadent) and were evaluated after 1 week, 2 weeks, and 4 weeks. The bond strength and surface hardness of self-curing hard reline materials to heat-curing denture base resin were measured using an UTM (universal testing machine). Results and conclusion : 1) There was no significant difference of usage, kind, and denture cleaner by application time on the bonding strength of self-curing hard reline resin to denture base resin. 2) There was no significant difference of usage, kind, and denture cleaner by application time on the surface hardness, but the surface hardness showed decreasing tendency, as the time of immersion was extended. 3) The failure modes of the specimens was initially adhesive failure and finally cohesive failure of self-curing hard reline resin.

• 대한의용생체공학회:의공학회지
• /
• 제19권4호
• /
• pp.393-401
• /
• 1998

임상학적인 관찰에 따르면, 반복적인 하중에 의하여 뼈/건의 접합부분에 발생하는 부분적인 파손은 병리학적인 변화를 유발시킴으로 인하여 주관절의 상골과염(Epicondylitis)으로 발전시킬 수 있는 주요한 원인으로 간주되고 있다. 반복적인 하중이나 정적인 하중 하에서의 주관절에 위치한 신전건 및 굴곡건의 기계학적인 물성치와 파괴양상은 지금까지 잘 알려져 있지 않다. 본 연구에서는 상골과염과 직접적인 관계가 되는 신전건 및 굴곡건의 기계학적인 물성치인 파괴강도, 반복하중의 회수와 변형율(Strain)간의 연관관계 및 반복하중에 있어서의 생체조직학적 변화의 향상, 특히 파괴의 진행양상을 관찰하였다. 적용하중의 속도에 따르는 신전건 및 굴곡건의 파괴강도의 통계학적인 차이는 보이지 않고 있으나, 파괴강도에 있어서 신전건은 1199.0 N/$cm^2{\pm}$388.8, 굴곡건 1922.0 N/$cm^2{\pm}$764.4로, 굴곡건이 신전건에 비하여 1.6배 정도 크게 나타났으며, 상호간의 파괴강도에 있어서 통계학적인 차이가 있음을 보여주고 있다.(p<0.05). 조직학적 관찰에 의하면, 반복하중 하에서 뼈/건의 접합부분 특히 Uncalcified Fibrocartilage 부분에서 분리가 시작되었으며, 이는 상골과염을 발생시키는 주요생체조직부분이라는 것을 시사하고 있다.

• Journal of Chest Surgery
• /
• 제18권3호
• /
• pp.414-422
• /
• 1985

Truncus arteriosus is one of the rare cyanotic congenital cardiac anomalies and thought to be result from complete or partial failure of trunco-conal septum. A single arterial trunk receiving blood from both ventricles supplies the coronary, pulmonary and systemic circulation. The symptoms were usually related to the degree of the pulmonary blood flow and functional status of truncal valve, and mostly appeared within the first two months of life. The prognosis is generally considered to be poor in spite of successful surgical correction. This report is a case of 13 years old female with type I truncus arteriosus, which was successfully corrected using a intracardiac Dacron tunnel graft[semilunar, 18mm] from VSD to the truncal valve, and a extra-cardiac lonescu-Shiley valved[20mm] Dacron conduit [21mm] from RV to the pulmonary artery[Rastelli operation].

• Radiation Oncology Journal
• /
• 제8권2호
• /
• pp.225-230
• /
• 1990

1979년부터 1987년까지의 서울대학교병원 치료방사선과에서 흉선암으로 근치목적의 방사선치료를 받은 21명을 대상으로 조사하였다. 전체환자의 3년생존율은 $80.5{\%}$, 3년 무병생존율은 $78.6{\%}$였다. 근무력증을 동반한 환자는 $43.5{\%}$였고 치료후 $40{\%}$ (4/10)에서 증상의 호전을 보였다. 증상의 유무에 따른 3년생존율을 비교하여보면 각각 $90{\%}$, $78.8{\%}$였으며 근무력증이 예후에 나쁜 영향을 주는 인자가 아님을 알 수 있었다. 방사선치료후 완전관해율은 절제술을 시행한 경우는 $100{\%}$(3/3)인 반면, 절제가 불가능한 경우는 $20{\%}$(3/15)였다. 완전관해율 및 부분관해율은($33{\%}$ vs $56{\%}$) $89{\%}$였고 이에 따른 3년생존율은 각각 $89.8{\%},\;81.7{\%}$로 통계학적으로 유의한 차이는 보이지 않았다. 수술정도에 따른 치료실패율을 비교하여보면 절제가 가능한 환자에서는 치료실패가 없었으나, 절제가 불가능하였던 환자 15명중 4명에서 국소실패, 1명이 골전이 소견을 보였다. 국소치료실패가 대부분으로 원격전이율은 낮은 양상을 보였다.

• Radiation Oncology Journal
• /
• 제2권2호
• /
• pp.191-202
• /
• 1984

Biological behavior and treatment results of 33 patients with Adenoid Cystic Carcinoma (ACC) in the Head and Neck at Yonsei Cancer Confer for 10 years between 1971 and 1980 were retrospectively analysed. Most common, primary site was minor salivary glands such as maxillary sinus, nasal cavity and base of tongue. The typical biological behavior of these tumors was very slowly in growth with long time of duration(mean 19 months) from 1 month to 10 years and more frequent of nerve invasion but rare invasion of neck nodes. Local control and failure pattern in the results of treatment, 16 of 17 patients with irradiation alone were seen complete or partial response but 5 cases of locoregional recurrence, 2 cases of failure of neck node and 4 cases of distant metastasis as lung and brain. On the other hand, among 10 cases of surgery and postoperative irradiation, 2 cases of locoregional failure and 3 cases of distant metastasis as lung and bone. 2 of 4 cases with surgery alone were recurred within primary site. Actuarial overall NED survival at 3 ana 10 years were $52.6\%$ and $42.8\%$, respectively. Survival rate of 10 Patients with surgery and Postoperative irradiation was more high than 17 Patients of radiation alone. Therefore, we have known that surgery with postoperative adjunctive irradiation is most effective treatment modality of adenoid cystic carcinoma in the head and neck. Primary site, treatment modality and with or without nerve ana bone invasion have influenced on prognosis.

• 대한유전성대사질환학회지
• /
• 제18권1호
• /
• pp.13-17
• /
• 2018

메틸말론산혈증은 선천성 유기산대사질환 중 하나로 증상의 발현시기 및 임상 증상이 매우 다양하며, 장기간의 합병증으로 세뇨관 간질 신염과 만성 신기능 저하, 췌장염, 기저핵 손상, 지능저하가 발생 할 수 있다. 연구자들은 이러한 메틸말론산혈증의 세뇨관 간질신염을 동반한 활동저하 환자에서 파미드로네이트 치료를 통해 고칼슘혈증과 골다공증의 호전을 경험하였기에 보고하는 바이다.