• Journal of Institute of Control, Robotics and Systems
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• v.9 no.10
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• pp.755-767
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• 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
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• v.21 no.3
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• pp.574-582
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• 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
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• v.8 no.2
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• pp.255-260
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• 1990

From April 1985 to September 1989, 26 patients with stage I and II non-Hodgkin's lymphoma of unfavorable histology localized in head and neck region were treated with combined modality (combination chemotherapy plus radiotherapy) at the Department of Therapeutic Radiology in Kyungpook National University Hospital. Of the 26 patients, 23 showed complete response and 3 partial response. Between these two groups there were no statistical differences according to the variables. Three-year survival and disease-free survival rate were $62.4{\%}$ and $65.2{\%}$, respectively. Unilateral involvement of neck node (p<0.05), radiation dose over 5000 cGy (p<0.01), and 6 or more cycles chemotherapy (p=0.06) had a favorable effect on 3-year survival rate. There were 8 recurrences including 3 partial responders, 1 local failure, 1 distant failure, 1 contiguous failure, and 2 simultaneous local and distant failure. It could be suggested that combined modality treatment might be necessary for the treatment of stage I and II Non-Hodgkin's lymphoma of unfavorable histology.

• Radiation Oncology Journal
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• v.6 no.2
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• pp.295-300
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• 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.

• The Journal of Korean Academy of Prosthodontics
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• v.41 no.4
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• pp.493-502
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• 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.

• Journal of Biomedical Engineering Research
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• v.19 no.4
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• pp.393-401
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• 1998

Based on clinical observations, it is suspected that the bone-tendon origin is the site where piratical failure, leading to pathophysiological changes in the humeral epicondyle after repetitive loading, is initiated Mechanical properties and failure patterns of the common extensor and flexor tendons of the humeral epicondyle under static and repetitive loading have not been well documented. Our goal was to determine mechanical properties of failure strength and strain changes, to correlate strain changes and the number of cyclic repetitions, and to identify the failure pattern of bone-tendon specimens of common extensor and flexor tendons of the humeral epicondyle. Mechnaical properties of human cadaver bone-tendon specimens of the common extensor and flexor tendons of the humeral epicondyle were tested under two different loading rates. No statistically significant difference in ultimate tensile strength was found between male and female specimens or between slow (10 mm/sec) and fast elongation (100 mm/sec) rates. However, a statistically significant difference in ultimate tensile strength between the common extensor (1190.0 N/$cm^2{\pm}$388.8) and flexor 1922.0 N/$cm^2{\pm}$764.4)tendons was found (p<0.05). When loads of 25%, 33%, and 41% of the ultimate tensile strength of their contralateral sides were applied, the number of cycles required to reach 24% strain change for the common extersor and flexor tendons were approximately 8,893, 1,907, and 410, respectively. The relationship between cycles and loads was correlated ($R^2$=0.46) Histological observation showed that complete or partial failure after tensile or cyclic loadings occurred at the transitional zone, which is the uncalcified fibrocartilage zone between tendon and bone of the humeral epicondyle. Sequential histological sections revealed that failure initiated at the upper, medial aspect of the extensor carpi radialis brevis tendon origin. Biomechanical and hstological data obtained in this study indicated that the uncalcified fibrocartilage zone at the bone-tendon origin of the common extensor and flexor tendons is the weak anatomical structure of the humeral epicondyle.

• Journal of Chest Surgery
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• v.18 no.3
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• pp.414-422
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• 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
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• v.8 no.2
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• pp.225-230
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• 1990

Twenty one patients of malignant thymoma treated with curative aim at the Department of Therapeutic Radiology of Seoul National University Hospital from 1979 to 1987 were analysed retrospectively. The 3 year overall and relapse free survival rate was $80.5\%\;and\;78.6$, respectively. Myasthenia gravis (MG) was seen in $43.5\%$ at presentation and disappeared in $40\%$ (4/10) after radiotherapy with or without operation. The 3 year cumulative survival rate with and without MG was $90\;and\;78.8\%$, respectively. We could consider that MG was no longer adverse prognostic factor. The complete response rate after partial resection was $100\%$ (3/3), and that after biopsy was $20\%$(3/15). The overall local control rate including complete and partial response rate ($33\;vs\;56\%$)was$89\%$ and the 3 year actuarial survival rate by the response rate was $88.9\%\;and\;81.7\%$, respectively. There was no statistically significant survival difference between two groups. The crude rate of relapse at 3 years was $23.8\%$ (5/21), and $80\%$ (4/5) were locoregional failures. All failures were observed in biopsy only group, while no failure was observed in resected group. The major pattern of the treatment failure was the locoregional failure and the distant metastases was rarely observed.

• Radiation Oncology Journal
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• v.2 no.2
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• pp.191-202
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• 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.

• Journal of The Korean Society of Inherited Metabolic disease
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• v.18 no.1
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• pp.13-17
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• 2018

Methylmalonic acidemia is an autosomal recessive disorder caused by complete (mut0) or partial (mut-) deficiency of methylmalonyl-CoA mutase (MUT) or by defects in the synthesis of adenosylcobalamin (cblA, cblB, cblD variant 2). Long term complications of methylmalonic acidemia include tubulointerstitial nephritis with progressive renal failure, intellectual impairment, pancreatitis, and growth failure. We report a case of methylmalonic acidemia in a girl who diagnosed at 6 days after birth. She has developed recurrent metabolic crises with hyperammonemia and metabolic acidosis. In addition, she suffered from the chronic complications including tubulointerstitial nephritis, electrolyte imbalance associated with renal dysfunction, growth failure and fracture of femur shaft. At the age of 10 years, hypercalcemia and severe osteoporosis were noted, and pamidronate therapy was given for two years, which relieved hypercalcemia and osteoporosis.