• Journal of Institute of Control, Robotics and Systems
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• v.13 no.4
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• pp.320-328
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• 2007

This paper presents a stiffness modeling of a low-DOF parallel robot, which takes into account of elastic deformations of joints and links, A low-DOF parallel robot is defined as a spatial parallel robot which has less than six degrees of freedom. Differently from serial chains in a full 6-DOF parallel robot, some of those in a low-DOF parallel robot may be subject to constraint forces as well as actuation forces. The reaction forces due to actuations and constraints in each serial chain can be determined by making use of the theory of reciprocal screws. It is shown that the stiffness of an F-DOF parallel robot can be modeled such that the moving platform is supported by 6 springs related to the reciprocal screws of actuations (F) and constraints (6-F). A general $6{\times}6$ stiffness matrix is derived, which is the sum of the stiffness matrices of actuations and constraints, The compliance of each spring can be precisely determined by modeling the compliance of joints and links in a serial chain as follows; a link is modeled as an Euler beam and the compliance matrix of rotational or prismatic joint is modeled as a $6{\times}6$ diagonal matrix, where one diagonal element about the rotation axis or along the sliding direction is infinite. By summing joint and link compliance matrices with respect to a reference frame and applying unit reciprocal screw to the resulting compliance matrix of a serial chain, the compliance of a spring is determined by the resulting infinitesimal displacement. In order to illustrate this methodology, the stiffness of a Tricept parallel robot has been analyzed. Finally, a numerical example of the optimal design to maximize stiffness in a specified box-shape workspace is presented.

• Journal of the korean academy of Pediatric Dentistry
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• v.32 no.2
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• pp.224-228
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• 2005

The effect of primary tooth infection on permanent teeth was reported by many previous study. It is seen histologic change in the enamel forming organ and in the surrounding sac, thus produce the defect as either hypoplasia or hypocalcification and alter the eruption of the permanent teeth. The periapical inflammation cause permanent tooth displacement in various direction and can be classified into the three categories : rotation, deflection inversion. This study reported case which displacement of succedaneous teeth may be caused by periapical infection of primary dentition and concluded that treatment procedure of infected primary tooth is selected and performed by importance to retain the tooth for space maintain, possibility to successfully restored, evidence of abnormal development of the succedaneous tooth.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.10 no.3
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• pp.1-6
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• 2011

This study focused on the localization of swivel type tube couplers, which all depend on imports. In this study, a computer application analysis was performed using a finite element method as a preliminary study. In the major developments related to the objective of this study, the air brake system produced by car makers represents a different in the installation point of an air tank according to the type of cars or in the length and direction of its hoses and that leads to cause lots of problems. For solving such problems, the design of the major elements in a swivel type tube coupler was analyzed using a finite element method, and its validity was also verified. In the process that verifies the validity of this study, it was necessary to investigate how much external force affects the desorption of the tube support, which is the most important element in swivel type tube couplers. For achieving the investigation, a pressure test was implemented for the tube support according to the Federal Motor Vehicle Safety Standards(FMVSS). In the results of the pressure test, all samples satisfied the FMVSS. In addition, several tests were implemented by installing the sample of the developed swivel type tube coupler to an actual vehicle. In particular, rotation tests with various angles were applied by welding the swivel type coupler to an air tank through an argon welding process. In the results of the installing test for an actual vehicle, it was verified that the designed structure was determined as a structure that is able to endure the eccentric torque and deformation pressure applied to several directions that are the major problems in such fixed type tube couplers. Therefore, in the comparison of the performance of the developed product with the product of PARKER, it was possible to verify that the localized swivel type tube coupler developed in this study shows more excellent than that of the existing products by PARKER.

• Korean Journal of Applied Biomechanics
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• v.15 no.4
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• pp.181-189
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• 2005

To know the proper impact posture and changes for the various clubs, changes of impact variables according to the change of golf club length was investigated. Swing motions of three male low handicappers including a professional were taken using two high-speed video cameras. Four clubs iron 7, iron 5, iron 3 and driver (wood 1) were selected for this experiment. Three dimensional motion analysis techniques were used to get the kinematical variables. Mathcad and Kwon3D motion analysis program were used to analyze the position, distance and angle data in three dimensions. Major findings of this study were as follows. 1. Lateral position of the head remained more right side of the target up to 3.5cm compared to the setup as the length of the club increased. 2. Left shoulder raised up to 5cm and right shoulder lowered up to 2.5cm compared to setup. The shoulder line opened slightly (maximum 11 degrees) to the target line. 3. Forward lean angle of the trunk decreased up to 4 degrees (more erected) compared to setup. 4. Side lean angle of the trunk increased compared to setup and increased up to 16 degrees as the club length increased. 5. The pelvis moved to the target line direction horizontally and opened up to 31 degrees. Right hip moves laterally to the grip position at the setup. 6. Flexion of the left leg maintained almost constantly but the right leg flexed up to 11 degrees compared to setup. 7. Left arm is straightened but the right arm flexed about 20degrees compared to straight. 8. Center of the shoulders were in front of the knees and toes of the feet. 9. Hands moved to the left (8.7cm), forward (5.7cm) and upward (11.6cm) compared to the setup. This is because of the rotation of pelvis and shoulders. 10. Shaft angle to the ground was smaller than the lie angle of the clubs but it increased close to the lie of the clubs at impact.

• Journal of the Korean Magnetics Society
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• v.23 no.6
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• pp.193-199
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• 2013

The regional distribution of magnetic isotropy depending on the post annealing condition for the dual-type structure GMR-SV (giant magnetoresistance-spin valve) of NiFe/Cu/NiFe/IrMn/NiFe/Cu/NiFe multilayer was investigated. The rotation of in-plane ferromagnetic layer induced by controlment of the post annealing temperature inside of the vacuum chamber. The magnetoresistive curves of a dual-type IrMn based GMR-SV depending on the direction of the magnetization easy axis of the free layer and the pinned layer are measured by between $0^{\circ}$ and $360^{\circ}$ angles for the applied fields. The optimum annealing temperature having a steady and isotropy magnetic sensitivity of 1.52 %/Oe was $107^{\circ}C$ in the rotational section of $0{\sim}90^{\circ}$. By investigating the switching process of magnetization for an arbitrary measuring direction, the in-plane orthogonal magnetization for the dual-type GMR-SV multilayer can be used by a high sensitive biosensor for detection of magnetized micro-beads.

• The Korean Journal of Zoology
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• v.27 no.3
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• pp.127-136
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• 1984

The specification of dorsal/ventral axis in the egg of Xenopus laevis was investigated as a series of oblique orientation to gravity by tilt and clinostat. The results are as follows. (1) If the eggs were oriented, in the early period after fertilization, to novel gravity by $15^\\circ, 30^\\circ, 45^\\circ$ and $60^\\circ$ tilt until gastrula stage, the site of involution was usually formed in the OpG side (the side opposing gravity). As the degree of tilt was raised from $15^\\circ to 60^\\circ$, the rate of relocation of the involution site was proportionally increased. (2) When UV-irradiated eggs were tilted period to first cleavage by $15^\\circ, 30^\\circ, 45^\\circ$ and $6\^\\circ$, the effect of UV syndrome was rescued, and the extent of rescue was propotional to the tilt degree. (3) The fertile eggs were loaded on the clinostats of several speeds. In the range of low speeds between $0.45 \\sim 9.0$ rph, the location of dorsal lip was dependent on the direction of rotation, and in $40 \\sim 360$ rph, lip was formed at a random position. In addition, some of the tadpoles experienced with clinostat showed the typical syndrome of "dorsal axis reduction". The above results were discussed regarding the mechanism of the establishment of dorsal/ventral palarity. palarity.

• Journal of Biosystems Engineering
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• v.34 no.2
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• pp.120-126
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• 2009

The purpose of this study was to develop a visibility evaluation system for cabin type combine. Human's field of view was classified into five levels (perceptive, effective, stable gaze, induced, and auxiliary) depending on rotation of human's head and eye. Divider, reaper lever, gearshift, dashboard, and conveying part were considered as major viewpoints of combine. Visibilities of combine was evaluated quantitatively using the viewpoints and the human's field of view levels. The visibility evaluation system for cabin type combine was consisted of a laser pointer, stepping motors to control the direction of view, gyro sensors to measure horizontal and vertical angle, and I/O interface to acquire the signals. Tests were conducted with different postures ('sitting straight', 'sitting with $15^{\circ}$ tilt', 'standing straight', and 'standing with $15^{\circ}$ tilt'). The LSD (least significant difference) multiple comparison tests showed that the visibilities of viewpoints were different significantly as the operator's postures were changed. The results showed that the posture at standing with $15^{\circ}$ tilt provided the best visibility for operators. The divider of the combine was invisible due to blocking with the cabin frame at many postures. The reaper lever showed good visibilities at the postures of sitting or standing with $15^{\circ}$ tilt. The gearshift, the dashboard, and the conveying part had reasonable visibilities at the posture of sitting with $15^{\circ}$ tilt. However, most viewpoints of the combine were out of the stable gaze field of view level. Modifications of the combine design will be required to enhance the visibility during harvesting operation for farmers' safety and convenience.

• The Mathematical Education
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• v.61 no.2
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• pp.305-322
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• 2022

Angle has a variety of aspects, such as figure, measurement, and rotation, but is mainly introduced from a figure perspective and a quantitative perspective of the angle is also partially experienced in the elementary mathematics textbooks. The purpose of this study was to examine how the angle concept introduction and development pattern in elementary school mathematics textbooks are linked or changed in middle school mathematics textbooks, and based on this, was to get the direction of writing math textbooks and implications for guidance. To this end, 57 math textbooks for the first grade of middle school were collected from the first to the 2015 revised curriculum. As a result of the study, it was found that middle school textbooks had a greater dynamic aspect of each than elementary school textbooks, and the proportion of quantitative attributes of angle was higher in addition to qualitative and relational attributes. In other words, the concept of angle in middle school textbooks is presented in a more multifaceted and complex form than in elementary school textbooks. Finally, matters that require consensus within elementary, secondary, and secondary schools were also proposed, such as the use of visual expression or symbol, such as the use of arrows and dots, and the use of mathematical terms such as vertex of angle and side of angle.

• Journal of Korean Academy of Oral and Maxillofacial Radiology
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• v.21 no.2
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• pp.367-375
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• 1991

The clinical and radiographic features of 1,171 mesiodenses were studied with periapical radiograms and/or pantomograms in 942 persons visited the Department of Oral Radiology, School of Dentistry, Kyung Hee University during January 1980 to December 1989. The obrained results were as follows; 1. The incidence of mesiodens was higher in males (75.4%) than in females (24.6%). 2. In number of mesiodenses per individual, a single mesiodens was found to be 75.9%, 2-mesiodenses to be 23.8%, and 3-mesiodenses to be 0.2%. 3. In mesiodenses according to erupted and impacted status, the erupted mesiodens was found to be 16.5%, the impacted mesiodens in the interdental alveolar bone to be 66.6%, and in the region below root apex to be 16.9%. 4. In impacted mesiodenses according to direction of tooth crown, the inverted impaction was found to be 68.8%, the vertical impaction to be 15.1%, and the angulated impaction to be 16.1%. Among the impacted mesiodenses, a palatally located impaction was 87.5%, a middle 4.9%, and a labially 7.6%. 5. In mesiodenses according to shape of the tooth crown, a incisor-like type was found to be 1.6%, a canine-like type to be 6.8%, a conical type to be 79.2%, and a tuberculated type to e 12.4%. 6. In effect of mesiodens on adjacent tooth, non-specific influences were found to be 73.4%, crowding to be 0.3%, diastema to be 11.8%, rotation to be 5.7%, delayed eruption to be 3.8%, root resorption to be 2.6%, and dentigerous cyst to be 2.4%.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.11
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• pp.1088-1095
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• 2009

In this paper, we describe the reorientation method of distorted road sign by using projection transformation for improving recognition rate of road sign. RSR (Road Sign Recognition) is one of the most important topics for implementing driver assistance in intelligent transportation systems using pattern recognition and vision technology. The RS (Road Sign) includes direction of road or place name, and intersection for obtaining the road information. We acquire input images from mounted camera on vehicle. However, the road signs are often appeared with rotation, skew, and distortion by perspective camera. In order to obtain the correct road sign overcoming these problems, projection transformation is used to transform from 4 points of image coordinate to 4 points of world coordinate. The 4 vertices points are obtained using the trajectory as the distance from the mass center to the boundary of the object. Then, the candidate areas of road sign are transformed from distorted image by using homography transformation matrix. Internal information of reoriented road signs is segmented with arrow and the corresponding indicated place name. Arrow area is the largest labeled one. Also, the number of group of place names equals to that of arrow heads. Characters of the road sign are segmented by using vertical and horizontal histograms, and each character is recognized by using SAD (Sum of Absolute Difference). From the experiments, the proposed method has shown the higher recognition results than the image without reorientation.