• Journal of Institute of Control, Robotics and Systems
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• v.22 no.11
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• pp.912-918
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• 2016

This paper presents various strategies for humanoid vehicle driving and egress tasks. For driving, a tele-operating system that controls a robot based on a human operator's commands is built. In addition, an autonomous assistant module is developed for the operator. Normal position control can result in severe damage to robots when they egress from vehicles. To prevent this problem, another approach that mixes various joint control techniques is adopted in this study. Additionally, a footplate is newly designed and attached to the vehicle floor for the ground landing phase of the egress task. The attached plate enables the robot to step down onto the ground in a safe manner. For stable locomotion, a balance controller is designed for the humanoid. For the design of the controller, the robot is modeled using an inverted pendulum that consists of a spring and a damper. Then, a state feedback controller (with pole placement and a state observer) is built based on the simplified model. Many approaches that are presented in this paper were successfully applied to a full-sized humanoid, DRC-HUBO+, in the DARPA Robotics Challenge Finals, which were held in the United States in 2015.

• Journal of the Korea Society of Computer and Information
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• v.24 no.10
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• pp.1-9
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• 2019

Fighter pilots are taking 'Advanced Pilot Training' courses to perform their missions perfectly even under adverse conditions. However, there are accidents that fall due to problems with the human body's equilibrium in the acceleration of flight, falling into the 'Vertigo, Spatial disorientation' phenomenon. As such, accidents that fighters fall due to spatial disorientation frequently occur not only in Korea but also abroad. In this study, we implemented the 'Vertigo' warning function in the fighter. First, we analyzed the aircraft's mission computer and the currently implemented warning functions. And we studied the coordinate system to utilize the aircraft attitude information. Based on this, we wanted to provide a visual warning to the HUD when the fighter flies over a certain time in the inverted flight position. Implementing this feature is expected to improve pilot flight safety. In addition, based on the results of this study, we propose a method to implement warning functions through linkage with other subsystems.

• Journal of Fashion Business
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• v.19 no.4
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• pp.135-152
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• 2015

The purpose of this study is to explore the role of deconstruction and creative destruction in Maison Margiela’s fashion design code, which has opened the door to a new wave of innovative design since 1988. Using a combination of theoretical analysis, precedent research, and a review of existing literature, five years of Maison Margiela's works (2010-2014) were evaluated. The analysis shows that Maison Margiela’s Design Code consists of the following key elements: Addition, Extension, Asymmetry, Elimination, Deconstruction, Complanation, and Inversion. Addition refers to act of attaching additional pieces of fabric or clothing on the existing piece. Extension refers to the act of extending the design elements, such as their position or features. Asymmetry means the irregular positioning of left-to right and front-to-back length and features. Deconstruction could be seen in intentionally frayed sleeves, open seams, and tears in the cloth. The element of Elimination was evident in the removal of key pieces of clothing such as a coat, pants, blouse, and a jacket. Complanation refers to the reversion to a two dimensional contemplation of the human form rather than the more obvious 3-dimensional form. Finally, Inversion was used by displaying an inner layer of clothing on the outside or exposing seams or zippers in a way that people are not accustomed to seeing. It also meant that the order of wearing clothes was sometimes inverted, so external layers would be worn within clothing that are traditionally underneath. Maison Margiela’s creations represented a break

• Journal of Yeungnam Medical Science
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• v.41 no.1
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• pp.48-52
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• 2024

While simultaneous bilateral partial nephrectomy with a conventional multiport robot has been consistently reported since the 2010s, the introduction of the DaVinci SP system (Intuitive Surgical, Sunnyvale, CA, USA) could provide a novel way to perform surgery on bilateral kidneys while innovatively reducing the number of incisions. In our first report worldwide, the patient with bilateral small renal mass (2.0 cm for the left and 1.5 cm for the right side) and preoperative normal renal function was placed in the lateral decubitus position on an inverted bed. After tilting the bed to be as horizontal as possible, a 4-cm incision was made in the lower part of the umbilicus for the floating trocar technique. The partial nephrectomy was performed reliably as with the conventional transperitoneal approach, and then the patient could be repositioned to the contralateral side for the same procedure, maintaining all trocars. Total operation time (skin to skin), total console time, and the left- and right-side warm ischemic times were 260, 164, 27, and 23 minutes, respectively, without applying the early declamping technique. The estimated blood loss was 200 mL. The serum creatinine right after the operation, on the first day, 3 days, and 90 days after surgery were 0.92, 0.77, 0.79, and 0.81 mg/dL, respectively. For 90 days after the procedure, no complications or radiologic recurrence were observed. Further clinical studies will reveal the advantages of using the DaVinci SP device for this procedure over traditional multiport surgery, maximizing the benefit of a single port-based approach.

• Journal of the korean academy of Pediatric Dentistry
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• v.35 no.4
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• pp.750-756
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• 2008

Supernumerary teeth are frequently found in the anterior portion of the maxilla and develop as a result of abnormal proliferation of the dental lamina during tooth germ formation, caused by genetic or environmental factors. They may result in various complications, such as eruption interference, displacement, rotation of adjacent teeth, diastema, eruption into the nasal cavity, and development of dentigerous cyst. The optimal time for surgical extraction of supernumerary teeth has been a controversial issue. Someone prefer early surgical extraction because supernumerary teeth can cause eruption interference and displacement of adjacent teeth, eventually altering occlusion. Others prefer to delay surgical extraction until $8{\sim}10$ years of age in consideration of root maturation of the adjacent teeth and also patient's behavior. When surgical extraction of supernumerary teeth is postponed, there is possibility that impacted supernumerary teeth in the inverted or horizontal position move toward the nasal cavity, hard palate, or premolar area. When such intraosseous tooth migration is combined with the vertical growth of the maxilla, surgical approach becomes even harder. Therefore, possibility of intraosseous tooth migration should be considered as an important factor when deciding appropriate time for surgical extraction. We are presenting cases of mesiodens which showed intraosseous migration during $6{\sim}7$ years of follow-up period since the first diagnosis had been made at the $2{\sim}3$ years of age.

• The Journal of Korean Academy of Prosthodontics
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• v.17 no.1
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• pp.7-21
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• 1979

This investigation was to analyse normal protrusive and lateral condylar pantographic records written on the sagittal plane and to study components of Fisher's angle and their interrelations. The purpose of this study was limited to (1) discussing the significance of sagittal pantographic record in diagnosis of occlusal disease and(2) basing for reasoning validity of measuring Fisher's angle which has been reported so far. As a result followings were concluded. 1. In each protrusive and lateral condylar movement path, five complicate factors such as initial straightness, distributed simple sigmoid type, simple curvature, initial tiny protruding convexity and tiny repeated sigmoid patterns were noted. Generally each condylar movement path was composed of two to three of these factors. 2. The distribution of positional interrelations of protrusive and lateral condylar paths could be divided into five categories; (a) protrusive-upper, (b) completely coinciding, (c) partially initial coinciding, (d) partially inverted crossing, and (e) completely inverting. Among these, protrusive path-upper positioned condyles were prevailed (79.2%). 3. The distribution of interrelations of protrusive and lateral condylar paths could be devided into five categories according to their distances in the course of movement. Among these, opening (95.8%) and paralleling (66.7%) were prevailing. 4. The involved number of characteristic heterogenous patterns of five categories in protrusive and lateral condylar movement recording relations at one simultaneous recordings was limited to three. However, in case of homogeneous patterns were repeated, usually three to four were included. 5. The maximum distance between protrusive and lateral condylar paths was 1.45mm at the location of 4mm advanced position from centric relation point and 3.90mm at the location of protrusive movement terminal. 6. It seemed to be that ,pantographic records should be consulted other clinical symptoms in order to make certain occlusion diagnosis. 7. At the present moment of investigation, expressing Fisher's angle as a degree revealed a lack due to inherent complexity of protrusive and lateral condylar movement paths. 8. The typical pattern of protrusive and lateral condylar paths written on a pantographic sagittal plate might be described as follows; (a) protrusive condylar path should be positioned upwardly, (b) both mainly be simple curvature, (c) interrelations mainly be opening or paralleling. 9. The mean amounts of separation between protrusive and lateral condylar movement path were $0.75{\pm}0.46$ at 4mm advanced location from centric relation and $1.74{\pm}0.64mm$ at the location of protrusive path terminal.

• Korean Journal of Optics and Photonics
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• v.25 no.1
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• pp.29-37
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• 2014

We have studied and demonstrated general, systematic error-correction methods for a dual rotating quarter-wave plate ellipsometer. To estimate and correct 5 systematic error sources (three offset angles and two unexpected retarder phase delays), we used 11 of the 25 Fourier components of the ellipsometry signal obtained in the absence of an optical sample. Using these 11 Fourier components, we can determine the errors from the 5 sources with nonlinear optimization methods. We found systematic errors ${\epsilon}_3$, ${\epsilon}_4$, ${\epsilon}_5$) are more sensitive to the inverted Mueller matrix than retarder phase delay errors (${\epsilon}_1$, ${\epsilon}_2$) because of their small condition numbers. To correct these systematic errors we have found that error of any variety must be less than 0.05 rad. Finally, we can use the magnitudes of these errors to correct the Mueller matrix of optical components. From our experimental ellipsometry signals, we can measure phase delay and the rotational angular position of its fast axis for a half-wave plate.

• Korean Journal of Remote Sensing
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• v.14 no.2
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• pp.117-128
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• 1998

Topex/Poseidon satellite, launched in Auguest 1992, has provided more 5 years of very good quality data. Efficient improvements, either about instrumental accuracy or about sea level data correction, have been made so that Topex/Poseidon has become presently a wonderful tool for many researchers. The first mission data of 73 cycles, September 1992 - August 1994, was used to our study in order to know characteristics of environmental correction factors in the Amsterdam-Crozet-Kerguelen region of the South Indian Ocean. According to standard procedures as defined under user handbook for sea surface height data processes, then we have chosen cycles 43 as the cycle of reference because this cycle has provided the completed data for measurement points and has presented the exacted position of ground track compared to another cycles. It was computed variations of various factors for correction in ascending ground track 103(Amsterdam-Kerguelen continental plateau) and descending ground track170 (Crozet basin). Here the variations of ionosphere, dry troposphere, humid troposphere, electromagnetic bias, elastic tide and loading tide were generally very smaller as a few of cm, but the variations of oceanic tide(30-35cm) and inverted barometer(15-30cm) were higher than another factors. For the correction of ocean tide, our model(CEFMO: Code d' Elements Finis pour la Maree Oceanique) - This is hydrodynamic model that is very well applicated in all oceanic situations - was used because this model has especially good solution in the coastal and island area as the open sea area. Conclusionally, it should be understood that the variation of ocean free surface is mainly under the influence of tides(>80-90%) in the Amsterdam - Crozet- Kerguelen region of the South Indian Ocean.

• Korean Journal of Veterinary Research
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• v.38 no.1
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• pp.147-159
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• 1998

A survey of the internal parasites in 115 fishes of Ophicephalus argus was carried out in Kyungpook province during the period from January 1995 to November 1997. A species of trematode from the stomach and a species of nematode from the caeca of the fishes was discovered respectively. The trematode was identified as Azygia hwangtsinyi (Tsin, 1993) and the nematode as Pingus sinensis ($Hs\ddot{u}$, 1993). The fluke was pressed at thick of 0.1mm~0.2mm between slide glasses and fixed in 70% ethyl alcohol solution. The fluke was washed with tap water after fixation and stained with hematoxylin-carmin and mounted in balsam through routine methods. The nematode was fixed in 5% formalin solution and mounted with lactophnol or glycerine jelly. Morphology : Arygia hwantsinyi ; The fluke is elongate body with approximately parallel margins and rounded extremities in pressed preparations(Fig 1). The cuticle is unarmed. The oral sucker is ventro-subterminal in position. The ventral sucker is slightly smaller than oral sucker and positioned at 14.2% of body length from the oral sucker. The cirrus sac and genital pore is in mid-ventral line, slightly anterior to the ventral sucker. The oral sucker is succeeded by a well developed muscular pharynx. It is succeeded by a short inverted Y-shaped oesophagus. The inner wall of oesophagus is consisted of many fine folded membrane. The fine tubes of esophagus pass into the intestinal heads which are distended and presented a marked borderline between the fine tube and intestinal heads. The Intestinal heads start at level of pharynx and pass caudad in a zigzag course to end quite near caudal margin. The uterine coils occupy the intercecal area between the level of the cephalic margin of the ovary and about the level of the ventral sucker. The uterus is filled with many eggs. The testes are round or oval and placed one behind the other generally a little diagonally. The posterior testis is placed at level of 75.1% of body length. The ovary is oval, placed ahead the anterior testis. The shell gland not discernible outline is contacted with ovary ahead it. The vitelline glands are consisted of small oval vesicles. The vesicles occupy extracecal regions and between a little posterior of the ventral sucker and near caudal margin. Pingus sinensis : Female ; The cuticle is smooth and the cervical alae are well developed. The mouth opening is small, triangular, and without lips. The anterior end bears four sub-medial papillae. The oesophagus is divided into a muscular and glandular portion. The nerve ring is situated just at the junction of the muscular and glandular portions of the oesophagus. The vulva which has a prominent flap, is placed behind the middle of the body about one-third of the length of the worm from the posterior extremity. The vagina is strongly muscularised and after running anteriorly about $68{\mu}$, divides itself into two broad uterine tubes with an anterior and a posterior one. There are a few eggs in the uterine tubes. The tail is slender, straight and pointed. The ovary extends almost to the posterior extremity. Male : Male is smaller than female. The tail is pointed, curved and carrying well-developed caudal alae. A prominent muscular precloacal sucker is characteristic. The spicules are equal and short. There are four pairs of pedunculated pre-anal papillae, of which the most anterior pair are situated just at the level anterior to the muscular sucker. Two pairs of pedunculated papillae are present before the anus. There are five pairs of post-anal papillae of which the most anterior pair and the second counted from the posterior end are ventral and more marked than the ones which are situated laterally.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.40 no.3
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• pp.196-205
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• 2004

As far as an opening device of fishing gears is concerned, applications of a kite are under development around the world. The typical examples are found in the opening device of the stow net on anchor and the buoyancy material of the trawl. While the stow net on anchor has proved its capability for the past 20 years, the trawl has not been wildly used since it has been first introduced for the commercial use only without sufficient studies and thus has revealed many drawbacks. Therefore, the fundamental hydrodynamics of the kite itself need to ne studied further. Models of plate and canvas kite were deployed in the circulating water tank for the mechanical test. For this situation lift and drag tests were performed considering a change in the shape of objects, which resulted in a different aspect ratio of rectangle and trapezoid. The results obtained from the above approaches are summarized as follows, where aspect ratio, attack angle, lift coefficient and maximum lift coefficient are denoted as A, B, $C_L$ and $C_{Lmax}$ respectively : 1. Given the rectangular plate, $C_{Lmax}$ was produced as 1.46${\sim}$1.54 with A${\leq}$1 and 40$^{\circ}$${\leq}$B${\leq}$42$^{\circ}$. And when A${\geq}$1.5 and 20$^{\circ}$${\leq}$B${\leq}$22$^{\circ}$, $C_{Lmax}$ was 10.7${\sim}$1.11. Given the rectangular canvas, $C_{Lmax}$ was 1.75${\sim}$1.91 with A${\leq}$1 and 32$^{\circ}$${\leq}$B${\leq}$40$^{\circ}$. And when A${\geq}$1.5 and 18$^{\circ}$${\leq}$B${\leq}$22$^{\circ}$, $C_{Lmax}$ was 1.24${\sim}$1.40. Given the trapezoid kite, $C_{Lmax}$ was produced as 1.65${\sim}$1.89 with A${\leq}$1.5 and 34$^{\circ}$${\leq}$B${\leq}$44$^{\circ}$. And when A=2 and B=14${\sim}$48, $C_L$ was around 1. Given the inverted trapezoid kite, $C_{Lmax}$ was 1.57${\sim}$1.74 with A${\leq}$1.5 and 24$^{\circ}$${\leq}$B${\leq}$36$^{\circ}$. And when A=2, $C_{Lmax}$ was 1.21 with B=18$^{\circ}$. 2. For a model with A=1/2, an increase in B caused an increase in $C_L$ until $C_L$ has reached the maximum. Then there was a tendency of a gradual decrease in the value of $C_L$ and in particular, the rectangular kite showed a more rapid decrease. For a model with A=2/3, the tendency of $C_L$ was similar to the case of a model with A=1/2 but the tendency was a more rapid decrease than those of the previous models. For a model with A=1, and increase in B caused an increase in $C_L$ until $C_L$ has reached the maximum. Soon after the tendency of $C_L$ decreased dramatically. For a model with A=1.5, the tendency of $C_L$ as a function of B was various. For a model with A=2, the tendency of $C_L$ as a function of B was almost the same in the rectangular and trapezoid model. There was no considerable change in the models with 20$^{\circ}$${\leq}$B${\leq}$50$^{\circ}$. 3. The tendency of kite model's $C_L$ in accordance with increase of B was increased rapidly than plate models until $C_L$ has reached the maximum. Then $C_L$ in the kite model was decreased dramatically but in the plate model was decreased gradually. The value of $C_{Lmax}$ in the kite model was higher than that of the plate model, and the kite model's attack angel at $C_{Lmax}$ was smaller than the plate model's. 4. In the relationship between aspect ratio and lift force, the attack angle which had the maximum lift coefficient was large at the small aspect ratio models, At the large aspect ratio models, the attack angle was small. 5. There was camber vertex in the position in which the fluid pressure was generated, and the rectangular & trapezoid canvas had larger value of camber vertex when the aspect ratio was high, while the inverted trapezoid canvas was versa. 6. All canvas kite had larger camber ratio when the aspect ratio was high, and the rectangular & trapezoid canvas had larger one when the attack angle was high.