• 로봇학회논문지
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• 제8권4호
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• pp.247-255
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• 2013

This paper shows the development of a snake robot (KAEROT-snake V) which consists of 16 1-DOF actuator modules and head module. The modules are connected serially and the joint axis of each module is rotated by $90^{\circ}$ with respect to the previous joint so that the snake robot can move in the 3D space. A tail actuator module includes slip-ring and metal connector. KAEROT-snake IV developed in prior research could move in the 3D space and climb up in a narrow pipe. But its design was not appropriate to the unstructured tough environment and its speed was somewhat slow. A new actuator module is designed to enclose all parts of the module so that any wire is not exposed. The size and weight of the new module was slightly reduced. And the rotation speed and torque of the joint was increased by about twice when compared with pre-module. An embedded controller was developed so small that it can be mounted inside the module. The performance of the developed robot was demonstrated through various locomotion experiments.

• 대한정형도수물리치료학회지
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• 제13권1호
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• pp.67-72
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• 2007

Anatomy: The rotator cuff comprises four muscles-the subscapularis, the supraspinatus, the infraspinatus and the teres minor-and their musculotendinous attachments. The subscapularis muscle is innervated by the subscapular nerve and originates on the scapula. It inserts on the lesser tuberosity of the humerus. The supraspinatus and infraspinatus are both innervated by the suprascapular nerve, originate in the scapula and insert on the greater tuberosity. The teres minor is innervated by the axillary nerve, originates on the scapula and inserts on the greater tuberosity. The subacromial space lies underneath the acromion, the coracoid process, the acromioclavicular joint and the coracoacromial ligament. A bursa in the subacromial space provides lubrication for the rotator cuff. Etiology: The space between the undersurface of the acromion and the superior aspect of the humeral head is called the impingement interval. This space is normally narrow and is maximally narrow when the arm is abducted. Any condition that further narrows this space can cause impingement. Impingement can result from extrinsic compression or from loss of competency of the rotator cuff. Syndrome: Neer divided impingement syndrome into three stages. Stage I involves edema and/or hemorrhage. This stage generally occurs in patients less than 25 years of age and is frequently associated with an overuse injury. Generally, at this stage the syndrome is reversible. Stage II is more advanced and tends to occur in patients 25 to 40 years of age. The pathologic changes that are now evident show fibrosis as well as irreversible tendon changes. Stage III generally occurs in patients over 50 years of age and frequently involves a tendon rupture or tear. Stage III is largely a process of attrition and the culmination of fibrosis and tendinosis that have been present for many years. Treatment: In patients with stage I impingement, conservative treatment is often sufficient. Conservative treatment involves resting and stopping the offending activity. It may also involve prolonged physical therapy. Sport and job modifications may be beneficial. Nonsteroidal anti - inflammatory drugs(NSAIDS) and ice treatments can relieve pain. Ice packs applied for 20 minutes three times a day may help. A sling is never used, because adhesive capsulitis can result from immobilization.

• 대한핵의학회지
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• 제28권2호
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• pp.227-233
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• 1994

Irradiation of 20mg of natural $Dy(NO_3)_3$ in a neutron flux of $2{\times}10^{13}n/cm^2$ sec for 4 hours gave 5.76 Ci of $^{165}Dy$(specific activity, 610mCi/mg Dy) with high radionuclidic purity (>99.9 %). $^{165}Dy-MA$ was prepared in a quantitative yield by reacting the aqueous solution of $^{165}Dy(NO_3)_3$ with sodium borohydride solution in 0.2N NaOH. Coulter particle analyzer exhibited mean particle size of $2.6{\mu}m$ (range $1{\sim}6{\mu}m$), Even though the $^{165}Dy-MA$ suspension in saline was stored at $37^{\circ}C$ for 24 hours or autoclaved at $121^{\circ}C$ for 30minutes, there was no significant change in particle size and leakage problem indicating the prepared $^{165}Dy-MA$ is sufficiently stable. In-vivo retention studies were carried out by administering $^{165}Dy-MA$ into the knee joint space of normal rabbits. Gamma camera analysis showed high retention in joint space of normal rabbits. Gamma camera analysis showed high retention in joint space even at 24 hours after administration (> 99.9%). The ease with which the $^{165}Dy-MA$ can be made in the narrow size range and their high invitro and vivo stability make them attractive agents for radiation synovectomy.

• 대한의용생체공학회:의공학회지
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• 제43권4호
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• pp.241-250
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• 2022

It is known that chronic pain and injury of upper limb joint tissue in manual wheelchair users is usually caused by muscle imbalance, and the propulsion speed is reported to increase this muscle imbalance. In this study, kinematic variables, electromyography, and ultrasonographic images of the upper limb were measured and analyzed at two different propulsion speeds to provide a quantitative basis for the risk of upper extremity joint injury. Eleven patients with spinal cord injury for the experimental group (G_E) and 27 healthy adults for the control group (G_C) participated in this study. Joint angles and electromyography were measured while subjects performed self-selected comfortable and fast-speed wheelchair propulsion. Ultrasound images were recorded before and after each propulsion task to measure the acromiohumeral distance (AHD). The range of motion of the shoulder (14.35 deg in G_E; 20.24 deg in G_C) and elbow (5.25 deg in G_E; 2.57 deg in G_C) joints were significantly decreased (p<0.001). Muscle activation levels of the anterior deltoid, posterior deltoid, biceps brachii, and triceps brachii increased at fast propulsion. Specifically, triceps brachii showed a significant increase in muscle activation at fast propulsion. AHD decreased at fast propulsion. Moreover, the AHD of G_E was already narrowed by about 60% compared to the G_C from the pre-tests. Increased load on wheelchair propulsion, such as fast propulsion, is considered to cause upper limb joint impingement and soft tissue injury due to overuse of the extensor muscles in a narrow joint space. It is expected that the results of this study can be a quantitative and objective basis for training and rehabilitation for manual wheelchair users to prevent joint pain and damage.

• KEPCO Journal on Electric Power and Energy
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• 제5권4호
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• pp.257-262
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• 2019

Lattice steel towers for overhead transmission lines have been replaced by tubular steel poles due to the visual impact of large and complex shape of truss type. Demand for tubular steel poles consisting of a single frame member continues to grow because of its advantages such as visual minimization, architectural appeal and minimal site consumptions. However, there are some constraints on the transportation and construction. As the diameter of tower base has been enlarged, it may exceed minimum height limit required to pass the tunnel in case of land transportation. Also, in a narrow place where it is not easy to secure the installation areas such as mountainous places, there might be some areas wherein it must secure a wide working space so that large vehicles and working cranes will be allowed to enter. In this paper, we presented a vertical separated tubular steel pole, which is a new type of support that can be implemented for general purpose such as mountainous areas or narrow areas to improve the issues raised by breaking away from the conventional design and fabrication methods. Technical approaches for overcoming the limit of the cross-sectional size is to separate and modularize the cross-section of the tubular steel pole designed with a size that cannot be carried or assembled, and to lighten it with a weight capable of being transported and assembled in a narrow space or mountainous area. As a result of this research, it will be possible to enter small and medium sized vehicles in locations where it is restricted to transport by large-sized vehicles. In the case of mountainous areas, it will be possible to divide it into a weight capable of being carried by a helicopter and it will be easy to adjust and fabricate it with individual modules. Furthermore, in order to break away from the traditional construction method, we proposed the equipment that can be applied to the assembly of Tubular Steel Pole without using a large crane in locations where there is no accessible road or in locations wherein large cranes cannot enter. In particular, this paper shows the movable assembling equipment and some methods that are specialized for vertical separated tubular steel pole consisting of members with reduced weight. The proposed assembly equipment is a device for assembling the body of the Tubular Steel Poles. It will be installed inside the support and the modules can be lifted by using the support itself.

• 지질공학
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• 제13권2호
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• pp.193-205
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• 2003

양산단층과 동래단층 사이를 통과하여 건설하는 지방도를 포함하는 조사지역에는 중생대 백악기에 분출 및 관입한 안산암질암, 세립질 화강암, 반상 화강암 및 흑운모 화강암이 분포한다. 또한 이 지역은 양산단층과 동래단층 사이에서 북동방향의 명곡단층과 북북동방향의 법기단층이 발달하고 있다. 이 지역의 절리의 특성은 화강암이 분포하는 지역에서 절리의 경사각이 30도 미만의 sheeting joint가 발달하며 이외 경사각이 70도 이상 고각의 절리는 북동방향, 북서 방향 및 거의 동서방향의 3조의 절리군이 발달한다. 이들 절리의 간격은 대개 20cm이상의 보통의 간격상태로 암반이 심하게 파괴되지 않았음을 볼 수 있고, 또한 벽면강도도 일반적으로 100MPa이상으로 원암의 강도와 차이를 보이지 않아 절리가 심하게 변형작용을 받았다고는 볼 수 없다 따라서 이 지역은 양상단층과 동래단층인 두 대단층의 사이에 위치하는 암반이지만 이들 단층의 손상대(Damage zone)의 범위가 좁아 지반 상태가 비교적 양호한 것으로 판명되었다.

• 제어로봇시스템학회논문지
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• 제14권10호
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• pp.1022-1028
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• 2008

This article presents an omni-tread snake robot that designed to locomote on narrow space and rough terrain. The omni-tread snake robot comprises three segment, which are linked to each other by 2 degrees of freedom joints for the pitch and yaw motion. Moving tracks on all four sides of each segment guarantee propulsion even when the robot rolls over. The 2 DOF joint are actuated by 2 servo motors which produce sufficient torque to lift the one leading or trailing segments up and overcome obstacles. This paper applies articulated steering technique to get omni-tread snake robot's kinematics model.

• 유공압시스템학회:학술대회논문집
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• 유공압시스템학회 2010년도 춘계학술대회
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• pp.62-65
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• 2010

Field robot represented by excavator can be applied for various working in manufacturing, construction, agriculture etc. Because of the flexibility of its multi-joint mechanism and the high power of hydraulic actuators. Since the excavator operates in the hazardous working circumstance, operators exposed in harmful environment. Therefore, automation system has been investigated to protect from the harmful environment. In this paper, the method to construct the remote control system is proposed. The remote control system is consisted of a manual and auto mode. Manual mode controls a hydraulic cylinder as open loop control. and auto mode controls the end effecter of excavator using tracking control system. The efficiency of remote control system was evaluated through the field test.

• 터널과지하공간
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• 제20권2호
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• pp.82-91
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• 2010

그라우팅 공법은 지하 내 구조물을 건설 시 유입되는 지하수를 억제하거나 암반의 강도를 증대시킬 목적으로 널리 이용되는 암반 개량공의 일종이다. 암반 내 불연속면을 따라 유동하는 그라우트의 유동 특성을 파악하는 것은 이러한 그라우팅 설계 및 그 효과를 예측하는데 필수적이다. 기존의 그라우트 유동 연구에서 그라우트 유동을 층류 유동으로 가정해 왔으나, 마이크로 스케일의 간극을 가지는 좁은 절리 틈새 내에서의유체 유동은 절리 거칠기의 영향을 받아 유동의 속도 단면이 거칠기 부분에서 변하기 때문에 일반적인 층류유동으로 모사하는 데 한계가 있다. 따라서 본 연구에서는 거칠기를 가지는 절리 내의 그라우트 유동에 절리 거칠기와 간극이 미치는 영향을 수치해석을 이용하여 조사하였다. 수치해석을 위해 전산유체유동해석 코드인 FLUENT 코드를 이용하였으며 FLUENT 코드에서 제공하는 Herschel-Bulkely 모델과 VOF(volume of fluid) 모델을 적용하여 물과 공기로 채워진 좁은 절리 틈새 내의 그라우트 유동을 모사하였다. 모사된 결과를 그라우트 유동을 위해 제시된 분석해와 기존의 실험실 그라우트 주입 실험 결과와 비교하여 FLUENT 코드의 적합성을 검증하였다. JRC와 간극 변화에 따라 일정 그라우트 주입량 유지에 필요한 주입압을 계산함으로써 마이크로 스케일의 절리 틈새 내 그라우트 유동시 채널 벽면의 거칠기 및 채널 간극의 영향을 정량화하였다.

• Imaging Science in Dentistry
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• 제37권1호
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• pp.15-18
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• 2007

Purpose : Disc and condylar position were observed on MRIs of temporomandibular joint disorder patients and condylar position agreement between MRI and tranascranal radiography was evaluated. Materials and Methods MRI and transcranial radiographs of both TM joints from 67 patients with temporemandibular disorder were used. On MRI, the position and shape of disc and condylar position as anterior, middle, posterior was evaluated at medial, center, and lateral views. On transcranial radiographs, condylar position was evaluated using the shortest distance from condyle to fossa in anterior, superior, and posterior directions. Results. 1. On MRI, 96 joints (71.6%) of 134 had anterior disc dispalcement with reduction and 38 joints (28.4%) without reduction. 2. Fourteen (14.6%) of 96 reducible joints showed anterior condylar position, 19 (19.8%) showed central position, 63 joints (65.6%) showed posterior position. Two joints (5.3%) of 38 non-reducible joints showed anterior condylar position, while 9 (23.7%) showed central position, and 27 (71.1%)-posterior position. 3. In 85 joints (63.4%) of 134, the transcranial condylar position agreed with that of the central MRI view, 10 joints (7.5%) with that of medial, 16 joints (11.9%) with that of lateral, and 23 joints (17.2%) disagreed with that of MRI. Conclusion : On MRT, most oi the reducible and non-reducible joints showed posterior condylar position. Transcranial radiographs taken with machine designed for TMJ had better agreement of condylar position with that of MRI. Extremely narrow joint spaces or very posterior condylar positions observed on transcranial radiographs had a little more than fifty percent agreement with those of MRIs.