• Journal of Institute of Control, Robotics and Systems
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• v.16 no.9
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• pp.891-897
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• 2010

This paper proposes a cooperative control algorithm for a dual-arms robot which is carrying an object to the desired location. When the dual-arms robot is carrying an object from the start to the goal point, the optimal path in terms of safety, energy, and time needs to be selected among the numerous possible paths. In order to quantify the carrying efficiency of dual-arms, DAMM (Dual Arm Manipulability Measure) has been defined and applied for the decision of the optimal path. The DAMM is defined as the intersection of the manipulability ellipsoids of the dual-arms, while the manipulability measure indicates a relationship between the joint velocity and the Cartesian velocity for each arm. The cost function for achieving the optimal path is defined as the summation of the distance to the goal and inverse of this DAMM, which aims to generate the efficient motion to the goal. It is confirmed that the optimal path planning keeps higher manipulability through the short distance path by using computer simulation. To show the effectiveness of this cooperative control algorithm experimentally, a 5-DOF dual-arm robot with distributed controllers for synchronization control has been developed and used for the experiments.

• The Journal of the Korean bone and joint tumor society
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• v.1 no.1
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• pp.98-104
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• 1995

Between April 1982 and July 1991, 14 cases of squamous cell carcinoma of the extremities have been treated at the Department of Orthopedic Surgery, College of Medicine, Hanyang University. The diagnosis was made by clinical symptoms, history, tissue and lymph node biopsy. Age distribution was variable and the average age was 50.2 years old. The frequency was higher in male than female. The most common location arising the carcinoma was lower extremities. The most common etiology of carcinoma was chronic osteomyelitis, then chronic ulcers, burn scars in order. The average duration of illness was 22.8 years. The common clinical manifestations at the time of admission were chronic ulcer, growing mass, draining sinus in order. The choice of treatment consisted of early adequate amputation or radical resection of the focus and irradiation or chemotherapy.

• The Journal of the Korean bone and joint tumor society
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• v.2 no.1
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• pp.65-71
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• 1996

Twenty-nine cases of unicameral bone cyst developed in long bone of children have been treated and followed up for 4.5 years in average form Department of Orthopaedic Surgery, Guro Hospital, Korea University, College of Medicine since September, 1983, Treatment for those lesions differed to form largely two groups, one of which consised of insillation of Methyl-prednisolone for non-weight bearing bones(12 humeri) and the other of curettage and autogenous bone graft for weight-bearing bones(7 femur). Methl-prednisolone group required repetition of instillation for 3.5 time in average spanning over 4 years until cloudy obliteration occurs. Curettage and bone graft had healed in 3 year 6 months' time in average. There were neither recurrence nor pathologic fractures of the lesions with the latter group. Immobilization period was virtually non with Methyl-prednisolone group and 4-6 weeks by hip spica with curettage and bone graft group. As conclusions, It seems confirmed that treatment strategy of unicameral bone cyst consisted of Methyl-prednisolone instillation for humerus lesions and early curettage and bone graft for femur lesions is applicable as guideline having solid ground in clinical experiences.

• The Journal of the Korean bone and joint tumor society
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• v.5 no.1
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• pp.51-55
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• 1999

Aspirin has usually been taken for pain relief originating in the nidus of osteoid osteoma, however it takes too long to become effective. Because of the protracted painful course and the unpredictability of regression, osteoid osteoma is usually removed. And then, the defective host bone is internally fixed by plate and screws and augumented by autogenous bone graft. However, the common intracortical location and exuberant periosteal reaction hinders the exact intraoperative localization of the nidus. The authors managed 6 patients by computerized tomography-guided percutaneous nidus excision with a relatively small skin incision, small cortical window, short operation time and no bone graft. It may be one of the best options for removal of the nidus of osteoid osteoma with certainty.

• The Journal of the Korean bone and joint tumor society
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• v.14 no.2
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• pp.178-181
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• 2008

In contrast to ganglion of the soft tissue, periosteal ganglion occurring within or beneath the periosteum is a rare disorder. The differential diagnosis includes periosteal chondroma, lipoma, giant cell tumor of tendon sheath and periosteal osteosarcoma. Most common location for periosteal ganglion is the tibia, followed by radius, femur and ulna. To our knowledge, only 1 case of periosteal ganglion of the fibula has been reported in the literature. We report a case of periosteal ganglion of the distal fibula in a thirty-year-old woman treated with excision of the cyst and the adjacent periosteum.

• The Journal of the Korean bone and joint tumor society
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• v.1 no.2
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• pp.244-248
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• 1995

Glomus tumor is uncommon tumor with an incidence of about 1% in soft tissue tumors and the single most common location is the subungual region of the finger. Many reports have emphasized that glomus tumors were difficult to diagnose and that the result of surgical removal was good, but nail deformity has received little attention. Most of authors removed the entire nail or partially splitted the nail to exposure the nail bed and tumor. Nobody reported whether nail deformity after operation was present or not. But, an abnormal nail is both a cosmetic and a functional problem in that catches on objects. In this study, our attention was postoperative nail deformity as well as the results of surgical removal. Seven patients(eight cases) who were diagnosed as a subungal glomus tumor in the hand were treated by surgical excision without removal of the nail and followed over twenty two months. And then we report on our experience with 8 cases of subungual glomus tumor which were successfully treated by complete excision without nail deformity.

• The Journal of the Korean bone and joint tumor society
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• v.9 no.1
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• pp.110-114
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• 2003

Chondromyxoid fibroma is a benign tumor in adolescents and young adults. The most common location of the tumor is the proximal one-third of the tibia. Chondromyxoid fibroma accounts for less then 1% of all bony neoplasms and foot is affected in about 20% of all cases. The authors have described a case of chondromyxoid fibroma of the first metatarsal which had been recurred 7 months after curettage and iliac bone graft. En bloc resection and reconstruction of the metatarsal with autogenous iliac bone graft were performed. The results were satisfactory and the patient was free of local recurrence at two years follow-up.

• International Journal of High-Rise Buildings
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• v.3 no.3
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• pp.167-171
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• 2014

TORANOMON HILLS is the main building of a large-scale re-development project located in the center of Tokyo. This high-rise building has a height of 247 m and 52 floors above ground, 5 floors below ground, and $62m{\times}80m$ in plan. It is used as hotel, residential facilities, offices, shops and conference facilities. The super structure is mainly a rigid steel frame with response-control devices, using concrete-filled steel tube columns. The underground section is a mixed structure composed of steel, steel-reinforced concrete and reinforced concrete framings. The piled-raft foundation type is used. The remarkable feature of this high-rise building is that the motorway runs through the basements of the building, which makes it stand just above the motorway. This condition is an important factor of the building design. The plan shape is designed to fit along the curve of the motorway. Special columns at the corners are required to avoid placing columns in the motorway. This special column is a single inclined column in the lower floors that branches into two columns in the mid-floors to suit the column location in the upper floors. The cast steel joint is used for the branching point of each special column to securely transfer the stress.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.11 no.1
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• pp.88-94
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• 2012

An axle drive shaft with double joint shaft, cross kit and yoke has an important role by transferring power and changing steering angle between axle and wheel in power train system. It has been used widely in the heavy machinery requiring a high reliability in the power train system. At fatigue failures of the axle drive shaft with the long span, a relatively high stress concentration at a snap ring groove on the drive shaft brings to significant fatigue damages under repeated loading condition. As Peterson's suggestions on this study, a relief groove in the vicinity of the snap ring groove is applied by decreasing the stress concentration and improving the fatigue life of axle drive shaft. By using FEM analysis, the decreasing effect of the stress concentration and extended fatigue life are due to the change of design parameters related with size and location of the relief groove. The relief groove with the design parameters such as d/b=2.0 and r/h=1.2 enables to decrease the stress concentration of 22.3% and increase the fatigue life more than 3 times by comparing with no relief groove application.

• The Korean Society of Law and Medicine
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• v.7 no.1
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• pp.323-386
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• 2006

A combination of information technology and medical care has given rise to a new type of medicine, i.e., telemedicine. Broadly defined, telemedicine is the transfer of electronic medical data from one location to another. Both at home and abroad, telemedicine has come to success in establishing appropriate equipment and solutions for such non-conventional medicine. Sooner or later, telemedicine is believed to find itself as one of the universal treatments. In order to facilitate the full-fledged development of telemedicine, a number of legal and institutional problems have to be settled. In Korea, the Medical Act was amended to include such provisions as telemedicine, electronic medical records, electronic prescriptions, etc. and the Act came into force on March 31, 2002. Telemedicine is in common with the conventional medicine in that a physician treats a patient. However, telemedicine is basically differentiated in the followings: - The offer and acceptance of treatment and medication are usually made on-line; - Telemedicine is inherently dangerous because a physician cannot meet face-to-face with a patient; and - Joint and several liability is borne by all the physicians involved in a telemedical consultation. As a result, telemedicine is vulnerable in nature to medical malpractice. Accordingly, there must be some new theories and arguments in the formation of contract and torts. The discussion on the civil liability covers the above-mentioned issues, and would give an insight or guidelines in the concerted operation of provisions with respect to telemedicine. This study delves into the civil liability of physicians involved in telemedical consultations and treatments based upon the conventional malpractice theory.