• Imaging Science in Dentistry
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• 제54권1호
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• pp.71-80
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• 2024

Purpose: This study aimed to evaluate age-stratified radiographic features in temporomandibular joint osteoarthritis using cone-beam computed tomography. Materials and Methods: In total, 210 joints from 183 patients(144 females, 39 males, ranging from 12 to 88 years old with a mean age of 44.75±19.97 years) diagnosed with temporomandibular joint osteoarthritis were stratified by age. Mandibular condyle position and bony changes (flattening, erosion, osteophytes, subchondral sclerosis, and subchondral pseudocysts in both the condyle and articular eminence, thickening of the glenoid fossa, joint space narrowing, and joint loose bodies) were evaluated through cone-beam computed tomography. After adjusting for sex, the association between age groups and radiographic findings was analyzed using both a multiple regression model and a multinomial logistic regression model(α=0.05). Results: The prevalence of joint space narrowing and protruded condyle position in the glenoid fossa significantly increased with age (P<0.05). The risks of bony changes, including osteophytes and subchondral pseudocysts in the condyle; flattening, erosion, osteophyte, and subchondral sclerosis in the articular eminence; joint loose bodies; and thickening of the glenoid fossa, also significantly rose with increasing age (P<0.05). The number of radiographic findings increased with age; in particular, the increase was more pronounced in the temporal bone than in the mandibular condyle (P<0.05). Conclusion: Increasing age was associated with a higher frequency and greater diversity of bony changes in the temporal bone, as well as a protruded condyle position in the glenoid fossa, resulting in noticeable joint space narrowing in temporomandibular joint osteoarthritis.

• 한국방사선학회논문지
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• 제10권8호
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• pp.603-610
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• 2016

체중부하 상태에서의 족관절 검사 시 양측 족관절을 동시 촬영 했을 때와 편측 족관절을 나누어 각각 촬영 했을 때, 족관절염의 평가에 해당되는 측정값들의 변화에 대해 알아보고자 한다. 양측을 동시촬영 할 때, 다리를 모아 촬영하게 됨으로 Tibia axis축이 기울게 되고, 족관절의 external rotation으로 인해 족관절의 각도와 joint space의 왜곡이 발생하게 된다. 양측 족관절 동시촬영과 편측 족관절을 나누어 촬영한 영상을 PACS system 이용하여 족관절 평가에 이용되는 TAS, TT, TMM, JSW, Tibiotalar joint, Fibulotalar joint의 측정값을 구한 후 통계 분석 하였다. 각도 측정에 있어, 체중부하 양측 족관절 동시 촬영한 검사의 오른쪽 족관절의 TAS, TT, TMM 측정값은 $87.24^{\circ}$, $6.44^{\circ}$, $26.67^{\circ}$ 이였으며 편측을 나누어 촬영한 오른쪽 족관절의 TAS, TT, TMM은 $88.93^{\circ}$, $2.41^{\circ}$, $19.77^{\circ}$ 였다. 양측 족관절 동시촬영의 왼쪽 족관절 TAS, TT, TMM의 측정값은 $87.25^{\circ}$, $5.71^{\circ}$, $23.92^{\circ}$ 였으며 편측을 나누어 촬영한 왼쪽 족관절의 TAS, TT, TMM은 $88.75^{\circ}$, $3.19^{\circ}$, $21.45^{\circ}$ 였다. 양측 족관절을 동시촬영한 검사와 편측을 나누어 촬영한 족관절과의 비교 시, 양측을 동시 촬영한 검사에서 족관절 평가의 중증도 비율이 높게 나타났으며, 자세로 인한 측정값의 왜곡을 확인할 수 있었다. 반면 너비 측정에서 JSW, Tibiotalar joint는 검사 자세로 인한 측정값들 간의 유의성은 없었지만, Fibulotalar joint 의 양측 족관절 동시 검사에서 오른쪽 0.98mm 왼쪽 1.22mm 로 나타났고, 한쪽씩 촬영한 오른쪽 족관절에서는 1.6mm 왼쪽 1.22mm로 측정 자세로 인한 측정값의 유의한 차이를 보였다. 따라서 족관절염 평가를 위한 체중부하 족관절 검사시 양측을 동시에 검사하기 보다는 각각의 족관절을 나누어 촬영하는 것이 족관절염 평가값에 왜곡을 최소화 하며, 측정값의 정확성을 높일 수 있다.

• Journal of Oral Medicine and Pain
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• 제44권2호
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• pp.59-64
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• 2019

Purpose: The aim of this study was to analyse and evaluate the morphology of the articular eminence of temporomandibular joint in young Korean adults using cone-beam computed tomography (CBCT). Methods: One hundred seventy-one subjects (59 males, 112 females) in the 20s were examined using CBCT. Width and height of articular eminence, top-roof line angle, best-fit line angle, joint space were measured. For the group comparisons, independent t-test was used with the level of significance established at $p{\leq}0.05$. Results: In asymptomatic young Korean adults, average eminence width was $9.49{\pm}1.62mm$ in males and $9.33{\pm}1.36mm$ in females. Average eminence height was $7.23{\pm}1.81mm$ in males and $6.82{\pm}1.31mm$ in females. Average eminence inclination of measured by top-roof line angle was $37.09^{\circ}{\pm}7.74^{\circ}$ in males and $36.12^{\circ}{\pm}5.65^{\circ}$ in females. Average eminence inclination measured by best-fit line angle was $50.79^{\circ}{\pm}11.49^{\circ}$ in males and $48.43^{\circ}{\pm}9.05^{\circ}$ in females. Average joint space was $3.03{\pm}0.67mm$ in males and $2.63{\pm}0.68mm$ in females. Conclusions: Increasing age did not affect the morphology of the articular eminence in asymptomatic young Korean adults. Males had slightly larger eminence width, height, top-roof line angle, best-fit line angle and joint space, but no statistical significance (p>0.05) was observed only in the joint space (p=0.001). There was no side-to-side difference in morphology (p>0.05).

• 대한기계학회논문집
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• 제18권8호
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• pp.1974-1984
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• 1994

This paper presents a relative coordinate formulation for constrained mechanical systems. Relative coordinates are defined along degrees of freedom of a joint. Graph theoretic analyses are performed to identify topological paths in mechanical systems. Cut constraints are generated to handle closed loop systems. Equations of motion are derived in the Cartesian space and transformed to the joint space. Relative generalized coordinates are corrected to satisfy the cut constraints by a parametrizatiom method.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1989년도 추계학술대회 논문집 학회본부
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• pp.445-449
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• 1989

Achievement of a straight line motion in the Cartesian space has a matter of great importance. Minimization of task execution time with linear interpolation in the joint space, accomplishing of a approximation of straight line motion in the Cartesian coordinate is considered as the prespecified task. Such determination yields minimum time joint-trajectory subject to input torque constraints. The applications of these results for joint-trajectory planning of a two-link manipulator with revolute joints are demonstrated by computer simulations.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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• pp.89-94
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• 1994

This paper presents an impact control algorithm for reducing the potentially damaging effects by interation of redundant manipulators with their environments. In the. proposed control algorithm, the redundancy is resolved at the torque level by locally minimizing joint torque, subject to tire operational space dynamic formulation which maps tire joint torque set into the operational forces. For a given pre-impact velocity of the manipulator, the proposed approach is on generating joint space trajectories throughout the motion near the contact which instantaneously minimize the impulsive force which is a scalar function of manipulator's configurations. This is done by using the null space dynamics which does not affect the motion of an end-effector. The comparative evaluation of the proposed algorithm with a local torque optimization algorithm without reducing impact is performed by computer simulation. The simulation results illustrate the effectiveness of the algorithm in reducing both the effects of impact and large torque requirements.

• 로봇학회논문지
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• 제14권4호
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• pp.311-317
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• 2019

Direct teaching is an essential function for collaborative robots for easy use by non-experts. For most robots, direct teaching is implemented only in joint space because the realization of Cartesian space direct teaching, in which the orientation of the end-effector is fixed while teaching, requires a measurement of the end-effector force. Thus, it is limited to the robots that are equipped with an expensive force/torque sensor. This study presents a Cartesian space direct teaching method for torque-controlled collaborative robots without either a force/torque sensor or joint torque sensors. The force exerted to the end-effector is obtained from the external torque which is estimated by the disturbance observer-based approach with the friction model. The friction model and the estimated end-effector force were experimentally verified using the robot equipped with joint torque sensors in order to compare the proposed sensorless approach with the method using torque sensors.

• 대한정형외과 초음파학회지
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• 제3권2호
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• pp.59-64
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• 2010

목적: Rosenberg view상의 내측 관절 간격의 협소화가 내측 반월상 연골의 탈출에 미치는 상관 관계를 조사하고자 하였다. 대상 및 방법: 2009년 1월에서 2010년 5월까지 내측 관절면의 압통이 있어 초음파 검사를 시행한 390예의 슬관절을 대상으로 하였다. Rosenberg view상의 내측 관절 간격은 1 mm간격 차이로 1등급에서(4 mm 이상) 5등급(0~1 mm)까지 구분하였고, 초음파로 내측 반월상 연골 중간 내측(mid-medial)의 탈출 정도를 측정하였다. 경골부의 내측 관절면에 3 mm 이상의 큰 골극이 없는 군을 A군, 있는 군을 B군으로 나누었고 각 군에서의 관절 간격과 초음파상 탈출 정도를 비교 분석하였다. 통계학적 검정은 SAS 를 이용하여 One-way ANOVA & Scheffe test를 시행하였다(P<0.05). 결과: A군에서는 관절 간격의 등급과 초음파상 탈출 정도가 양의 상관 관계를 보였으나, B군에서는 상관 관계는 관찰되지 않았다(P<0.05). 결론: 골관절염이 진행되지 않은 큰 골극이 없는 슬관절에서 Rosenberg view상의 내측 관절 간격은 내측 반월상 연골의 중간 내측 부분의 탈출 정도의 예측 인자라고 생각된다.

• 터널과지하공간
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• 제7권3호
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• pp.202-207
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• 1997

Jointed rock is often modeled using ubiquitious joint models, anisotropic plasticity models with yield condions that simulate slip along joint sets. In this paper, a ubiquitous joint model is derived for a rock mass cut by two sets of continuous joints. The model is used to compute the bearing capacity of a footing resting on jointed rock. Comparison to a series of Distinct Element simulations with different joint spacings, suggests that ubiquitous joint modles are only appropriate when the joint spacing is small.

• 대한치과교정학회지
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• 제23권3호
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• pp.405-414
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• 1993

Among the radiographs for temporomandibular joint, transcranial radiograph is widely used for screening and diagnosing temporomandibular disorder because it has sharp image and it is easy to take. This study was performed to compare condylar position and image sharpness in standard and individually corrected transcranial radiographs using Accurad-200 headholder. Submentovertex view, Reverse-Towne view, Standard and individually corrected transcranial radiographs of 45 university students who were randomly selected were traced, measured and analyzed. The results were as follows : 1. The means of condylar axes and lateral slopes were $16.8^{\circ}\;and\;22.5^{\circ}$ respectively. There were no differences between male and female or right and left side. 2. Individually corrected radiographs showed smaller posterior joint ,space and larger anterior joint space than standard radiographs, but superior joint space did net show a statistical difference between standard and individually corrected radiographs. 3. While a large number$(42.2\%)$ of the standard radiographs showed concentric condylar position, lots of(57.8) condylar positions were retropositioned in the individually corrected radiographs. 4. The image sharpness was inferior in the individually corrected radiographs to that of the standard radiographs.