• THE INTERNATIONAL COMMERCE & LAW REVIEW
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• v.42
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• pp.189-210
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• 2009

The United Nations General Assembly adopted the United Nations Convention on Contracts for the International Carriage of Goods Wholly or Partly by Sea(hereinafter referred to as "The Rotterdam Rules") on 11 December 2008. Rotterdam Rules aims to create a contemporary and uniform law providing for modern door-to-door container transport including an international sea leg. but not limited to port-to port carriage of goods. The structure of the liability regime in Rotterdam Rules are globally close to that of the Hague-Visby Rule even though it differs from that of the Hague-Visby Rules in some significant aspects. The Rotterdam Rules are very long. Therefore the Rotterdam Rules will be difficult to understand for even the skilled ship operator or owner or charterer or shipper or consignee or receiver because they are so complicated. This paper only seeks to highlight the salient features of the liability and limitation of liability regime under the Rotterdam Rules. It is expected that the harmonization and modernization of the international legal regime. coupled with the bold attempt to balance the carrier and cargo interests should lead to an overall reduction in transaction costs. increased predictability and greater commercial confidence for international business transactions.

• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.548-550
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• 2006

This paper deals with the implementation of a small humanoid robot controller on the basis of Real Time Operating System(RTOS) and the FPGA. This controller was adapted to the humanoid robot with 25 DOFs, which are 12 DOFs in each leg, 8 DOFs in each arm, 3 DOFs in waist, and 2 DOFs in head. The robot actuators were used DX-117 servo motors that have all of the controller components in one module in order to simplify the control structure. In addition, the main controller is FPGA of Virtex4-FX from Xilinx, and ported on VxWorks that is kind of RTOS. It is essential to install this RTOS on the complex control system and to do control activity at the multitasking environments. This paper suggested the method of distributing the computational load in the humanoid robot controller using the FPGA and RTOS concepts. All of the control process was verified through the real action of the humanoid.

• Journal of the Society of Naval Architects of Korea
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• v.41 no.6
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• pp.56-64
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• 2004

Several types of steel structures which are employed in offshore petroleum activities are constructed with tubular members. These structures are usually subjected to various types of loads such as normal functional loads and environmental loads. Furthermore, accidental loads may also act on the leg or bracing members due to supply boat collisions and objects droppings from platform decks. The extent of damage caused by these loads ranges from total collapse of the structure to small damage which may not have serious consequence at the time of accident. To make optimal design decisions regarding structural safety and economical efficiency, it is very important to be able to assess the influence of damages on the performance of damaged structural members. In the End report, a series of calculations is performed to study the effects of different parameters on the load carrying capacity of such damaged members under pure bending. And the results of analysis are compared with experiment results.

• Proceedings of the KIEE Conference
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• 2001.11c
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• pp.87-90
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• 2001

This paper presents a design of new type biped robot and dynamic walking simulation for this system. The robot is distinguished from other one by which has a parallel mechanism type trunk and lead-screw type actuators to drive the joints of the trunk, knee and ankle. The basic consideration on the design is that it is able to accommodate itself to human's daily environments without any other modification of around and also to operate its upper limbs more smoothly with a spine functional trunk. It is designed according to a human with about 130 cm height and about 30 kg weight. And it also is able to dynamically walk on an even ground. It has constructed with total 14 DOFs which have two legs, a hip, and a trunk. The joints of each leg and trunk are adopted with a parallel structure which has good kinematic characteristics and take light weight. To test of the capacity of joint actuators and to analysis of the dynamic properties of the biped robot, optimized trunk trajectory is determined by means of an approximated FFT method based on ZMP criteria, and dynamic simulation is performed using DADS with a 1.1 time/step velocity on the even ground during four steps.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.4
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• pp.350-356
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• 2004

This paper presents a farce manipulability analysis of multi-legged walking robots, which calculates force or acceleration workspace attainable from joint torque limits of each leg. Based on the observation that the kinematic structure of the multi-legged walking robots is basically the same as that of multiple cooperating robots, we derive the proposed method of analyzing the force manipulability of walking robot. The force acting on the object in multiple cooperating robot systems is taken as reaction force from ground to each robot foot in multi-legged walking robots, which is converted to the force of the body of walking robot by the nature of the reaction force. Note that each joint torque in multiple cooperating robot systems is transformed to the workspace of force or acceleration of the object manipulated by the robots in task space through the Jacobian matrix and grasp matrix. Assuming the torque limits are given in infinite norm-sense, the resultant dynamic manipulability is derived as a polytope. The validity of proposed method is verified by several examples, and the proposed method is believed to be useful for the optimal posture planning and gait planning of walking robots.

• Journal of The Korean Society of Integrative Medicine
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• v.4 no.1
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• pp.73-83
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• 2016

PURPOSE : The purpose of this study to suggest the exercise programs for improving the function and structure by applying the Masan university scoliosis program exercise method and electrical therapy method to the scoliosis patient. METHODS : The subjects were 18 patients who were diagnosed with scoliosis. They were randomly assigned either to a Masan university scoliosis program exercise group (n=11) that received Masan university scoliosis program exercise program or to a electrical therapy group (n=7). Flexibility, static balance, dynamic balance, and spinal angles were measured by using one leg standing with closed eyes, functional reach test, and Cobb's angle, respectively. The chest expansion were calculated using differences of chest circumference between maximum inspiration and maximum expiration. RESULT : Masan university scoliosis program group before and after the intervention there was a difference in the static balance, spine angle(p<.05). Masan university scoliosis program group before and after the intervention there was a difference in the flexibility, static balance, spine angle, chest expansion (p<.05). CONCLUSION : These results revealed that Masan university scoliosis program exercise program improved flexibility, static standing balance, spine angle, used as scoliosis management and intervention. Therefore, it is expected to be used as a method for the treatment and prevention in the process of rehabilitation of patients with scoliosis.

• Archives of Plastic Surgery
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• v.44 no.1
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• pp.80-84
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• 2017

Defects involving specialised areas with characteristic anatomical features, such as the nipple, upper eyelid, and lip, benefit greatly from the use of sharing procedures. The vulva, a complex 3-dimensional structure, can also be reconstructed through a sharing procedure drawing upon the contralateral vulva. In this report, we present the interesting case of a patient with chronic, massive, localised lymphedema of her left labia majora that was resected in 2011. Five years later, she presented with squamous cell carcinoma over the left vulva region, which is rarely associated with chronic lymphedema. To the best of our knowledge, our management of the radical vulvectomy defect with a labia majora sharing procedure is novel and has not been previously described. The labia major flap presented in this report is a shared flap; that is, a transposition flap based on the dorsal clitoral artery, which has consistent vascular anatomy, making this flap durable and reliable. This procedure epitomises the principle of replacing like with like, does not interfere with leg movement or patient positioning, has minimal donor site morbidity, and preserves other locoregional flap options for future reconstruction. One limitation is the need for a lax contralateral vulva. This labia majora sharing procedure is a viable option in carefully selected patients.

• Journal of the Korean Society of Industry Convergence
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• v.13 no.4
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• pp.219-225
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• 2010

A structure of line for producing products is variously changing to be automatic and one-person Cell-Line considering the physical burden for workers in manufacturing industry of electronic goods. However, workers tend to still accuse Work-related Musculoskeletal Disorders (including shoulder, waist, hand, wrist, leg etc.) as a simply repeated work by accelerating of the production speed for productivity improvement in the assembly line. Thus manufacturing engineers in charge of changing and set up newly for an assembly line are necessary to the construct of the guideline on human engineering. Especially. There is no standardized engineering-guide and it is difficult to create the exact work environment because the risk factor analysis and the improvement for assembly line are executed once a year on the current situation. I'd like to reduce the physical burden on workers through the effective improvement of processing by the guideline on working environment fit for a characteristic on manufacturing process when the process is changed or newly installed.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2006.06a
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• pp.274-275
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• 2006

A linear ultrasonic motor was designed by a combination of the longitudinal and bending mode. Linear ultrasonic motors are based on an elliptical motion on the surface of elastic body, such as bar or plates. The corresponding eigen-mode of one resonance frequency can be excited twice at the same time with a phase shift of 90 degrees in space and time. That is excite symmetric and anti-symmetric modes. Then it determines the thrust and speed of the motor. Linear ultrasonic motors are investigated experimentally in according to be fabricated a general classification to motor structure and material characteristic. There was the first to simulate as use of finite element analysis ANSYS 9.0. The AL-T2W8-ARM14-LEG18-ANGLE80 motor has a maxim efficiency 17 [%] under the speed 0.14 [m/s], thrust 345 [gf] and preload 280 [gf], operating frequency is 57.6 [kHz].

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2008.05a
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• pp.345-346
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• 2008

Most pedestrian-vehicle crashes involve frontal impacts, and the vehicle front structures are responsible for most pedestrian injuries. The vehicle bumper contacts the lower legs at first. The leading edge of the hood (bonnet) strikes the proximal upper leg and finally, the head and upper torso hit the top surface of the hood or windscreen. In essence, the pedestrian wraps around the front of the vehicle until pedestrian and vehicle are traveling at the same speed. Since the hood surface is made from sheet metal, it is a relatively compliant structure and does not pose a major risk for severe head trauma. However, serious head injury can occur when the head hits a region of the hood with stiff underlying structures such as engine components. The solution is to provide sufficient clearance between the hood and underlying structures for controlled deceleration of a pedestrian's head. However, considerations of aerodynamic design and styling can make it extremely difficult to alter a vehicle's front end geometry to provide more under-hood space. In this study, the safe hood will be developed by designing new conceptual inner panel in order to decrease the pedestrian's head injuries without changing hood outer geometry.