• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.1097-1102
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• 2007

This paper describes the development of 6-axis force/moment sensor for an intelligent robot's foot. In order to walk on uneven terrain safely, the foot should perceive the applied forces Fx, Fy, Fz and moments Mx, My, Mz to itself. The applied forces and moments should be measured from a 6-axis force/moment sensor attached to a humanoid robot's foot(ankle). They in the published paper already have some disadvantage in the size of the sensor, the rated output and so on. The rated output of each component sensor (6-axis force/moment sensor) is very important to design the 6-axis force/moment sensor for precision measurement. Therefore, each sensor should be designed to be gotten similar the rated output under each rated load. So, the sensing elements of the 6-axis force/moment sensor should get lots of design variables. Also, the size of 6- axis force/moment sensor is very important for mounting to robot's foot. In this paper, a 6-axis force/moment sensor for perceiving forces and moments in a humanoid robot's foot was developed using many PPBs (parallel plate-beams). The structure of the sensor was newly modeled, and the sensing elements (plate-beams) of the sensor were designed using FEM (Finite Element Method) analysis. Then, the 6-axis force/moment sensor was fabricated by attaching strain-gages on the sensing elements, and the characteristic test of the developed sensor was carried out. The rated outputs from FEM analysis agree well with that from the characteristic test.

• 한국수산과학회지
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• 제48권4호
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• pp.542-554
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• 2015

Grain size, the content of ignition loss (IL), and the concentrations of chemical oxygen demand (COD), acid volatile sulfide (AVS), and trace metals (Fe, Mn, Cu, Pb, Zn, Cd, Cr, As, and Hg) in surface sediments from the Taehwa River estuary, Ulsan, were measured to evaluate pollution levels and potential ecological risks of organic matter and trace metals in estuarine sediment. The mean grain size (Mz) of sediments in the study region ranged from $-0.8-7.7{\varphi}$ (mean $2.8{\pm}2.4{\varphi}$). Surface sediments in the upstream region of the Taehwa River were mainly composed of coarse sediments compared to the downstream region. The concentrations of IL, COD, AVS and trace metals in the sediment were much higher at downstream sites of Myeongchon Bridge in the vicinity of industrial complexes than at upstream sites of those in the vicinity of the residential areas due to the anthropogenic input of organic matter and trace metals by industrial activities. On the basis of several geochemical assessment techniques [sediment quality guidelines (SQGs), enrichment factor (EF), geoaccumulation index ($I_{geo}$), pollution load index (PLI) and ecological risk index (ERI)], the surfaces sediments in the study region are not highly polluted for trace metals, except for As. However, the higher concentrations in downstream study regions of the Taehwa River could impact benthic organisms including shellfish (i.e. Manila clam) in sediments.

• 치위생과학회지
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• 제14권2호
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• pp.101-106
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• 2014

본 연구는 저 출력 초음파 장치를 이용하여 osteoblastlike MG-63 세포에 1 MHz, 3 Mz 강도의 초음파 처리 후 조골세포의 변화를 관찰하였다. 3 MHz 강도의 주파수를 osteoblast-like MG-63 세포에 처리한 결과 7일 후 성장률이 대조군보다 증가하였다. 저 출력 초음파가 골의 치유에 영향을 미치는 인자를 확인하였을 때 ALP, osteocalcin, VEGF, colla 1A1의 증가를 확인하였으며, 1 MHz 주파수 처리시 integrin alpha 2의 발현이 대조군과 유사하게 발현되는 것을 확인하였다. 반면에, osteonectin, osteopontin, fibronectin, MMP 2 등은 변화가 없음을 확인하였다. 그러므로 본 연구는 저 출력 초음파 장치는 뼈 치유 촉진 단백질들의 발현을 증가시켜 구강 내 외과적 수술 시 골 치유 촉진 효과에 대한 가능성을 제시하였으며 임상에서 골 치유 촉진을 위한 장비로서의 사용 가능성을 제시하였다고 생각된다.

• The Journal of Advanced Prosthodontics
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• 제10권4호
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• pp.271-278
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• 2018

PURPOSE. The purpose of this in vitro study was to evaluate the effect of abrasive toothbrushing on the surface properties of monolithic computer-assisted design and computer-assisted manufacturing (CAD/CAM) materials stored in food-simulating liquids (FSLs). MATERIALS AND METHODS. Fourty-eight disk-shaped test specimens of each material (Paradigm MZ100/PMZ, Lava Ultimate/LU, Vita Enamic/VE, and Vita Mark II/VMII) with a diameter of 10.0 mm and a thickness of $3.0{\pm}0.05mm$ were prepared. Specimens were divided into 4 subgroups (n=12) and stored in air, distilled water, 0.02 M citric acid, or 75% ethanol/water solution for 7 days at $36.5^{\circ}C$. Then, the specimens were brushed in a multi-station brushing machine under a vertical load of 2.0 N for 3 hours. Surface gloss (GU), roughness (Ra), and hardness (Vickers [VHN]) were measured after storage and brushing simulation. The data sets were statistically analyzed with 2 and 3-way ANOVAs followed by the Tukey's post-hoc comparisons (${\alpha}=.05$). RESULTS. Statistically significant difference was found among the materials concerning the results of surface properties. VMII showed the highest VHN, while PMZ produced the lowest. Storage in FSLs significantly affected the VHN of PMZ and LU. VMII showed the lowest Ra and highest GU irrespective of FSLs and of abrasive toothbrushing. VE, LU, and PMZ produced significant decrease in GU and increase in Ra after toothbrushing. CONCLUSION. Surface properties of monolithic CAD/CAM restorative materials were differently affected by the storage media and abrasive toothbrushing.

• 한국자기학회지
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• 제11권2호
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• pp.45-49
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• 2001

RF 마그네트론 스퍼터링으로 제조한 Fe/CoNbZr 다층박막의 구조 및 열처리 조건에 따르는 고주파 연자기 특성을 연구하였다. Fe층의 두께가 5nm일 때 1.1Oe의 최소보자력을 얻었으며, Fe층의 두께가 15nm일 때 100Mz에서 2300의 최대 투자율을 얻었으며, 약 20 kG의 높은 포화자화를 얻었다. Fe층의 두께가 증가함에 따라 보자력이 증가하는 것은 결정립 크기에 의한 것이며, Fe층의 두께가 얇을 경우 계면에서의 CoFe과 같은 높은 자기변형의 혼합층 형성으로 인해 투자율이 감소한 것으로 판단된다. 300 $^{\circ}C$에서 40분간 일축자장 열처리를 행하여서 보자력 0.35 Oe, 투자율 2500을 얻었다. 또한 250및 30$0^{\circ}C$ 열처리에서만 연자기 특성이 향상되었다. 이는 최적의 Fe의 격자변형과 일측 이방성의 발달로 자기이방성에너지의 감소에 의한 것으로 판단된다.

• 한국전자파학회논문지
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• 제18권8호
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• pp.964-969
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• 2007

본 논문에서는 모바일 RFID 시스템 환경을 제시하였고, 그 환경에 적합한 저 잡음 차동 콜피츠 전압 제어 발진기를 구현하였다. 밀집 리더 환경에 맞춘 전압 제어 발진기는 $0.35{\mu}m$ 공정을 사용하였고, 주파수 범위는 RFID 주파수 범위인 $860{\sim}960 MHz$를 포함시킬 수 있도록 $1.55{sim}2.053 GHz$로 설계하였다. 2분주기 출력에서 측정한 위상 잡음은 오프셋 주파수가 40 kHz일 때 -106 dBc/Hz로 측정되었고, 1MHz일 때에는 -135 dBc/Hz로 측정되었다. 5 비트의 디지털 튜닝을 이용하여 낮은 발진기 이득(<45 MHz/V)을 갖게 하여 주파수 합성기에서의 위상 잡음 특성을 좋게 하였다. 설계한 차동 콜피츠 발진기의 FOM은 1.93 dB로 타 2 GHz 대역의 발진기들 보다 높게 측정되었다.

• Asian-Australasian Journal of Animal Sciences
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• 제16권9호
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• pp.1274-1279
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• 2003

Thirty-six Naeimi ram lambs were equally and randomly allotted to four treatment groups with three replications per treatment to determine the simple and additive effects of monensin and zeranol on growth performance, carcass characteristics and nutrient digestibility. The treatment groups were: basal diet-fed lambs (C), monensin-fed lambs (M) where the basal diet was supplemented with 33 mg monensin per kilogram DM, lambs implanted with 12 mg zeranol (Z), and monensin-fed lambs implanted with zeranol (MZ). Lambs fed monensin-containing diet consumed 10.5% less (p<0.05) DM/100 kg weight and were 8.3% more (p<0.05) efficient in converting feed than lambs fed control diet. Zeranol implanted lambs tended to grow 35.2% (p<0.05) faster, consumed 5.1% more (p<0.05) feed and were (p<0.05) 21.9% more efficient in their feed conversion than control lambs. Responses of lambs to monensin and zeranol implants were not additive. Except for Z treatment, there were no marked differences in all carcass characteristics among the various treatment groups. Z-lambs produced 12.7% heavier (p<0.05) carcasses compared with those from C treatment. Also fat parameters, namely, kidney and pelvic fat (KP), body wall thickness and fat thickness, indicated trends for higher finish in Z treatment lambs (p<0.05) than for those lambs from other treatments. Except for CF and ADF, no significant differences in nutrients digestibility were noticed between various treatments; feeding monensin resulted in 24.5% and 8.5% depressions (p<0.05) in CF and ADF digestibility, respectively in comparison to C treatment. Nitrogen retention as percentage of total N-intakes was averaging 7.5 and 20.2% higher (p<0.05) in lambs implanted with zeranol than those fed the M and C diets, respectively.

• 한국해양학회지
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• 제30권4호
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• pp.365-370
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• 1995

해양 퇴적물의 주상시료 채취를 위하여 사용되는 자유낙하 코어러(free-fall corer, FFC)는 조사선의 윈치와 케이블이 필요없고 소형 조사선에서도 사용이 가능한 장비이다. 심해저 광물지원 탐사시 탐사효율을 높이고자 새로 개발된 피스톤형 자유낙 하 코어러는 KORDI-FFC라 명명되었다. 이 장비는 이 장비는 피스톤 코어러(piston corer)와 자유낙하 코어러의 장점이 조합된 채취기로, 열린 배럴의 중력 코어러(open barrel gravity corer)를 변조하여 만든 기존의 자유낙하 코어러의 단점이 보강되었고 양질의 시료가 채취되도록 설계되었다. 본 장비를 진해만과 제주부근 해역에서 4회에 걸쳐 투하한 결과 교란이 적은 표층 퇴적물 시료가 성공적으로 채취되었다. 시험 결과 본 장비는 심해저 및 천해저에서 원치와 케이클, 갑판의 A-frame, 또는 해상 크레인 없는 소형 선박에서도 사용이 가능하고, 또한 최단 시간에 퇴적물 시료를 채취하며, 본 장비의 사용과 동시에 선상에서 자유롭게 다른 작업을 할 수 있고, 제작 및 소모 비용이 저렴하며, 표층퇴적물의 교란이 적은 양질의 시료를 채취할 수 있는 장점이 있 다.

• 영재교육연구
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• 제7권1호
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• pp.51-76
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• 1997

The purpose of this study was to investigate the effects of Structure of Intellect( SOI) program for children. To achieve this purpose, 81 second grade children were sampled in a elementary school located In Seoul-city and randomly assigned to the experimental group and control group The SO1 training program were treated to the experimental group for 10 weeks, and the 'Thinking Abilities Test developed by Korea Creativity Research Institute were administered to them for pre-test and post-test. The collected data were analyzed by t-test for comparing the group means of experimental group and control group 'I'he results of this study were as follows : Firstly ere were statistically significant differences between experimental group and control group on the post-test scores of arithmetic[t(79)=2.73p,< .01] and visual memory[t(79)-3.68,p <.001]. The mean scores of experimental group(M=8.63) u ere higher than that of control group(Mz7.34) on arithmetic, and the mean scores to experimental group(M=16.68) were higher than that of control group(M=15 32) on visual memory Secondly there were no statistically significant differences between experimental group and control group on the post-test scores of logistic thinking abilities[t(79)=0.22, p>.05] and abstract thinking abilities[t(79)-0.22, p>.051. Thirdly, the post-test scores of visual memory and logical thinking abilities were more increased in the low intelligence group than the high intelligence group. This result showed that the SO1 program were more effective for the low intelligence group. Fourthly, the post-test scores of visual memory and logical thinking abilities were more increased in the low achievement group than the high achievement group. This result showed that the SO1 program were more effective for the low achievement group.

• Journal of Power Electronics
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• 제13권6호
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• pp.939-954
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• 2013

The Direct Torque Control (DTC) technique for Permanent Magnet Synchronous Motors (PMSM) is receiving increased attention due to its simplicity and robust dynamic response when compared with other control techniques. The classical switching table based DTC results in large flux and torque ripples in the motors. Several studies have been reported in the literature on classical DTC. However, there are only limited studies that actually discuss or evaluate the classical DTC. This paper proposes, novel switching table / DTC methods for PMSMs to reduce torque ripples. In this paper, two DTC schemes are proposed. The six sector and twelve sector methodology is considered in DTC scheme I and DTC scheme II, respectively. In both DTC schemes a simple modification is made to the classical DTC structure. The two level inverter available in the classical DTC is eliminated by replacing it with a three level Neutral Point Clamped (NPC) inverter. To further improve the performance of the proposed DTC scheme I, the available 27 voltage vectors are allowed to form different groups of voltage vectors such as Large - Zero (LZ), Medium - Zero (MZ) and Small - Zero (SZ), where as in DTC scheme II, all of the voltage vectors are considered to form a switching table. Based on these groups, a novel switching table is proposed. The proposed DTC schemes are comparatively investigated with the classical DTC and existing literatures through theory analysis and computer simulations. The superiority of the proposed DTC method is also confirmed by experimental results. It can be observed that the proposed techniques can significantly reduces the torque ripples and improves the quality of current waveform when compared with traditional and existing methods.