• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.4
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• pp.1824-1832
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• 2011

In this paper, a smart home service robot McBot II is newly developed in much more practical and intelligent system than McBot I which we had developed a few years ago. Thus far, vacuum-cleaners have lightened the burden of household chores but the operational labor that vacuum-cleaners entail has been very severe. Recently, a cleaning robot was commercialized to solve but it also was not successful because it still had the problem of mess-cleanup, which pertained to the clean-up of large trash and the arrangement of newspapers, clothes, etc. Hence, we develop a new home mess-cleanup robot McBot II to completely overcome this problem on real environments. The mechanical design and the basic control of McBot II, which performs mess-cleanup function etc. in house, is actually focused in this paper. McBot II is mechanically modeled in the same method that the human works in door by using the waist and the hands. The big-ranged vertical lift and the shoulder joints to be able to forward move are mechanically designed for the operating function as the human's waist when the robot works. The mobility of McBot II is designed in the holonomic mobile robot for the collision avoidance of obstacle and the high speed navigation on the small area in door. Finally, good performance of McBot II, which has been optimally desinged, is confirmed through the experimental results for the control of the robotic body, mobility, arms and hands in this paper.

• Journal of the Korean Institute of Gas
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• v.17 no.5
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• pp.64-68
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• 2013

Non destructive testing(NDT) methods of electrofusion(EF) joints of thermoplastics pipes are required for fusion joint safety and for the long term reliability of a pipe system. Electrofusion joints, which are joined at the proper fusion process and procedures, may encounter defects due to the difference of ovality between pipes and coupling, improper fusion process or porosity result from electrofusion joining. These defects can cause the failure of pipeline and by extension, they can be caused the limit to expand the use of plastics pipes. This paper studies inspection results using ultrasonic imaging method for damaged polyethylene electrofusion joints. Gas was leaking from 250mm diameter polyethylene electrofusion joints at February 2004 which was electrofused at December 1994 and operation pressure was 2.45kPa. First, surface inspection was conducted and then in order to find the types of defects examination using ultrasonic imaging method was performed. Lack of fusion and inappropriate inserting for polyethylene pipes into electrofusion coupling were found and causes of the gas leak were judged that misalignment and insert defect. Cutting inspection was performed and each inspection results were compared to. Results of ultrasonic imaging method and cutting inspection were the same.

• Polymer(Korea)
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• v.35 no.3
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• pp.203-209
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• 2011

Two smooth and textured surfaced HDPE geomembranes (GMs) were cut into dumbbell shape and notched where depth of the notch produced a ligament thickness of 10% to 90% of the nominal thickness with the specimen at 10% interval. A series of laboratory simulation test for installation damage were carried out at different loading cycles on HDPE GMs in accordance with ISO 10722 test method and the effect of number of loading cycle on installation damage was compared. It was found that yield stress and elongation at yield point decreased gradually as the notch depth was increased. Both installation damaged and notched, GMs were used to understand stress crack behavior and this behavior was observed through NCTL test at $50{\pm}1^{\circ}C$ at different yield stresses immerging in pH 4 and pH 12 buffer solutions. Over 35% tensile load, GMs became vulnerable to stress cracking. Both damaged and notched GMs showed the same trend. Especially, notched GMs showed less strength than installation damaged GMs at every stress cracking test condition.

• Tunnel and Underground Space
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• v.8 no.4
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• pp.307-320
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• 1998

Tunnel lining is the final support of a tunnel and reflects the results of the interaction between ground and support system. Recently it is very difficult to support and manage the tunnel because the cracks on tunnel lining cause many problems in supporting and managing tunnels. Therefore the analysis of the cracks is quite strongly required. In this study, mechanical behaviour of a tunnel lining was examined by model tests and by numerical analyses. Especially the model test was examined for double linings including shotcrete and concrete lining. The model tests were carried out under various conditions taking different loading shapes, horizontal stresses, thicknesses of linings and double lining, vault opening behind the concrete lining and rock-like medium surrounding the lining. Due to horizontal stress, compressive stress prevailed on the lining. Thus the bearing capacity of the lining increased. The existence of a vault opening behind the concrete lining reduced the bearing capacity by the similar amount of reduction of concrete lining thickness. Rock-like medium cast around the side wall of the lining restrained the deflection of the lining, and the bearing capacity for cracking and failure increased vary much. In numerical analyses a algorithm which can analysis the double lining by introduction of interface element was developed. And the results of the numerical analyses were compared with the results of the model tests.

• Journal of Chest Surgery
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• v.34 no.6
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• pp.441-446
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• 2001

Background: Electrical breathing pacing has many advantages over mechanical ventilation. However, clinically permanent diaphragmatic pacing has been applied to limited patients and few temporary pacing has been reported. Our purpose is to investigate the feasibility of temporary electrical diaphragm pacing in explothoracotomy canine cases. Methods: Five dogs were studied under the general anesthesia. Left 5th intercostal space was opened. Self designed temporary pacing leads were placed around the left phrenic nerve and connected to the myostimulator. Chest wall was closed after tube insertion with underwater drainage. Millar catheter was introduced to the aorta and right atrium. Swan-Ganz catheter was introduced to the pulmonary artery. When the self respiration was shallow with deep anesthesia, hemodynamic and tidal volume were measured with the stimulator on. Results: Tidal volume increased from 143.3$\pm$51.3 ml to 272.3$\pm$87.4 ml(p=0.004). Right atrial diastolic pressure decreased from 0.7$\pm$4.0 mmHg to -10.5$\pm$4.7 mmHg(p=0.005). Pulmonary arterial diastolic pressure decreased from 6.1+2.5 mmHg to 1.2$\pm$4.8 mmHg(p<0.001). The height of water level in chest tube to show intrathoracic pressure change was from 10.3$\pm$6.7cmH$_{2}$O to 20.0$\pm$5.3 cmH$_{2}$O. Conclusion: Temporary electrical diaphragmatic pacing is a simple method to assist respiration in explothoracotomy canine cases. Self designed pacing lead is implantable and removable. Negative pressure ventilation has favorable effects on the circulatory system. Therefore, clinical application of temporary breathing pacing is feasible in thoracotomy patients to assist cardiorespiratory function.

• Journal of Chest Surgery
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• v.44 no.1
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• pp.9-17
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• 2011

Background: A peripheral extracorporeal membrane oxygenator (p-ECMO) has been developed to support patients who are dying due to a serious cardiopulmonary condition. This analysis was planned to define the clinical situation in which the patient benefits most from a p-ECMO. Material and Methods: Between June 2007 and Aug 2009, a total of 41 adult patients used the p-ECMO. There were 23 males and 18 females (mean age $54.4{\pm}15.1$ years). All patients had very unstable vital signs with hypoxia and complex cardiac problems. We divided the patients into 4 groups. In the first group, a p-ECMO was used as a bridge to cardiac operation. In the second group, patients did not have the opportunity to undergo any cardiac procedures; nevertheless, they were treated with a p-ECMO. In the third group, patients mostly had difficulty in weaning from CPB (cardiopulmonary bypass) after cardiac operation. The fourth group suffered from many complications, such as pneumonia, bleeding, infections, and LV dysfunction with underlying cardiac problems. All cannulations were performed by the Seldinger technique or cutting down the femoral vessel. A long venous cannula of $DLP^{(R)}$ (Medtronic Inc, Minneapolis, MN) or $RMI^{(R)}$ (Edwards Lifesciences LLC, Irvine, CA) was used together with a 17~21 Fr arterial cannula and a 21 Fr venous cannula. As a bypass pump, a Capiox emergency bypass system ($EBS^{(R)}$; Terumo, Tokyo, Japan) was used. We attempted to maintain a flow rate of $2.4{\sim}3.0\;L/min/m^2$ and an activated clotting time (ACT) of around 180 seconds. Results: Nine patients survived by the use of the p-ECMO. Ten patients were weaned from a p-ECMO but they did not survive, and the remainder had no chance to be weaned from the p-ECMO. The best clinical situation to apply the p-ECMO was to use it as a bridge to cardiac operation and for weaning from CPB after cardiac operation. Conclusion: Various clinical results were derived by p-ECMO according to the clinical situation. For the best results, early adoption of the p-ECMO for anatomical correction appears important.

• Journal of Chest Surgery
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• v.45 no.5
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• pp.295-300
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• 2012

Background: With growing attention to the aortopathy associated with aortic valve diseases, the number of candidates for accompanying ascending aorta and/or root replacement is increasing among the patients who require aortic valve replacement (AVR). However, such procedures have been considered more risky than AVR alone. This study aimed to compare the surgical outcome of isolated AVR and AVR combined with aortic procedures. Materials and Methods: A total of 86 patients who underwent elective AVR between 2004 and June 2010 were divided into two groups: complex AVR (n=50, AVR with ascending aorta replacement in 24 and the Bentall procedure in 26) and simple AVR (n=36). Preoperative characteristics, surgical data, intra- and postoperative allogenic blood transfusion requirement, the postoperative clinical course, and major complications were retrospectively reviewed and compared. Results: The preoperative mean logistic European System for Cardiac Operative Risk Evaluation (%) did not differ between the groups: $11.0{\pm}7.8%$ in the complex AVR group and $12.3{\pm}8.0%$ in the simple AVR group. Although complex AVR required longer cardiopulmonary bypass ($152.4{\pm}52.6$ minutes vs. $109.7{\pm}22.7$ minutes, p=0.001), the quantity of allogenic blood products did not differ ($13.4{\pm}14.7$ units vs. $13.9{\pm}11.2$ units). There was no mortality, mechanical circulatory support, stroke, or renal failure requiring hemodialysis/filtration. No difference was found in the incidence of bleeding (40% vs. 33.3%) which was defined as red blood cell transfusion ${\geq}5$ units, reoperation, or intentional delayed closure. The incidence of mediastinitis (2.0% vs. 0%), ventilator ${\geq}24$ hours (4.0% vs. 2.8%), atrial fibrillation (18.0% vs. 25.0%), mean intensive care unit stay (34.5 hours vs. 38.8 hours), and median hospital stay (8 days vs. 7 days) did not differ, either. Conclusion: AVR combined with additional aortic or root replacement showed an excellent outcome and recovery course equivalent to that after isolated AVR.

• Korean Journal of Soil Science and Fertilizer
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• v.3 no.1
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• pp.61-66
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• 1970

This study examined the morphology and physical and chemical characteristics of the Changpyeong series developed on gently sloping to rolling relief on dissected old paddiplains and terraces. This soil has dark brown silty clay loam A horizons, very thick dark red to red silty clay or clay Bt horizons, and C horizons of old alluvial materials frequently with strongly weathered round cobbles and pebbles. It is strongly acid with a low organic matter content, relatively low in cation exchange capacity, but with relatively high base-status based on amount of extractable cations. There is no obvious changes in particle size distribution with depth and textural B horizons probably have not been formed by podzolization but formed by mechanical movement of clay. This soil is classified as Typic Hapludalfs in USDA 7th approximation and Brunic Luvisols in FAO classification system.

• Applied Chemistry for Engineering
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• v.27 no.2
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• pp.221-226
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• 2016

Production of eco-friendly and biologically harmless materials is strongly required in all industries. In particular, reducing volatile organic compounds in coating processes is extremely important to secure worker's safety. During recent two decades, extensive research works on water-borne polyurethane dispersion (PUD) have been continuously developed as an alternative to solvent-borne polyurethane. However, PUD was shown inferior mechanical properties to the organic solvent-borne polyurethane due to a limit to the molecular weight increase, which resulted in the limit of applications. To overcome this drawback, several approaches have been examined such as polymer blends and thermal/radiation induced crosslinking. Among these methods, the radiation curing system was suitable for industrialization because of the high crosslinking density and fast curing speed. In this study, we overcame the drawback for PUD via introducing benzophenone radiation curable units to PUD. We synthesized PUD films which possessed good dispersion in water for 30 days, increased Tg and Td more than $5^{\circ}C$ after UV curing film as well as improved young's modulus more than double.

• Polymer(Korea)
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• v.38 no.2
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• pp.193-198
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• 2014

Lens and DVD require high quality of optical property. Conventional injection molded products contain high residual stress and this invokes birefringence since high cavity pressure and high temperature variation are involved in a molding process. Thus these products are often molded by injection compression molding in order to minimize the residual stress through reducing cavity pressure and uniform cavity pressure. In this study, molding parameters affecting molding quality such as property uniformity in injection compression molding were investigated through experiment. Molding quality deviations among the cavities in multi-cavity mold were also studied. Transparent resins, PC and PS were used in this study. Compression gap, compression speed, compression force, and compression delay time for processing variables in injection compression molding were applied in experiment. Compression force, compression delay time, and compression gap significantly affected the optical property of product. The degree of influence of process variable on the product quality was different in different resins. This implies that the optimal operational conditions in injection compression molding existed for each resin according to flow property.