• 로봇학회논문지
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• 제18권3호
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• pp.285-292
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• 2023

Small-scale ground mobile robots can access confined spaces where people or larger robots are unable. As the scale of the robot decreases, the relative size of the environment increases; therefore, maintaining the mobility of the small-scale robot is required. However, small-scale robots have limitations in using a large number of high-performance actuators, powerful computational devices, and a power source. Insects can effectively navigate various terrains in nature with their legged motion. Discrete contact with the ground and the foot enables creatures to traverse irregular surfaces. Inspired by the leg motion of the insect, researchers have developed small-scale robots and they implemented swing and lifting motions of the leg by designing leg linkages that can be adapted to small-scale robots. In this paper, we propose a leg linkage design for insect-inspired small-scale ground mobile robots. To use minimal actuation and reduce the control complexity, we designed a 1-DOF 3-dimensional leg linkage that can generate a proper leg trajectory using one continuous rotational input. We analyzed the kinematics of the proposed leg linkage to investigate the effect of link parameters on the foot trajectory.

• Structural Engineering and Mechanics
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• 제86권4호
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• pp.535-546
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• 2023

In the present paper, multiple interface cracks between a functionally graded orthotropic coating and an orthotropic half-plane substrate under concentrated loading are considered by means of the distribution dislocation technique (DDT). With the use of integration of Fourier transform the problem is reduced to a system of Cauchy-type singular integral equations which are solved numerically to compute the dislocation density on the surfaces of the cracks. The distribution dislocation is a powerful method to calculate accurate solutions to plane crack problems, especially this method is very good to find SIFs for multiple unequal cracks located at the interface. Hence this technique allows considering any number of interface cracks. The primary objective of this paper is to investigate the effects of the interaction of multiple interface cracks, load location, material orthotropy, nonhomogeneity parameters and geometry parameters on the modes I and II SIFs. Numerical results show that modes I/II SIFs decrease with increasing the nonhomogeneity parameter and the highest magnitude of SIF occurs where distances between the load location and crack tips are minimal.

• Journal of Periodontal and Implant Science
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• 제31권4호
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• pp.737-747
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• 2001

Regeneration of Periodontium with PRP does not only improve regeneration rate and density of bone but have a possibility to estimate faster healing process for soft tissue. And also, synthetic bone and xenogenic bone graft are effective on regeneration of periodontium. The purpose of this study is to evaluate the effectiveness of synthetic bone ($Biogran^{(R)}$) and xenogenic bone ($BBP^{(R)}$) grafts with the PRP technique on regeneration of periodontium. 52 Generally healthy Pt. who had pocket depth 5mm at any of 6 surfaces of the teeth were in the study at Dept. of Perio. in Dankook Dental Hospital. Open Flap was treated for 18 infra-bony pockets as control group, $Biogran^{(R)}$ with PRP was inserted for 25 infrabony pockets as first test group, and $BBP^{(R)}$ with PRP was inserted for 22 infrabony pockets as 2nd test group. Then evaluation was made after 3 and 6 months 1. 6 months after surgery, each difference of average probing pocket depth was $2.61{\pm}0.23$ for control, $3.40{\pm}0.30$ for 1st test, and $3.45{\pm}0.37$ for 2nd test group. 2. 6 months after surgery, each difference of clinical probing attachment level was $1.39{\pm}0.12$ for control, $2.88{\pm}0,24$ for 1st, and $2.86{\pm}0,27$ for 2nd test group. 3. 6 months after surgery, each difference of Maximal probing attachment level was $1.11{\pm}0.16$ for control, $3.28{\pm}0.30$ for 1st, and $3.27{\pm}0.35$ for 2nd test group. 4. There were significant differences for clinical change of each three group which were between average probing pocket depth and clinical attachment level of 3,6 months and minimal and maximal attachment level after 6 months 5. There were significant differences for average probing pocket depth which were only at control group and 2nd test group between 1 and 6months. For clinical attachment level and minimal and maximal proving attachment level, there was a significant difference after 6month of surgery. 6. There was no significant difference between two test groups for average probing depth, clinical attachment level, and minima1 and maximal probing attachment level. As the result, PRP with bone graft is very effective for regeneration of periodontium and there is no difference between xenogenic bone and synthetic bone.

• 대한치과교정학회지
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• 제33권5호
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• pp.381-389
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• 2003

본 연구는 치아우식증에 관련된 Hutans streptococci 표준균주 및 임상분리 균주의 성장억제를 유도할 수 있는 천연생약추출물을 검색하기 위하여 실시되었다. 녹차추출물은 CHMC-2032를 사용하였으며, 결명자 추출물은 $50\%$ 에탄올을 이용하여얻었다. 이들 추출물의 Mutans streptococci표준균주 및 교정환자들에서 브라켓과 치면 사이의 경계부에서 분리된 각각 10 균주씩의 S. mutans 및 S. sobrinus에 대한 최소성장억제농도를 액체배지 희석법으로 구하였다. 그 결과 CHMC-2032의 S. mutans 및 S. sobrinus의 표준 균주, S. sobrinus의 대부분 임상분리 균주에 대한 최소성장 억제농도는 5mg/ml이었다 그러나 결명자 추출물에 의한 S. mutans 및 S. sobrinus에 대한 세균 성장억제 효과는 미미하였다. 본 연구 결과 치아우식증의 예방적 측면에서 결명자차보다는 녹차를 마시는 것이 유리하며, CHMC-2032를 이용하여 구강양치용액을 제조하여 사용할 경우 교정환자를 포함하여 대부분의 사람에게서 치아우식증 예방 효과가 있으리고 추정된다.

• 대한소아치과학회지
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• 제36권1호
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• pp.102-107
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• 2009

소아치과 임상에서는 제2유구치의 탈락 직후에 제1대구치 근심면을 직접 관찰하고 여기에 발생한 백반양 초기 우식병소를 목격할 기회가 많다. 유구치와는 달리, 잔존 기대수명이 매우 긴 제1대구치의 경우에는 근심면 초기 우식병소에 대하여 와동형성에 이은 전통적인 수복치료를 하거나 아무런 조치 없이 방관하는 것은 부적절할 것으로 사료되어, 본 연구는 이 시기 어린이들에 있어서 제1대구치 근심면 초기 우식의 유병률을 조사하고 이에 적합한 조치를 모색할 목적으로 시도되었다. 본 연구는 6개월간 부산대학교병원 소아치과에 내원한 어린이 중 제2유구치를 발거하여 제1대구치의 근심면을 직접 관찰할 수 있었던 어린이들의 124개 제1대구치를 대상으로, 근심면 백반양 초기 우식병소의 유병률을 조사하였다. 그리고 그 진행을 차단하기 위한 노력의 일환으로 평활면 초기 우식병소를 가진 치아 시편에 복합레진 접착제만 도포하거나 접착제에 이어 전색제를 도포하고 온도순환과 염색을 시행한 후, 단면을 통하여 미세누출 여부를 관찰하여 다음과 같은 결과를 얻었다. 1. 124개 관찰대상 치아 중 제1대구치 근심면이 건전한 경우는 34%에 불과하였으며, 백반양 초기 우식병소를 가진 것은 53%, 이미 우식와동이 확인된 것은 13%였다. 2. 접착제나 접착제와 전색제를 도포한 시료의 단면 관찰에서는 두군 모두에서 20% 정도의 미세 누출을 보였다. 결론적으로, 어린이 제1대구치 근심면의 초기 우식은 매우 높은 유병률을 보여 이에 대한 보다 적극적인 대처와 효율적인 비침습적 접근방법이 모색되어야 할 것으로 생각되었다.

• International Journal of Control, Automation, and Systems
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• 제4권6호
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• pp.748-755
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• 2006

In this paper, a trade-off design and fabrication of IPMC(Ionic Polymer Metal Composites) as an actuator for a flapping device have been described. Experiments for the internal solvent loss of IPMCs have been conducted for various combinations of cation and solvent in order to find out the best combination of cation and solvent for minimal solvent loss and higher actuation force. From the experiments, it was found that IPMCs with heavy water as their solvent could operate longer. Relations between length/thickness and tip force of IPMCs were also quantitatively identified for the actuator design from the tip force measurement of 200, 400, 640, and $800{\mu}m$ thick IPMCs. All IPMCs thicker than $200{\mu}m$ were processed by casting $Nafion^{TM}$ solution. The shorter and thicker IPMCs tended to generate higher actuation force but lower actuation displacement. To improve surface conductivity and to minimize solvent evaporation due to electrically heated electrodes, gold was sputtered on both surfaces of the cast IPMCs by the Physical Vapor Deposition(PVD) process. For amplification of a short IPMC's small actuation displacement to a large flapping motion, a rack-and-pinion type hinge was used in the flapping device. An insect wing was attached to the IPMC flapping mechanism for its flapping test. In this test, the wing flapping device using the $800{\mu}m$ thick IPMC. could create around $10^{\circ}{\sim}85^{\circ}$ flapping angles and $0.5{\sim}15Hz$ flapping frequencies by applying $3{\sim|}4V$.

• Asian Journal of Atmospheric Environment
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• 제10권4호
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• pp.179-189
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• 2016

Here we evaluated the effect of using water retentive pavement or WRP made from fly ash as material for main street in a real city block. We coupled computational fluid dynamics and pavement transport (CFD-PT) model to examine energy balance in the building canopies and ground surface. Two cases of 24 h unsteady analysis were simulated: case 1 where asphalt was used as the pavement material of all ground surfaces and case 2 where WRP was used as main street material. We aim to (1) predict diurnal variation in air temperature, wind speed, ground surface temperature and water content; and (2) compare ground surface energy fluxes. Using the coupled CFD-PT model it was proven that WRP as pavement material for main street can cause a decrease in ground surface temperature. The most significant decrease occurred at 1200 JST when solar radiation was most intense, surface temperature decreased by $13.8^{\circ}C$. This surface temperature decrease also led to cooling of air temperature at 1.5 m above street surface. During this time, air temperature in case 2 decreased by $0.28^{\circ}C$. As the radiation weakens from 1600 JST to 2000 JST, evaporative cooling had also been minimal. Shadow effect, higher albedo and lower thermal conductivity of WRP also contributed to surface temperature decrease. The cooling of ground surface eventually led to air temperature decrease. The degree of air temperature decrease was proportional to the surface temperature decrease. In terms of energy balance, WRP caused a maximum increase in latent heat flux by up to $255W/m^2$ and a decrease in sensible heat flux by up to $465W/m^2$.

• 한국군사과학기술학회지
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• 제20권1호
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• pp.18-24
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• 2017

This paper is a part of developing a computer code that can be used to generate synthetic IR images by calculating the outgoing infrared signal from objects. To predict the reflected component that is a part of the outgoing IR signal, such as those components reflected from the target surface by the solar and sky irradiations, it is necessary to calculate the complicated BRDF values for considering the directional surface reflection characteristics. Since the calculation of reflectance using the BRDF requires a large amount of computation time due to the hemispherical integral term, it is frequently restricted in applying for a real-time prediction of IR signal. In this research, the simplified method for calculating IR reflected component has been proposed by replacing the integral terms into two parts, a directionally uniform component and a step function representing the specular component, to reduce computation time. The proposed method is proved to result in very fast calculation of the BRDF (up to 600 times faster calculations) for most of the surfaces with minimal loss of the accuracy.

• Restorative Dentistry and Endodontics
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• 제43권1호
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• pp.9.1-9.6
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• 2018

The objective of this case report is to introduce a simple technique for simultaneously taking a closed-mouth impression and functionally generated path (FGP) for a full coverage crown restoration. A monolithic zirconia crown was the restoration of choice. An alginate impression of the abutment tooth was taken to fabricate a custom-made closed-mouth impression tray covering the abutment tooth and the adjacent teeth. The tray had an FGP table and an abutment tray in cameo and intaglio surfaces, respectively. The impression was taken with silicone impression material after adjusting the abutment tray and inscribing the FGP using self-curing acrylic resins. Plaster casts were made from the impression, and a zirconia crown was fabricated. The crown was cemented to the abutment tooth with minimal adjustments. This simple technique resulted in a well-fitting crown that accounted for mandibular movements. Using the custom closed-mouth impression tray incorporating an FGP table simultaneously aids in fabricating an accurately fitting restoration that incorporates harmonious mandibular movements using a single impression capture.

• Restorative Dentistry and Endodontics
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• 제29권3호
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• pp.219-225
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• 2004

This study evaluated the microshear bond strength of composte resin to teeth bleached with commercial whitening strips and compared with those bleached with home bleaching gel. Twelve extracted human central incisors were cut into pieces and central four segments were chosen from each tooth and embedded in acrylic resin. Four blocks with 12 tooth segments embedded in acrylic resin were acquired and numbered from group one to group four. Group 1 was bleached with Crest Whitestrips, group 2 with Claren, group 3 with Opalescence tooth whitening gel (10％ carbamide peroxide). Group 4 was used as control. The bleaching procedure was conducted for 14 days according to the manufacturer's instructions ; the bleaching strips twice a day for 30 min and the bleaching gel once a day for 2hr. After bleaching, composite resin (Filtek Supreme) was bonded to the enamel surfaces with a self-etching adhesive (Adper Prompt L-Pop) using Tygon tube. Microshear bond strength was tested with a universal testing machine (EZ-test). The data were statistically analysed by one-way ANOVA. The study resulted in no statistical differences in microshear bond strength between the tooth segments bleached with 2 different whitening strips and bleaching gel. It can be concluded that the effect of bleaching with either commercial whitening strips or bleaching gel on enamel is minimal in bonding with self-etching adhesive to composite resin.