• 대한치과교정학회지
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• 제14권1호
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• pp.173-183
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• 1984

The author has observed the effects of collagenase on the relapse phenomenon and the histochemical changes during the relapse period. 50 rats were used. : 3rats as a normal group, 15rats as control groups, and 32rats as experimental groups. Rat's teeth were moved for 10days with helical spring applied, followed by injection of "collagenase in Hank's sol." to the experimental groups and the "Hank's sol." to the control group in the interdental gingiva on the 10th day, and the spring was removed on the 11th day. After injection, the experimental animals were sacrificed on the 11th, 13th, 15th, 17th, 20th, and 24th day and prepared histochemically for the Hematoxylin-Eosin, Van-Gieson, and Methyl Green-pyronin staining. The results are as follows: 1. Group I (11th day): In the control group the supracrestal fibers were stretched and the metabolic rate was high. Experimental group showed that supracrestal fibers were resor, bed, disarrayed, and the metabolic rate was low. 2. Group II (13th day): In the control group, the supracrestal fibers began to change from the vertical direction to tooth-axis to the parallel. Experimental group showed that supracrestal fibers were completely resorbed. 3. Group IV (17th day): The control group showed almost normal structure. Form this group the metabolic rates were low. Experimental group showed the most destructive pattern. 4. Group VI (24th day): Experimental group showed almost normal structure. It follows that experimental groups were relapsed less than the control groups, and collagenase was effective in the prevention of relapse after rat's experimental tooth movement.

• 제어로봇시스템학회논문지
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• 제18권12호
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• pp.1106-1114
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• 2012

To achieve synchronized motion between a wearable robot and a human user, the redundancy must be resolved in the same manner by both systems. According to the seven DOF (Degrees of Freedom) human arm model composed of the shoulder, elbow, and wrist joints, positioning and orientating the wrist in space is a task requiring only six DOFs. Due to this redundancy, a given task can be completed by multiple arm configurations, and thus there exists no unique mathematical solution to the inverse kinematics. This paper presents analysis on the kinematic and dynamic aspect of the human arm movement and their effect on the redundancy resolution of the human arm based on a seven DOF manipulator model. The redundancy of the arm is expressed mathematically by defining the swivel angle. The final form of swivel angle can be represented as a linear combination of two different swivel angles achieved by optimizing different cost functions based on kinematic and dynamic criteria. The kinematic criterion is to maximize the projection of the longest principal axis of the manipulability ellipsoid for the human arm on the vector connecting the wrist and the virtual target on the head region. The dynamic criterion is to minimize the mechanical work done in the joint space for each two consecutive points along the task space trajectory. As a first step, the redundancy based on the kinematic criterion will be thoroughly studied based on the motion capture data analysis. Experimental results indicate that by using the proposed redundancy resolution criterion in the kinematic level, error between the predicted and the actual swivel angle acquired from the motor control system is less than five degrees.

• 한국실내디자인학회논문집
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• 제22권5호
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• pp.135-142
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• 2013

This research regards that experiencing certain space according to looking through sensations of body will finally make visual perceptional experience to happen. Our bodies incorporate sensible experience along with interactions with surrounding environment while making movements. The analysis of Seongyojang in Gangleung through top and bottom, depth, movement and experience space which are Merleau Ponty's phenomenological space elements has led to the following conclusions. First, the up and down directivity inherent in Seongyojang has different directions in movements by the axis of plane. Second, the depth by the correlation between things and bodies shows the interactions with things and the depth of space rendered by the servants' quarters of '一字形' and the overlapping effect from the movement between buildings can be seen and felt. Third, mobility is focused on the surroundings for the movements of body and thing. Fourth, the experienced space remains as what it is and is experienced through the experience of traditional cultures. The temporality where the past and the present subsist is given with the application of the modern living pattern in the traditional space. That is, the space from the point of phenomenological view makes the visual-perceptual experience possible through the senses of body, with which the space is experienced and sensed. In other words, the space from the phenomenological viewpoint makes visual-perceptual experience possible through the senses of body so that the space may be experienced and perceived. Through this study, a new viewpoint toward Korean traditional space is expected to be discovered.

• 한국인터넷방송통신학회논문지
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• 제11권4호
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• pp.125-130
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• 2011

본 논문은 난타 음악과 상호작용하는 햅틱 포스 피드백기술의 활용 가능성을 조사했다. 촉감처리기술을 포함하는 VR기술과 사용자에게 원기둥 객체들과 컵 객체의 터치를 제공하는 햅틱 디바이스를 사용했다. 햅틱 디바이스는 VR 공간에서 터치 모델을 이용하는데 활용되었다. 실험을 위한 Matlab/Simulink와 Handshake의 proSENCE Virtual Touch Toolbox는 프로그램 툴로 사용되었다. 각각 x, y, z축의 움직임을 나타내는데 필요한 함수는 3D로 모델화한 컵속에 물의 자연스런 움직임을 묘사하도록 적용했다. 컵속의 정해진 물의 양은 다른 소리를 갖는다. 실험에서 3D 객체의 외형을 인지하는 것과 터치에 의해서 촉감을 느끼는 것은 Haptic의 인지와 함께 난타음악과 연결하여 표현되었다. 또한, 포인터를 활용해서 VR공간에서 게임이나 콘텐츠 개발이 가능함을 확인하였다.

• 스마트미디어저널
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• 제2권1호
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• pp.27-30
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• 2013

논문에서는 EPIC(Electronic Potential Integrated Circuit) 센서를 이용한 Hand tracking 및 Calibration 알고리즘을 연구하였다. 주변의 전위차를 감지하는 EPIC 센서의 특성을 분석하고, 이러한 특성을 고려한 EPIC 센서들 간의 감지된 진폭의 차를 이용하여 이차원 좌표 변환을 구현하였다. 이에 추가적으로 주변 환경에 민감한 EPIC 센서의 특성을 고려한 Calibration 알고리즘을 구현하였으며, 효과적으로 목표물을 추적하도록 칼만 필터 알고리즘을 적용하였다. 구현된 알고리즘은 검증 및 분석을 위해 윈도우 어플리케이션 환경으로 구현하였으며 EPIC 센서의 아날로그 데이터를 추출하기 위해 DAQ(Data Acquisition) API 함수를 사용하였다, DAQ 하드웨어는 전기적 신호를 측정 및 생성할 수 있는 기능을 가지고 있으며, DAQ API를 통해 아날로그 또는 디지털 신호를 측정 및 생생할 수 있다. 측정된 아날로그 신호를 구현된 알고리즘을 통해 사용자의 손의 움직임에 따라 EPIC 센서에서 전위차를 감지함으로써 PC의 mouse cursor 움직임을 확인한다.

• Journal of Forest and Environmental Science
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• 제38권4호
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• pp.239-248
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• 2022

Forestry crane work in a forest harvester or forwarder is regarded as one of most hard work requiring a very high level of operation skill. The operator must handle two or more multi-axes joysticks simultaneously to control the multiple manipulators for maneuvering the crane-tip to its intended location. This study has been carried out to develop a crane-tip controller which can intuitively maneuver the crane-tip, resulting in improving the productivity by decreasing the technical difficulty of control as well as reducing the workload. The crane-tip controller consists of a single 2-axis joystick and a control algorithm run on microcontroller. Lab-scale forestry crane was constructed using electric cylinders. The crane-tip control algorithm has the crane-tip follow the waypoints generated on the given path considering the dead band region using LBO (Lateral Boundary Offset). A speed control gain to change the speed of relevant cylinders relatively is applied as well. By the P (Proportional) control within the control interval of 20 msec, the average error of crane-tip control on the predefined straight path turned out to be 14.5 mm in all directions. When the joystick is used the waypoints are generated in real time by the direction signal from the joystick. In this case, the average error of path control was 12.4 mm for straight up, straight forward and straight down movements successively at a certain constant speed setting. In the slant movement of crane-tip by controlling two axes of joystick simultaneously, the movement of crane-tip was controlled in the average error of 15.9 mm when the crane-tip is moved up and down while moving toward forward direction. It concluded that the crane-tip control was possible using the control algorithm developed in this study.

• Geomechanics and Engineering
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• 제34권4호
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• pp.409-424
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• 2023

Response of the pipeline crossing fault is considered as the large strain problem. Proper estimation of the pipeline response plays important role in mitigation studies. In this study, an advanced continuum modeling including material non-linearity in large strain deformations, hardening/softening soil behavior and soil-pipeline interaction is applied. Through the application of a fully nonlinear analysis based on an explicit finite difference method, the mechanics of the pipeline behavior and its interaction with soil under large strains is presented in more detail. To make the results useful in oil and gas engineering works, a continuous pipeline of two steel grades buried in two clayey soil types with four different crossing angles of 30°, 45°, 70° and 90° with respect to the pipeline axis have been considered. The results are presented as the fault movement corresponding to different damage limit states. It was seen that the maximum affected pipeline length is about 20 meters for the studied conditions. Also, the affected length around the fault cutting plane is asymmetric with about 35% and 65% at the fault moving and stationary block, respectively. Local buckling is the dominant damage state for greater crossing angle of 90° with the fault displacement varying from 0.4 m to 0.55 m. While the tensile strain limit is the main damage state at the crossing angles of 70° and 45°, the cross-sectional flattening limit becomes the main damage state at the smaller 30° crossing angles. Compared to the stiff clayey soil, the fault movement resulting 3% tensile strain limit reach up to 40% in soft clayey soil. Also, it was seen that the effect of the pipeline internal pressure reaches up to about 40% compared to non-pressurized condition for some cases.

• 핵의학기술
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• 제21권2호
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• pp.80-85
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• 2017

D530c는 cadmium zinc telluride (CZT) detector가 심장을 중심으로 배열되어 회전 없이 짧은 시간에 검사가 가능하며 높은 해상도의 영상획득이 가능하다. 하지만 이러한 구조적 특성으로 인해 환자의 움직임에 민감하며, 검사 결과에도 일부분 영향을 미칠 수 있다. 이에 본 연구에서는 D530c에서 검사 중 발생되는 환자의 움직임 감소 활동을 통해 영상 품질의 최적화를 목적으로 한다. 환자의 다양한 움직임 원인을 분석하여 호흡보정 도구 제작, 환자의 호흡 및 움직임에 관한 주의사항 교육 등의 개선활동을 시행하였다. 개선 전 대상으로 2016년 11월에 D530c에서 심근관류 SPECT를 시행한 환자 70명을 선정하였고, 개선 후 2017년 2월 14일부터 2017년 2월 21일까지 시행한 환자 70명을 대상으로 하였다. 검사 시작 전 위치에서 X, Y, Z 축으로 이동된 심장의 변동거리(4 mm, 8 mm, 12 mm 이상)별 움직임 발생시간을 측정하여 개선 전 후 Stress와 Rest 영상을 각각 비교 분석하였다. 개선활동 후 심장의 움직임 발생시간이 stress와 rest 영상에서 모두 감소되었으며, 특히 stress 영상에서 12 mm 이상의 큰 움직임 발생횟수가 0회(발생시간 0초)로 기록되었다. 심장의 위치가 X축으로 4 mm, 8 mm 변동된 발생시간과 Z축으로 8 mm 변동된 발생시간은 통계적으로 유의한 차이가 있었지만(p<0.005), 그 외 stress와 rest의 모든 구간의 발생시간은 유의한 차이가 없었다(p>0.005). 호흡에 의해서도 발생 가능한 4 mm 변동거리에 따른 움직임 발생시간의 감소는 교육 및 움직임 방지 도구를 통해 검사 중 환자의 호흡이 보정된 결과로 파악되며, 호흡 이외의 환자의 실제 움직임으로 발생되었을 것으로 예상되는 8 mm, 12 mm 이상의 변동거리에 따른 움직임 발생시간 감소를 통해 영상 품질의 향상을 가져올 것으로 예상된다.

• 한국안광학회지
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• 제19권2호
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• pp.189-198
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• 2014

목적: 본 연구에서는 토릭소프트렌즈 피팅 시 회전방향 및 회전량과 각막난시도의 상관관계를 분석하였다. 방법: 20~30대, 전체난시 -0.75 D 이상의 직난시 114안을 대상으로 토릭소프트렌즈를 제조사의 가이드라인에 따라 피팅하고 정면주시 시와 응시방향을 달리하였을 때의 난시도와 회전방향 및 회전량과의 상관관계를 분석하였다. 또한 귀쪽과 코쪽으로 각각 $45^{\circ}$ 회전 시킨 후 회전복귀속도와 총 회전량을 각막난시도에 따라 비교 분석하였다. 결과: 각막난시도와 회전방향은 양의 상관관계를 나타내었으며, 각막난시도와 회전량 또한 양의 상관관계를 나타내었다. 한편, 응시방향에 따라 렌즈의 회전량이 상이하였으며 각막난시도와는 상관관계가 없었다. 각막난시도가 가장 높은 군에서 귀쪽과 코쪽으로 회전시킨 모든 경우에서 렌즈의 회전복귀속도가 가장 빨랐다. 결론: 토릭소프트렌즈의 최적의 축 안정화를 위하여 현재 전체난시만을 기준으로 처방되고 있는 피팅 가이드라인이 각막난시도를 고려하여 조정되어야 할 필요성이 있음을 제안한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1469-1473
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• 2004

We suggest how to program off-line robot path along shoes' outsole shape in the footwear buffing process by a 5-axis microscribe system like robot arms. This microscribe system developed consists a 5-axis robot link with a turn table, signal processing circuit, PC and an application software program. It makes a robot path on the shoe's upper through the movement of a microscribe with many joints. To do this, first it reads 5-encoder's pulse values while a robot arm points a shoes' outsole shape from the initial status. This system developed calculates the encoder pulse values for the robot arm's rotation and transmits the angle pulse values to the PC through a circuit. Then, Denavit-Hartenberg's(D-H) direct kinematics is used to make the global coordinate from robot joint one. The determinant is obtained with kinematics equation and D-H variable representation. To drive the kinematics equation, we have to set up the standard coordinates first. The many links and the more complicated structure cause the difficult kinematics problem to solve in the geometrical way. Thus, we can solve the robot's kinematics problems efficiently and systematically by Denavit-Hartenberg's representation. Finally, with the coordinate values calculated above, it can draw a buffing gauge-line on the upper. Also, it can program off-line robot path on the shoes' upper. We are subjected to obtaining shoes' outline points, which are 2 outlines coupled with the points and the normal vector based on the points. These data is supposed to be transformed into .dxf file to be used for data of automatic buffing robot. This system developed is simulated by using spline curves coupled with each point from dxf file in Autocad. As a result of applying this system to the buffing robot in the flexible footwear manufacturing system, it can be used effectively to program the path of a real buffing robot.