• Proceedings of the Korean Information Science Society Conference
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• 2006.06a
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• pp.298-300
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• 2006

산업현장에서 로봇의 사용이 크게 늘게 됨으로서 로봇의 배치와 움직임의 조정을 효율적으로 하는 것이 중요해 졌다. 이를 위해 가상의 공간에서 시뮬레이션 하는 오프라인 프로그래밍이 사용되고 있다. 본 논문에서는 오프라인 프로그래밍 기반의 시뮬레이션 엔진을 설계, 구현하였다. 복수의 로봇 시뮬레이션이 정적/동적인 상황에서 이루어 질 수 있도록 이벤트/사이클 혼합 방식을 사용하였다.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.159-159
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• 2000

최근 조선분야의 경우 생산원가의 절감, 품질의 고급화, 단순작업에 대한 근로기피 등의 이유로 로봇시스템 적용에 대한 필요성이 크게 대두되고 있다. 그러나 기존의 로봇 시스템의 교시방식이 교시-재생(Teaching-Playback)방식이어서 작업부재의 형상 및 치수가 매번 변경되는 중공업 분야에서는 적용이 불가능하였다. 본 연구에서는 조선용 아크용접 로봇을 위한 오프라인 프로그램밍(OLP: Off-Line Programming) 시스템을 개발하였다. 오프라인 프로그램밍 시스템의 경우 작업중인 로봇과는 상관없이 다음 부재에 대한 형상 데이터만을 이용하여 컴퓨터상에서 다음 작업프로그램을 미리 생성할 수 있으므로 기존의 온라인 교시-재생 방식의 교시시간의 과다라는 문제를 극복할 수 있다. 본 연구에서는 강교 판넬 및 조선 소조립용으로 개발 중인 아크용접용 로봇 시스템을 위한 오프라인 프로그래밍 시스템을 개발하였다. CAD 데이터나 OLP의 모델링 기능으로 작업부재를 형상한 후 미리 데이터베이스화 되어 있는 자료를 검색하여 부위별 작업매크로 확보를 위하여 실제 로봇 시스템을 이용한 작업테스트를 수행하였다. 개발된 오프라인 프로그래밍 시스템은 기능보완 후 당사 아크용접용 로봇시스템에 적용될 계획이다.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.10a
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• pp.119-124
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• 2000

We developed a Off-Line Graphic Simulator which can simulate a robot model in 3D graphics space in Windows 95 version. 4 axes SCARA robot was adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed program The interface between users and the off-line program system in the Windows 95's graphic user interface environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by Silicon Graphics, Inc. were utilized for 3D graphics.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.18 no.1
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• pp.13-21
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• 2009

Interactive Graphic Robotics Integrated Programming(IGRIP) can handle various types of robot models and can exchange graphic or numerical data easily with other CAD software. In a cutting process of shape-steels, however. IGRIP is inconvenient because the users must generate all the tag points manually. In this study we developed an automation program module in order to generate the tag points automatically in IGRIP This program can read and analyze the macro data containing the information for cutting processes of shape-steels and can generate automatically the parts, the devices, the tag points and the Graphic Simulation Language(GSL) program files useful in IGRIP.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.10a
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• pp.155-155
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• 2003

• Proceedings of the Korean Society of Laser Processing Conference
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• 2004.10a
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• pp.40-43
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• 2004

• Journal of Oral Medicine and Pain
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• v.44 no.1
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• pp.1-10
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• 2019

Purpose: The aim of this study was to evaluate the optimal doses of intralesional triamcinolone acetonide (TA) in the treatment of oral lichen planus (OLP). Methods: A randomized clinical trial was performed. Sixty-two lesions of OLP were received 12 mg (group A) or 20 mg (group B) of TA intralesionally weekly for 2 weeks. Subjective symptoms, lesion size, favorable conversion of clinical subtypes, and clinical response were evaluated at weeks 0, 1, 2, and 4. Results: After two consecutive injections of TA, group B showed significant reduction in burning sensation and reticular area (p<0.01). Favorable conversion and complete response were greater in group B. Mild oral candidiasis was developed in group B (10.7%). Conclusions: A 20-mg injection of TA was much more effective compared with 12-mg injection of TA in the treatment of OLP.

• Journal of Oral Medicine and Pain
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• v.46 no.2
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• pp.41-48
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• 2021

Purpose: To evaluate compliance by analyzing and comparing treatment duration, degree of improvement after treatment and treatment response of oral lichen planus (OLP) patients according to characteristics of them and the severity of the lesion. Methods: According to treatment process, 132 subjects with OLP who first visited the Department of Oral Medicine at the Pusan National University Dental Hospital from January 2017 to December 2020were classified into three groups: Treatment completed (CT) group, Under treatment (UT) group, and Dropped out during follow-up (DT) group. The reticulation/keratosis, erythema, and ulceration (REU) scoring system was used to assess the severity of OLP. The degree of improvement after treatment was evaluated in CT group. Results: There were 53 (40.15%) CT, 27 (20.45%) UT and 52 (39.39%) DT. In CT group, according to initial REU score there was a statistical difference in the degree of improvement, but not in the length of time to complete treatment. There was no statistical difference between the days it took for patients to feel symptom relief, and the days of entire treatment among three groups. However, there was a positive correlation between the REU score of gingiva and duration of treatment in DT group. In the CT and DT groups, there was a correlation between the length of time taken to relieve symptoms and the duration of treatment. Conclusions: The severity of the gingival lesion and the initial response to treatment have a large effect on the entire treatment period and prognosis, so it should be considered when explaining the disease prognosis and treatment period to patients, and the clinician needs to focus on initial symptom relief.

• Journal of Oral Medicine and Pain
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• v.37 no.3
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• pp.155-159
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• 2012

Background Oral lichen planus (OLP) is a chronic inflammatory disease characterized by cell-mediated immune responses, but the exact cause is unknown. Sulfasalazine has shown efficacy in the treatment of cutaneous lichen planus. Objective Our purpose was to assess the usefulness of sulfasalazine in treatment of OLP resistant to corticosteroid therapy. This study provides a new option for controlling OLP symptoms. Methods Two patients with the symptomatic reticular form of OLP were treated with 30 mg/5 ml of topical sulfasalazine for 8 to 15 weeks and were evaluated for symptom severity using a numerical analog scale during each week of treatment. The lesion size was measured using a 2 $mm^2$ grid. Results After 2 weeks of application, both patients reported improvements in their symptoms and lesions. Most of the lesions disappeared after 8 weeks of treatment without any side effects. Conclusion Topical sulfasalazine can be a successful treatment option for patients with oral lichen planus resistant to steroid therapy.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.3
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• pp.16-22
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• 2019

Off-line programming and robot calibration through simulation are essential when setting up a robot in a robot automation production line. In this study, we developed a new robot calibration method to match the CAD data of the production line with the measurement data on the site using 3D scanner. The proposed method calibrates the robot using 3D point cloud data through Iterative Closest Point algorithm. Registration is performed in three steps. First, vertices connected by three planes are extracted from CAD data as feature points for registration. Three planes are reconstructed from the scan point data located around the extracted feature points to generate corresponding feature points. Finally, the transformation matrix is calculated by minimizing the distance between the feature points extracted through the ICP algorithm. As a result of applying the software to the automobile welding robot installation, the proposed method can calibrate the required accuracy to within 1.5mm and effectively shorten the set-up time, which took 5 hours per robot unit, to within 40 minutes. By using the developed system, it is possible to shorten the OLP working time of the car body assembly line, shorten the precision teaching time of the robot, improve the quality of the produced product and minimize the defect rate.