• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.21 no.1
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• pp.123-129
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• 2012

Recently, interests on cleaning robots workable in pipes (termed as in-pipe cleaning robot) are increasing because Garbage Automatic Collection Facilities (i.e, GACF) are widely being installed in Seoul metropolitan area of Korea. So far research on in-pipe robot has been focused on inspection rather than cleaning. In GACF, when garbage is moving, the impurities which are stuck to the inner face of the pipe are removed (diameter: 300 mm or 400 mm). Thus, in this paper, by using TRIZ (Inventive Theory of Problem Solving in Russian abbreviation), an in-pipe cleaning robot of GACF with the 6-link sliding mechanism will be proposed, which can be adjusted to fit into the inner face of pipe using pneumatic pressure(not spring). The proposed in-pipe cleaning robot for GACF can have forward/backward movement itself as well as rotation of brush in cleaning. The robot body should have the limited size suitable for the smaller pipe with diameter of 300 mm. In addition, for the pipe with diameter of 400 mm, the links of robot should stretch to fit into the diameter of the pipe by using the sliding mechanism. Based on the conceptual design using TRIZ, we will set up the initial design of the robot in collaboration with a field engineer of Robot Valley, Inc. in Korea. For the optimal design of in-pipe cleaning robot, the maximum impulsive force of collision between the robot and the inner face of pipe is simulated by using RecurDyn(R) when the link of sliding mechanism is stretched to fit into the 400 mm diameter of the pipe. The stresses exerted on the 6 links of sliding mechanism by the maximum impulsive force will be simulated by using ANSYS$^{(R)}$ Workbench based on the Design Of Experiment(in short DOE). Finally the optimal dimensions including thicknesses of 4 links will be decided in order to have the best safety factor as 2 in this paper as well as having the minimum mass of 4 links. It will be verified that the optimal design of 4 links has the best safety factor close to 2 as well as having the minimum mass of 4 links, compared with the initial design performed by the expert of Robot Valley, Inc. In addition, the prototype of in-pipe cleaning robot will be stated with further research.

• Journal of Aerospace System Engineering
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• v.13 no.3
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• pp.78-86
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• 2019

This paper describes the stiffness optimization of the torsion spring hinge of the large SAR antenna considering the deployment performance. A large SAR antenna is folded in a launch environment and then unfolded when performing a mission in orbit. Under these conditions, it is very important to find the proper stiffness of the torsion spring hinge so that the antenna panels can be deployed with minimal impact in a given time. If the torsion spring stiffness is high, a large impact load at the time of full deployment damages the structure. If it is weak, it cannot guarantee full deployment due to the deployment resistance. A multi-body dynamics analysis model was developed to solve this problem using RecurDyn and the development performance were predicted in terms of: development time, latching force, and torque margin through deployment analysis. In order to find the optimum torsion spring stiffness, the deployment performance was approximated by the response surface method (RSM) and the optimal design was performed to derive the appropriate stiffness value of the rotating springs.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.32 no.2
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• pp.75-86
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• 2019

The biggest obstacle in the nuclear power generation is the high level radioactive waste such as the spent nuclear fuel. High level radioactivities and generated heat make the safe treatment of the spent nuclear fuel very difficult. Nowadays, the only treatment method is a deep geological disposal technology. This paper treats the structural safe design problem of the spent nuclear fuel disposal canister which is one of the core technologies of the deep geological disposal technology. Especially, this paper executed the nonlinear structural analysis for the stresses and deformations occurring in the canister due to the impulsive force applied to the spent nuclear fuel disposal canister in the case of an accidental drop and ground impact event from the transportation vehicle in the repository. The main content of the analysis is about that the impulsive force is obtained using the commercial rigid body dynamic analysis computer code, RecurDyn, and the stress and deformation caused by this impulsive force are obtained using the commercial finite element static structural analysis computer code, NISA. The analysis results show that large stresses and deformations may occur in the canister, especially in the rid or the bottom of the canister, due to the impulsive force occurring during the collision impact period.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.23 no.6
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• pp.520-526
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• 2013

This article presents the reduction of vibration generated by an automobile fuel pump. In order to analyze the vibration of the fuel pump, a simplified dynamic model is established, which is composed of a rigid rotor and a equivalent springs. The equivalent stiffnesses of the upper and lower assemblies are evaluated by the comparison of modal testing results and the finite element analysis. The stiffness for the oil film of the journal bearing is extracted by using Reynold's equation. In addition, the time responses for the vibration of the fuel pump are computed by using a commercial multi-body dynamics software, RecurDyn. Based on these results, some design suggestions are proposed to reduce the vibration of an automobile fuel pump.

• Korean Journal of Head & Neck Oncology
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• v.36 no.2
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• pp.41-44
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• 2020

Clear cell hidradenoma is a skin adnexal tumor originating from eccrine glands. The risk of local recurrence after surgical resection exceeds 50%, and 6-19% of cases are malignant. The rarity of clear cell hidradenoma and its diverse histological findings make this type of tumor a diagnostic challenge. We present a case of recurrent clear cell hidradenoma of the posterior neck in a 70-year-old woman. The tumor recurred once after complete excision, and did not recur again after 1-cm wide excision and reconstruction with a local bilobed flap. Recurrent clear cell hidradenomas are activated by surgical stimulation, increasing the risk for metastasis. Therefore, we suggest that wide excision with confirmation of a tumor-free margin by frozen-section biopsy should be the first-line treatment for recurrent benign clear cell hidradenoma.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1491-1495
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• 2004

For the evaluation of the mobile robot performance in complex environments, the experimental approach in an actual physical environment has been commonly taken. In the physical experimental approach, however, it is quite difficult to define the proper environment for the evaluation due to the lack of commonly agreed characteristics of the test environment. Particularly the number of combinations of types and physical parameters of the obstacles that the mobile robot is expected to deal with is practically unlimited. In an effort to simplify and improve the effectiveness of the evaluation process, we propose an evaluation method using decomposed environmental elements, where we evaluated the performance of the robot for a small group of simple and decomposed obstacle components, for examples projection and slope, instead of a large group of complicated random obstacles. The paper describes a set of simple obstacle models and performance parameters that we have chosen for the effective evaluation process. As an alternative to the physical experimental evaluation approach, in this paper, we used a virtual evaluation environment where the robot and the physical test environment has been modeled using a commercial multi-body dynamics analysis packaged called RecurDyn.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.14 no.2
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• pp.826-840
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• 2020

Vertigo is one of the most common complaints encountered by physicians and the patients are steadily increasing. These patients are exposed to the risk of secondary accidents such as falls due to vertigo. There are two ways to improve this symptom: medication and rehabilitation. Although temporary symptomatic improvement may be expected in patients treated with medication, vertigo may recur and medication can delay central compensation. In contrast vestibular rehabilitation exploits central mechanisms of neuroplasticity to increase postural stability and enhance visual-vestibular interactions in situations that generate conflicting sensory information. However, vestibular rehabilitation may be compromised by incorrect performance of exercises, and there is a need for active effort and interest from the patient during rehabilitation. To solve these problems, we decided to apply FOVE HMD for eye-tracking and Unity3D to create virtual reality. The proposed eye-tracking based algorithm calculates the concentration of users with eye tracking data and calculates the motion width of the patient with nystagmus, thus the severity of the patient according to the score can be determined. According to our experimental test against healty group and patients group, this result showed the meaningful data to use define the contents result.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.10
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• pp.1541-1548
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• 2004

A nano-stage simulation tool is developed for an advanced E-beam lithography system. Even if piezo-actuators are believed to be compatible fer the E-beam lithograpy system it is difficult to predict their characteristics due to their nonlinearities such as hysteresis and creep. In this paper, the nonlinear properties are modeled for a piezo-actuator by considering the voltage range and speed variations. The hysteresis is described as the first order differential equation with 24 sets of parameters and the creep is modeled as a time-dependent logarithmic function with 2 sets of a parameter. A two-axis nano stage with piezo-actuators are investigated for realizing nano scale motions. The characteristics of flexure guide mechanisms are analyzed based on the finite element method using the ANSYS software. The simulation tool for the nano stage is constructed by using the RecurDyn software. The dynamic response of the nano stage is obtained in simulations and compared with the experimental data.

• The Research Journal of the Costume Culture
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• v.14 no.5
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• pp.828-839
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• 2006

These days, by the accelerated developments of science and industries and the menaces of war and terror, humans have come to have instinct to recur and nostalgia to nature and thereby many art works and designs with natural objectives have begun to be produced. Also the design in 21st century requires creative products based on cultural speciality of the countries. As the examples, we may easily find the images of the countries from visual expressions or products when we get in touch with the products of so called advanced countries in design i. e. U.S.A. Japan, Germany, France, Italy, countries of Scandinavian peninsular. This study, in such stream of the times, was to express our culture's own originality on clothing design with butterfly that is one of natural thing as the material but limited the boundary to realistic butterflies in folk drawings of the times of Chosun. As for the technique of expression, used digital textile printing for best expression of the fine lines, realistic shapes and peculiar colors of the butterflies in Chosun folk drawings and used diverse materials as materials for printing for diversity of the designs. Thereby this thesis is purposed to grope the products with superior competitiveness in the world market by presenting the realistic butterflies in Chosun folk drawings as motives with cultural value native to Korea and applying them to clothing designs.

• The Korean Journal of Cytopathology
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• v.12 no.2
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• pp.105-110
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• 2001

Chordoma is a rare, clinically and morphologically well characterized tumor, which arises from remnants of the notochord, The majority(60%) occurs in the sacrococcygeal region, with 25% in the clival legion, and 15% in the spine. Although most chordomas do not develop metastasis, the long term prognosis is very poor due to local progressive tumor growth and tendency to recur if incompletely excised. The chordoma has characteristic cytologic features which make a preoperative diagnosis possible. We reviewed the cytologic findings of five patients with chordoma(one oropharynx, two clivus, and two sacrum). The patients were three male and two female, aged from 29 to 77 years(mean 60). Of five chordomas, there were local recurrences in two cases and metastasis of lymph node In one case. Four were FNA smears and one was squash smear taken from intraoperative consultation. All five cases show similar cytologic features. The dominating tumor cells were large with round nuclei and pale-stained vacuolated cytoplasm. The small round uniform cells and short spindle-shaped cells were frequently noted. The cells were surrounded by myxoid or mucoid matrix. The chordoma has characteristic cytologic features which make a preoperative diagnosis possible.