• 제어로봇시스템학회논문지
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• 제22권10호
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• pp.853-858
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• 2016

Cooperation and collaboration with robots are key functions of robotic utility that are currently developing. Thus, robots should be safe and resemble human beings to cope with these needs. In particular, dual-arm robots that mimic human kinetics are becoming the focus of recent industrial robotics research. Their size is similar to the size of a human adult; however, they lack natural, human-like motion. One of the critical reasons for this is the shoulder complex. Most recent dual-arm robots have only 2 degrees of freedoms (DOFs), which significantly limits the workspace and mobility of the shoulders and arms. Therefore, a redundant shoulder complex could be very important in new developments that enable new capabilities. However, constructing a kinematically redundant shoulder complex is difficult because of spatial constraints. Therefore, we propose a novel, redundant shoulder complex for a human-like robot that is driven by flexible wire tendons. This kinematically redundant shoulder complex allows human-like robots to move more naturally because of redundant DOFs. To control the proposed shoulder complex, a hybrid control scheme is used. The positioning precision has also been considered, and the ability of the shoulder complex to perform several human-like motions has been verified.

• Nuclear Engineering and Technology
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• 제19권3호
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• pp.192-197
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• 1987

다량의 중수반사체를 가진 조밀한 노심에서는 핵분열시 발생하는ｒ선과 중수소와의 (ｒ,n) 반응에 의해 지발 광중성자가 다량 생성되므로 이러한 계통을 기술하기 위하여 광중성자와 그 모핵종의 공간적 분리에 역점을 두어 2-점노 운동방정식을 정립하였다. 여러 반응도를 주입하여 출력 천이를 모사계산하므로써 노심과 반사체사이의 관련 효과를 조사하였다. 이 모델에 의한 모사계산 결과와 공간 종속 운동방정식에 의한 계산결과를 비교하였다. 반사체 영역에서의 광중성자 효과가 포함되므로써, 이를 포함하지 않은 모델에 비해 출력 천이현상을 감소시켰다. 실제로 출력을 측정하는 계측기는 이러한 공간적 분리영 향을 제거하기 위하여 노심 내부에 위치하여야 한다.

• Nuclear Engineering and Technology
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• 제55권5호
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• pp.1651-1664
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• 2023

It is very difficult to capture the multi-dimensional phenomena such as asymmetric flow and temperature distributions with the one-dimensional (1D) model, obviously, due to its inherent limitation. In order to overcome such a limitation of the 1D representation, many state-of-the-art system codes have equipped a three-dimensional (3D) component for multi-dimensional analysis capability. In this study, a standard multi-dimensional analysis model of APR1400 (Advanced Power Reactor 1400) has been developed using TRACE (TRAC/RELAP Advanced Computational Engine). The entire reactor pressure vessel (RPV) of APR1400 has been modeled using a single 3D component. The fuels in the reactor core have been described with detailed and coarse representations, respectively, to figure out the impact of the fuel description. Using both 3D RPV models, a comparative analysis has been performed postulating a double-ended guillotine break at a cold leg. Based on the results of comparative analysis, it is revealed that both models show no significant difference in general plant behavior and the model with coarse fuel model could be used for faster transient analysis without reactor kinetics coupling. The analysis indicates that the asymmetric temperature and flow distributions are captured during the transient, and such nonuniform distributions contribute to asymmetric quenching behaviors during blowdown and reflood phases. Such asymmetries are directly connected to the figure of merits in the LBLOCA analysis. Therefore, it is recommended to employ a multi-dimensional RPV model with a detailed fuel description for a realistic safety analysis with the consideration of the spatial configuration of the reactor core.

• 생명과학회지
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• 제19권9호
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• pp.1299-1303
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• 2009

뇌졸중 환 6명을 대상으로 발병후 3개월 지난 시기에 1차 실험을 실시하였고, 6개월 지난 시기에 2차 실험을 하여 뇌졸중환자들을 대상으로 운동학적변인, 각운동학적변인 그리고 지면반력과 발바닥의 압력분포를 알아보았다. 운동학적변인의 결과 통계적으로 유의한 차이는 나타나지 않았으나 6개월간 꾸준히 재활운동에 참가한 환자는 3개월 때 보다 훨씬 보폭(step length)이 크게 나타났으며(11.18 cm, 12.25 cm, p=0.58), 보폭의 빈도(step time) 또한 빠르게 나타났다(1.20 sec, 1.18 sec, p=0.53). 환측의 발만 지지면에 닿아 있는 시간(single support time)의 연구에서는 재활운동에 꾸준히 참가한 환자가 발을 지면으로부터 빨리 떼는 것으로 나타났다(34.97%, 29.02%, p=0.74). 환측다리 움직임의 빠르기를 나타내는 변인(cadence)에서는 1분당 움직임의 회수가 6개월 운동에 참가한 사람의 보폭회수가 3개월 운동에 참가한 사람의 보폭회수 보다 훨씬 빠르게 나타났다(21.04 step/min, 28.89 step/min, 0.27). 각 운동학변인에서는 통계적으로 모든 변인에서 유의한 차이는 나타나지 않았으나 평균의 비교에서 꾸준하게 6개월 동안 재활운동에 참가한 환자는 발목관절, 무릎관절 그리고 엉덩관절 모두의 가동범위가 크게 나타났다. 걷기동작에서 상해의 원인이되는 최초 접촉 순간의 충격력(impact force)의 비교에서는 6개월간 꾸준히 재활운동에 참가한 환자는 충격력이 작게 나타났다(1.20 N/kg, 1.13 N/kg, p=0.45). 전방으로의 추진력(anterior propulsion force)과 후방으로의 감속력(posterior braking force)은 통계적으로 유의한 차이(p=0.28, p=0.39)를 나타내지 않았으나 재활운동에 꾸준히 참가한 환자들은 전후방의 힘(0.10 N/kg, 0.15 N/kg; -0.12 N/kg, -0.18 N/kg)이 좋아지는 것을 볼 수 있었다. 걷기 동작 시 환측발의 최대 압력분포값은 통계적으로 유의한 차이(p=0.24)는 없었으나 6개월 재활훈련참가자(15.51 N/$cm^2$)가 3개월 재활훈련참가자(13.99 N/$cm^2$) 보다 지면을 더욱 가볍게 밟고 지나가는 것으로 나타났다. 위의 연구결과들을 바탕으로 볼 때 뇌졸중 환자들은 꾸준하게 재활운동에 참가하여야 하며 주위 사람들의 관심이 항상 필요하다고 사료된다.

• 한국진공학회:학술대회논문집
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• 한국진공학회 2009년도 제38회 동계학술대회 초록집
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• pp.173-173
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• 2010

Recently, a patterned sapphire substrate (PSS) has been intensively used as one of the effective ways to reduce the dislocation density for the III-nitride epitaxial layers aiming for the application of high-performance, especially high-brightness, light-emitting diodes (LEDs). In this paper, we analyze the growth kinetics of the atoms and crystalline quality for the undopped-GaN depending on the facets of the pattern fabricated on a sapphire substrate. The effects of the PSS on the device characteristics of InGaN/GaN LEDs were also investigated. Several GaN samples were grown on the PSS under the different growth conditions. And the undoped-GaN layer was grown on a planar sapphire substrate as a reference. For the (002) plane of the undoped-GaN layer, as an example, the line-width broadening of the x-ray diffraction (XRD) spectrum on a planar sapphire substrate is 216.0 arcsec which is significantly narrower than that of 277.2 arcsec for the PSS. However, the line-width broadening for the (102) plane on the planar sapphire substrate (363.6 arcsec) is larger than that for the PSS (309.6 arcsec). Even though the growth parameters such as growth temperature, growth time, and pressure were systematically changed, this kind of trend in the line-width broadening of XRD spectrum was similar. The emission wavelength of the undoped-GaN layer on the PSS was red-shifted by 5.7 nm from that of the conventional LEDs (364.1 nm) under the same growth conditions. In addition, the intensity for the GaN layer on the PSS was three times larger than that of the planar case. The spatial variation in the emission wavelength of the undoped-GaN layer on the PSS was statistically ${\pm}0.5\;nm$ obtained from the photoluminescence mapping results throughout the whole wafer. These results will be discussed in terms of the mixed dislocation depending on the facets and the period of the patterns.

• 대한의용생체공학회:의공학회지
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• 제32권2호
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• pp.165-176
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• 2011

The femoral nerve innervates the quadriceps muscles and its dermatome supplies anteromedial thigh and medial foot. Paralysis of the quadriceps muscles due to the injury of the femoral nerve results in disability of the knee joint extension and loss of sensory of the thigh. A child could walk independently even though he had injured his femoral nerve severely due to the penetrating wound in the medial thigh. We measured and analyzed his gait performance in order to find the mechanisms that enabled him to walk independently. The child was eleven-year-old boy and he could not extend his knee voluntarily at all during a month after the injury. His gait analysis was performed five times (GA1~GA5) for sixteen months. His temporal-spatial parameters were not significantly different after the GA2 or GA3 test, and significant asymmetry was not observed except the single support time in GA1 results. The Lower limb joint angles in affected side had large differences in GA1 compared with the normal normative patterns. There were little knee joint flexion and extension motion during the stance phase in GA1 The maximum ankle plantar/dorsi flexion angles and the maximum knee extension angles were different from the normal values in the sound side. Asymmetries of the joint angles were analyzed by using the peak values. Significant asymmetries were found in GA1with seven parameters (ankle: peak planter flexion angle in stance phase, range of motion; ROM, knee: peak flexion angles during both stance and swing phase, ROM, hip: peak extension angle, ROM) while only two parameters (maximum hip extension angle and ROM of hip joint) had significant differences in GA5. The mid-stance valleys were not observed in both right and left sides of vertical ground reaction force (GRF) in the GA1, GA2. The loading response peak was far larger than the terminal stance peak of vertical ground reaction curve in the affected side of the GA3, GA4, GA5. The measured joint moment curves of the GA1, GA2, GA3 had large deviations and all of kinetic results had differences with the normal patterns. EMG signals described an absence of the rectus femoris muscle activity in the GA1 and GA2 (affected side). The EMG signals were detected in the GA3 and GA4 but their patterns were not normal yet, then their normal patterns were detected in the GA5. Through these following gait analysis of a child who had selective injuries on the knee extensor muscles, we could verify the actual functions of the knee extensor muscles during gait, and we also could observe his recovery and asymmetry with quantitative data during his rehabilitation.