• Journal of Biosystems Engineering
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• 제38권2호
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• pp.138-148
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• 2013

Purpose: Determining an appropriate path is a top priority in order for a robot to maneuver in a dynamically efficient way especially in a pick-and-place task. In a non-standardized work environment, current robot arm executes its motion based on the kinematic displacements of joint variables, though resulting motion is not dynamically optimal. In this research we suggest analyzing and applying motion patterns of the human arm as an alternative to perform near optimum motion trajectory for arbitrary pick-and-place tasks. Methods: Since the motion of a human arm is very complicated and diverse, it was simplified into two links: one from the shoulder to the elbow, and the other from the elbow to the hand. Motion patterns were then divided into horizontal and vertical components and further analyzed using kinematic and dynamic methods. The kinematic analysis was performed based on the D-H parameters and the dynamic analysis was carried out to calculate various parameters such as velocity, acceleration, torque, and energy using the Newton-Euler equation of motion and Lagrange's equation. In an attempt to assess the efficacy of the analyzed human motion pattern it was compared to the virtual motion pattern created by the joint interpolation method. Results: To demonstrate the efficacy of the human arm motion mechanical and dynamical analyses were performed, followed by the comparison with the virtual robot motion path that was created by the joint interpolation method. Consequently, the human arm was observed to be in motion while the elbow was bent. In return this contributed to the increase of the manipulability and decrease of gravity and torque being exerted on the elbow. In addition, the energy required for the motion decreased. Such phenomenon was more apparent under vertical motion than horizontal motion patterns, and in shorter paths than in longer ones. Thus, one can minimize the abrasion of joints by lowering the stress applied to the bones, muscles, and joints. From the perspectives of energy and durability, the robot arm will be able to utilize its motor most effectively by adopting the motion pattern of human arm. Conclusions: By applying the motion pattern of human arm to the robot arm motion, increase in efficiency and durability is expected, which will eventually produce robots capable of moving in an energy-efficient manner.

• 한국환경복원기술학회지
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• 제21권4호
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• pp.1-10
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• 2018

Use of de-icing salts results in accumulation of high concentrations of ions on roadside soils and tree. The purpose of this study isto determine translocation of seasonal impact of exchangeable cations originating from de-icing salt on roadside surface soil-plant influenced by the intensity of foliar damage (NY = 0-25%, SY = 26-50%, CY = 51-75%) of trees. This paper investigated the concentration of four exchangeable cations ($K^+$, $Ca^{2+}$, $Na^+$, and $Mg^{2+}$) on the roadside surface soil. The tree (Ginko biloba) samples were collected from the Konkuk and Judeok intersections in Chung-ju city. The sequential extraction procedure was applied to 120 soil samples of the soilsurface and 30 tree samples. Four cation exchange ions were determined by ICP-OES. The content of four exchangeable cations present on roadside soil was found to be the lowest in NY but highest in CY from tree pits in the order of NY < SY < CY. Especially, the results were apparent during spring time compared to other seasons. Soil collected from tree pits had the highest concentration of $Ca^{2+}$ possibly due to a higher volume of traffic on those streetsresulting in splashing of more calcium chloride ($CaCl_2$). The analysis of three exchangeable cations ($K^+$, $Mg^{2+}$, and $Na^+$) in the tree leaves revealed higher levels than roadside surface soil when foliar damage ratio increased in the order of NY < SY < CY in summer. In addition, a strong positive linear relationship was observed between the concentration of exchangeable cations in soil and trees. It is hypothesized that the results of this study can be a valuable baseline for managing de-icing salt on roadside soil and trees, in order to mitigate the salt stress that can damage the roadside soil and trees.

• 한국식품과학회지
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• 제33권2호
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• pp.161-165
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• 2001

농도를 달리한 산과 알칼리용매 및 물로 사과박에서 식이섬유를 추출하여 $24.4{\sim}29.3% 범위의 총 식이섬유를 얻었다. 수용성 식이섬유는 산용매로 6.85%, 알칼리용매로 6.55%를 추출하여 모두 물추출 6.0%보다 높았으며, 산과 알칼리용매의 농도가 높을수록 추출수율이 좋았다. 수용성 식이섬유의 galacturonic acid 함량은 0.01M HCl(77.5%)>0.05M HCl(76.8%)>$H_2O(76.1%)$>0.05M NaOH(73.8%)>0.01M NaOH(69.0%)의 순서로 많았으며, 산용매로 추출시 펙틴의 수율이 가장 우수하였다. 추출액의 색도는 추출용매의 농도가 높을수록 그리고 같은 농도에서는 알칼리추출이 산추출보다 높았고, 색도와 수용성 식이섬유 추출수율 간에는 유의성이 없었다. 그리고 각 시료의 유동특성을 조사한 결과, 전단속도를 $1\;sec^{-1}$에서 $600\;sec^{-1}$까지 증가시킬 때의 전단응력은 galacturonic acid 함량이 많을수록 증가하였다. 산과 물추출에 의한 수용성 식이섬유의 물성은 Newtonian 유동특성을 나타낸 반면에 알칼리추출 시료는 pseudoplastic 유동특성에서 알칼리농도가 증가할수록 항복력을 동반한 Bingham pseudoplastic 유동특성으로 전환되는 경향을 보였다. 겉보기점도와 시간의존성의 관계에서는 알칼리 추출시료에서 hysteresis loop이 관찰되었고 thixotropy 성질을 지님을 알 수 있었다.

• 전기학회논문지
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• 제65권5호
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• pp.819-824
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• 2016

The accelerated thermal aging of CSPE (chlorosulfonated polyethylene) was carried out for 33.64 and 67.27 days at 110[$^{\circ}C$], equivalent to 40 and 80 years of aging at 50[$^{\circ}C$], respectively. These samples were referred to as CSPE-0y, CSPE-40y and CSPE-80y, respectively. As the accelerated thermally aged years of the CSPE increase, the insulation resistance[$\Omega$] at 20[Hz], 500[Hz], and 2[KHz], and the percent elongation [%EL] of the CSPE decrease. However, the dissipation factor($tan{\delta}$) at 20[Hz], 500[Hz], and 2[KHz], the apparent density[$g/cm^3$], the glass transition temperature and the melting temperature of the CSPE were increased. The period of time that the voltage has to be applied until electric breakdown of the CSPE-0y is longer than that of the CSPE-40y, and the CSPE-80y, but the dielectric strength of the CSPE-80y is lower than that of the CSPE-0y and the CSPE-40y. The differential temperatures after the AC and DC voltages are applied to CSPE-0y, CSPE-40y and CSPE-80y are 0.026~0.028[$^{\circ}C$], 0.030~0.042[$^{\circ}C$], 0.018~0.045[$^{\circ}C$], respectively. The variations of temperature for the AC voltage are higher than those for the DC voltage when an AC voltage is applied to CSPE-0y, CSPE-40y and CSPE-80y. It is found that the dielectric loss owing to the dissipation factor[$tan{\delta}$] is related to the electric dipole conduction current. It is ascertained that the ionic (electron or hole) leakage current is increased by the separation of the branch chain of CSPE polymer from the main chain of the polyethylene as a result of thermal stress due to accelerated thermal aging as well as by conducting ions such as $Na^+$, $Cl^-$, $Mg^{2+}$, $SO_4^{2-}$, $Ca^{2+}$ and $K^+$ after seawater soaking.

• 치위생과학회지
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• 제11권6호
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• pp.563-571
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• 2011

본 연구는 울산지역에 위치하는 2개 대학의 학생들 330명을 대상으로 건강증진행위를 하는데 있어 중요한 변수로 인식된 기존의 변수들을 모아 구강건강증진 행위에 대한 경로를 분석한 결과 다음과 같은 결론을 얻었다. 1. 최종모형의 적합도는 ${\chi}^2$ 값은 39.06, 유의확률은 0.152, GFI= .982, AGFI= .948, NFI=.967, NNFI= .982, RMSR= .028로 나타나 자료와 잘 부합되는 것으로 나타났다. 2. 가설모형에서 선정된 39개의 경로중 27개의 경로가 통계적으로 직접효과와 총효과가 유의하였으며, 2개 경로는 간접효과와 총효과가 유의하여 총 27개의 경로가 유의한 것으로 나타났다. 3. 현재의 구강건강증진행위에 영향을 미치는 변수로는 과거구강건강경험(총효과=.805), 주관적 구강건강(총효과=.717), 지각된 장애성(총효과=-.226), 자기효능감(총효과=.179), 사회적지지(총효과=.192), 구강건강통제위(총효과=.120), 의도(총효과=.167)로 나타났다(P<.05). 4. 현재의 구강건강증진행위에 긍정적으로 영향을 미치는 변수로는 과거구강건강경험, 주관적 구강건강, 사회적지지, 자기효능감, 의도, 구강건강통제위의 순으로 긍정적인 영향을 미치는 것으로 나타났고, 지각된 장애성은 부정적인 의미로 영향을 미치는 것 으로 나타났다.

• 지구물리
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• 제8권1호
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• pp.15-21
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• 2005

2004년까지 국내에 축적된 지진파 스펙트럼 D/B를 기반으로 비교적 상세하게 추정된 국내 지진특성으로부터, 190 km

• 대한치과보철학회지
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• 제41권6호
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• pp.732-746
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• 2003

Statement of problem. Soft lining materials, also referred to as tissue conditioning materials, tissue heating materials, relining materials, soft liners or tissue conditioners, were first introduced to dentistry by a plastic manufacturer in 1959. Since the introduction of the materials to the dental field, their material properties have been continually improved through the effort of many researchers. Soft lining materials have become widely accepted, particularly by prosthodontists, because of their numerous clinical advantages and ease of manipulation. Unfortunately, few reports have been issued upon the topic of increasing the bond strength between the base metal alloy used in cast denture bases and PMMA soft liner modified with 4-META, nor upon the pattern of debonding and material change in wet environment like a intra oral situation. Purpose. The purposes of this study were comparing the bond strength between base metal alloy used for the cast denture bases and PMMA soft liner modified with 4-META, and describing the pattern of debonding and material property change in wet environment like the intraoral situation. Material and Methods. This study consisted of four experiments: 1. The in vitro measurement of shear bond strength of the adhesive soft liner. 2. The in vitro measurement of shear bond strength of the adhesive soft liner after 2 weeks of aging. 3. A comparison of debonding patterns. 4. An evaluation the Relation time of modified soft liner. The soft liner used in this study was commercially available as Coe-soft (GC America.IL.,USA), which is provided in forms of powder and liquid. This is a PMMA soft liner commonly used in dental clinics. The metal primer used in this study was 4-META containing primer packed in Meta fast denture base resin (Sun Medical Co., Osaka, Japan). The specimens were formed in a single lap joint desist which is useful for evaluating the apparent shear bond strength of adhesively bonded metal plate by tensile loading. Using the $20{\times}20mm$ transparent grid, percent area of adhesive soft liner remaining on the shear area was calculated to classify the debonding patterns. To evaluate the change of the initial flow of the modified adhesive soft liner, the gelation time was measured with an oscillating rheometer (Haake RS150W/ TC50, Haake Co., Germany). It was a stress control and parallel plate type with the diameter of 35mm. Conclusion. Within the conditions and limitations of this study, the following conclusions were drawn as follows. 1. There was significant increase of bond strength in the 5% 4-META, 10% 4-META containing groups and in the primer coated groups versus the control group(P<0.05). 2. After 2 weeks of aging, no significant increase in bond strength was found except for the group containing 10% 4-META (P<0.05). 3. The gelation times of the modified soft liner were 9.3 minutes for the 5% 4-META containing liner and 11.5 minutes for the 10% 4-META liner. 4. The debonding patterns of the 4-META containing group after 2 weeks of aging were similar to those of immediaely after preparation, but the debonding pattern of the primer group showed more adhesive failure after 2 weeks of aging.

• 한국식품과학회지
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• 제36권2호
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• pp.276-282
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• 2004

쌀보리와 거의 유사한 식품학적 특성을 지니지만 활용도가 극히 낮은 보리 파쇄립을 이용하여 압출성형에 의한 보리 후레이크를 개발하였다. 압출성형시 $100^{\circ}C$ 이상의 온도, 35% 이상의 수분함량에서 파쇄립이 충분히 호화되었으며, 메성보리 파쇄립의 경우 찰성보리에 비해 절단성, roll 분리성 등이 우수하였다. 메성 및 찰성보리 파쇄립의 혼합비율을 달리하면서 압출성형하여 제조한 pellet의 특성을 조사한 결과 찰성보리 파쇄립의 혼합비율이 증가할수록 RVA 상의 최고점도가 감소하였고 또한 겉보기 점도와 항복력이 감소한 반면 유동지수는 증가하였다. 그리고 이를 oil frying하여 제조한 후레이크의 특성을 조사한 결과 찰성보리 파쇄립의 혼합비율이 증가함에 따라 압착강도와 bulk density가 크게 감소하였고 단면상에서의 air cell 크기가 커지고 cell을 이루는 body가 얇아지는 것으로 나타났다. 그리고 관능검사 결과 찰성보리 파쇄립의 혼합비율이 증가할수록 조직감과 맛에 대한 기호도가 증가하였고 메성과 찰성보리 파쇄립의 혼합비율 (60-70):(30-40) 처리구의 경우 관능적으로 가장 바람직한 것으로 나타났다.

• 대한의용생체공학회:의공학회지
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• 제25권6호
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• pp.519-523
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• 2004

골다공증이 있는 대퇴골두 해면골과 골다공증이 없는 대퇴골두 해면골의 특성을 평가하고자 미세단층촬영기 및 유한요소모델을 이용하여 해면골을 미세구조 특성과 기계적 특성을 비교 및 분석하였다. 골다공증이 있는 대퇴골두는 골밀도를 측정하여 T-score 값이 -2.5 이상인 시편 15개를 사용했으며, 골다공증이 없는 대퇴골두는 사망전 골다공증으로 인한 병력이 없었던 사체 4구에서 대퇴골두 5개를 획득하여 사용하였다. 대퇴골두 해면골의 미세구조 특성을 분석하기 위해서 미세단층촬영기를 이용하여 골다공증이 있는 대퇴골두와 골다공증이 없는 대퇴골두를 촬영하여 형태학적 지수(histomorphometry index)를 구했고, 미세단층촬영기에 의해서 획득된 미세영상(pixel size=21.31㎛)을 바탕으로 유한요소모델을 재건하여 기계적 특성을 구하였다. 형태학적지수는 골다공증이 없는 대퇴골두가 골다공증이 있는 대퇴골두에 비해서 골소주 두께, 골 체적, 골 체적비, 이방성 정도 그리고 골소주 개수가 증가했으며, 골소주 간격과 구조모델지수는 감소했다. 기계적특성 지수는 골다공증이 없는 대퇴골두 해면골 시편에서 반력, 표면응력 그리고 영률이 높게 분석되었다. 골다공증이 있는 대퇴골두 해면골 시편에서 미세구조 특성이 퇴화되며, 기계적 특성이 감소된다는 사실을 알수 있었다.

• The Journal of Korean Physical Therapy
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• 제15권1호
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• pp.82-95
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• 2003

Our health is intimately connected to the health of our environment. The contemporary world view which sees a radical distinction between humans as subjects and world as object can obscure our recognition of how much we rely on nature for health and survival. Indigenous traditions and contemporary scholars remind us that we live in a universe in which all things are connected, and in which nature continues to offer its gifts in co-creative partnership for the health and wellbeing of all. Living in awareness of our relationship with nature enables us to open more to the experience of nature's nurturing. Many complementary therapies derive from ancient practices that involve nature in healing partnership. Essential oils have been used for thousands of years. Hippocrates claimed that the way to health was through aromatic baths and massages. Much anecdotal evidence exists regarding aromatherapeutic positive effects on recipients. Aromatherapy is a branch of complementary or alternative therapy which is increasing in popularity, yet has scant scientific credibility. Aromatherapy should be defined as treatment using odors and practised as such. However, essential oils are usually used in conjunction with therapeutic massage and often combined with counselling of some kind. Aromatherapy complements and enhances the therapeutic powers of massage. Massage is one of the most wonderful ways to relax and is throughly beneficial to health. Massage can help unknot tense and aching muscles and other minor symptoms of stress, leaving patients fresh and energized. As the use of aromatherapy within a health care setting has grown so rapidly in recent years, and will continue to do so, the need for suitable training has become apparent. No health service can afford the risk of having staff who are inadequately trained in the practice of aromatherapy using essential oils incorrectly on those in a state of ill-health, especially if the essential oils used are not to a standard suitable for therapeutic use. Training to an acceptable level in aromatic therapy is essential for safety and effectiveness. Knowledge of the nature and make-up of essential oils, their effect on the body and the emotions, and how, when, and where to apply them is imperative in order for them to be beneficial to a patient's health. In order to achieve best practice, further research is necessary to explore the use of aromatherapy in the management of multiple disorder.