• 한국정밀공학회지
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• 제16권4호통권97호
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• pp.138-147
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• 1999

For autonomous navigation, a legged robot should be able to walk over irregular terrain and adapt itself to variation of supporting surface. Walking through slope is one of the typical tasks for such case. Robot needs not only to change foot trajectory but also to adjust its configuration to the slope angle for maintaining stability against gravity. This paper suggests such adaptation algorithm for stable walking which uses feedback of reaction forces at feet. Adjusting algorithm of foot trajectory was studied with the estimated angel of slope without visual feedback. A concept of virtual slope angle was introduced to adjust body configuration against slope change of the supporting terrain. Regeneration of foot trajectory also used this concept for maintaining its stable walking against unexpected landing point.

• 한국농공학회지
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• 제15권2호
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• pp.2980-3001
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• 1973

Nozzle is a part of sprayer and is consists of several elements; swirl plate, vortexchamber, cap and body. The travelling distance of sprayed particles is important in the wide reach nozzle. The factors to influence the travelling distance of the sprayed particles may be the helical angle of swirl plate, the distance of vortex hamber, the slope and the size of cap hole. The study was conducted to examine the effects of these factors on the travelling distance. The results of this study are summarized as follows; 1) There was higher positive correlation(+0.96) between the maximum travelling distance for which amount of sprayed particles was 5cc/cm min. and centro-position of the travelling distance. 2) There was a higher positive correlation(+0.85) between total discharge of sprayed particles and the centro-position of the travelling distance. 3) Main effects and interaction effects of helical angle, pressure, vortex chamber distance and cap slope were significantly affected the travelling distance of sprayed particles. 4) Main effects of helical angle, pressure and cap slope were especially highly significant to influence the travelling disance. 5) Helical angle, pressure, vortex chamber distance and cap slope influenced spraying forward velocity of dise hole, among which cap slope and pressure of nozzle was the most important factors. 6) Effect of change of helical angle on the travelling distance of sprayed particles, was generally a quadratic, the least value of the distance being showed about $45^{\circ}$ and the largest at about $15^{\circ}\;and\;55^{\circ}$, the decreasing rate of the change between $15^{\circ};and\;25^{\circ}$ was very small. 7) Effect of change of pressure on the travelling distance sprayed particles was generally a linear, the increasing rate of the charge was about 1.68, which was the most effective compared to the change of the other factors. 8) Effect of change of vortex chamber distance on the spraying distance was also generally a linear, the increasing rate being about 0.16, which was the least effective. 9) Effect of change of cap slope on the travelling distance was also generally a linear, the increasing rate was about 0.61 and its effect was about medium.

• 지질공학
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• 제24권3호
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• pp.333-341
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• 2014

The construction of roads, tunnels, and bridges results in changes to the local terrain that may influence the ground safety factor, which represents the stability of geotechnical structures. In this study, we assessed construction sites that had collapsed as a result of terrain change, and then simulated variation in the ground safety factor with respect to terrain change caused by road construction. We assumed steep slopes to simulate changes in terrain in a mountainous area and assumed that earthworks took place for road construction by cutting a platform into the slope and altering the slope angle of the terrain both above and below the road. We calculated values of the ground safety factor through a stability analysis of the slope both above and below the road, and examined the variation in the safety factor of the above- and below-road slopes with respect to changes in road width. We found that if the slope angle was the same above and below the road, then the change in the ground safety factor during/after road construction occurred in the slope below the road, and if the slope angle above the road differed from that below, then the change occurred in both the above- and below-road slopes. Furthermore, the ground safety factor was essentially constant for road widths exceeding 2-6 m, depending on both above- and below-road slope angle. The findings of this study can be used to guide the management of construction sites and to assess changes in ground stability during road construction work, particularly in the early stages of earthworks, when the road width is narrow.

• 한국방재학회 논문집
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• 제9권5호
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• pp.57-62
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• 2009

경사면에서의 지표 연소물질에 대한 화염확산은 경사각변화에 따라 화염이 경사면과 가까워져 열전달이 많이 이루어져 확산이 빠르게 이루어진다. 기존 연구에서는 경사면에 대한 화염각 변화를 고려하지 않고 일반적으로 경사각의 기울어짐으로 인해 화염이 그 만큼 지표면과 가까워지는 것을 적용하였다. 따라서 본 연구에서는 경사면에서의 실제 화염의 성상에 대해 실험하였다. 그 결과 경사에 따른 화염기울기 산정식을 제안 하였고 경사조건에서의 화염기울기와 화염확산속도와의 관계에 대해 기술하였다.

• Journal of Korean Neurosurgical Society
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• 제60권5호
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• pp.577-583
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• 2017

Objective : Laminoplasty is an effective surgical method for treating cervical degenerative disease. However, postoperative complications such as kyphosis, restriction of neck motion, and instability are often reported. Despite sufficient preoperative lordosis, this procedure often aggravates the lordotic curve of the cervical spine and straightens cervical alignment. Hence, it is important to examine preoperative risk factors associated with postoperative kyphotic alignment changes. Our study aimed to investigate preoperative radiologic parameters associated with kyphotic deformity post laminoplasty. Methods : We retrospectively reviewed the medical records of 49 patients who underwent open door laminoplasty for cervical spondylotic myelopathy (CSM) or ossification of the posterior longitudinal ligament (OPLL) at Pusan National University Yangsan Hospital between January 2011 and December 2015. Inclusion criteria were as follows : 1) preoperative diagnosis of OPLL or CSM, 2) no previous history of cervical spinal surgery, cervical trauma, tumor, or infection, 3) minimum of one-year follow-up post laminoplasty with proper radiologic examinations performed in outpatient clinics, and 4) cases showing C7 and T1 vertebral body in the preoperative cervical sagittal plane. The radiologic parameters examined included C2-C7 Cobb angles, T1 slope, C2-C7 sagittal vertical axis (SVA), range of motion (ROM) from C2-C7, segmental instability, and T2 signal change observed on magnetic resonance imaging (MRI). Clinical factors examined included preoperative modified Japanese Orthopedic Association scores, disease classification, duration of symptoms, and the range of operation levels. Results : Mean preoperative sagittal alignment was $13.01^{\circ}$ lordotic; $6.94^{\circ}$ lordotic postoperatively. Percentage of postoperative kyphosis was 80%. Patients were subdivided into two groups according to postoperative Cobb angle change; a control group (n=22) and kyphotic group (n=27). The kyphotic group consisted of patients with more than $5^{\circ}$ kyphotic angle change postoperatively. There were no differences in age, sex, C2-C7 Cobb angle, T1 slope, C2-C7 SVA, ROM from C2-C7, segmental instability, or T2 signal change. Multiple regression analysis revealed T1 slope had a strong relationship with postoperative cervical kyphosis. Likewise, correlation analysis revealed there was a statistical significance between T1 slope and postoperative Cobb angle change (p=0.035), and that there was a statistically significant relationship between T1 slope and C2-C7 SVA (p=0.001). Patients with higher preoperative T1 slope demonstrated loss of lordotic curvature postoperatively. Conclusion : Laminoplasty has a high probability of aggravating sagittal balance of the cervical spine. T1 slope is a good predictor of postoperative kyphotic changes of the cervical spine. Similarly, T1 slope is strongly correlated with C2-C7 SVA.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회A
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• pp.1543-1546
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• 2008

The purpose of this study was to investigate factors affecting the change of tibial posterior slope and introduce a mathematical model which calculate, through 3-dimensional analysis of the proximal tibia, how the angle of the opening wedge along the anteromedial tibial cortex influences the tibial posterior slope and valgus correction when performing a medial open wedge osteotomy. This mathematical model with navigation system can be guidelines which provide surgeons on preoperative and intraoperative measurements to maintain or correct the tibial slope and to obtain the desired valgus correction of the lower limb during an opening wedge osteotomy.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2003년도 봄 학술발표회 논문집
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• pp.499-502
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• 2003

The purpose of this study is to understand the sliding characteristics of the infilling-joint surface using the new devised shear test apparatus with changeable slope for the original infilling materials and the infilling materials experienced cyclic freezing-thawing processes. Three types of the mother rock classified as the igneous rock, the metamorphic rock and the sedimentary rock and the infilling materials were collected for laboratory test. The cohesion according to the slope change of the rock joint shows large variation within ${\pm}$5 degrees but the internal friction angle shows appears the linear decreasing tendency. It is confirmed that the affecting factor of slope change of rock joint at the behavior of rock mass is larger than that of the infilling thickness. Test results show that the cohesion and the internal friction angle in 100 times of cyclic freezing-thawing processes are decreased about 50 percent compared with original one. A further study using various infillings materials would lead to a better understanding of the failure mechanism of rock mass by slope change of rock joint.

• 한국농공학회지
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• 제23권1호
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• pp.86-102
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• 1981

The soil test data of 28 earth dams, scheduled to be constructed in Kore3, were selected for this study. The safety factors of their side slops were computed using Fellenius' "slice Method" by computer. The results summarized in this study are as follows; 1. Dam sections can be easily determined by fig.10 without a time consuming trial and error calculations of assumed sections. 2. For the economical design of earth dam sections, it was found that more cohesive soil was suitable for lower dams(dam height less than 25m) and soils with a higher friction angle was better for higher dams 3. In the case that used soil materials have the same Internal friction angle, side slope increase was almost same. 4. The relationship between side slope and friction angle was found as log.S=a tan ø+b (Fig. 7) 5. The relationship between side slope and cohesion (c) was also found as log. S=a c+b (Fig. 8) 6. The change of safety factors due to the change of central core materials was very little (Table-2) 7. The decrease of safety factors according to the unit weight increase of embankment materials was negligible. 8. In general the relationship between the wet unit weight and the saturated unit weight was r sat = (rt)$^2$+0. 140. This study will contribute to the determination of economic and safe planning and designing of earth dams, embankments and cutting side slopes.

• 대한통합의학회지
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• 제7권4호
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• pp.301-309
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• 2019

Purpose : The purpose of this study was to provide an effective method of exercise therapy for patients with cervicogenic headache. Methods : The subjects were divided into the following two groups according to the intervention received: cervical stretch exercise (n=15, control group) cervix-stabilizing exercise (n=15, experimental group) tone (Hz) and stiffness (N/m) of the suboccipital and upper trapezius muscles were measured. T1 slope angle and neck tilt angle were measured. After the exercise program intervention, a greater amount of change in muscle tone and stiffness of suboccipital and upper trapezius muscles was found in the experimental group, as compared to the control group. Greater amount of change in posture was found in the experimental group, as compared to the control group (p<0.05). Results : After the exercise program intervention, a greater amount of change in muscle tone and stiffness of suboccipital and upper trapezius muscles was found in the experimental group, as compared to the control group. Greater amount of change in posture was found in the experimental group, as compared to the control group (p<0.05). Conclusion : The neck-stabilizing exercise were shown to be effective in decreasing the tone of the cervical muscles by stabilizing the cervical bone and improving muscle activity, and in improving the posture by decreasing muscle tone and stiffness.

• 한국콘텐츠학회논문지
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• 제10권2호
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• pp.268-276
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• 2010

본 연구의 목적은 경사로를 오르는 동안 슬관절 굴곡각도와 족저압의 차이를 각각 다른 경사도에 따라 분석하고자 하는 것이다. 24명의 건강한 성인 참가자들에게 각각의 경사도($0^{\circ},\;3^{\circ},\;6{\circ},\;9^{\circ}$)를 걷게 한 후, Parotec system을 이용하여 족저압을 측정하였으며, 걷는 모습을 캠코더로 녹화 한 후 Dartfish system을 이용하여 슬관절 각도를 분석하였으며, 수집된 데이터는 SPSS/PC 통계 프로그램을 이용하여 일원배치분산분석으로 분석하였다. 결과는 각 경사로에 따라 슬관절 굴곡 각도는 통계학적으로 유의한 차이가 나타났으며, 족저압은 좌측 하지의 발뒤꿈치 외측 부위(1번 감지기), 중족부 내측 부위(9번 감지기), 전족부 내측 부위(15번, 16번 감지기), 그리고 우측 하지에서는 발뒤꿈치 외측 부위(3번 감지기)에서 통계학적으로 유의한 차이를 보였다. 슬관절 각도가 $10{\sim}20^{\circ}$ 사이에서 발뒤꿈치 외측 부위 및 내측 부위의 족저압이 통계학적으로 유의하게 높게 나타났다.