• 대한기계학회논문집A
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• 제40권2호
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• pp.133-138
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• 2016

기존에는 로봇 말단에 6축 힘/토크 센서를 부착하여 로봇의 힘제어 및 충돌감지를 수행하였지만, 이 방법은 매우 고가이고, 로봇의 몸체에서 발생한 충돌을 감지할 수 없었다. 이의 대안으로 각 관절에 관절 토크센서를 장착하였으나, 토크 측정 시에 발생하는 다양한 오차로 인하여 실제 적용에 한계가 있었다. 이러한 문제를 해결하고자 본 연구에서는 정확한 토크 측정을 위한 관절 토크센서 및 이를 포함하는 관절모듈을 개발하였다. 제안된 관절모듈은 로봇에 인가되는 모멘트 부하를 지지하고, 조립 시 발생하는 응력을 감소시키기 위하여 토크센서에 디스크형 커플링을 첨가하여 원하는 회전토크만을 효과적으로 측정할 수 있도록 하였다. 본 논문에서는 다양한 실험을 통하여 제안한 토크센서의 성능을 검증하였다.

• 복합신소재구조학회 논문집
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• 제5권3호
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• pp.17-22
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• 2014

Fiber reinforced plastic (FRP) structural shapes are readily available in civil engineering applications. Among many manufacturing techniques used for FRP structural shapes, pultrusion process is one of the most widely used techniques in civil engineering applications. Pultrusion is a manufacturing process for producing continuous lengths of reinforced polymeric plastic structural shapes with constant cross-section. Pultruded composites are attractive for structural applications because of their continuous mass production with excellent mechanical properties. This paper presents the results of investigations pertaining to the bolted connection with two bolts for the pultruded FRP (PFRP) structural members. PFRP bolted connection tests were conducted with end distance to bolt diameter ratio ($e_1/d_b$) and two types of bolt pattern such as horizontal (Pattern A) and vertical arrangement (Pattern B). As a result, it is found that the $e_1/d_b$ is recommended as the ratio of 4. In addition, it is also found that the bearing strengths at failure of the Pattern A and Pattern B have a similar value.

• 한국광물학회지
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• 제27권4호
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• pp.197-205
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• 2014

하동군 북천면 직전리 지역은 하동 회장암체의 최남단부에 위치하고 있으며, 이 회장암체의 남서쪽에서 섬록암이 관입하여 나타난다. 이 지역의 회장암 및 섬록암 내에는 티탄철석 광체가 발달하고 있는데 이 중 섬록암 내의 산상은 기존의 연구에서 보고된 바 없다. 회장암 내 광체에서 산출되는 티탄철석은 단일광물로 산출되는 반면, 섬록암 내 광체에서 산출되는 티탄철석 내에는 티탄철석-산화철, 금홍석-산화철 간의 용리조직이 관찰된다. 티탄철석 내 MnO의 함량은 섬록암체 내 광체에서 2.14~3.74 wt%로 회장암 내 광체에서의 함량보다 높게 나타나며, 사장석은 섬록암체에서 안데신($An_{28.7-42.9}$)의 조성을 보여주고, 회장암에서 라브라도라이트($An_{57.1-72.8}$)의 조성을 보여준다. 섬록암 내 광체에서 산출되는 티탄철석에서 관찰되는 용리조직은 섬록암의 관입으로 공급된 열에 의해 부분 재용융이 일어나고 냉각과정에 티탄철석이 산화철과 금홍석으로 용리된 것으로 사료된다.

• Journal of Positioning, Navigation, and Timing
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• 제6권4호
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• pp.195-203
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• 2017

A 2U cube satellite called SNUGLITE has been developed by GNSS Research Laboratory in Seoul National University. Its main mission is to perform actual operation by mounting dual-frequency global positioning system (GPS) receivers. Its scientific mission aims to observe space environments and collect data. It is essential for a cube satellite to control an Earth-oriented attitude for reliable and successful data transmission and reception. To this end, an attitude estimation and control algorithm, Attitude Determination and Control System (ADCS), has been implemented in the on-board computer (OBC) processor in real time. In this paper, the Extended Kalman Filter (EKF) was employed as the attitude estimation algorithm. For the attitude control technique, the Linear Quadratic Gaussian (LQG) was utilized. The algorithm was verified through the processor in the loop simulation (PILS) procedure. To validate the ADCS algorithm in the ground, the experimental verification via a single axis Hardware-in-the-loop simulation (HILS) was used due to the simplicity and cost effectiveness, rather than using the 3-axis HILS verification (Schwartz et al. 2003) with complex air-bearing mechanism design and high cost.

• Journal of Acupuncture Research
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• 제21권5호
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• pp.137-147
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• 2004

Objective : The aim of the study was to compare the therapeutic effect of the superficial and in-depth insertion of acupuncture needles in the treatment of patients with ankle sprain. Design : A prospective randomized single-blind study of superficial and deep acupuncture was conducted. Setting : The study was conducted in the Kang-nam Oriental Hosp. of Dong-Guk University. Patients: The study comprised 14 patients with ankle sprain who were divided into two groups (A and B). Intervention : In group A, the needle was introduced in the skin at a depth of 2 mm, whereas in group B the needle was placed deeply into muscular tissue or the articular capsule at a depth more than 1.5 Cm The treatment was planned for a duration of 1 week, 3 times. Outcome Measures : The intensity of pain was evaluated with the Ankle grade pain chart(AGPC) before and after treatment and at the 1-week follow-up examination. The AGPC includes Swelling, Tenderness, Exudation, Bruise, Medial/Lateral. stability test, Anterior drawer test, Squeeze test, Bearing weight, Pressure Algometer, Walking state and VAS. Results : Although at the end of the treatment there was no evidence of significant statistical differences between the two different groups, Pain reduction(VAS) was greater in the group treated with deep acupuncture. A statistical difference existed between the two groups at the 1 week follow up, with a better result in the deeply stimulated group in VAS. Conclusion : Clinical results show that deep stimulation has a better analgesic effect when compared with superficial stimulation in pain reduction(VAS, Visual analogic scale).

• 한방재활의학과학회지
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• 제24권2호
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• pp.51-64
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• 2014

Objectives This study was carried out to know the effects of Keonbodan (hereinafter referred to KBD) in osteoarthritis induced by Monosodium iodoacetate(hereinafter referred to MIA) on Wistar rat. Methods Osteoarthritis was induced by injection of MIA into left knee joint cavities of rat. Osteoarthritis rats were divided into 4 groups (normal (n=6), control (n=6), indomethacin (n=6), KBD (n=6) group). The control group was administered normal saline and indomethacin group was administered indomethacin (2 mg/kg). And the KBD group was administered KBD (142 mg/kg). Each groups were administered by orally for 4 weeks. This experiment were carried out in vivo. In vivo, at the end of the experiment (5 weeks after MIA injection), effects on hepatotoxicity and nephrotoxicity, cytokines in serum, arachidonic acid, osteocalcin, MMP-9, TIMP-1 and cartilage volume were evaluated. And histopathological examinations on the articular structures of knee joints were performed. Results 1. In weight-bearing measurement, level of weight was increased. 2. In order to hepatotoxicity and nephrotoxicity, ALT, AST, BUN and creatinine were tested. And there were no significant changes. 3. In serum, levels of TNF-$\alpha$, IL-$1{\beta}$ were significantly decreased. IL-6 was insignificantly decreased. 4. In serum, level of MMP-9 and TIMP-1 was decreased. 5. In serum, level of $LTB_4$, $PGE_2$ and osteocalcin was decreased. 6. In ${\mu}$CT-arthrography, the cartilage volume was greater than that of the control group. 7. The joint damage induced by osteoarthritis was lesser than the control group in histopathologic observation (H&E, Safranin-O staining). Conclusions These results demonstrated that KBD suppressed the osteoarthritis- inducing effects of MIA in rat. And further studies are required to find out more effective substance and anti-osteoarthritic mechanism in the future.

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 2008년도 추계 학술발표회 제20권2호
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• pp.855-858
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• 2008

초고강도 콘크리트의 개발에 따라 철근 압축이음에 대한 연구 필요성이 높아지고 있다. 인장이음과 마찬가지로 압축이음에서도 이음길이와 콘크리트 강도가 가장 큰 영향인자가 되며, 다음으로 압축이음에 영향을 주는 요인으로는 횡방향 보강근과 철근 지름이다. 횡방향 보강근은 이음부에서 발생된 인장응력에 저항하며, 인장이음에서는 철근 순간격 또는 피복두께와 동일한 역할을 수행하는 것으로 평가된다. 휨부재의 인장측에 주로 적용되는 인장이음은 슬래브처럼 횡보강근이 없는 경우도 있다. 그러나 압축이음이 적용되는 부재는 높은 축력이 작용되는 수직부재로, 압축 주근의 좌굴방지, 코어 콘크리트의 구속, 그리고 전단강도의 발현을 위해 횡보강근이 배근된다. 이를 활용함으로써 보다 경제적인 설계가 가능해진다. 본 연구에서는 실제 구조물에서 필연적으로 발생되는 횡방향 보강근에 대한 압축이음의 거동과 강도 특성을 실험을 통해 규명하고자 한다.

• 한국임상약학회지
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• 제17권1호
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• pp.38-45
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• 2007

Background: The multitude of the therapeutic usefulness of intra-articular injection of hyaluronate on oateoarthritis of the knee is still in question. The objective of this systemic review was to elucidate both the therapeutic efficacy and the safety of intra-articular administration of hyaluronic acid for degenerative osteoarthritis of the knee joints. Methods: I searched MEDLINE and Korea Medical Database (KMbase) from January 1990 to April 2007 using a combination search terms for knee osteoarthritis and hyaluronic acid and a filter for randomized controlled trials. I extracted data on pain at rest, and during or just after movement, on joint function, and on adverse events. Results: Ten trials that reported usable quantitative information on any of the predefined end points were identified and included in the systemic review. Intra-articular injection of hyaluronic acid can decrease symptoms of osteoarthritis of the knee. The study revealed significant improvements in pain and functional outcomes with few adverse effects. However, there was significant between-study heterogeneity in the estimates of the efficacy of hyaluronic acid. Sub-group analysis showed that lower methodological quality such as a single-blind or single-center design resulted in higher estimates hyaluronic acid efficacy, and that patients older than sixty years of age and those with the most advanced radiographic stage of osteoarthritis were less likely to benefit from intra-articular injection of hyaluronic acid. Conclusion: According to the currently available evidence, intra-articular hyaluronic acid has been proven clinically effective for the patients bearing the knee osteoarthritis with NSAID-induced GI troubles or inapplicable to any surgery, and may be associated with lower risk of adverse events.

• Parasites, Hosts and Diseases
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• 제55권3호
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• pp.341-345
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• 2017

The metacercariae of Artyfechinostomum malayanum (Leiper, 1911) Mendheim, 1943 were discovered in Pila sp. snails purchased from a market in Phnom Penh, Cambodia. They were isolated from the snails using the artificial digestion technique and were orally fed to 2 hamsters, 1 rat, and 2 mice to obtain the adult flukes. The metacercariae were round, $145-165{\mu}m$ in diameter, having a cyst wall of $6-10{\mu}m$ in thickness, a head collar and collar spines, and characteristic features of excretory granules. Adult flukes were recovered in the small intestines of the animals at days 14 and 32 post infection and were morphologically observed using a light microscope and a scanning electron microscope. They were plump or elongated, ventrally curved, $6.0-8.1{\times}1.6-2.0mm$ in size, and characterized by the head collar bearing 43 collar spines, including 5 end group ones on each side, a long cirrus sac extending beyond the posterior margin of the ventral sucker, a submedian ovary, and 2 deeply lobed testes. Eggs in uteri were operculate, ovoid to ellipsoid, and $120-135{\times}68-75{\mu}m$ in size. In scanning electron microscopy, the head collar was prominent with collar spines looking like horns. Scale-like tegumental spines were densely distributed on the ventral surface between the head collar and ventral sucker. Sensory papillae were distributed mainly on the tegument around suckers. By this study, it has been first confirmed that the life cycle of A. malayanum exists in Cambodia.

• 한국지진공학회논문집
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• 제5권3호
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• pp.1-8
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• 2001

교량 구성요소의 설계지진력은 현행 국내 도로교설계기준에 의하면 설계지진을 가하여 얻어진 탄성지진력을 구조형식에 따른 응답수정계수로 나눔으로써 결정되어진다. 말뚝기초가 채택된 교량시스템의 탄성지진력의 크기는 말뚝기초의 모형화 방법에 따라 크게 달라질 수 있다. 이 논문에서는 근사적이고 실용적인 말뚝기초의 모형화 기법을 제시하였다. 이 모형화 기법에서는 말뚝기초의 강도를 횡방향으로 반복하중을 가진 현장시험으로 얻은 말뚝-지반의 상호작용이 고려된 지반반력-변위 곡선을 이용한 말뚝의 수평방향 강도와 탄성 축변형은 물론 선단지지력 및 주변마찰력을 고려한 말뚝의 수직방향 강도로 나타내는 것이다. 예제 교량의 해석을 수행하여 제시된 절차가 타당성있고 적용 가능한 교량의 지진응답해석용 말뚝기초의 모형화 기법임을 검증하였다.