• 제어로봇시스템학회논문지
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• 제2권3호
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• pp.200-208
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• 1996

This paper describes the mechanism, guidance, sensor system, and navigation algorithm of METRO, a free ranging mobile robot. METRO is designed for use in structured surroundings or factory environments rather than unstructured natural environments. An overview of the physical configuration of the mobile robot is presented as well as a description of its sensor system, an omnidirectional laser range finder. Except for the global path planning algorithm, a guidance and a navigation algorithm with a local path planning algorithm are used to navigate the mobile robot. In METRO the computer support is divided into a supervisor with image processing and local path planning and a slave with motor control. The free ranging mobile robot is self-controlled and all processing being performed on board.

• 한국정보과학회:학술대회논문집
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• 한국정보과학회 2005년도 가을 학술발표논문집 Vol.32 No.2 (2)
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• pp.571-573
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• 2005

본 논문에서는 수동형 위치 판별 시스템의 대표적인 음원위치 판별 알고리즘을 제안한다. 제안하는 알고리즘은 무선 센서 네트워크에 최적화 되어있으며, 일반적인 무선 센서 네트워크에서 사용되는 노드와 마이크만 요구되며 추가적인 장비를 필요로 하지 않는다. 제안하는 시스템은 동일한 노드에 분산된 알고리즘을 이용하여 각 노드는 이벤트 발생시에 동적으로 추정 Grid를 생성한 후 이 Grid를 이용하여 추정치를 산정하고 이를 종합하여 최종적으로 2차원 평면에서의 음원의 위치를 판별한다. 제안하는 시스템의 위치판별 알고리즘은 Range-free방식으로 생성된 Grid를 각 노드가 음파를 감지한 시각을 바탕으로 영역별로 근사한다. 시스템은 실제 MicaZ 노드에 구현되었으며 제한된 하드웨어와 자원만을 바탕으로 높은 복잡도를 지니는 음원탐지시스템을 구축하였다.

• 한국정밀공학회지
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• 제11권4호
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• pp.88-98
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• 1994

A new local path planning algorithm for free-ranging robots is proposed. Considering that a laser range finder has the excellent resolution with respect to angular and distance measurements, a simple local path planning algorithm is achieved by a directional weighting method for obtaining a heading direction of nobile robot. The directional weighting method decides the heading direction of the mobile robot by estimating the attractive resultant force which is obtained by directional weighting function times range data, and testing whether the collision-free path and the copen parthway conditions are satisfied. Also, the effectiveness of the established local path planning algorithm is estimated by computer simulation in complex environment.

• 대한기계학회논문집A
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• 제28권12호
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• pp.1856-1863
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• 2004

In the last 50 years, lead-contained solder materials have been the most popular interconnect materials used in the electronics industry. Recently, lead-free solders are about to replace lead-contained solders for preventing environmental pollutions. However, the reliability of lead-free solders is not yet satisfactory. Several researchers reported that lead-contained solders have a good fatigue property. The others published that the lead-free solders have a longer thermal fatigue life. In this paper, the reason for the contradictory results published on the estimation of fatigue life of lead-free solder is investigated. In the present study, fatigue behavior of 63Sn37Pb, and two types of lead-free solder joints were compared using pseudo-power cycling testing method, which provides more realistic load cycling than chamber cycling method does. Pseudo-power cycling test was performed in various temperature ranges to evaluating the shear strain effect. A nonlinear finite element model was used to simulate the thermally induced visco-plastic deformation of solder ball joint in BGA packages. It was found that lead-free solder joints have a good fatigue property in the small temperature range condition. That condition induce small strain amplitude. However in the large temperature range condition, lead-contained solder joints have a longer fatigue life.

• Archives of Reconstructive Microsurgery
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• 제25권1호
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• pp.7-11
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• 2016

Purpose: In recent decades, amputation is still recommended for patients with extensive lower extremity wounds requiring coverage. Although the feet contribute relatively little to total body surface area, they are essential organ for ambulation, and a high mortality rate after amputation has been reported. We report on 10 challenging cases of a mangled foot which was reconstructed using an anterolateral thigh (ALT) free flap, and analyze the advantages and disadvantages of this technique. Materials and Methods: This retrospective study was conducted on 10 patients who underwent reconstructive surgery on a foot. Patients' charts were reviewed for age, sex, causes, defect size and site, flap size and type, flap type, and complications. Cases with a defect size of > $100cm^2$ were included. Results: Seven of the 10 patients were male, and overall mean age was 38.5 years (range, 22 to 61 years). Mean defect size was $179.6cm^2$ (range, 104 to $330cm^2$), and mean flap size was $193cm^2$ (range, 120 to $408cm^2$). Three cases were reconstructed with a musculocutaneous free flap and seven cases were reconstructed with a fasciocutaneous free flap. There were two occurrences of local wound complication. All ten flaps survived well, however five patients underwent a debulking procedure to reduce flap volume. Conclusion: Reconstruction of a near completely degloved soft tissue defect or a wide defect containing two or more surfaces of extremity with an ALT free flap was performed. The purpose of this case study is to report on free tissue transfer using the ALT flap for salvage of the lower extremity.

• Archives of Reconstructive Microsurgery
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• 제21권1호
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• pp.21-26
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• 2012

The radial artery superficial palmar branch free flap is based on the perforators of the superficial palmar branch of the radial artery and its venae comitantes. This flap can be used as a sensible flap including palmar cutaneous branch of the median nerve. Forty radial artery superficial palmar branch free flaps were performed at Centum Institute during October 2010 to December 2011. There were 32 males and 8 females and their mean age were 48 years (range 30 to 66 years). The thumb injured in 13 patients, the index finger in 16 patients, the middle finger in 4 patients, the ring finger in 2 patients, and the little finger in 5 patients. The mean size of the flap was $2.5{\times}3.5$ cm(range $2{\times}2.5$ to $3{\times}7$ cm). The donor site was always closed primarily. The overall survival rate was 90.2 percent. The flaps showed well-padded tissue with glabrous skin. All patients have touch sensation and showed 12 mm two point discrimination in an average(range 8 to 15 mm). Donor site morbidity was conspicuous. One patient showed unsightly scar. Early postoperative range of motion of the affected thumb showed slightly limited radial and palmar abduction. But it improved after postoperative 2 months, and patients did not complaint limitation of motion. In conclusion, the radial artery superficial palmar branch free flap can be used as an option for soft tissue reconstruction of finger defects where local or island flaps are unsuitable.

• Archives of Reconstructive Microsurgery
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• 제17권2호
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• pp.101-107
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• 2008

Purpose: Free flaps from the great toe are an established method for reconstruction of absent or partially amputated thumbs. However, options differ as to which technique represents the ideal solution for each level of amputation. Various methods of distal thumb reconstruction have been proposed. We prefer to transplant the entire great toe nail complex with the almost all of the pulp rather than a portion of the nail. This paper reflects our experience in using the great toe mini wrap-around flap for distal thumb reconstruction. Materials and Methods: In the period from October of 2005 to July of 2007, 9 patients were treated for traumatic thumb defects localized at the distal phalanx of the thumb. The patients included seven men and two women. The mean age was 44 years (range, 21~60) and the dominant right hand was involved in seven of nine patients. Results: The transferred flaps have survived completely in all cases. The mean range of motion in the interphalangeal joints was 51o, with 73% of the normal uninjured opposite hands. The two-point discrimination was 10.5 mm (range, 5~13 mm). In Semmes-Weinstein monofilament test, the sensibility was 4.31 in 4 cases, 3.61 in 3 cases and 2.83 in 2 cases. The pinch power was 64% (range, 55~95%) of the opposite hand. All patients were satisfied with the appearance of the reconstructed thumb and felt comfortable at final follow-up. Conclusion: We have successfully reconstructed 9 cases of traumatic distal thumb defects using the mini wrap-around free flap. The mini wrap-around free flap in great toe is an excellent alternative method for distal thumb reconstruction in selected patients.

• 한국운동역학회지
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• 제21권4호
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• pp.411-420
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• 2011

The purpose of this investigation was to determine whether correlations exist between balance and impact velocity, angular position, and maximum velocity of a club during drive swing. Twelve skilled golfers were recruited in this study. They were asked to perform ten swing trials and two trials were selected for analysis. Balance parameters were calculated via the force platform while kinematic variables were determined by using the Qualisys system. The results of the present study demonstrated that the average of COP velocity was faster in the medio-lateral direction rather than the anterio-posterior direction. Also, left foot's COP velocity and free torque were greater than the right foot's before impact. The range of the right foot's COP in the anterio-posterior direction before impact were correlated with the club velocity and angular position at impact. There was a negative correlation between the left foot's COP velocity before the impact and the velocity at impact. Additionally, the range and RMS of the left foot's free torque affected on the club angular position at impact and the maximum velocity at release, respectively. Finally, a negative correlation existed between the range of the right foot's free torque after the impact and club's maximum velocity at release.

• 천문학회보
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• 제38권2호
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• pp.59.2-59.2
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• 2013

The luminosity evolution of Type Ia supernova (SN Ia) and dust extinction play major roles in the systematic uncertainties in the SN cosmology. In order to overcome these obstacles, here we propose to use GMT-GMACS to take spectra for early-type host-galaxies of SNe Ia in the redshift range between 0.2 and 1.0. This high-redshift sample will be taken from Dark Energy Survey (DES), which expects more than 200 early-type hosts at this redshift range. They will be compared with nearby early-type hosts, for which we are now obtaining low-resolution spectra. We will select host-galaxies of same population age range for both nearby and high-redshift samples to reduce the possible evolution effect. Since we are dealing with early-type galaxies, our test is also less affected by dust extinction. We expect that our evolution-free and dust-free dark energy test will provide more robust results on the nature of dark energy.

• Journal of Welding and Joining
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• 제16권3호
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• pp.148-156
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• 1998

The purpose of this study is to investigate the characteristics of Pb-Free Sn-2%Ag-Bi solder alloys. The solder alloys used in this study is Sn-2%Ag-(3,5,7,9%) Bi It is examined that their properties such as melting range, wettability, microstructure, microhardness, and tensile property. The addition of Bi(3,5,7,9%) lowered the melting point of the solder and the melting range was 196~203$^{\circ}C$. The wettability of the solder as equal to that of Sn-37% Pb solder. The morphology of structure did not change largely by addition of Bi. But the structure of cellular dendrite of linear type displayed. The tensile strength of the solder was superior to that of Sn-37%Pb solder. But the elongation was inferior to that of Sn-37%Pb solder. The hardness of Sn-2%Ag solder was tow times and that of Sn-2%Ag-Bi solder was three times of that in Sn-37%Pb solder. But the effect of increment of Bi content did not change largely.