• Journal of Institute of Control, Robotics and Systems
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• v.18 no.3
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• pp.258-266
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• 2012

This paper describes a biped walking algorithm for a hydraulic humanoid robot on inclined floors. To realize stable and robust biped walking, the walking algorithm was divided into five control strategies. The first is a joint position control strategy. This strategy is for tracking desired joint position trajectories with a gain switching. The second is a multi-model based ZMP (Zero Moment Point) control strategy for dynamic balance. The third is a walking pattern flow control strategy for smooth transition from step to step. The fourth is an ankle compliance control, which increases the dynamic stability at the moment of floor contact. The last is an upright pose control strategy for robust walking on an inclined floor. All strategies are based on simple pendulum models and include practical sensory feedback in order to implement the strategies on a physical robot. Finally, the performance of the control strategies are evaluated and verified through dynamic simulations of a hydraulic humanoid on level and inclined floors.

• Geomechanics and Engineering
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• v.37 no.3
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• pp.293-306
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• 2024

Influenced by the alternating effects of dynamic and static pressure during the mining process of close range coal seams, the surrounding rock support of cross mining roadway is difficult and the deformation mechanism is complex, which has become an important problem affecting the safe and efficient production of coal mines. The paper takes the inclined longwall mining of the 10304 working face of Zhongheng coal mine as the engineering background, analyzes the key strata fracture mechanism of the large inclined right-angle trapezoidal mining field, explores the stress distribution characteristics and transmission law of the surrounding rock of the roadway affected by the mining of the inclined coal seam, and proposes a segmented and hierarchical support method for the cross mining roadway affected by the mining of the close range coal seam group. The research results indicate that based on the derived expressions for shear and tensile fracture of key strata, the ultimate pushing distance and ultimate suspended area of a right angle trapezoidal mining area can be calculated and obtained. Within the cross mining section, along the horizontal direction of the coal wall of the working face, the peak shear stress is located near the middle of the boundary. The cracks on the floor of the cross mining roadway gradually develop in an elliptical funnel shape from the shallow to the deep. The dual coupling support system composed of active anchor rod support and passive U-shaped steel shed support proposed in this article achieves effective control of the stability of cross mining roadways, which achieves effective control of floor by coupling active support and preventive passive support to improve the strength of the surrounding rock itself. The research results are of great significance for guiding the layout, support control, and safe mining of cross mining roadways, and to some extent, can further enrich and improve the relevant theories of roof movement and control.

• Journal of the Korea Institute of Building Construction
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• v.9 no.5
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• pp.145-153
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• 2009

The purpose of this research is to compare and analyze the change that must be applied to the evaluation of the slipperiness of an inclined floor, when considering its use by the physically handicapped and by the able-bodied. For this study, a simulator that can reproduce the characteristics of the body sway of a physically handicapped person was developed through a comparative experiment between able-bodied people and people with hemiplegia. In addition, as cale for the evaluation of the slipperiness of flat floors and inclined floors was composed by the sensory test result targeting physically handicapped persons (able-bodied persons wore the body sway for the handicapped and ageing in the experiment) and the able-bodied. In terms of the evaluation of the slipperiness of an inclined floor, it was evaluated that it is safe when the C.S.R' (Coefficient of Slip Resistance) of a healthy person is over 0.30, while it was evaluated that it is dangerous when the C.S.R' of a physically handicapped person is over $0.45{\sim}0.50$. Concerning this difference, it is judged that the reason for this difference is that the walking mechanism differs between an able-bodied person and a physically handicapped person.

• Structural Engineering and Mechanics
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• v.83 no.6
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• pp.811-824
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• 2022

Despite its disadvantages, soft story can reduce the damage to the upper floors by concentrating drift in that specific story provided that large drifts are avoided. Gapped-Inclined Brace (GIB) with reduced P-delta effects and the control of soft story stiffness makes it possible to take advantage of the soft story in buildings and increase their capacity for energy dissipation. OpenSees software is used in this study to validate and modify the GIB model's shortcomings. Also, the analysis method for this element is changed for design. The modified element is evaluated in 3D analysis. Finally, to retrofit an existing building, this element is used. Based on the Iranian seismic code, a six-story reinforced concrete building is modelled and studied with 3D analysis. In this building, the construction shortcomings and elimination of infills on the ground floor cause the formation of a soft story. Results of nonlinear static analysis, nonlinear dynamic, and incremental dynamic analysis using both components of seismic acceleration applied to the structure at different angles and the fragility curves indicate the improvement of the retrofitted structure's performance using the modified element to reach the required performance level following the retrofit code.

• Explosives and Blasting
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• v.12 no.3
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• pp.8-16
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• 1994

The primary court house judged that 5th floor's Bldg, structure were inclined 1/150 degree to west-ward by Explosion of Ad, Balloon in the Room. Surveyor made the report to denied the Judgement of primary court. With evidently and Theoritically. but It is waiting the juge of higher court house. Explosion pressure ${\Delta}p$ is as follows $\Delta{p}=4.2100{\times}{\lambda}^{-1.38}=4.2100{\times}{45}^{-1.38}=4.210{\times}{0.00487}=0.02kg/cm^2$.

• Journal of the Semiconductor & Display Technology
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• v.20 no.1
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• pp.25-31
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• 2021

The semiconductor and display equipment demands an ultra-fine precision of several nm to several ㎛, and the scale is getting smaller due to the explosive development. The manufacturing process equipment for such products with ultra-fine precision is very sensitive to ultra-small vibrations flowing from the floor, resulting in problems of production defects and yield degradation. The vibration criteria are a standard that regulates the vibration environment of the floor where such precision process equipment will be installed. The BBN vibration criteria defined the allowable vibration velocity level in the frequency domain with a flat and inclined line and presented a rating according to it. However, the actual vibration criteria have appeared with various magnitudes in the frequency domain according to the dynamic characteristics of individual equipment. In this study, the relationship between the relative motion of two major points in the equipment and the vibration magnitude of the floor is presented using the frequency response function of a simple 3-DOF model. It is describing the magnitudes according to the frequency of the floor vibration that guarantees the allowable relative motion and this can be used as the vibration criteria. In order to obtain the vibration criteria experimentally a method of extracting through a modal test was introduced and verified analytically. It provides vulnerable frequency and magnitude to floor vibration in consideration of the dynamic characteristics of individual equipment. And it is possible to know necessary to improve the dynamic characteristics of the equipment, and it can be used to check the vibration compatibility of the place where the equipment will be installed.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.12
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• pp.8408-8415
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• 2015

The purpose of this study is to propose and analyse new technology of structural elements design for Korean-style house(Hanok). Design of modern apartment building adopts many aesthetic elements from Hanok, however, these are only for the decorations of interior. In this study, projected Hanok eaves were studied in terms of the length of solar insolation. Inclined front slab system has been proposed utilizing sloping roof to an apartment building section. This system can provide the same sunshine radiation length and outside view to all levels of building to overcome the limitation of traditional hanok. It also can be applied to all residences the vertical garden concept of hanok. Inclined slab system showed 20% more efficient than flat slab system in terms of solar insolation length. This study also suggested a double deck slab system for not only reducing apartment floor impact noise but also connecting concept of traditional maru system in hanok. Double deck system reduces 66% of floor impact noise comparing with single deck slab of modern apartment buildings.

• Journal of Korean Association for Spatial Structures
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• v.22 no.1
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• pp.17-24
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• 2022

Currently, the construction trend of high-rise structures is changing from a cube-shaped box to a free-form. In the case of free-form structures, it is difficult to predict the behavior of the structure because it induces torsional deformation due to inclined columns and the eccentricity of the structure by the horizontal load. For this reason, it is essential to review the stability by considering the design variables at the design stage. In this paper, the position of the weak vertical member was analyzed by analyzing the behavior of the structure according to the change in the core position of the twisted high-rise structures. In the case of the shear wall, the shear force was found to be high in the order of proximity to the center of gravity of each floor of the structure. In the case of the column, the component force was generated by the axial force of the outermost beam, so the bending moment was concentrated on the inner column with no inclination.

• Journal of the Korean Association of Oral and Maxillofacial Surgeons
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• v.48 no.4
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• pp.232-236
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• 2022

A ranula is a pseudocyst that originates from the sublingual gland after trauma. Acute cases of ranulas that progress rapidly and cause respiratory distress are rare. Holoprosencephaly is a complex brain malformation caused by incomplete cleavage of the prosencephalon. Children with holoprosencephaly may experience upper airway obstruction due to the associated dentoalveolar malformations and oromotor dysfunctions. We present the case of an eight-year-old female patient with holoprosencephaly and a plunging ranula that manifested as an acute course due to difficult airway management. She required gastrostomy for oromotor dysfunctions related to feeding and swallowing and difficulty managing oral secretions. The sublingual gland and ranula were removed under general anesthesia. Postoperatively, urgent reintubation and close monitoring in the intensive care unit were required due to upper airway obstruction. We successfully managed the patient with close cooperation of a pediatrician and an anesthetist, and no recurrence was observed at the one-year follow-up. A ranula can be caused by trauma to the floor of the mouth in association with lingually inclined mandibular teeth, a type of dentoalveolar compensation seen in maxillary hypoplasia associated with holoprosencephaly. Careful consideration is needed in such cases since airway management can be difficult due to postoperative swelling and oromotor dysfunctions.

• Restorative Dentistry and Endodontics
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• v.13 no.1
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• pp.53-67
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• 1988

An investigation was carried out to compare the pulp responses against a few type of composite and streptococcus mutans contamination under the zinc oxide eugenol cement, and also confirmed pulpal responses of various composites with or without base. Seventy eight teeth from 6 dogs were employed and divided into 6 groups. Class V cavities were prepared on each tooth routinely with low speed dental engine. Paper disc about 0.3mm thick was immersed in the BHI broth in which streptococcus mutans had been enriched and the disc was inserted on the cavity floor prior to filling. Scotch bond puls Silux as Bis-GMA system composite resin and Helimolar as urethane system composite resin were adopted. Control group: Zinc-Oxide Eugenol cement filling Experimental groups: Group 1. Scotch bond + Silux filling with Dycal base Group 2. Heliomolar filling with Dycal base Group 3. Scotch bond + Silux filling without base Group 4. Heliomolar filling without base Group 5. Streptococcus mutans application. All cavities were sealed with thick ZOE cement to avoid marginal leakage. Postoperative intervals of 1, 2, 3, 4, 5 and 6 weeks teeth were carefully extracted, processed and stained with Hematoxylin and Eosin. The results were as follows: 1. S. mutans application group and composites without any base showed more severe pupal response than control group and dyca based groups. 2. The experimental group of S. mutans application showed severe response in the early stage compared to the two groups of composite resin without base, but no significant difference was found following periods. 3. The difference of pulpal response is not significant between Bis-GMA system and urethane system. 4. Streptococcus mutans application group and composites without base groups showed the evidence of histologic recovery at the six week cases and the large amount of reparative dentin was the prominent feature. 5. Pulp responses against every material were inclined to normal according to the time elapsed.