• Journal of Institute of Control, Robotics and Systems
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• v.12 no.5
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• pp.497-504
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• 2006

This paper presents a new technique that derives the dynamic acceleration bounds of multiple cooperating robot systems from given individual torque limits of robots. A set of linear algebraic homogeneous equation is derived from the dynamic equations of multiple robots with friction contacts. The mobility of the robot system is analyzed by the decomposition of the null space of the linear algebraic equation. The acceleration bounds of multiple robot systems are obtained from the joint torque constraints of robots by the medium of the decomposed null space. As the joint constraints of the robots are given in the infinite norm sense, the resultant acceleration bounds of the systems are described as polytopes. Several case studies are presented to validate the proposed method in this paper.

• Journal of Korean Academy of Oral and Maxillofacial Radiology
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• v.20 no.2
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• pp.299-313
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• 1990

The author analysed tomographic and cephalometric radiographs of 82 temporomandibular joints from 41 symptomatic patients and 40 temporomandibular joints from 20 asymptomatic young adults. The results were as follows; 1. The mean condylar angulation in control group and patient group was 21.72±6.48° 20.13±9.14° respectively and there was no significant difference between two groups. 2. The mean depth of cut was 6.63±0.38㎝ in control group and 6.57±0.46㎝ in patient group. 3. Mean height and width of condylar head were 6.66±1.83㎜, 12.42±0.49㎜ in control group and 6.22±1.36㎜, 11.93±l.92㎜ in patient group. 4. The mean height of articular fossa was 10.20±2.04㎜ in control group and 9.89±1.98㎜ in patient group. The mean width of articular fossa was 21.08±2.08㎜ in control group and 21.24±3.03㎜ in patient group. 5. In centric occlusion the superior joint space was largest (4.15±0.93㎜), followed by the posterior joint space (2.99±0.97㎜) and the anterior joint space (2.70±0.73㎜) in control group. The superior joint space (3.47±1.31㎜) and posterior joint space (3.47±7.07㎜) were same in patient group. There was significant difference in left superior joint spaces between two groups (p<0.05). 6. The condylar position in articular fossa was displaced anteroinferiorly (0.99±3.65㎜ anteriorly, 1.75±1.01㎜ inferiorly) in control group and posteroinferiorly (3.20±4.69㎜ posteriorly, 1.25±1.87㎜ inferiorly) in patient group with 1 inch opening. In maximum opening, it was displaced anteroinferiorly (6.09±3.55㎜ anteriorly, 1.38±2.47㎜ inferiorly) in control group and anteroinferiorly (1.70±5.96㎜ anteriorly, 1.37±1.85㎜ inferiorly) in patient group. There was significant difference in anteroposterior position of both condyles with 1 inch opening and maximum opening between two groups (p<0.01). 7. The mean inclination of upper central incisor and the posterior inclination of articular eminence in control group was 65.60±6.04° 58.88±9.18° in control group, and 67.14±8.41°, 59.70±9.08° in patient group respectively. There was no significant correlation between two groups.

• The Korean Journal of Air & Space Law and Policy
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• v.16
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• pp.129-140
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• 2002

• Journal of the Korean Society of Radiology
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• v.12 no.3
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• pp.397-402
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• 2018

The study best image for diagnosis of fracture, dislocation and unilateral degenerative arthritis of the Sacroiliac joint, this study was performed to obtain the best image of the joint space of the hip joint by giving angle change to the pelvis phantom and the x-ray tube. I received evaluation. The results of the Receiver Operating Characteristic that in the case of simple photographs for the detection of joint arthritis and degenerative arthritis in the prone position, the photograph taken in the prone position raises the buttocks of the opposite side of the test by $25^{\circ}{\sim}30^{\circ}$ and the x-ray tube is perpendicular to the sagittal plane passing 2.5 cm inward from the thorny vertebra In the lying position, lift the Sacroiliac joint of the test side by $25^{\circ}{\sim}30^{\circ}$, and take a $5^{\circ}$ angle of the x-ray tube angle toward the foot toward the center of the upper bruch spine from it will be helpful to diagnose arthritis. the center of the upper bruch spine to the side of the ankle joints in the transverse direction And posterior direction, it will be helpful to diagnose arthritis.

• Tunnel and Underground Space
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• v.13 no.2
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• pp.153-168
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• 2003

The objective of this present study is to understand long term(500 years) thermohydromechanical interaction behavior in the vicinity of a repository cavern on the joint location and repository depth variations. The model includes a saturated discontinuous granitic rock mass, PWR spent nuclear fuel in a disposal canister surrounded with compacted bentonite inside a deposition hole, and mixed bentonite backfilled in the rest of the space within a repository cavern. It is assumed that two joint sets exist within the model. Joint set 1 includes joints of 56$^{\circ}$ dip angle, spaced at 20 m, and joint set 2 is in the perpendicular direction to joint set 1 and includes joints of 34$^{\circ}$ dip angle, spaced at 20 m. In order to understand the behavior change on the joint location variations, 5 different models of 500m in depth are analyzed, and additional 3 different models of 1000 m in depth are analyzed to understand the effect of depth variation.

• Tunnel and Underground Space
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• v.7 no.1
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• pp.20-30
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• 1997

A discrete joint finite element with joint surface degradation was developed to investigate the shear behavior of rough rock joint. Isoparametric formulation was used for facilitating the implementation of the element in existing Finite Element Codes. The elasto-plastic joint deformation model with the discontinuity constitutive law proposed by Plesha was applied to the element. The reliability of the developed finite element code was successfully testified through numerical direct shear tests conducted under both constant normal stress and constant normal displacement conditions. The result of the numerical direct shear test showed that the code can capture characteristic deformation features envisaged in the direct shear test of rough rock joint.

• Tunnel and Underground Space
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• v.4 no.3
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• pp.261-273
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• 1994

Direct shear tests were carried out on the rock joints and artificial discontinuities to investigate the influence of joint roughness on the shear strength and deformation behaviour. Single direct shear testing apparatus used in experiment was designed and manufactured. Its capacity is 200 tons of shear load, 20 tons of normal load and 50$\textrm{cm}^2$ of maximum shear area. Test samples were cement mortar with artificial discontinuity and sandstone with natural joint. Peak shear strength was increased as joint roughness or normal stress was increased, especially, linearly increased with roughness angle in cement mortar. If joint roughness angle was constant at low normal stress, shear strength was not affected by width and height of joint roughness in cement mortar. Peak shear strengths obtained from tests were larger than the values calculated by Barton's equation, and shear stiffness was increased with joint roughness coefficient.

• Tunnel and Underground Space
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• v.8 no.4
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• pp.351-358
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• 1998

A statistical method for assessing the joint persistence based on the in-situ measurement of joint trace length has been derived. This method utilizes the probability density distribution of either the joint trace length or the diameter of hypothetically circular joint diameter depending on the relative size of joint surface to that of the potential keyblock. The stability of potential keyblock with different sizes and joint persistences has been also calculated to illustrate the applicability of the developed method to the design and the safe excavation of large scale underground openings.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.18 no.11
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• pp.1237-1242
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• 2007

In this paper, we study STBC(Space Time Block Code) detection scheme in time varying Rayleigh fading channel. When the channel is varying during the time duration of STBC, the channel matrix of orthogonal STBC is not orthogonal. To get the optimum reception performance in this channel, joint ML detection scheme may be used, however this scheme requires high computation complexity. Decision feedback scheme is proposed to reduce the computation complexity with less reception performance. In this paper, we propose a novel STBC detection algorithm using double decision feedback which is less complex than the joint ML scheme and outperforms the conventional decision feedback scheme.

• Maxillofacial Plastic and Reconstructive Surgery
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• v.17 no.1
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• pp.32-45
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• 1995

This study was intended to evaluate condyle position and the relationship of condyle position change and post surgical relapse following the sagittal split ramus osteotomy for mandible setback in 25 patients by paired t-test and multiple regression analysis. We used oblique transcranial and cephalometric radiographs taken before operation, immediate after operation, and at least 6 months post operatively. 1. In oblique transcranial view, posterior joint space was decreased immediate after operation and increased 6 months after operation. To compare the measurement before and 6 months after operation, there was no statistically significant change in over all joint spaces(P>0.05). 2. The joint spaces changed under the 0.2mm were 30%, 0.2mm to 1.0mm were 60.7%, above 1.0mm were 9.3%. This result reveals that condyle position was relatively reproduced to pre-operative state. 3. Statistically, the amount of mandible set back didn't influence the post operative relapse(P>0.05). 4. Statistically, the amount of mandible set back didn't influence the condylar displacement(P>0.05), and the amount of joint space change didn't influence the post operative relapse.(P>0.05) The changes in joint space is in the standard tracing error or within the adaptive capacity of the individual, it was too small to influence the stability of surgery.