• 제어로봇시스템학회논문지
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• 제12권5호
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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.

• 치과방사선
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• 제20권2호
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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.

• 항공우주정책ㆍ법학회지
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• 제16권
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• pp.129-140
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• 2002

• 한국방사선학회논문지
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• 제12권3호
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• pp.397-402
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• 2018

본 연구는 엉치엉덩관절의 골절, 탈구, 엉치엉덩 퇴행성관절염 진단을 위한 가장 좋은 영상을 얻기 위해 골반 팬톰과 엑스선관을 각도 변화를 주어 엉치엉덩관절의 Joint space 가장 잘 나타내는 영상을 얻어 방사선사에게 주관적 평가를 받아 보았다. 평가 결과 결론으로 엉치엉덩관절염과 퇴행성 관절염 발견을 위한 단순촬영에서는 엎드린상태에서 촬영은 검사반대쪽 엉덩이를 $25^{\circ}{\sim}30^{\circ}$ 들어올리고 엑스선관을 앞엉덩뼈가 시에서 2.5 cm 안쪽을 지나는 시상면에 대해 수직촬영 하고 누운자세에서는 검사쪽 엉덩이를 $25^{\circ}{\sim}30^{\circ}$ 들어 올리고 위앞엉덩뼈가시가 중앙에서 위앞엉덩뼈가시가 중앙에 대해 엑스선관 각도를 발쪽으로 $5^{\circ}$ 촬영 하며 반드시 양쪽 엉치엉덩관절후전사방향(RAO,LAO) 및 전후사방향(RPO, LPO) 모두 촬영을 하게 되면 관절염 진단을 내리는데 있어 많은 도움이 되리라 본다.

• 터널과지하공간
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• 제13권2호
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• pp.153-168
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• 2003

본 연구의 목적은 지하 고준위 방사성폐기물 처분공동 주변에서의 절리 위치 변화 및 처분공동의 지하심도 변화에 따른 처분공동 및 주변 절리에서의 장기간(500년)에l 걸친 열수리역학적 연성거동 변화를 분석하고, 앞으로 처분 개념 설정에 활용 하고자 하는 것이다. 해석모델은 포화된 불연속 화강 암반, 처분공내 압축 벤토나 이트로 둘러쌓인 PWR 사용후 핵연료 및 처분용기, 그리고 처분동굴 내에 채워진 혼합 벤토나이트를 포함한다. 해석모델 내에는 2개의 절리 세트가 존재하는 것으로 가정하였다: 절리세트 1은 20m 간격의 56도 경사의 절리들로 구성되었고, 절리세트 2는 절리세트 1에 수직방향으로 20m 간격의 34도 경사의 절리들로 구성되었다. 절리위치 변화의 영향을 파악하기 위하여 500m 깊이의 모델5개, 지하 심도 영향파악을 위하여 추가로 3개의 1000m 깊이의 모델을 해석하였다.

• 터널과지하공간
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• 제7권1호
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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.

• 터널과지하공간
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• 제4권3호
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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.

• 터널과지하공간
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• 제8권4호
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• pp.351-358
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• 1998

현장에서 측정된 절리 trace 길이에 의거하여 영속성을 산정할 수 있는 통계적 분석법을 개발하였다. 이 방법에서는 잠재적 키블록과 불연속면의 상대적인 규모에 따라 절리 trace 기링 또는 원형절리의 직경에 대한 확률밀도분포를 이용한다. 대규모 지하공동의 설계 및 안전적 굴착에 대한 개발된 분석법의 활용성을 설명하기 위하여 규모 및 영속성이 다른 잠재적 키블록의 안정성을 고찰하였다.

• 한국전자파학회논문지
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• 제18권11호
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• pp.1237-1242
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• 2007

이 논문에서는 시변 레일리 페이딩 채널에서 STBC(Space Time Block Code)의 신호 검출 방법을 연구한다. 하나의 블록 내의 두 심볼 구간 동안 채널 환경이 변하는 경우, 채널 행렬의 직교성이 성립하지 않고 두 심볼간에 간섭이 발생한다. 이러한 채널에서 수신 성능을 개선하기 위해서 joint ML 검출 방식이 제안되었으나, 계산복잡도가 증가한다. 이를 줄이기 위해서 판정 궤환(decision feedback) 방식이 제안되었으나, joint ML 방식에 비해 수신 성능이 떨어진다. 이에 이 논문에서는 joint ML 검출 방법을 사용하는 경우에 비해 수신기의 복잡도를 줄이는 동시에 기존의 판정 궤환 방식에 비해 성능이 개선된 이중 판정 궤환 방식을 이용한 새로운 STBC 검출 알고리즘을 제안한다.

• Maxillofacial Plastic and Reconstructive Surgery
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• 제17권1호
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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.