• 제어로봇시스템학회논문지
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• 제14권10호
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• pp.1062-1072
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• 2008

When mobile robots perform the mission in the rough terrain, the traversability depended on the terrain characteristic is useful information. In the traversabilities, wheel-terrain maximum friction coefficient can indicate the index to control wheel-terrain traction force or whether mobile robots to go or not. This paper proposes estimating wheel-terrain maximum friction coefficient. The existing method to estimate the maximum friction coefficient is limited in flat terrain or relatively easy driving knowing wheel absolute velocity. But this algorithm is applicable in rough terrain where a lot of slip occurred not knowing wheel absolute velocity. This algorithm applies the tire-friction model to each wheel to express the behavior of wheel friction and classifies slip-friction characteristic into 3 major cases. In each case, the specific algorithm to estimate the maximum friction coefficient is applied. To test the proposed algorithm's feasibility, test bed(ROBHAZ-6WHEEL) simulations are performed. And then the experiment to estimate the maximum friction coefficient of the test bed is performed. To compare the estimated value with the real, we measure the real maximum friction coefficient. As a result of the experiment, the proposed algorithm has high accuracy in estimating the maximum friction coefficient.

• Clinics in Shoulder and Elbow
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• 제1권1호
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• pp.123-127
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• 1998

Scapulothoracic dissociation is a rare entity that consists of the disruption of the scapulothoracic articulation. The mechanism of injury is probably traction caused by a blunt force to the shoulder girdle. This lesion is characterized by massive soft-tissue swelling of the shoulder; lateral displacement of the scapula, an injury to bone, and a severe neurovascular injury. An l8-year-old man sustained a scapulothoracic dissociation as a result of severe shoulder girdle trauma. We report the diagnostic method, clinical and surgical management.

• 전기학회논문지
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• 제59권12호
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• pp.2125-2130
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• 2010

The neutral section on electric railway system is significant sector in order to prevent short circuit of two electric powers. However, while electric trains pass the neutral section, those speed is decreased and the accident of AC electric traction system and the electric train would be occurred. So the countermeasures are urgently needed. The automatic power switching technology system that is current being research and development is system to improve these problems. Because main object of this system is power change using static switch in the neutral section, it's expected to cause a variety of transients. Especially, onboard transformer inrush current for electric railway train can be occurred more than rated current according to switching time. Therefore, the analysis and improvement are needed to ensure the stability of this system. In this paper, we analyze the operating characteristics of the automatic power switching technology system. Especially, it reviews inrush current according to the closing phase angle. And we propose control plan of inrush current considering the case that voltage is maintained due to counter electromotive force and regenerative braking operation of electric railway train. Finally, the proposed control scheme was reviewed using the transient analysis program.

• 대한소아치과학회지
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• 제21권2호
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• pp.510-517
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• 1994

It is a relatively common clinical experience to see a impacted maxillary central incisor. This is apparent at the dental age of about eight years and over, when the patient is in the early mixed dentition stage. The adjacent teeth may tilt toward the site of the missing tooth with resulting space closure and midline deviation. Most often, the central incisor is impacted labially. The labial impaction has been indicated as the most difficult to manage. Each of the current articles describing labial impactions shows at least one case with mucogingival recession or a minimal zone of attached gingiva. This report described the surgical uncovering and orthodontic-physiologic positioning methods with labially impacted maxillary central incisors. Through surgical exposure and direct bonding of lingual botton, the central incisors were brought into proper eruption path with elastic traction. The case 1 and 2 were treated with the physiologic erupting forces. The case 3 was applied with continuous orthodontic force. The case 1 and 2 resulted in good positioning, good esthetics and adequate width of keratinised gingiva. The case 3 resulted in local inflammation and inadequate width of keratinised gingiva.

• 한국군사과학기술학회지
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• 제14권5호
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• pp.747-752
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• 2011

Recently, skid steering methods have been increasingly applied to unmanned ground vehicles since they can provide a narrow turn that general steering methods like ackerman steering may not provide. However, dynamic behaviors of the skid steering vehicles with articulating arms which occur during a steering are very complicated and coupled. This makes it difficult to control vehicles and in severe case vehicles may loose stability. There are two methods to control unmanned ground vehicles. The first one is speed control method generally used with easiness and robustness in remote vehicle control. The next one is torque control allowing the vehicles to get better performance in several cases provided careful application is achieved. This paper addresses dynamic phenomena of skid steering vehicles during steering and compares with vehicle driving control methods between torque(traction force) control and speed control.

• Journal of Biosystems Engineering
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• 제16권2호
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• pp.118-123
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• 1991

This study was conducted to investigate the influences of virtual hitch point (VHP) positions of a three-point hitch on the steering stability of agricultural tractors. The VHP locations were determined analytically from the linkage geometry and implement posture during the normal tillage operations. The maximum force applicable to the VHP was also determined under the given soil and power constraints. From these possible ranges of the VHP locations, a safe region for steering control was determined theoretically by using maximum applicable forces for the given tractor and implement combinations. With VHP positions within the safe region, tractor can maintain the minimum soil reaction forces, assumed 20% of the total tractor weight in this study, at the front wheels which is required for the steering control under the maximum traction conditions. This paper mainly concerns with mathematical developments for the determination of VHP locations and maximum forces applicable to the VHP for steering control. Experimental validation of the theory developed here follows as the second part of this study.

• 대한정형외과스포츠의학회지
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• 제7권2호
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• pp.146-150
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• 2008

견갑-흉곽 해리는 둔상이나, 견갑부 전외측 방향으로 가해진 강한 견인력에 의해 견갑-흉곽 관절의 붕괴를 야기하는 드문 손상이다. 이 손상은 견갑부에 피부 손상은 없으나 심한 부종, 손상받은 견갑부의 외측이동으로 특징 지어지며, 많은 경우에 다양한 근골격계 손상과 신경혈관 손상이 동반된다. 본원에서는 체포과정에서 발생된 33세 남자환자에서 골절과 혈관 손상이 관찰되지 않은 견갑-흉곽 해리를 경험하였기에, 진단 방법과 임상 양상, 치료 방침을 문헌 고찰과 함께 보고하는 바이다.

• Journal of the Korean Association of Oral and Maxillofacial Surgeons
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• 제36권1호
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• pp.28-38
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• 2010

The factors influencing the relapse and recurrence of skeletal deformity after the orthognathic surgery include various factors such as condylar deviation, the amount of mandibular set-back, stretching force by the soft tissues and muscles around the facial skeleton. The purpose of this report is to recognize and analyze the possible factors of reoperation after orthognathic surgery, due to early relapses. Six patients underwent reoperation after the orthognathic surgeries out of 110 patients from 2006 to 2009 were included in this study. In most cases, clincal signs of the insufficient occlusal stability, anterior open bite, and unilateral shifting of the mandible were founded within 2 weeks postoperatively. Although elastic traction was initiated in every case, inadequate correction made reoperation for these cases inevitable. The chief complaints of five cases were the protruded mandible combined with some degree of asymmetric face and in the other one case, it was asymmetric face only. Various factors were considered as a major cause of post-operative instability such as condylar sagging, counter-clockwise rotation of the mandibular segment, soft tissue tension related with asymmetrical mandibular set-back, preoperatively existing temporomandibular disorder (TMD), poor fabrication of the final wafer, and dual bite tendency of the patients.

• 한국정밀공학회지
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• 제33권1호
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• pp.69-75
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• 2016

Polydimethylsiloxane (PDMS) is used as a scaffold for cell culture. Because both the stress and strain acting on the substrate and the hemodynamic environment are important for studying mechano-transduction of cellular function, the traction force of the surface of a substrate has been measured using fluorescence images of particle distribution. In this study, deformation of the cross-sectional plane of a PDMS block was measured by correlating particle image distributions to validate the particle image strain measurement technique. Deformation was induced by a cone indentor and a shearing parallel plate. Measured deformations from particle image distributions were in agreement with the results of a computational structure analysis using the finite-element method. This study demonstrates that the particle image correlation method facilitates measurement of deformation of a polymer scaffold in the cross-sectional plane.

• Clinics in Shoulder and Elbow
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• 제11권1호
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• pp.66-69
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• 2008

외상성 견갑 흉곽간 절단은 극히 드물게 발생하는 매우 심각한 손상이다. 견갑부의 심한 둔상이나 상지에 발생한 심한 견인력에 의해 발생하며, 광범위한 동반 손상을 초래하므로 그 예후가 지극히 불량한 것으로 보고되고 있다. 외상성 견갑 흉곽간 절단은 매우 드물게 보고되어 있으며, 국내에서는 현재까지 보고된 바가 없다. 이에 저자들은 컨베이어 벨트에 수상하여 견갑골을 포함한 상지 전체가 체간에서 완전 분리된 채로 내원한 52세 남자 환자에 대해 즉각적인 응급 소생술 및 수술을 시행한 외상성 견갑 흉곽간 절단 1예를 경험하였기에 문헌 고찰과 함께 보고하는 바이다.