• 제어로봇시스템학회논문지
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• 제20권10호
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• pp.1057-1062
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• 2014

This paper proposes a tip-over detection method for a mobile robot using a support inscribed circle defined as an inscribed circle of a support polygon. A support polygon defined by the contact points between the robot and the terrain is often used to analyze the tip-over. For a robot moving on uneven terrain, if the intersection between the extended line of gravity from the robot's COG and the terrain is inside the support polygon, tip-over will not occur. On the contrary, if the intersection is outside, tip-over will occur. The terrain is detected by using an RGB-D sensor. The terrain is locally modeled as a plane, and thus the normal vector can be obtained at each point on the terrain. The support polygon and the terrain's normal vector are used to detect tip-over. However, tip-over cannot be detected in advance since the support polygon is determined depending on the orientation of the robot. Thus, the support polygon is approximated as its inscribed circle to detect the tip-over regardless of the robot's orientation. To verify the effectiveness of the proposed method, the experiments are carried out using a 4-wheeled robot, ERP-42, with the Xtion RGB-D sensor.

• 자원리싸이클링
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• 제16권6호
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• pp.10-19
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• 2007

폐리튬이온전지의 리싸이클링을 위하여 폐전지의 기계적 처리에 의한 Co의 농축과 습식처리에 의한 Co의 회수기술이 개발되었다. 전 연구에서는 폐전지 리싸이클링의 부가가치를 향상시키기 위하여 Co 농축 침출액으로부터 양극활물질을 재합성하는 공정으로 citrate precursor combustion법을 제안하고 가능성을 확인하였다. 기존의 전극제조 공정에서는 활물질인 $LiCoO_2$와 첨가제인 탄소의 비중 및 크기 차이로 균일한 혼합이 이루어지지 않으므로 충방전 용량이 이론용량에 비하여 매우 낮고 또한 싸이클이 반복될수록 용량이 크게 감소하는 경향을 보였다. 본 연구에서는 합성된 $LiCoO_2$ 전극특성을 향상시키는 일환으로 합성공정의 개선을 통하여 초미립 $LiCoO_2$을 합성하였으며, 탄소 첨가시 혼합법의 개선에 의하여 우수한 충방전 특성을 갖는 리튬전지용 양극을 개발하였다.

• 한국식품과학회지
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• 제19권1호
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• pp.42-49
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• 1987

L.helveticus YM-1 과 Str.lactis ${ML}_3$를 탈지유, 배양여액및 함성배지에 단독및 혼합배양 하였을때 산생성량과 당이용성 그리고 상관관계를 검토하였다. 자기자신의 배양여액보다 상대편의 배양여액에서, 단독배양보다 혼합배양의 경우가 산생성 촉진효과가 컸었다. 유당의 이용성은 12시간 배양했을때 Str. lactis ${ML}_3$ 의 경우 0.4%, L.helveticus YM-1은 0.85%. 혼합배양시는 1.05%였다. L.helveticus YM -1의 단독배양과 두균의 혼합배양의 경우 8시간후 배지에 생성된 포도당은 0.22%와 0.10%를 나타낸 다음 점차 감소하였다. L.helveticus YM-1에 의해서 생성된 포도당은 Str.lactis ${ML}_3$의 산생성을 촉진한다고 생각된다.

• 대한치과의사협회지
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• 제47권7호
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• pp.435-443
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• 2009

The purpose of this study was to compare the centering ratio and reduction of canal curvature according to the preparation sizes of #30, #40 and #50 using three rotary NiTi instruments which have different shaft tapers. Seventy-two simulated root canals in clear resin blocks (Endo Training Bloc; Dentsply Maillefer, Ballaigues, Switzerland) were divided as following 3 groups according to the file system; the 24 canal blocks prepared with each of ProTaper Universal system (Group P), LightSpeed eXtra system (Group L), and K3 (Group K). The pre- and post-instrumented root canals were scanned and superimposed to evaluate and calculate the centering ratio and reduction of canal curvature. Mean scores of each group were statistically analyzed using one-way ANOV A and Duncan's multiple range test for post-hoc comparison. The results were as followings: 1. Group L showed better centering ratio, followed by K and P. And all experimental groups generally showed increasing tendency of centering ratio as the apical size was increasing from #30 to #50, except at 1 mm level of group P where showed reducing tendency of centering ratio. The smaller the ratio, the better the instrument remained centered in the canal. 2. Group P showed more decrease of canal curvature at all apical shaping size (p < 0.05). Under the conditions of this study, the shaft design could affect the quality of canal shaping and the smooth taperless flexible (LightSpeed) shaft design was capable of preparing canals with good morphological characteristics in curved canals.

• 대한치과의사협회지
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• 제47권7호
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• pp.444-454
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• 2009

The purpose of this study was to compare the shaping abilities of LightSpeed, ProTaper-Universal, and hybrid technique using S-series of ProTaper-Universal and LigthSpeed. The 72 simulated root canals of J-shape were used and classified as flowing 3 groups according to the instrumentation methods; Group P of 24 canal blocks were prepared with ProTaper-Universal, Group L was prepared with LightSpeed, and Group H was prepared with hybrid technique (initial shaping with ProTaper-Universal SI and S2 and apical shaping with LightSpeed from #25 to #50). A second-year resident of Endodontic department prepared the resin block canals to apical size #50 (F5 in Group P). The time lapses for instrumentation and the reduction of root canal curvature after shaping were measured. The pre- and post-instrumented root canals were scanned and superimposed to evaluate and calculate the increased canal width and apical centering ratio. The results were as followings: Group Land H showed significant less instrumentation time than Group P (p < 0.05). The ProTaper system showed greater reduction of root canal curvature and working length diminishment than other methods (p < 0.05). LightSpeed system showed best canal curvature preserving characteristics. The Group P had greater instrumented widths at all levels examined (p < 0.05). Group L and Group H showed lower centering ratio (ability to preserve the canal center; the lower ratio means the better canal center preservation) than Group P (p < 0.05). Group H had the lowest centering ratio at the 1 mm level.

• Restorative Dentistry and Endodontics
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• 제28권6호
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• pp.491-497
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• 2003

The purpose of this study was to evaluate the correlation between hybrid layer thickness and bond strength using confocal laser scanning microscope and microtensile bond strength test of two adhesive systems. The dentin surface of human molars. sectioned to remove the enamel from the occlusal surface. Either Scotchbond Multi-Purpose(3M Dental Product, St. Paul, MN, U.S.A) or Clearfil SE Bond (Kuraray, Osaka, Japan) was bonded to the surface. and covered with resin-composite. The resin-bonded teeth were serially sliced perpendicular to the adhesive interface to measure the hybrid layer thickness by confocal laser scanning microscope. The specimen were trimmed to give a bonded cross-sectional surface area of $1\textrm{mm}^2$, then the micro-tensile bone test was performed at a cross head speed of 1.0 mm/min. All fractured surfaces were also observed by stereomicroscope. There was no significant differences in bond strengths the materials(p>0.05). However. the hybrid layers of three-step dentin adhesive system, SM, had significantly thicker than self-etching adhesive system. CS(p<0.05). Pearson's correlation coefficient showed no correlation between hybrid layer thickness and bond strengths(p>0.05). Bond strengths of dentin adhesive systems were not dependent on the thickness of hybrid layer.

• Restorative Dentistry and Endodontics
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• 제28권6호
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• pp.498-503
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• 2003

The purpose of this study was to evaluate the rewetting effect of water-based primer on the air-dried dentin. In this in vitro study, freshly extracted non-caries human molars and three-step adhesive system(SBMP) were used. Freshly extracted non-caries human molars and three-step adhesive system(SBMP) were used. Flat occlusal dentin surface were prepared using low-speed diamond saw, Prepared teeth were randomly divided into three groups. Group 1.(W): etched(35% phosphoric acid for 15s) and blot-dried, Group 2.(5D): 5s air-dried, Group 3.(30D): 30s ail-dried, To obtain color contrast in CLSM observation, primer was mixed with rhodamine B and bonding resin was mixed with fluorescein. Microscopic sample of each group were obtained after longitudinal section. Morphological investigation of resin-dentin interface and thickness of hybrid layer measurement using CLSM were done. Microtensile bond strength for each specimen was measured. Specimen were observed under microscope to examine the failure patterns of interface between resin and dentin. The results of this study were as follows: 1. The results(mean) of Thickness of hybrid layer were W:19.67, 5D:20.9, 30D:10$\mu\textrm{m}$. Only 30D had statistically significant differences to Wand 5D(P<0.05). 2. The results(mean) of Microtensile bond strength were W:16.02, 5D:14.69, 30D:11.14MPa. Only 30D had statistically significant differences to Wand 5D(P<0.05). 3. There were positive correlation between Thickness of hybrid layer and microtensile bond strength(P<0.05).

• 구강회복응용과학지
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• 제35권2호
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• pp.105-112
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• 2019

치관 파절은 영구치, 특히 치열에서 가장 노출된 위치에 존재하는 상악 전치에 가장 많이 발생하는 외상성 손상이다. 파절편 조각이 존재하고 상태가 양호한 경우 치관 파절을 치료하는 방법 중 하나는 원래 위치에 다시 파절편을 재부착하는 것이다. 이번 연구에서는 상악 전치에 발생한 치관 파절 증례를 파절편 재부착 술식으로 치료하였으며 심미적, 기능적으로 만족할만한 결과를 얻었기에 이를 보고하는 바이다.

• 구강회복응용과학지
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• 제37권4호
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• pp.251-258
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• 2021

치아 외상은 어린이와 비교적 젊은 연령에서 흔히 발생하며 외상 발생 시점, 환자의 나이, 치아의 성숙 상태 등이 치료 방법에 영향을 미친다. 약 파절편이 건전하고 잔존 치아와 밀접한 적합을 보일 경우, 파절편 재부착은 유용한 치료 옵션이 될 수 있다. 이 방법은 치아 본래의 형태와 교합의 회복뿐만 아니라 기능, 표면 광택과 질감을 그대로 재현할 수 있는 여러 가지 이점이 있다. 본 증례보고는 복잡 치관 파절된 치아를 섬유 강화형 포스트를 활용하여 파절편 재부착을 시행한 두 증례에 대해 소개한다.

• 한국수산과학회지
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• 제56권5호
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• pp.626-633
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• 2023

Vibrio spp. are aquatic bacteria that are ubiquitous in warm estuarine and marine environments. Especially, V. vulnificus and V. cholerae are currently known to cause potentially fatal infections in humans. This study investigated the distribution and antibiotic resistance of V. vulnificus and V. cholerae isolated from coastal areas of Gyeongsangnam-do in 2022. A total of 252 samples of water, shellfish and coastal sediment were collected from 7 locations along the coast, and 124 samples of fishery products were collected from markets. Among the 252 samples, forty-four V. vulnificus (11.7%) and fourteen V. cholerae non-O1/non-O139 (3.7%), none of which carried the ctx gene, were isolated. Out of the 124 samples, 6 (4.8%) tested positive for V. vulnificus and V. cholerae was not detected. The isolation rates of V. vulnificus and V. cholerae showed a significant correlation with environmental factors such as seawater temperature and salinity. In an antibiotic resistance test, V. vulnificus was susceptible to amikacin, gentamicin, imipenem trimethoprim/sulfamethoxazole, and ciprofloxacin, but resistant to cefoxitin (100.0%), followed by tetracycline (9.1%). Multidrug resistance was also observed. Continuous monitoring of Vibrio pathogens with water temperature and salinity is expected to help reduce the outbreaks, and rational use of antibiotic agents is needed to prevent the accession of antibiotic-resistant microorganisms in aquatic ecosystems.