• Journal of Korean Foot and Ankle Society
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• v.8 no.2
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• pp.117-120
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• 2004

Purpose: The purpose of this study was to evaluate the effect and short-term results of the modified Mau osteotomy designed by the author. Materials and Methods: Seventeen feet treated with newly designed osteotomy from 2003 to 2004 were included. We performed metatarsal osteotomy and distal soft tissue procedure on 17 feet (12 patients) and additional Akin osteotomy on 6 feet (4 patients). An oblique osteotomy was made from the neck in the dorsum, aiming proximal to the base of the first metatarsal with vertical short arm on the base. We performed long arm of osteotomy parellel to the acrylic plate which was supposed as ground plane. Preoperative radiographs and follow up radiographs at three month were used for radiologic evaluation. Results: Mean hallux valgus angle was $43.6^{\circ}$ and mean intermetatarsal angle was $20.4^{\circ}$ on preoperative weight bearing radiograph. Mean amount of correction of the hallux valgus angle was $37.5^{\circ}$ and intermetatarsal angle was $14.2^{\circ}$ at three months after operation. There was no fixation loss or malunion, and the clinical result was subjectively exellent. Conclusion: More proximal rotational axis can achieve sufficient intermetatarsal angle correction, and vertical arm can provide more stable contact. So this newly modified Mau osteotomy was considered as a good alternative procedure in the treatment of severe hallux valgus.

• Journal of Korean Medical classics
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• v.13 no.1
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• pp.74-101
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• 2000

Geungyul(根結) means roots and nodes of meridians. If human body gets damaged by energy which each seasons has, the meridians get some troubles. Healing for symptom, meridians consist of root, stay, follow, inpouring and node of acupuncture points should be in harmony. 1. This chapter explain roots and node parts of each meridian, acupuncture points name and root, stay, follow, inpouring of acupuncture points which in arm and leg of three Yin and Yang. 2. The opening, closing, axis function, the symptom, and the needling of both meridians of Yin and Yang are explained. 3. The method that predicts the rise-and-fall of visceral energy and the time of death by using an order of pulse and intermittent pulse is explained. 4. It is explained that since the physical condition of the rich and the poor are different, the method using a needling for each person to be healed, such as the deep-and-shallow and the quick-and-slow, are different. 5. It is explained that the excess and the deficiency in the energy of shape should be considered when a acupuncture is given.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1469-1473
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• 2004

We suggest how to program off-line robot path along shoes' outsole shape in the footwear buffing process by a 5-axis microscribe system like robot arms. This microscribe system developed consists a 5-axis robot link with a turn table, signal processing circuit, PC and an application software program. It makes a robot path on the shoe's upper through the movement of a microscribe with many joints. To do this, first it reads 5-encoder's pulse values while a robot arm points a shoes' outsole shape from the initial status. This system developed calculates the encoder pulse values for the robot arm's rotation and transmits the angle pulse values to the PC through a circuit. Then, Denavit-Hartenberg's(D-H) direct kinematics is used to make the global coordinate from robot joint one. The determinant is obtained with kinematics equation and D-H variable representation. To drive the kinematics equation, we have to set up the standard coordinates first. The many links and the more complicated structure cause the difficult kinematics problem to solve in the geometrical way. Thus, we can solve the robot's kinematics problems efficiently and systematically by Denavit-Hartenberg's representation. Finally, with the coordinate values calculated above, it can draw a buffing gauge-line on the upper. Also, it can program off-line robot path on the shoes' upper. We are subjected to obtaining shoes' outline points, which are 2 outlines coupled with the points and the normal vector based on the points. These data is supposed to be transformed into .dxf file to be used for data of automatic buffing robot. This system developed is simulated by using spline curves coupled with each point from dxf file in Autocad. As a result of applying this system to the buffing robot in the flexible footwear manufacturing system, it can be used effectively to program the path of a real buffing robot.

• Journal of Aquaculture
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• v.7 no.4
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• pp.207-223
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• 1994

Induction of triploid cherry salmon, Oncorhynchus ma.sou was performed by the heat shock procedure. The triploids were induced by 15 and 20 min heat shock treatments after 10 min fertilization at $28^{\circ}C$. Incidences of the triploidy were $91.4\%\;and\;89.8\%$, respectively. Nucleus and erythrocyte from the induced triploids larger than those of the diploids in major axis, minor axis, major axis/minor axis, surface area and volume. The chromosome number of diploid was 2n= 66 (17 pairs of metacentrics or submetacentrics, 16 pairs of acrocentrics or telocentrics), and that of triploid was 3n=99. Satellites were observed in the short arm of the largest telocentrics, and these may be useful marker to determine the polyploidization. Diploid have outgrown to triploid, and female have also outgrown to male in the triploid group during the 22 months of observation period after hatching. During the spawning season, 22 to 26 months after hatching, diploid were observed the growth retardation because of their sexual maturation, however the triploid showed continuous growth.

• Korean Journal of Adult Nursing
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• v.12 no.4
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• pp.517-532
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• 2000

The purpose of this study was to develop a critical pathway for case management of patients who have received Lumbar Laminectomy because of low back pain, arm and leg numbness, and radiating pain in the leg. For this study, a preliminary critical pathway was developed through a review of the literature including five critical pathways which are currently being used in the USA. In order to identify the overall service contents required by these patients, 30 cases were analyzed. These cases were taken from medical records of those with Lumbar Laminectomy between January, 1998 and December, 1998 in the department of neurosurgery at the Pusan National University Hospital in Pusan. An expert validity test was done for the preliminary critical pathway, a clinical validity test was also done using 12 patients with Lumbar Laminectomy between October 1, 1999 and January 31, 2000. After these processes, the final critical pathway was developed. The results are summarized as follows. 1. The vertical axis of the critical pathway includes the following eight items: assessment, consultation, diet, test, medication, treatment, activity, education/ discharge planning. The horizontal axis includes the time from the start of hospitalization to discharge. Analysis of the 30 medical records was done. analysis of the service contents showed the horizontal axis of the preliminary critical pathway was set from hospitalization to the 12th post operation day and the vertical axis was set to include eight items, the contents which should have occurred, according to the time frames of the horizontal axis. 2. As a result of the expert validity test, it was found that among the 233 items, 203 showed over 88% agreement and 30 of them showed less than 88% agreement, which were then revised or deleted from the critical pathway. At the preliminary meeting for the clinical validity test, the time of hospitalization on the horizontal axis was shortened to the 10th post operation day. A clinical validity test was done with 12 patients with Lumbar Laminectomy. All the cases progressed according to the critical pathway although some variances were noted in assessment, consultation, test, medication, and treatment. 3. Based on these results, a final critical pathway was determined. In conclusion, this critical pathway is partially applicable to the care of patients with Lumbar Laminectomy and needs further investigation.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.2
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• pp.126-132
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• 2002

Robot manipulator has highly nonlinear dynamics. Therefore the control of multi-link robot arms is a challenging and difficult problem. In this paper an independent joint adaptive fuzzy sliding mode scheme is developed leer control of robot manipulators. The proposed scheme does not require an accurate manipulator dynamic model, yet it guarantees asymptotic trajectory tracking despite gross robot parameter variations. Numerical simulation for independent joint control of a 3-axis PUMA arm will also be included.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.130-134
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• 1992

The ability of a robot system to comply to an environment via the control of tool-environment interaction force is of vital for the successful task accomplishment in many robot application. This paper presents the implementation of external force control for two dimensional contour following task using a commercial robot system. Force accommodation is used since a constraint imposed in our work is not to modify the commercial robot system. A linear, decoupled model of two dimensional contour following system in the discrete time domain is derived first. Then the experimental verification of linear control is obtained using a PUMA 560 manipulator with standard Unimation controller, Astek FS6-120A six axis wrist force sensor attached externally to the arm and LSI-11173 microcomputer. Experimentally obtained data shows that the RMS contact force error is 0.8246 N when following the straight edge and 2.3768 N when following 40 mm radius curved contour.

• Journal of Korea Society of Digital Industry and Information Management
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• v.17 no.3
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• pp.9-15
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• 2021

In this paper, the Embedded MEMS system to the power apparatus used Edge Impulse machine learning tools and therefore an improved predictive system design is implemented. The proposed MEMS embedded system is developed based on nRF52840 system and the sensor with 3-Axis Digital Magnetometer, I2C interface and magnetic measurable range ±120 uT, BM1422AGMV which incorporates magneto impedance elements to detect magnetic field and the ARM M4 32-bit processor controller circuit in a small package. The MEMS embedded platform is consisted with Edge Impulse Machine Learning and system driver implementation between hardware and software drivers using SensorQ which is special queue including user application temporary sensor data. In this paper by experimenting, TensorFlow machine learning training output is applied to the power apparatus for analyzing the status such as "Normal, Warning, Hazard" and predicting the performance at level of 99.6% accuracy and 0.01 loss.

• KIISE Transactions on Computing Practices
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• v.21 no.3
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• pp.173-182
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• 2015

Motion control systems are widely deployed in various industrial automation processes. The motion controller, which is a key element of motion control systems, has stringent real-time constraints. The controller must provide a short and deterministic control message transmission cycle, and minimize the actuation deviation among motor drives. To meet these requirements, hardware-based proprietary controllers have been prevalent. However, since it is becoming difficult for such an approach to meet increasing needs of system interoperability and scalability, nowadays, software-based universal motion controllers are regarded as their substitutes. Recently, embedded motion controller solutions are gaining attention due to low cost and relatively high performance. In this paper, we designed and implemented an embedded motion controller on an ARM-based evaluation board by using Xenomai real-time kernel and other open source software components. We also measured and analyzed the performance of our embedded controller under a realistic test-bed environment. The experimental results show that our embedded motion controller can provide relatively deterministic performance with synchronized control of three motor axis at 2 ms control cycle.

• Journal of Dental Rehabilitation and Applied Science
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• v.24 no.2
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• pp.213-230
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• 2008

The aim of this study was to analyze the initial movement and the stress distribution of each tooth and periodontal ligament during the lingual lever-arm retraction of 6 maxillary incisors using FEA. Two kinds of finite element models were produced: 2-properties model (simple model) and 24-properties model (multi model) according to the material property assignment. The subject was an adult male of 23 years old. The DICOM images through the CT of the patient were converted into the 3D image model of a skull using the Mimics (version 10.11, Materialise's interactive Medical Image Control System, Materialise, Belgium). After series of calculating, remeshing, exporting, importing process and volume mesh process was performed, FEA models were produced. FEA models are consisted of maxilla, maxillary central incisor, lateral incisor, canine, periodontal ligaments and lingual traction arm. The boundary conditions fixed the movements of posterior, sagittal and upper part of the model to the directions of X, Y, Z axis respectively. The model was set to be symmetrical to X axis. Through the center of resistance of maxilla complex, a retraction force of 200g was applied horizontally to the occlusal plane. Under this conditions, the initial movements and stress distributions were evaluated by 3D FEA. In the result, the amount of posterior movement was larger in the multi model than in the simple model as well as the amount of vertically rotation. The pattern of the posterior movement in the central incisors and lateral incisors was controlled tipping movement, and the amount was larger than in the canine. But the amount of root movement of the canine was larger than others. The incisor rotated downwardly and the canines upwardly around contact points of lateral incisor and canine in the both models. The values of stress are similar in the both simple and multi model.