• Journal of Power System Engineering
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• v.6 no.1
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• pp.96-101
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• 2002

In this paper, we address the problem of controlling an end-effector to track and grab a moving target using the visual servoing technique. A visual servo mechanism based on the image-based servoing principle, is proposed by using visual feedback to control an end-effector without calibrated robot and camera models. Firstly, we consider the control problem as a nonlinear least squares optimization and update the joint angles through the Taylor Series Expansion. And to track a moving target in real time, the Jacobian estimation scheme(Dynamic Broyden's Method) is used to estimate the combined robot and image Jacobian. Using this algorithm, we can drive the objective function value to a neighborhood of zero. To show the effectiveness of the proposed algorithm, simulation results for a six degree of freedom robot are presented.

• Journal of Chest Surgery
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• v.22 no.5
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• pp.862-866
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• 1989

We are experienced one case of \ulcornerinchu" method operation for chronic thoracic empyema with bronchopleural fistula. A 30-years old male was admitted to our hospital because of right thoracic empyema. In spite of pleural tube drainage, the right entire lung was poorly expanded. The right upper lobectomy and decortication for visceral side of empyema peel were done but expansion of right middle and lower lobe was not enough to fill the pleural space remained Extraperiosteal detachment without performing thoracoplasty was done as the method proposed by Kinchu. The patient recovered without significant problem and the good expansion of remained lung with acceptable pulmonary function was obtained.ined.

• Journal of Mechanical Science and Technology
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• v.20 no.6
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• pp.759-769
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• 2006

This paper proposes a new method of discretization for nonlinear systems using a Taylor series expansion and the zero-order hold assumption. The method is applied to sampled-data representations of nonlinear systems with input time delays. The delayed input varies in time and its amplitude is bounded. The maximum time-delayed input is assumed to be two sampling periods. The mathematical expressions of the discretization method are presented and the ability of the algorithm is tested using several examples. A computer simulation is used to demonstrate that the proposed algorithm accurately discretizes nonlinear systems with variable time-delayed inputs.

• Proceedings of the Korean Society of Developmental Biology Conference
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• 2003.10a
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• pp.77-77
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• 2003

Coculture of HSC with bone marrow-derived mesenchymal stem cells (BM-MSCs) is one of used methods to increase cell numbers before transplant to the patients. However, because of difficulties to purify HSCs after coculture with BM-MSCs, it needs to develop a method to overcome the problem. In the present study, we have examined whether a culture insert placed over a feeder layer might support the expansion of HSCs within the insert. $CD34^+/ $ cells isolated from the umbilical cord blood by using midiMACS were divided into three groups. A group of 1 $\times$ $10^5$ cells were grown on a culture insert without feeder layer (Direct). The same number of HSCs was directly cocultured with BM-MSCs (Contact). The third group was placed onto an insert below which BM-MSCs were grown (Insert). To distinguish feeder cells from HSCs, BM-MSCs was pre-labeled fluorescently with PKH26 and 1 $\times$ $10^5$ cells were seeded in the culture dishes. After culture for 13 days, the expansion factor (x) of HSCs that were grown without feeder layer (Direct) was $26.6 \pm 8.4.$ In contrast, the number of HSCs directly cocultured with feeder layer was 59.6 $\pm$ 0.5 and that of HSCs cultured onto an insert was $46.9 \pm 8.4.$ The percentage of BM-MSCs cells remained being fluorescent was $97.9 \pm 0.3%$ after culture. Immune-phenotypically large proportion of cultured cells were founded to be differentiated into myeloid/monocyte progenitor cells. The ability of BM-MSCs, fetal lung, cartilage and brain tissue cells to support ex vivo expansion of HSCs was also examined using the insert. After 11 days of coculture with each of these cells, the expansion factor of HSCs was 15.0, 39.0, 32.0 and 24.0, respectively. Based upon these observations, it is concluded that the coculture method using insert is very effective to support ex vivo expansion of HSCs and to eliminate the contamination of other cells used to coculture wth HSCs.

• Restorative Dentistry and Endodontics
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• v.33 no.2
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• pp.115-124
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• 2008

The purpose of this study was to measure the polymerization shrinkage and hygroscopic expansion of resin-based temporary filling materials and to evaluate microleakage at the interface between the materials and cavity wall. Five resin-based temporary filing materials were investigated: Fermit (Vivadent), Quicks (Dentkist), Provifil (Promedica), Spacer (Vericom), Clip (Voco). Caviton (GC) was also included for comparison. Polymerization shrinkage of five resin-based temporary filling materials was measured using the bonded disc method. For the measurement of hygroscopic expansion, the discs of six cured temporary filling materials were immersed in saline and a LVDT displacement sensor was used to measure the expansion for 7 days. For estimating of microleakage, Class I cavities were prepared on 120 extracted human molars and randomly assigned to 6 groups of 20 each. The cavities in each group were filled with six temporary filling materials. All specimens were submitted to 1000 thermocycles, with temperature varying from $5^{\circ}C/55^{\circ}C$. Microleakage was determined using a dye penetration test. The results were as follows: 1. Fermit had significantly less polymerization shrinkage than the other resin-based temporary fill ing materials. Fermit (0.22%) < Spacer (0.38%) < Quicks (0.64%), Provifil (0.67%), Clip (0.67%) 2. Resin-based temporary filling materials showed 0.43-1.1% expansion in 7 days. 3. Fermit showed the greatest leakage, while Quicks exhibited the least leakage. 4. There are no correlation between polymerization shrinkage or hygroscopic expansion and microleakage of resin-based temporary filling materials.

• Journal of Korean Society of Forest Science
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• v.100 no.4
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• pp.535-539
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• 2011

This study was conducted to examine the bootstrap evaluation of the stem density and biomass expansion factor for Pinus rigida plantations in Korea. The stem density ($g/cm^3$) in less than 20 tree years were 0.460 while more than 21 tree years were 0.456 respectively. Biomass expansion factor of less than 20 years and more than 21 years were 2.013, 1.171, respectively. The results of 100 and 500 bootstrap iterations, stem density ($g/cm^3$) in less than 20 years were 0.456~0.462 while more than 21 years were 0.457~0.456 respectively. Biomass expansion factor of less than 20 years and more than 21 years were 1.990~2.039, 1.173~1.170, respectively. The mean differences between observed biomass factor and average parameter estimates showed within 5 percent differences. The split datasets of younger stands and old stands were compared to the results of bootstrap simulations. The stem density in less than 20 years of mean difference were 0.441~1.049% while more than 21years were 0.123~0.206% respectively. Biomass expansion factor in less than 20 years and more than 21 years were -1.102~1.340%, -0.024~0.215% respectively. Younger stand had relatively higher errors compared to the old stand. The results of stem density and biomass expansion factor using the bootstrap simulation method indicated approximately 1.1% and 1.4%, respectively.

• Archives of Plastic Surgery
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• v.39 no.2
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• pp.118-123
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• 2012

Background : An area of the skull exposed by burn injury has been covered by various methods including local flap, skin graft, or free flap surgery. Each method has disadvantages, such as postoperative alopecia or donor site morbidities. Due to the risk of osteomyelitis in the injured skull during the expansion period, tissue expansion was excluded from primary reconstruction. However, successful primary reconstruction was possible in burned skull by tissue expansion. Methods : From January 2000 to 2011, tissue expansion surgery was performed on 10 patients who had sustained electrical burn injuries. In the 3 initial cases, removal of the injured part of the skull and a bone graft was performed. In the latter 7 cases, the injured skull tissue was preserved and covered with a scalp flap directly to obtain natural bone healing and bone remodeling. Results : The mean age of patients was $49.9{\pm}12.2$ years, with 8 male and 2 female. The size of the burn wound was an average of $119.6{\pm}36.7cm^2$. The mean expansion duration was $65.5{\pm}5.6$ days, and the inflation volume was an average of $615{\pm}197.6mL$. Mean defect size was $122.2{\pm}34.9cm^2$. The complications including infection, hematoma, and the exposure of the expander were observed in 4 cases. Nonetheless, only 1 case required revision. Conclusions : Successful coverage was performed by tissue expansion surgery in burned skull primarily and no secondary reconstruction was needed. Although the risks of osteomyelitis during the expansion period were present, constant coverage of the injured skull and active wound treatment helped successful primary reconstruction of burned skull by tissue expansion.

• Journal of the Korea institute for structural maintenance and inspection
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• v.21 no.6
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• pp.10-15
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• 2017

The refraction expansion joints have been newly developed by complementing the problems of shock, noise, replaceability, displacement in the direction perpendicular to bridge, vertical difference, which are problems of existing expansion joints. The Refraction expansion joints are characterized by continuous surfaces with small impact and low noise. The behavior of the Refraction expansion joints performs the bridge expansion behavior by rotation of the link. In the rotational behavior of the link, the bolt is the central axis of the behavior. Therefore, it can be said that the durability of the bolt is very important. However, the theoretical and experimental verification of the bolt durability of the Refraction expansion joint is lacking. In this paper, to verify the fatigue durability of the bolt, test specimens with a 300 mm Refraction expansion joint were fabricated. A strain gauge dedicated to the bolt was installed inside the manufactured test specimen bolt. The test method was applied in accordance with KS F 4425. The fatigue durability of the bolts assembled inside the diaphragm expansion joint was confirmed by the repeated fatigue test of 2,000,000 cycles.

• Journal of Energy Engineering
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• v.23 no.2
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• pp.149-157
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• 2014

The steam generator tubes of nuclear power plants have various types of corrosion failures during the plant operation. The stress corrosion cracking which occurs on the outer surface of tube is called the secondary side stress corrosion cracking and mainly occurs in the expansion-transition area of tube. The causes are the concentration of impurities by the sludge pile-up related to the geometry of its region and the residual stress by tube expansion in the process of steam generator manufacturing. Especially the directionality and sizes of residual stresses are differed according to the tube expansion methods and the direction and the frequency of tube cracks depend on their characteristics. In bases on the plant experiences, it is notified that circumferential cracks of tubes expanded with explosive expansion method are dominantly occurred compared to those of tubes done with hydraulic expansion one. Therefore in this study, according to tube expansion methods frequencies and sizes of tube cracks with specific direction are compared by means of accelerated immersion test and also the crack morphology and the specific chemicals from water-chemistry environment are observed through the fracture surface examination.

• Journal of the Korean GEO-environmental Society
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• v.23 no.1
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• pp.39-49
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• 2022

Expandable steel pipe piles are installed by inserting expansion equipment to increase the cross-sectional area of steel pipes, which can improve the pile performance compared to micro-piles. In this paper, a hydraulic expansion device was developed to expand steel pipe piles in practice. A series of laboratory and field tests were conducted to verify the performance of the developed expansion device to expand steel pipes. The expansion capability and expandable range was evaluated by measuring the strain and expansion time at the maximum pressure of the hydraulic expansion device. The thinner steel pipe, the larger strain but longer expansion time required in the test. For example, the 4.0-mm-thick steel pipe showed strain reduction by 30% and a decrease in the required expansion time by 40% compared to the 2.9-mm-thick steel pipe. In addition, in-situ expansion tests were performed to verify the expandability of steel pipes under the ground, and the exhumed specimen showed clear expanded sections. The structural integrity was determined by comparing the material performance the original and expanded specimens.