• 한국산학기술학회논문지
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• 제12권11호
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• pp.5219-5226
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• 2011

본 논문에서는 홈서비스 로봇인 맥봇 II(McBot II)의 빌트인(Built-in) 로봇 팔과 핸드를 설계한다. 이 빌트인 타입의 로봇 머니퓰레이터는 각각 3 DOF(Degree-of-Freedoms)의 로봇팔과 3 DOF의 로봇핸드로 구성되어 진다. 제한된 공간에서 인간과 함께 생활하는 홈서비스 로봇에 탑재되는 머니퓰레이터는 최소의 로봇 크기와 최대의 작업 공간이라는 상반된 설계 스펙이 요구되어 진다. 즉, 최소의 질량과 팔 길이에도 불구하고 효율적 작업을 위한 공간 확보가 필요한 것이다. 본 논문에서는 이와 같은 상반된 문제를 해결하기 위하여 수직 방향으로 움직이는 로봇 허리 구조와 수평방향의 전후방으로 이동할 수 있는 어깨 관절을 이용한 태스크 기반의 설계 방법을 제안한다. 또한, 양손 협업시스템인 로봇 핸드도 4절 링크 핑거를 이용한 작업 기반 설계를 시도한다. 끝으로 본 논문에서는 구현된 빌트인 머니퓰레이터의 실제 동작 실험을 통하여 그 성능을 확인한다.

• Restorative Dentistry and Endodontics
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• 제25권2호
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• pp.202-211
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• 2000

The aim of this study was to compare the apical sealing ability of a new thermoplasticized gutta-percha filling technique, the Easy Filling and the Quick Obturation system with lateral condensation technique and Thermafil system to evaluate their clinical acceptabilities. Fifty-two extracted single-rooted teeth were instrumented to #35 using the .04 taper ProFile system. Four groups of 12 teeth were obturated by lateral condensation technique. Thermafil system and two new thermoplasticized gutta-percha techniques, the Easy Filling system and Quick Obturation system (Meta Dental co. Ltd. Korea), respectively. Four teeth served as controls. After the teeth were immersed in 2% methylene blue dye for 48 hours, they were resected horizontally at 1mm to 5mm level from the anatomical apex using a low-speed microtome. Each section was examined under a stereomicroscope at ${\times40}$ magnification and photographed. After each image was scanned, the leakage area was measured at each level using Brain 3 (Nosdia Tech., Korea) software. Leakage ratio was calculated for each group and was analyzed statistically to come up with the following results: 1. At 1mm level, the Quick Obturation system had the largest amount of apical leakage and it was statistically significant when compared with the lateral condensation group and the Thermafil group (p<0.05). 2. At 2mm and 3mm level, there were no significant difference of apical leakage among all four groups (p>0.05), and from 4mm level, no apical dye penetration was observed in all the groups. In conclusion, the apical seal produced by Easy Filling system and the Quick Obturation system was comparable to lateral condensation technique and Thermafil system except for the 1mm level. More improvement of the apical seal can be expected as the operator becomes skillful with the new techniques.

• Restorative Dentistry and Endodontics
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• 제23권1호
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• pp.346-356
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• 1998

The purpose of this study was to evaluate the sealing ability of various canal filling methods. Palatal roots of ninety extracted human maxillary molar teeth were resected at cementoenamel junction. Eighty of them were randomly assigned to four experimental groups, ten were served as positive and negative controls. All canals were prepared to # 40 using Profile. Experimental groups were obturated by lateral condensation technique, Thermafil technique, Continuous Wave of Condensation Technique, and down-pack & back-fill technique of Obtura-II, each with root canal sealer. Control groups were not obturated. Teeth were immersed in resorcinol-formaldehyde resin for 5 days at $4^{\circ}C$, and the resin was allowed to polymerize completely for 4 days at room temperature. Teeth were then ground horizontally at 1.5mm(level 1), 2.5mm(level 2), 3.5 mm(level 3) from the anatomical apex and examined with a stereomicroscope at ${\times}40$ magnification. The gap between the canal wall and the filling material, which was filled with the resin, was measured at each of the three levels. Each ratio of leakage was obtained by calculating the ratio of the area of the resin to the total area of the canal and was analyzed statistically (Rank-sum test). The results were as follows : 1. At the level 1, there was the greatest leakage in the Thermafil group and Obtura-II group, and the difference between the Obtura-II group and Continuous Wave of Condensation Technique group was statistically significant(p<0.05). 2. At the level 2, there was the least leakage in the Continuous Wave of Condensation Technique group, but there was no statistically significant difference between each group (p>0.05). 3. At the level 3, there was no statistically significant difference between each group(p>0.05).

• 한국지진공학회논문집
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• 제18권2호
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• pp.89-94
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• 2014

Spatial variations of a seismic wave are mainly wave passage and wave scattering. Wave passage effect is produced by changed characteristics of exciting seismic input motions applied to the bedrock. Modified input motions travel horizontally with time differences determined by apparent shear wave velocity of the bedrock. In this study, wave passage effect on the seismic response of a structure-soil system is investigated by modifying the finite element software of P3DASS (Pseudo 3-Dimensional Dynamic Analysis of a Structure-soil System) to apply inconsistent (time-delayed) seismic input motions along the soft soil-bedrock interface. Study results show that foundation size affected on the seismic response of a structure excited with inconsistent input motions in the lower period range below 0.5 seconds, and seismic responses of a structure were decreased considerably in the lower period range around 0.05 seconds due to the wave passage. Also, shear wave velocity of the bedrock affected on the seismic response of a structure in the lower period range below 0.3 seconds, with significant reduction of the seismic response for smaller shear wave velocity of the bedrock reaching approximately 20% for an apparent shear wave velocity of 1000m/s at a period of 0.05 seconds. Finally, it is concluded that wave passage effect reduces the seismic response of a structure in the lower period range when the bedrock under a soft soil is soft or the bedrock is located very deeply, and wave passage is beneficial for the seismic design of a short period structure like a nuclear container building or a stiff low-rise building.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2004년도 추계학술대회 논문집 Vol.17
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• pp.276-279
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• 2004

Plasma enhanced chemical vapor deposition (PECVD) of silicon nitride (SiN) is a proven technique for obtaining layers that meet the needs of surface passivation and anti-reflection coating. In addition, the deposition process appears to provoke bulk passivation as well due to diffusion of atomic hydrogen. This bulk passivation is an important advantage of PECVD deposition when compared to the conventional CVD techniques. A further advantage of PECVD is that the process takes place at a relatively low temperature of 300t, keeping the total thermal budget of the cell processing to a minimum. In this work SiN deposition was performed using a horizontal PECVD reactor system consisting of a long horizontal quartz tube that was radiantly heated. Special and long rectangular graphite plates served as both the electrodes to establish the plasma and holders of the wafers. The electrode configuration was designed to provide a uniform plasma environment for each wafer and to ensure the film uniformity. These horizontally oriented graphite electrodes were stacked parallel to one another, side by side, with alternating plates serving as power and ground electrodes for the RF power supply. The plasma was formed in the space between each pair of plates. Also this paper deals with the fabrication of multicrystalline silicon solar cells with PECVD SiN layers combined with high-throughput screen printing and RTP firing. Using this sequence we were able to obtain solar cells with an efficiency of 14% for polished multi crystalline Si wafers of size 125 m square.

• 동남아시아연구
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• 제24권1호
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• pp.191-221
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• 2014

South Sumatra's capital, Palembang, has long maintained a river-oriented transportation system. With road transportation's increased importance for exploiting natural resources, however, hundreds of roads have been constructed since the Dutch colonial period. This article examines how the construction of roads and bridges affected people's lives and social networks in Palembang, and what social and political significance it has in the context of a region in the postcolonial Indonesia, with a focus on the huge river called the Musi River, which horizontally crosses the city. After independence, there has been strong aspiration to link these two parts by road, and in 1965 the Musi Bridge (then the Sukarno Bridge) over the river was eventually opened. The construction of the bridge apparently initiated socioeconomic transformations and development in the region, including Ulu (the southern river bank)'s rapid urbanization. However, the features of regional development actually were prerequisites for "national" development. The regional development was impossible without financial support from the central government, and the local or regional aspiration for development was often supported only when it fitted with national envision. The Musi Bridge was a model case that fitted with such national envision. While it was the symbol of regional development, it was also celebrated as an exemplary sign of "national" development, by both Sukarno's government and Suharto's New Order regime. By analyzing the discussions and discourses regarding the Musi project since early 1950s, in addition to its social and economic impact after the construction, this article explores the continuities and changes in the roles and significance of the (construction of the) Musi Bridge with the changing political backstops in both regimes. Together with it, this article also aims to reexamine the interplay between "the national" and "the regional" in the prevalent aspiration for the national and regional "development" throughout the 1950s and 1960s.

• 대한치과재료학회지
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• 제43권1호
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• pp.17-28
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• 2016

The aim of this study was to evaluate the changes in dentinal permeability after application of dentin desensitizer on exposed dentin immediately after ultrasonic scaling to teeth with non-carious cervical lesions. Thirty caries-free extracted molars were fixed to slide glasses after horizontally being sectioned at 5 mm below the cemento- enamel junction (CEJ). The prepared specimen was connected to a fluid flow measuring device (nano-Flow), and a V-shaped cavity was formed at the CEJ to imitate the non-carious cervical lesion. After no fluid leakage was confirmed in the connected system with specimen, tooth surface was treated ultrasonic cleaning with piezoelectric ultrasonic scalers until dentinal tubules were exposed. And 6 different desensitizers were applied on exposed dentin. Real-time measurements of dentinal fluid flow were performed during ultrasonic scaling and application of dentin desensitizer. To evaluate the occlusion of exposed dentinal tubules, tooth surface was examined by SEM. Following results were observed. After ultrasonic scaling, more dentinal tubules were exposed on the tooth with non-carious cervical lesions compared to tooth without lesions. The rate of fluid flow measured with nano-Flow system had correlation with the degree of dentin occlusion observed with SEM after application of desensitizers on exposed dentin. Desensitizers with glutaraldehyde and HEMA did not decrease the rate of fluid flow and did not show dentin occlusion. Desensitizers with oxalate showed the limited effects on the rate of fluid flow and dentinal tubule occlusion. Desensitizer with resin monomer showed the significant effect on the rate of fluid flow and dentin occlusion.

• 농업생명과학연구
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• 제43권6호
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• pp.53-57
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• 2009

동양꽃꽂이는 고대에 신에게 헌화한 공화양식으로 좌우대칭의 삼존형식의 엄격한 삼각형의 조형미를 갖추고 있었으며 침봉을 사용하여 꽃을 고정하므로 쉽게 꽂을 수 있었다. 서양꽃꽂이는 이집트시대에 꽃을 연속반복으로 쌓아 올려 원추형의 형태를 이루어 현재 vertical form의 근원으로 보고 있다. 그리이스 시대에는 부드러운 S라인 형식을 주로 사용하였고, 로마시대에는 꽃들의 중심을 풍성하고 화려하게, 갈수록 낮고 가늘며 긴 수평형으로 연결하였다. 페르시아 시대에는 동양의 삼존형식과 비슷한 triangular 조형을 나타내고 있다. 그리고 르네상스 시대에 꽃꽂이도 고전의 바탕위에 기본형이 창조되었으며, 19세기말 동양미술의 온화한 색과 단순미, 사실적 묘사 등에 영향을 받아 20세기 미국을 중심으로 양적 mass에서 공간미학까지 꽃꽂이의 영역이 광범위하게 표현되는 art nouveau 시대로 이어졌다. 서양꽃꽂이는 조형성에 기초를 두는 것은 동양꽃꽂이와 같으나 자연성이 거의 무시되고 실용성에 근거를 삼는 것이 특징이다.

• 한국수자원학회:학술대회논문집
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• 한국수자원학회 2019년도 학술발표회
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• pp.264-264
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• 2019

개수로 흐름 해석을 위해 수치모형을 적용할 때 반드시 거쳐야 하는 과정이 격자망을 구성하는 일이다. 불규칙한 형상의 자연수로를 모의할 때 격자망 생성은 쉬운 일이 아니며, 따라서 가시적으로 격자망 생성을 돕고, 격자망의 수정도 용이한 도구가 요구된다. 따라서 본 연구에서는 수심적분된 흐름방정식을 지배방정식으로 하여 개수로 흐름 해석을 용이하게 하고자 그래픽 사용자 인터페이스(GUI)를 개발하였으며, 이를 소개하고자 한다. 격자망은 기본적으로 사각형과 삼각형 요소로 구성될 수 있으며, 유한차분모형 등에서는 정형사각형 격자망을, 유한요소모형에서는 비정형 사각형 및 삼각형 격자망 또는 혼합망을 생성시킬 수 있다. 이산점(scatter points)이나 절점(node points)을 생성하거나 기존의 자료를 불러들여 삼각망 또는 사각망을 형성시킬 수 있으며, 연속선(polylines)을 작성하여 형성된 폐다각형(polygones)을 이용하여 정규 또는 비정규의 삼각망 또는 사각망을 형성시킬 수 있다. 또한 두 점사이를 선형 또는 반원 형태로 편향 정도(biased value)를 설정하여 원하는 개수만큼 나눌 수 있도록 하여, 보다 효율적인 격자형성이 가능토록 하였다. 기존 상용 프로그램에서 작성된 격자를 불러들여 활용 가능하며, 백그라운드 이미지로 지형도나 위성사진을 띄어놓고 이미지 상에서 격자를 형성할 수도 있다. 기본적으로 마우스를 이용하여 화면의 이동, 확대 및 축소와 점, 선, 요소의 생성 및 선택이 가능하다. 본 프로그램은 Qt와 modern OpenGL을 바탕으로 제작되었으며, 마이크로소프트사의 windows 뿐만 아니라 Mac OS, Linux 버전의 설치 파일 작성이 가능하다.

• 해양환경안전학회지
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• 제23권6호
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• pp.759-766
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• 2017

한국 남해 연안에 출현하는 춘 하계 어류 자치어 군집의 조성과 분포 특성을 파악하기 위하여 2016년 5월부터 9월까지 남해의 세 해역(여수, 남해, 통영)에서 RN80 네트를 이용해 매월 1회 채집하였다. 조사기간 동안 총 50개 분류군의 자치어가 채집되었고, 이 중 멸치가 전체 출현 개체수의 56.8 %로 가장 우점하였으며, 청보리멸, 청베도라치, 망둑어과 타입A, 청베도라치과, 앞동갈베도라치 등이 각각 2 % 이상의 개체수비를 보여 우점하였으며, 이상 6개 분류군이 전체 출현 자치어의 87.5 %를 차지하였다. ANOSIM 결과 해역 간에 자치어 조성의 유의한 차이는 없었으나, 시기적으로는 유의한 차이를 보였다. 정준대응분석 결과 이러한 자치어 군집의 시기적 변동은 주로 수온 변화에 의한 것으로 나타났다.