• Journal of Institute of Control, Robotics and Systems
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• v.22 no.11
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• pp.912-918
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• 2016

This paper presents various strategies for humanoid vehicle driving and egress tasks. For driving, a tele-operating system that controls a robot based on a human operator's commands is built. In addition, an autonomous assistant module is developed for the operator. Normal position control can result in severe damage to robots when they egress from vehicles. To prevent this problem, another approach that mixes various joint control techniques is adopted in this study. Additionally, a footplate is newly designed and attached to the vehicle floor for the ground landing phase of the egress task. The attached plate enables the robot to step down onto the ground in a safe manner. For stable locomotion, a balance controller is designed for the humanoid. For the design of the controller, the robot is modeled using an inverted pendulum that consists of a spring and a damper. Then, a state feedback controller (with pole placement and a state observer) is built based on the simplified model. Many approaches that are presented in this paper were successfully applied to a full-sized humanoid, DRC-HUBO+, in the DARPA Robotics Challenge Finals, which were held in the United States in 2015.

• Journal of the Korean Association of Geographic Information Studies
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• v.3 no.4
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• pp.11-21
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• 2000

The travel behavior should be analysed microscopically for the traffic management of urban street. The car following theory which found out the correlation between the lead and the following vehicles is being widely used as basic data in many fields. As the vehicle position and its speed information can be received by GPS, this technique is recently applying to the various fields. For the case study the travel data were collected with two vehicles equipped with GPS receiver. The moving distance was calculated by the collected location data every 2 seconds and the speed variation was checked. And this study analysed and compared the acceleration and deceleration speed between the lead and the following vehicle. Finally, Regression model about the relationship between the acceleration and deceleration speed and the acceleration and deceleration distance was constructed. This model could be helpful for the road design and the regulation for the safe traffic management.

• Journal of Venture Innovation
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• v.2 no.1
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• pp.23-31
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• 2019

The primary goal of this study is to develop proper indicators for evaluating and selecting an organization that contributes product safety in his industry. The indicators of product safety include input, process, and output in the sequences of product safety activities and systems. The indicators are proposed by the side of measurable and unmeasurable index. In detail, the indicators are consist of 3 parts - product safe management, efforts for product safety and the performance of product safety. The indicators are itemized by size of enterprise (large, medium and small size) due to the difference of their system and management capability of product safety. To get the indicators reasonably, the opinions of experts and VOC of the industrial field are considered. And the indicators are also divided by job position and level(an executive vs. worker). The items of indicators are 20 and the score is 200, that are the same whichever the case may be. The indicators are useful tools for selecting a person who serves the development of product safety in his industry.

• Journal of Gastric Cancer
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• v.4 no.2
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• pp.75-81
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• 2004

Recently detection of early gastric cancer (EGC) has been increasing and the treatment strategies for gastric cancer have been changing. The purpose of this study was to compare clinical outcomes between laparoscopically assisted (LADG) and hand-assisted laparoscopic gastrectomy (HALDG) and open distal gastrectomy for early gastric cancer. This review is directed toward providing gastric surgeons with recent advances in the treatment of EGC. We investigated the English language literature for the past 12 years through computer searches which focused on : 1) Patient demographics, 2) Operation time, 3) Intra-operative blood loss, 4) Depth of invasion, 5) CBC, 6)Weight loss, 7) Analgesic requirement, 8)Time NPO, 9) Length of hospital stay, 10) Tumor stage, 11) Lymph node (LN) dissection, 12) Position of LN resected, 13) Complications. Improved operative techniques and surgical instrumentation have facilitated the development of minimally invasive gastric cancer surgery. The short-term benefits of laparoscopic gastrectomy included less surgical trauma, less pain, rapid return of gastrointestinal function, and shorter hospital stay, with no change in operative outcome. Laparoscopic gastrectomy was better accepted by the patients as a good procedure and promptly brought the patients back to their previous lifestyle and activities of daily living. But the advantages of HALDG for gastric cancer, extended lymph node dissection and intracorporeal anastomosis are feasible and easier with the presence of the internal hand. The hand-assisted laparoscopic (HALDG) method reported the best results in lymph node dissection.This method is an alternative to total laparoscopic radical gastrectomy. LADG and HALDG, when compared with conventional open gastrectomy, have several advantages. When performed by a skilled surgeon, LADG and HALDG are safe and useful techniques for patients with early-stage gastric cancer. Their appropriateness for gastric cancer surgery require further study.

• Journal of Ocean Engineering and Technology
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• v.29 no.2
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• pp.120-127
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• 2015

When a deep-seabed lifting pump is kept this device has bending and deformation in the axis due to its long length(8m). These influences can be caused a breakdown. Therefore, a mounting must be developed to keep the lifting pump safe. This paper discusses the hydraulic cylinder design of the lifting pump and structural safety estimation of the mounting using SBD(simulation-based design). The multi-body dynamic simulation method is used, which has been used in the automotive, structural, ship building, and robotics industries. In this study, the position and diameter of the hydraulic cylinder were determined based on the results of the strokes and buckling loads for the design positions of the hydraulic cylinder. A structural dynamic model of the mounting system was constructed using the determined design values, and the structural safety was evaluated using this dynamic model. According to these results, this system has a sufficient safety factor to manufacture.

• Archives of Craniofacial Surgery
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• v.15 no.2
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• pp.82-88
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• 2014

Background: The chin shape and position is important in determining the general shape of the face, and augmentation genioplasty is performed alone or in combination with other aesthetic procedures. However, augmentation genioplasty using osteotomy is an invasive and complex procedure with the potential to damage mentalis muscle and mental nerve, to affect chin growth, and prolonged recovery. Our aim was to present our experience with a modified augmentation genioplasty procedure for hypoplastic chins using a Gore-Tex implant. Methods: Two vertical slit incisions were made at the canine level to create a supra-periosteal pocket between the incisions, preserving the periosteum and mentalis muscle. Minimal sub-periosteal dissection was performed lateral to the incisions along the mandibular border. The both wings of implant were inserted under the periosteum to achieve a stable dual plane implantation. Results: In total, 47 patients underwent dual plane chin augmentation using a Gore- Tex implant between January 2008 and May 2013. The mean age at operation was 25.77 years (range, 15-55 years). There were 3 cases of infection; one patient was treated with antibiotics, the others underwent implant removal. Additionally, two patients complained of postoperative parasthesia that spontaneously improved without any additional treatment. Most patients were satisfied with the postoperative outcomes, and no chin growth problems were observed among the younger patients. Conclusion: Dual plane Gore-Tex chin augmentation is a minimally-invasive operation that is simple and safe. All implants yielded satisfactory results with no significant complications such as mental nerve injury, lower lip incompetence, or chin growth limitation.

• Journal of the Korean Institute of Gas
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• v.11 no.4
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• pp.85-90
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• 2007

This paper presents the finite element analysis on the strength safety of a full containment LNG storage tank system with damping safety structures. For the FEM analysis of the inner tank, the combined loads in which are related to a hydrostatic pressure, a cryogenic temperature load, BOG pressure, LNG weight, and a sinking force at the comer of the inner tank have been applied to the inner tank structure. The FEM computed results show that the conventional inner tank is safe for the given combined loads, but the damping safety structure such as compressive springs may be more useful structures to increase the safety of the tank system. The increased stiffness and the appropriate position of the springs are very important design parameters for increasing the damping strength safety of the tank system.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.2
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• pp.211-217
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• 2009

This paper proposes a way of expanding the use area of localization technique by using a beacon. In other words, we have developed the auto-calibration algorithm that recognizes the location of this beacon by attaching the beacon on an arbitrary position and by using the information of existing beacon under this situation. By doing so, the moving robot can overcome the limitation that the localization of moving robot is only possible within the area that has installed the existing beacon since the beacon cannot be installed on the accurate location when passing through a danger zone or an unknown zone. Accordingly, the moving robot can slowly move to the unknown zone according to this auto-calibration algorithm and can recognize its own location at a later time in a safe zone. The localization technique is essentially needed in using a moving robot and it is necessary to guarantee certain degree of reliability. Generally, moving robots are designed in a way to work well under the situation that the surroundings is well arranged and the localization techniques of using camera, laser and beacon are well developed. However due to the characteristics of sensor, there may be the cases that the place is dark, interfering radio waves, and/or difficult to install a beacon. The effectiveness of the method proposed in this paper has been proved through an experiment in this paper.

• Maxillofacial Plastic and Reconstructive Surgery
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• v.40
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• pp.41.1-41.4
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• 2018

Background: Free fibular flap is one of the most useful methods in the hard tissue reconstruction of the maxillamandible. Free fibular flap presents some advantages in which the reconstruction of both soft and hard tissues can be done at the same time. It also provides a safe and successful bone graft for the reconstruction, along with a low rate of complications. Despite these advantages and the rarity of a postoperative complication, particularly in oral and maxillofacial surgery procedures, a prolonged operation might exhibit some complications related with rhabdomyolysis. We experienced the rare event of rhabdomyolysis after oral cancer surgery. Case presentation: In this article, we report the case of a patient who developed rhabdomyolysis after undergoing free fibular flap surgery. Conclusions: Despite the advantages of the free fibular flap operation, clinicians must be aware of the risk of complications because there are multiple factors that could result in rhabdomyolysis, such as duration of operation, position of the subject, and pre-existing conditions of diabetes and hypertension. Once the diagnosis of rhabdomyolysis is confirmed, a prompt treatment plan should be made and applied as soon as possible. This will increase the chance of a full recovery for the patient who is exhibiting symptoms of rhabdomyolysis.

• Aerospace Engineering and Technology
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• v.1 no.2
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• pp.132-140
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• 2002

By utilizing OSMI (Ocean Scanning Multi-spectral Imager) onboard KOMPSAT-1, the moon can be imaged. Because the moon has no atmosphere and reflects sun lights at a constant rate, it can be the radiance source for calibration of OSMI. But there are a lot of risks which made KOMPSAT-1 enter into safe-hold mode. So planning the imaging of the moon with OSMI should be determined seriously with consideration to information on KOMPSAT-1 operation, the moon, the sun, etc. But it takes a long time for determining the imaging time of the moon using MCE(Mission Control Element) simulator and there are operational problems to be solved. In this paper, fast simulator for determining imaging time for the moon with OSMI has been developed. The proper timeline for imaging the moon and the position of the moon image in OSMI image coordinates and the phase of the moon are determined. STK was used for acquiring information on KOMPSAT-1, the moon, the sun and the characteristitcs of OSMI are considered. As a result, we can determine imaging time of the moon with OSMI much faster and efficiently.