• Annual Conference of KIPS
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• 2015.10a
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• pp.69-72
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• 2015

로봇의 ARM에 대한 연구는 로봇공학의 매우 중요한 부분이고 이에 대하여 오랜 기간 동안 많은 연구 개발들이 꾸준히 진행되고 있으며, 인간과 로봇의 동작에 있어서 움직임의 차이를 줄이기 위하여 다양한 연구 방법론들이 제시되고 있다. 특히 인간의 동작에 근접하는 로봇의 동작을 구현하기 위해서 로봇의 중요한 구성 요소 중의 하나인 ARM을 더욱더 중점으로 연구를 진행하고 있고, ARM을 로봇뿐만 아니라 다양한 분야에서 활용하기 위해 많은 노력을 하고 있다. 본 논문에서는 인간의 팔 동작에 근접하는 로봇 ARM 동작을 구현하는 Smooth ARM Motion 알고리즘을 설계하기 위하여 로봇의 기존 ARM 동작을 파악하고 그 특성을 분석하였다. Smooth ARM Motion은 중대형 로봇 설계에서 이미 적용되어 있지만 소형의 모터 서보를 사용하는 로봇에서는 적용되기 어려운 문제점을 가지고 있다 따라서 본 논문에서는 소형 모터 서보 시스템에서 Smooth ARM Motion을 구현하기 위하여 효과적으로 ARM을 제어하는 방법론을 도출하는 데에 필요한 제어 변수들을 제시하고, Arduino 환경에서 Smooth ARM Motion설계하기 위한 ARM에 대한 제어 변수들 간의 상관관계들을 실험을 통하여 분석하였다.

• Journal of the Korean Institute of Intelligent Systems
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• v.10 no.2
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• pp.107-112
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• 2000

We will prove the existence of final smooth fuzzy topological spaces and final smooth fuzzy closure spaces. From this fact we can define quotient spaces of their spaces.

• Korean Journal of Biological Psychiatry
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• v.2 no.2
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• pp.275-280
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• 1995

Smooth pursuit eye movement, one of the reliable biological markers of schizophrenia, is not always abnormal in schizophrenic patients. Therefore the authors studied it in schizophrenic patients and normal controls and compared the results according to the presence or abscence of family history of psychosis and types (type I and type II). The results are as follows: 1) In the 18 normal control group (8 mole, 10 female), there was no sex difference in the responses of smooth pursuit eye movement. 2) In th 44 schizophrenic group (28 male, 16 female), there also was no sex difference in the responses of smooth pursuit eye movement. 3) In comparison of 44 schizophrenic group to 18 normal control group, there was significantly increased abnormal response in smooth pursuit eye movement in schizophrenic group (P < 0.005). 4) In schizophrenic group, there was no difference in the responses of smooth pursuit eye movement between type I and type II schizophrenia. 5) The presence or abscence of family history of psychosis made no difference in the responses of smooth pursuit eye movement in schizophrenic group. 6) Subdivision of type I or type II in each case of presence or abscence of family history made no difference in the responses of smooth pursuit eye movement in schizophrenic group.

• The Journal of Internal Korean Medicine
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• v.14 no.1
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• pp.1-16
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• 1993

This study was carried out to investigate the effect of Oyootang and Shinchulsan extract on the contractile force of the isolated guinea pig trachea smooth muscle and elucidate its mechanism The result were obtained as follow: 1. The isolated trachea smooth muscle was suspended in the organ bath with oxygenated kerb's Henseleit bicarbonate buffer solution at $37^{\circ}C$, and the developed tension by the drug was recorded with isometric tranducer(Nacro F-60). The resting tension was approximately 0.5g 2. The contractile response of the trachea smooth muscle of the isolated guinea pig by histamine $10^{-4}M$ was significantly inhibited by Oyootang and Shinchulsan extract. 3. The contractile response of the trachea smooth muscle of the isolated guinea pig by acetylcholine $10^{-4}M$ was considerably inhibited by Oyootang and Shinchulsan extract. 4. The contractile response of the trachea smooth muscle of the isolated guinea pig by histamine $10^{-4}M$ was significantly inhibited by Oyootanghabshinchulsan extract. 5. The contractile response of the trachea smooth muscle of the isolated guinea pig by acetylcholine $10^{-4}M$ was significantly inhibited by Oyootanghabshinchulsan extract. 6. The contractile response of the trachea smooth muscle of the iso-lated guinea pig by histamine $10^{-4}M$ was significantly inhibited by Oyootang, Shinchulsan and its constituent herbs extract. 7. The contractile response of the trachea smooth muscle of the iso-lated guinea pig by acetylcholine $10^{-4}M$ was significantly inhibited by Oyootang, Shinchulsan and its constituent herbs extract.

• Biomolecules & Therapeutics
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• v.27 no.1
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• pp.101-106
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• 2019

Most diabetic patients experience diabetic mellitus (DM) urinary bladder dysfunction. A number of studies evaluate bladder smooth muscle contraction in DM. In this study, we evaluated the change of bladder smooth muscle contraction between normal rats and DM rats. Furthermore, we used pharmacological inhibitors to determine the differences in the signaling pathways between normal and DM rats. Rats in the DM group received an intraperitoneal injection of 65 mg/kg streptozotocin and measured blood glucose level after 14 days to confirm DM. Bladder smooth muscle contraction was induced using acetylcholine (ACh, $10^{-4}M$). The materials such as, atropine (a muscarinic receptor antagonist), U73122 (a phospholipase C inhibitor), DPCPX (an adenosine $A_1$ receptor antagonist), udenafil (a PDE5 inhibitor), prazosin (an ${\alpha}_1$-receptor antagonist), papaverine (a smooth muscle relaxant), verapamil (a calcium channel blocker), and chelerythrine (a protein kinase C inhibitor) were pre-treated in bladder smooth muscle. We found that the DM rats had lower bladder smooth muscle contractility than normal rats. When prazosin, udenafil, verapamil, and U73122 were pre-treated, there were significant differences between normal and DM rats. Taken together, it was concluded that the change of intracellular $Ca^{2+}$ release mediated by PLC/IP3 and PDE5 activity were responsible for decreased bladder smooth muscle contractility in DM rats.

• The Journal of Internal Korean Medicine
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• v.11 no.1
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• pp.77-91
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• 1990

This study was carried out to investigate the effect of Jasoeumja extract on the contractile force of the isolated guinea pig trachea smooth muscle and elucidate its mechanism. The results were obtained as follows: 1. The isolated trachea smooth muscle was suspended in the Organ bath with oxygenated Kreb's Henseleit bicarbonate buffer solution at $37^{\circ}C$, and the developed tension by the drug was recorded with Isometric transducer (Nacro F-60). The resting tension was approximately 0.5g. 2. The trachea smooth muscle of the isolated guinea pig was significantly relaxed by the administration of Jasoeumja extract. 3. The contractile response of the trachea smooth muscle of the isolated guinea pig to histamine $10^{-4}M$ was significantly inhibited by Jasoeumja extract. 4. The contractile response of the trachea smooth muscle of the isolated guinea pig to acetylcholine $10^{-4}M$ was considerably inhibited by Jasoeumja extract. 5. The contractile response of the trachea smooth muscle of the isolated guinea pig to 5-hydroxytryptamine $10^{-4}M$ was considerably inhibited by Jasoeumja extract.

• The Journal of Internal Korean Medicine
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• v.11 no.2
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• pp.68-79
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• 1990

This study was carried out to investigate the effect of Heapyoyangjintang and Haepyoejintang extract on the contractile force of the isolated guinea pig trachea smooth muscle and elucidate its mechanism. The results were obtained as follows : 1. The isolated trachea smooth muscle was suspended in the organ bath with oxygenated kreb's Henseleit bicarbonate buffer solution at $37^{\circ}C$, and the developed tension by the drug was recorded with Isometric transducer(nacro F-60). The resting tension was approximately 0.5g. 2. The trachea smooth muscle of the isolated guinea pig was significantly relaxed by the administration of Haepyoyangjintang and Haepyoejintang extract. 3. The contractile response of the trachea smooth muscle of the isolated guinea pig to histamine$10^4M$ Was significantly inhibited by Heapyoyangjintang and Haepyoejintang extract. 4. The contractile response of the trachea smooth muscle of the isolated guinea pig to acetylcholine$10^4M$ was considerably inhibited by Haepyoyangjintang and Haepyoejintang extract. 5. The contractile response of the trachea smooth muscle of the isolated guinea pig to 5-hydorxytrtrypptamine $10^4M$ was considerably inhibited by Haepyoyangjintang and haepyoejintang extract.

• Journal of Power Electronics
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• v.14 no.2
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• pp.341-350
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• 2014

The torque ripple of switched reluctance motors (SRMs) is the main disadvantage that limits the industrial application of these motors. Although several methods for smooth-toque operation (STO) have been proposed, STO works well only within a certain torque and speed range because of the constraints of the supply voltage and peak current. Based on previous work that sought to expand the STO range, a scheme is developed in this study to determine the maximum smooth torque range at each speed. The relationship between the maximum smooth torque and speed is defined as the smooth torque speed characteristics (STSC), a concept similar to torque speed characteristics (TSC). STSC can be utilized to evaluate torque utilization by comparing it with TSC. Thus, the concept benefits the special design of SRMs, especially for the generation of smooth torque. Furthermore, the torque sharing function (TSF) derived from the proposed method can be applied to STO, which produces a higher smooth torque over a wider speed range in contrast to four typical TSFs. TSimulation and experimental results verify the proposed method.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.9
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• pp.957-962
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• 2009

Sialon was produced by hot-pressing the mixtures of $Si_3N_4$, AlN and $Y_2O_3$ powders. All fracture tests were performed on a three-point loading system with a 30 mm bending span. Fracture toughness and Vickers hardness of smooth specimen were average 7.05 $MPa{\cdot}m^{0.5}$ and Hv = 1580, respectively. Density of three kinds of specimens, smooth specimen, smooth and healed specimen, smooth with $SiO_2$ colloidal coating and healed specimen, had beyond 99 % of theoretical density. Bending strength of smooth healed specimens had high strength more than 1 GPa. Crack healed specimens recovered as strength as smooth specimen. That is, cracked specimen with $SiO_2$ colloidal coating on cracked part recovered strength by heat treatment, completely. Crack healing of $Si_3N_4$ composite ceramics had contributed glassy $SiO_2$ to strength recovery. Limiting high temperature for bending strength of heat treated smooth specimen for bending strength was about 1273 K.

• The Journal of Internal Korean Medicine
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• v.13 no.2
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• pp.84-94
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• 1992

This study was carried out to investigate the effect of samyootang and shinchulsan extract on the contractile force of the isolated guinea pig trachea smooth muscle and elucidate it's mechanism The isolated were obtained as follows ; 1. The isolated trachea smooth muscle was suspended in the organ bath with oxygenated kreb's Henseleit bicarbonate buffer solution at $37^{\circ}C$, and the developed tension by the drug was recored with Isometric transducer (nacro F-60) The resting tension was approximately 0.5g 2. The contractile response of the trachea smooth muscle of the isolated guinea pig to histamine $10^{-4}M$ was significantly inhibited by samyootang and shinchulsan extract. 3. The contractile response of the trachea smooth muscle of the isolated guinea pig to acetylcholine $10^{-4}M$ was considerably inhibited by samyootang and shinchulsan extract. 4. The contractile response of the trachea smooth muscle of the isolated guinea pig to histamine $10^{-4}M$ was significantly inhibited by samyootang and shinchulsan extract. 5. The contractile response of the trachea smooth muscle of the isolated guinea pig to acetylcholine $10^{-4}M$ was significantly inhibited by samyootang and shinchulsan extract.