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사용자 친화적이고 직관적인 티칭을 위한 충돌예측기능을 포함하는 탈착형 로봇 교시 장치
도현민(Hyunmin Do),김휘수(Hwi-Su Kima),김의겸(Uikyum Kim),최태용(Tae-Yong Choi),박종우(Jongwoo Park),박동일(Dong Il Park),박찬훈(Chanhun Park),경진호(Jinho Kyung),김두형(Doo Hyeong Kim) 한국생산제조학회 2021 한국생산제조학회지 Vol.30 No.1
Increasing demand for automation and recent intact trends have accelerated the employment of robots in manufacturing and service areas. Thus, the need for an easy and efficient robot teaching is also increasing. In this paper, a novel concept of intuitive teaching device is proposed to overcome the weakness of the previous research that enables direct teaching by attaching the teaching device to the end effector of the robot and to improve the intuitiveness and operability. The teaching and collision prediction units are modularized according to their function and can be combined or disassembled. The manipulability is improved by lowering the height of the teaching device, and the influence on the payload is minimized by reducing the weight of the teaching device. A prototype is implemented, and the performance is verified through experiments by attaching the proposed teaching device to an industrial robot and performing teaching and playback tasks.
Antibacterial and remineralization effects of orthodontic bonding agents containing bioactive glass
You-Min Kim,Dong-Hyun Kim,Chang Weon Song,Seog-Young Yoon,Se-Yeon Kim,Hee Sam Na,Jin Chung,Yong-Il Kima,Yong Hoon Kwon 대한치과교정학회 2018 대한치과교정학회지 Vol.46 No.3
Objective: The aim of this study was to evaluate the mechanical and biological properties of orthodontic bonding agents containing silver- or zinc-doped bioactive glass (BAG) and determine the antibacterial and remineralization effects of these agents. Methods: BAG was synthesized using the alkali-mediated solgel method. Orthodontic bonding agents containing BAG were prepared by mixing BAG with flowable resin. TransbondTM XT (TXT) and CharmfilTM Flow (CF) were used as controls. Ion release, cytotoxicity, antibacterial properties, the shear bond strength, and the adhesive remnant index were evaluated. To assess the remineralization properties of BAG, micro-computed tomography was performed after pH cycling. Results: The BAG-containing bonding agents showed no noticeable cytotoxicity and suppressed bacterial growth. When these bonding agents were used, demineralization after pH cycling began approximately 200 to 300 μm away from the bracket. On the other hand, when CF and TXT were used, all surfaces that were not covered by the adhesive were demineralized after pH cycling. Conclusions: Our findings suggest that orthodontic bonding agents containing silver- or zinc-doped BAG have stronger antibacterial and remineralization effects compared with conventional orthodontic adhesives; thus, they are suitable for use in orthodontic practice.