Predictive Risk Assessment Using Cooperation Concept for Collision Avoidance of Side Crash in Autonomous Lane Change Systems

Hyunsoo Lee,Chang Mook Kang,Wonhee Kim,Woo Young Choi,Chung Choo Chung 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10

We present an innovative approach to risk assessment using cooperation concept for collision avoidance of side crash for autonomous lane change system. The cooperation concept is proposed to check an available space in the target lane for lane change in a short period of the future. Before moving to the target lane, the ego vehicle needs to check whether the object vehicle is cooperative or not for the lane change. The object vehicles are indexed as cooperative driver (CD) or non-cooperative driver (NCD) through the conditions based on the relative longitudinal acceleration and the collision free time. If the object vehicle is CD, the ego vehicle moves toward the target lane within the original lane for the preparation of the lane change. The ego vehicle should keep its lateral position within the original lane until the situation for the lane change becomes safe. As soon as the risk assessment becomes safe, the lane change is performed. Therefore, lane change can be started in advance compared to the conventional methods. The proposed method was validated via computational simulation and experimental results.

Rat의 복강내에 투여한 5-fluorouracil-polyglycolic acid 제형이 장기에 미치는 영향에 관한 연구

강대영,송규상,최정목,노승무,정경수,오정연,김진향,양준묵,최선웅,이진호,조준식,민병무,김용백,김창식,박근성,김승영,김학용,인현빈 충남대학교 의과대학 지역사회의학연구소 1998 충남의대잡지 Vol.25 No.1

For more effective intraperitoneal chemotherapy, the authers made 5-fluorouracil-polyglycolic acid composite disks(FU-PGA disks) with 5-fluorouracil and polyglycolic acid, a biodegradable polymer. We inserted the FU-PGA disk into the peritoneal cavites of Sprague-Dawley male rats, the control and three experimental groups; one FU-PGA disk insert group(300mg/kg), two FU-PGA disk insert group(600mg/kg), and three FU-PGA disk insert group(900mg/kg). The control group received a similar number of PGA disk inserts. A pharmacokinetic study was performed to measure the 5-fluorouracil concentration in the peritoneal fluid, blood, and tissues(liver, kidney and heart) at 24 hours, 72hours and 168 hours after insertion of the FU-PGA disk. Light and electron microscopic studies were done. The results were as follows: 1) The number of white blood cells and platelets decreased after FU-PGA insertion. The degree was proportional to the duration and amounts inserted. The change in the number of red blood cells varied slightly. 2) Light microscopically, slight changes were noted at 168 hours in the 3 disk insert group (900mg/kg). Mild fatty change and hepatocyte degeneration around the central veins of the liver were noted, with vacuolar degeneration in the proximal convoluted tubules of the kidney. 3) Electron microscopically,the liver showed focal increases of lipid droplets in the hepatocytes, and irregular nuclear membrane with focal nucleolar segregation of the fibrillar and granular elements. Also the double membranous structure of the hepatocytes and Kupffer cells was widened with bleb formation. The kidney showed wide separation of the nuclear double membrane in the proximal convoluted tubular cells and mesangial cells, with vacuolation and myelin figure formation in the mitochondria of the proximal convoluted tubular cells, at 72 hours and 168 hours in the 2 to 3 FU-PGA insert groups. The heart showed focal loss of cristae,vacuolation and myelin figure formation in the mitochondria of the 2 to 3 FU-PGA insert groups. In conclusion, despite the large amont of FU-PGA inserted, the histopathological changes in the liver, kidney and heart were slight, and consonant with the very low amount of 5-fluorouracil concentrations detected in the liver, kidney and heart. The above results suggest that the FU-PGA composite can serve as a new device for releasing drugs in a controlled manner and easily targeted to intraperitoneal organs. This device can improve the efficacy of intraperitoneal chemotherapy for gastric cancer.

백서의 복강내에 투여한 Mitomycin-C-Polyglycolic acid 제형이 장기에 미치는 영향에 관한 연구

송규상,강대영,최정목,노승무,정경수,오정연,김진향,양준목,최선웅,이진호,조준식,민병무,김용백,김창식,박근성,김승영,김학용,인현빈 충남대학교 의과대학 지역사회의학연구소 1998 충남의대잡지 Vol.25 No.1

To evaluate the in-vivo effects of mitomycin-C-polyglycolic acid composite(MMC-PGA) the disk: shaped composite were implanted into the peritoneal cavity of the Sprague-Dawley rats. The pathologic changes were examined at various time points up to 12 weeks. Initially the soft tissue around the inserted disks showed capillary congestion at 3 days. Inflammatory infiltrates with foreign body giant cells appeared from the 2nd week and reached peak response at 6-8 weeks. These reaction diminished prominently at 12 weeks. No specific pathologic change was found in the liver, the kidneys, and the heart. The above results suggest that the MMC-PGA composite can serve as a new device for intraperitoneal chemotherapy of various types of cancers.

5, 7-DHT가 흰쥐 등쪽솔기핵내 신경아교세포에 미치는 영향

채제명(Je Myung Chae),조승묵(Seung Mook Jo),남성안(Seong Ahn Nam),윤상선(Sang Seon Yoon),고병문(Byung Moon Ko),최창도(Chang Do Choi),최월봉(Wol Bong Choi) 대한해부학회 1998 Anatomy & Cell Biology Vol.31 No.1

신경독성물질인 5, 7-dihydroxytryptamine (5, 7-DHT)이 중추신경계통내 serotonin 신경세포에 미치는 영향과 이에 따른 신경아교세포들의 반응을 형태학적으로 규명하고자 본 연구를 시행하였다. 흰쥐의 가쪽뇌실에 5, 7-DHT(200μg)를 투여한 후면역세포화학적 염색을 시행한 후 광학 및 전자현미경하에서 등쪽솔기핵내 serotonin 신경세포에 초래되는 퇴행성변화와 주위 신경아교세포들의 반응양상 등을 경시적으로 (1, 3, 5, 10 및 20일) 관찰하였던 바 아래와 같은 결과를 얻었다. 흰쥐 등쪽솔기핵내 5, 7-DHT의 세포독성에 반응을 보인 신경아교세포로는 미세아교세포와 별아교세포였으며, 이들 세포 들의 반응양상은 매우 특징적이었으며, 상당한 차이를 보였으며, 전반적으로 미세아교세포가 별아교세포에 비해 빠른 변화소견을 보였다. 즉, 미세아교세포의 경우 실험 3일군 및 5일군에서 이미 그 수의 증가와 함께 활발한 포식작용을 보였던 반면, 별아교세포는 후기 실험군인 10일군 및 20일군에 이르러서야 세포질의 비대 및 수적 증식을 통하여 손상된 신경조직을 보상할 뿐 아니라 밀집된 미세아교세포들을 분산시키는 소견이 관찰되었다. 그러나 희소돌기아교세포는 본 연구의 전 실험군을 통하여 특별한 변화소견이 관찰되지 않았다. 이상의 결과로 부터 5, 7-DHT가 흰쥐 등쪽솔기핵내 신경세포에 강한 세포독성을 유발하며, 이에 따른 주위 신경아교세 포들 특히 미세아교세포와 별아교세포는 시간경과에 따라 매우 다양한 반응양상을 보인다는 사실을 알게 되었다 This study was designed to clarify the cytotoxic effects of 5, 7-dihydroxytryptamine (5, 7-DHT) on the serotonergic neurons in the dorsal raphe nucleus, and to investigate the glial reaction during the neurodegenerative changes by light and electron microscopy. Adult male rats (Sprague-Dawley strain) weighing from 250 g to 350 g each were used as experimental animal. 5, 7-DHT(200 μg dissolved in 0.9% NaCl) was injected into the lateral ventricle of the rat brain with the Hamiton syringe fixed on stereotaxic apparatus. The control rats were given with the similar volume of 0.9% NaCl. The rats were sacrified on the 1st, 3rd, 5th, 10th and 20th day after the injection of 5, 7-DHT. The results were as follows : Glial reactions induced by 5, 7-DHT were also observed in DRN. In early experimental stage, microglial reactions prevailed, whereas astroglial reactions were prevailing in later stage. In addition, microglial cells phagocytosed and removed the degenerated cells. However, astrocytes in DRN did not show phagocytotic activities such as microglial cells. Based on the results, author thought that 5, 7-DHT act as a specific neurotoxin to serotonergic neurons in DRN, and induces severe neurodegenerative changes. The glial reactions in DRN are activated during the neurodegerative changes, and show characteristic patterns of glial reactions.

6-OHDA가 흰쥐 등쪽솔기핵내 도파민성 신경세포와 별아교세포에 미치는 영향

홍은석(Eun Seog Hong),남성안(Seong Ahn Nam),조승묵(Seung Mook Jo),강태천(Tae-Cheon Kang),원무호(Moo Ho Won),최창도(Chang Do Choi) 대한해부학회 1999 Anatomy & Cell Biology Vol.32 No.4

신경독성물질인 6-hydroxydopamine (6-OHDA)이 중추신경계통 내 도파민성 신경세포에 미치는 영향과 이에 따른 별아교 세포들의 반응을 형태학적으로 규명하고자 본 연구를 시행하였다. 흰쥐의 가쪽뇌실에 6-OHDA를 투여한 후 면역조직화학 염색을 시행하여 광학현미경 하에서 등쪽솔기핵 내 도파민성 신경세포에 나타나는 퇴행성변화와 주위 별아교세포들의 반응양상 등을 경시적으로 제 3일, 제 5일, 제10일 및 제20일에서 관찰하였던 바 아래와 같은 결과를 얻었다. 6-OHDA에 의한 도파민성 신경세포의 퇴행성변화는 약물투여후 제 3일군에서 세포돌기가 팽대되고, 제 5일군과 제 10일군에서는 세포돌기의 소실과 함께 세포체가 위축되었고, 제20일군에서는 세포체가 소실되었다. 또한 6-OHDA에 의해 도파민성 신경세포들의 손상이 진행되면서 별아교세포들의 반응양상은 제 5일에서 대조군에 비해 급격하게 증가하였으며, 제20일에 이르러 최고값을 보였다. 이상의 결과로부터 6-OHDA가 중추신경계통 내 도파민성 신경세포들에 선택적이고 강한 세포독성을 유발하여 퇴행성 변화가 진행되고, 세포 손상이 시간 경과에 따라 진행되면서 주위의 별아교세포들이 지속적으로 증가된 활동을 보인다는 사실을 알게 되었다. This study was designed to clarify the cytotoxic effects of 6-hydroxydopamine (6-OHDA) on the dopaminergic neurons and astrocytes in the dorsal raphe nucleus (DRN), and to investigate neurodegenerative changes by immunohistochemistry. Adult male rats (Sprague-Dawley strain) weighing from 250 to 350 g were used as experimental animals. 6-OHDA (100 μg dissolved in 0.1% ascorbic acid) was injected into the lateral ventricle of the rat brain with the Hamilton syringe. The control rats were treated with the similar volume of 0.1 % ascorbic acid. The rats were sacrificed at the 3rd, 5th, 10th and 20th day, respectively, after the injection of 6-OHDA. The cytotoxicity of 6-OHDA resulted in severe neurodegeneration of the dopaminergic neurons in the DRN. In the 3rd day, the dopaminergic fibers were dilated. In the 5th and 10th days, the dopaminergic fibers were depleted, and dopaminergic cell bodies were shrunken. In the 20th day, the dopaminergic cell bodies were almost completely disappeared. Astroglial reactions induced by 6-OHDA were also observed in the DRN. In the 5th day, astrocytes were significantly increased as compared with that of the control value. The value were reached at its maximum by the 20th day. Based on the present results, it suggests that 6-OHDA may act as a specific neurotoxin to dopaminergic neurons in the DRN, and induce severe neurodegenerative changes. Also, it suggests that the astroglial reaction in the DRN is gradually activated during the neurodegerative changes

수면확성기의 음향특성에 관한 연구

이창헌,문종욱,박용석,최찬문,서두옥 제주대학교 해양연구소 1998 해양자원연구소연구보고 Vol.22 No.-

To obtain the fundamental data on a surface speaker made to lure fish school by pure sound, three surface speakers were made of moving coil driver units of 75W and 50W respectively. Their frequency characteristic was measured in the range of 200 - 4mHz that could be used in luring fish school. The results of the measurements in air and sea are follows. 1. The input and output wave forms of a surface speaker were similar to each other in measurement frequencies in air. Then sound pressure of a surface speaker made of 75W driver units among them was over 130dB(0dB re 20μ Pa) in the range of 300 - 400Hz maximally. 2. When the surface speaker with 75W driver units emitted the measurement frequencies at sea. Sound pressure classified by the depth of water were over 140dB at 1m and 120dB at 20m(0dB re 1μ Pa) respectively.

수중 가청음에 대한 멸치 어군의 행동 반응

이창헌,문종욱,박용석,최찬문,서두옥 제주대학교 해양연구소 1998 해양자원연구소연구보고 Vol.22 No.-

A field experiment was carried out to confirm the effect of underwater sound on the luring of fish school using a surface speaker at the coast of Cheju Island. Underwater sounds that were emitted for the luring of fish school were the pure sound of which frequencies were 200Hz and 300Hz. 1. The sound pressure level of 100Hz. 200Hz. 300Hz. 500Hz and 1000Hz classified by the depth of water at sea were 95dB. 100dB. l00dB 80dB and 60dB at 1m. 90dB. 95dB. 88dB. 70dB and 45dB at 10m. 87dB, 90dB. 82dB. 65dB and 42dB at 20m respectively. 2. The effect of the emitted pure sound of 200Hz and 300Hz was remarkable for luring of fish school in about 30 minutes after sound emission. Then Sound pressure was 120 - 130dB. The lured fish school was the shoal of anchovy 3. The fact that anchovy school geathered at 200Hz and 300Hz suggested that this fish school did not show sensitive response to the change of frequencies.

위암 환자의 복강내 투여를 위한 Activated Charcoal-Alginate Bead 제형으로부터 Mitomycin C의 용출 거동

이진호,최선웅,서중기,김동민,정경수,오정연,김진향,노승무,민병무,김용백,김창식,박근성,강대영,송규상,양준묵,조준식,정현용,김학용,인현빈 충남대학교 의과대학 지역사회의학연구소 1998 충남의대잡지 Vol.25 No.1

Locoregional recurrence is the most common type of recurrence in surgical operation of gastric adenocarcinoma, and peritoneal dissemination is one of the most difficult problems in advanced gastric adenocarcinoma treatment. Because the peritoneal cavity is the most common site of the first recurrence after gastric cancer resection, intraperitoneal chemotherapy seems a logical choice for cancer chemotherapy. In this study, Mitomycin C (MMC)-activated charcoal (CH)-alginate (ALG) beads were prepared by the mixtures of CH particles adsorbed with MMC as an anti-cancer drug and aqueous alginate solution. The alginate is recognized as biodegradable, nontoxic, and biocompatible. The release of MMC from the beads in 0.1 M Tris buffer was stable and continuous until about 1 week. The MMC-CH-ALG beads can be applied in the peritoneal cavity for intraperitoneal chemotherapy since they provide a good adhesiveness on the tissue and controlled release pattern of the drugs.

생체분해성 고분자를 이용한 사시수술용 제형개발 및 효용성에 대한 연구

민병무,김용백,김승영,김창식,박근성,길숙종,조항진,이성복,노승무,송규상,강대영,조준식,양준묵,정경수,최선웅,이진호,김학용,인현빈 충남대학교 의과대학 지역사회의학연구소 1998 충남의대잡지 Vol.25 No.1

A new device, muscle clamping system was developed to facilitate exact quatifying technique A strabismus surgery, and reduce the risk of complications. The device is composed of a lower fixing body with three jaws and an upper supporting body. They are used to clip an extraocular muscle and fix it to the sclera with a single bite. Superior rectus recession on 16 rabbit eyes were performed with this new device. Conjunctival injection, muscle adhesion strength, and light microscopic findings were examined at 1, 2, 4 and 8 weeks postoperatively. The Conjunctival injection were minimal, adhesion power ranged from 420 to 600 gram gravity, which is sufficient in withstand the normal pull of human extraocular muscle. In microscopic exam, some Inflammatory cells and fibrosis were found. The new device was technically easy, fast, and accurate, so it may be useful in stabismus surgery.

6-OHDA가 흰쥐 등쪽솔기핵내 도파민성 신경세포와 별아교세포에 미치는 영향

홍은석,남성안,조승묵,강태천,원무호,최창토 대한해부학회 1999 Anatomy & Cell Biology Vol.32 No.4