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이종실,이응혁,민홍기,홍승홍 한국장애인재활협회 2003 재활복지 Vol.7 No.1
현대 사회에 이르러 생활 환경의 향상과 기술의 발달로 복지에 대한 관심이 높아졌으나 국내의 장애인에 대한 복지 시설은 아직 미비한 수준이다. 보도의 점자 블록이나 신호등의 보행 음향 외에 시각 장애인이 실외 활동을 하기 위한 안내 시설이 거의 없어 많은 불편을 초래한다. 따라서 시각장애인을 위한 안전하고 편안한 보행을 위한 보조장치가 필요하다. 본 연구에서는 시각장애인에게 보다 안전하고 편리한 보행보조 수단을 제공하기 위하여 계단 승월이 가능한 유도로봇을 개발하였으며, 이의 시스템은 실외에서 장시간사용이 가능하도록 저전력 구동이 가능한 이동로봇 제어부, 외부 위치 정보를 GPS에 의해 유도가 가능하도록 자기위치추정시스템과 계단 승월이 가능한 메카니즘부로 구성하였다. 제안된 시각장애인 유도로봇의 구동을 위하여 이동 로봇 구동 및 운용 소프트웨어를 개발하였으며, 초음파 센서 어레이를 이용한 장애물 인식을 통한 스테레오 음성 유도 알고리즘, 관성항법시스템을 이용한 주행 경로 보정 시스템 및 알고리즘, 시각 장애인 유도를 위한 점자 보도 블록 인식 기법을 개발하였다. 자기위치추정시스템에서는 자기위치 추적 시스템 H/W와 사용자 인터페이스 개발로서 DGPS수신 모듈과 점자 입력기 및 인터페이스 기법을 개발하였으며, 계단 승월을 위한 유도로봇 메카니즘으로 유성 차륜 방식을 이용하여 이동 메커니즘을 설계하였다. Interest about welfare by upgrade of living environment and development of technology to reach in modern society but welfare facilities about disabled person are unprepared level yet. It causes many discomforts because there is seldom guidance equipment that the visually impaired except Braillewriter type block or walk sound of signal lamp does outdoor activity. Therefore, we need auxiliary equipment for more safe and well walk for the visually impaired. The purpose of this study is to develop a stair-climbing guide robot as auxiliary equipment for the visually impaired. We developed a control part with low-power usable for many long hours outside the door, self-localization system guiding the robot by using the GPS of localization information and mechanism part with an ability of climbing stairs. We developed mobile robot driving and operating software to operate the guidance robot for the visually impaired such as obstacle detection with ultrasonic sensor array, obstacle avoidance through the sound imaging method, position calibration using INS (Initial Navigation System) and detection of braille blocks. In self-localization system, we developed a self-localization H/W and user interface, we adapted DGPS receiver module and suggested a method to interface for braille keypad. For ability of climbing stairs, we constructed wheel mechanism of a guide robot using planetary type.
초음파 어레이를 이용한 이동 로봇의 장애물 회피에 관한 연구
김병남,권오상,김기호,이응혁 建陽大學校 1999 建陽論叢 Vol.- No.7
For mobile robot, the navigation effectiveness can be improved by providing autonomy, but this autonomy requires the mobile robot to detect unknown obstacles and avoid collisions while moving it toward the target. This paper presents an effective method for autonomous navigation of the mobile robot in structured environments. This method uses ultrasonic sensor array to detect obstacles and utilizes force relationship between the obstacles and target for avoiding collisions. Accuracy of sensory data produced by ultrasonic sensors is improved by employing error eliminating rapid ultrasonic firing (EERUF) technique. Navigation algorithm controlling both the velocity and steering simultaneously is developed, implemented to the mobile robot and tested on the floor filled with the cluttered obstacles. It is verified that from the results of the field tests the mobile robot can move at a maximum speed of 0.66 m/sec without any collisions.
Lee, Eung-Chang,Yang, Jun-Young,Lee, Kyung-Goo,Oh, Seung-Young,Suh, Yun-Suhk,Kong, Seong-Ho,Yang, Han-Kwang,Lee, Hyuk-Joon The Korean Gastric Cancer Association 2014 Journal of gastric cancer Vol.14 No.4
Purpose: This study aimed to evaluate the value of serum carcinoembryonic antigen (CEA) and carbohydrate antigen 19-9 (CA19-9) levels to detect gastric cancer recurrence. Materials and Methods: We retrospectively reviewed 154 patients who developed recurrence within 2 years after curative gastric cancer surgery and analyzed the relationship between postoperative CEA and CA19-9 levels and recurrence. We readjusted the cut-off values to improve the detection of recurrence. Subgroup analysis according to clinicopathologic variables was performed to further investigate the relationship between recurrence and CEA and CA19-9 levels. Results: The sensitivity and specificity for elevated CEA levels to detect recurrence were 40.6% and 89.5%, respectively, and those for CA19-9 were 34.2% and 93.6%, respectively. The sensitivity and specificity for elevation of either tumor marker were 54.3% and 84.0%, respectively; those for elevation of both tumor markers were 19.2% and 98.4%, respectively. By readjusting the cut-off values from 5.0 ng/ml to 5.2 ng/ml for CEA and from 37.00 U/ml to 30.0 U/ml for CA19-9, the sensitivity was increased from 34.2% to 40.2% for CA19-9, while there was no increase in sensitivity for CEA. In subgroup analysis, the sensitivity of CEA was higher in patients with elevated preoperative CEA levels than in patients with normal preoperative CEA levels (86.7% versus 33.7%; P<0.001). Furthermore, the sensitivity of CA19-9 was higher in patients with elevated preoperative CA19-9 levels than in patients with normal preoperative CA19-9 levels (82.61% versus 26.83%; P<0.001). Conclusions: CEA and/or CA19-9 measurement with the readjusted cut-off values allows for more effective detection of gastric cancer recurrence.
Variation of Floating Potential in the Topside Ionosphere Observed by STSAT-1
Lee, Junhyun,Lee, Ensang,Lee, Jaejin,Kim, Khan-Hyuk,Seon, Jongho,Lee, Dong-Hun,Jin, Ho,Kim, Eung-Hyun,Jeon, Hyun-Jin,Lim, Seong-Bin,Kim, Taeyoun,Jang, Jaewoong,Jang, Kyung-Duk,Ryu, Kwangsun The Korean Space Science Society 2014 Journal of Astronomy and Space Sciences Vol.31 No.4
In this study, we investigated the effect of space plasmas on the floating potential variation of a low-altitude, polar-orbiting satellite using the Langmuir Probe (LP) measurement onboard the STSAT-1 spacecraft. We focused on small potential drops, for which the estimation of plasma density and temperature from LP is available. The floating potential varied according to the variations of plasma density and temperature, similar to the previously reported observations. Most of the potential drops occurred around the nightside auroral region. However, unlike the previous studies where large potential drops were observed with the precipitation of auroral electrons, the potential drops occurred before or after the precipitation of auroral electrons. Statistical analysis shows that the potential drops have good correlation with the temperature increase of cold electrons, which suggests the small potential drops be mainly controlled by the cold ionospheric plasmas.
이철응(Lee, Cheol-Eung),박동헌(Park, Dong-Heon),권혁재(Kwon, Hyuk-Jae),이선용(Lee, Sun-Yong) 한국해안해양공학회 2009 한국해안해양공학회 논문집 Vol.21 No.4
혼성제 케이슨의 활동파괴모드에 대한 목표파괴수준에 따른 저항 및 하중 그리고 신뢰함수의 부분안 전계수를 산정하였다. 이를 위해 파력의 편이를 고려한 혼성제 케이슨의 활동파괴모드에 대한 신뢰함수를 수립하 고, 관련 확률변수의 불확실성에 대해 분석하였다. Level II AFDA 해석법을 이용하여 여러 수심조건 및 단면조건 그리고 파랑조건에 대해 신뢰성 해석을 수행하였다. 특히 대산항, 동해항 그리고 포항항의 실제 혼성제 케이슨의 활동파괴에 대한 신뢰성 해석도 수행하였다. 마지막으로 목표수준에 따른 혼성제 케이슨의 최소 소요 폭을산정하는 방법으로 본 연구에서 산정된 부분안전계수에 대한 비교 평가를 실시하였다. 비교 결과, 목표수준 1%에서는 약간의 차이를 보이고 있으나 다른 모든 수준에서는 비교적 잘 일치하고 있다. Partial safety factors of the load, resistance, and reliability function are evaluated according to the target probability of failure on sliding mode of monolithical vertical caisson of composite breakwaters. After reliability function is formulated for sliding failure mode of caisson of composite breakwaters regarding bias of wave force, uncertainties of random variables related to loads, strengths are analyzed. Reliability analysis for the various conditions of water depth, geometric, and wave conditions is performed using Level II AFDA model for the sliding failure. Furthermore, the reliability model is also applied to the real caisson of composite breakwaters of Daesan, Dong- hae, and Pohang harbor. By comparing the required width of caisson of composite breakwater according to target probability of failure with the other results, the partial safety factors evaluated in this study are calibrated straightforwardly. Even though showing a little difference on the 1% of target probability, it may be found that the present results agree well with the other results in every other target probability of failure.
Variation of Floating Potential in the Topside Ionosphere Observed by STSAT-1
Junhyun Lee,Ensang Lee,Jaejin Lee,Khan-Hyuk Kim,Jongho Seon,Dong-Hun Lee,Ho Jin,Eung-Hyun Kim,Hyun-Jin Jeon,Seong-Bin Lim,Taeyoun Kim,Jaewoong Jang,Kyung-Duk Jang,Kwangsun Ryu 한국우주과학회 2014 Journal of Astronomy and Space Sciences Vol.31 No.4
In this study, we investigated the effect of space plasmas on the floating potential variation of a low-altitude, polar-orbiting satellite using the Langmuir Probe (LP) measurement onboard the STSAT-1 spacecraft. We focused on small potential drops, for which the estimation of plasma density and temperature from LP is available. The floating potential varied according to the variations of plasma density and temperature, similar to the previously reported observations. Most of the potential drops occurred around the nightside auroral region. However, unlike the previous studies where large potential drops were observed with the precipitation of auroral electrons, the potential drops occurred before or after the precipitation of auroral electrons. Statistical analysis shows that the potential drops have good correlation with the temperature increase of cold electrons, which suggests the small potential drops be mainly controlled by the cold ionospheric plasmas.