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Autonomous Terrain Adaptation and User-Friendly Tele-Operation of Wheel-Track Hybrid Mobile Robot
김윤구,안진웅,곽정환,홍대한,In-Huck Kim,신동환 한국정밀공학회 2012 International Journal of Precision Engineering and Vol. No.
This paper presents a terrain-adaptive wheel-track hybrid robot that uses a pair of combined wheel and track systems. The hybrid mobile platform can change the shape of track to adapt to various terrains so that it is able to move fast on flat terrain and to show good performance in overcoming stairs or obstacles. The proposed platform consists of an ordinary wheel structure for fast navigation on flat floors and a transformable tracked structure for climbing stairs effectively. In detail, three track arms installed on each side of the platform are used for the navigation mode transition between flatland navigation and stair climbing. The mode transition is determined and implemented by the adaptive driving mode control of the mobile robot. This wheel-track hybrid mobile platform is evaluated through experiments that assess its navigation performance in real and test-bed environments. This hybrid mobile robot is embodied to perform given tasks in a hazardous environment for surveillance, reconnaissance, and search and rescue applications.
이식 전 B형 간염 바이러스 감염이 이식 신의 예후에 미치는 영향
김윤구,한진석,김성권,이정상,김상준,김수태 대한내과학회 1990 대한내과학회지 Vol.38 No.1
To evaluate the impact of HBV infection on graft survial following renal transplantation, we studied 161 recipients whose Hepatitis B surface antigen(HBsAg) status was identified before transplantation by actuarial life table method and log-rank analysis. We considered graft loss as patient'’s death, return to maintenance dialysis or removal of graft. 1) Survival in the HBsAg positive group(18 losses among 22 recipients) was significantly diminished(p=0. 0001) compared with the HBsAg negative group(40 of 139 recipients) and the difference was highly significant in recipients with cyclosporine therapy but not in those with azathioprine. 2) In the HBsAg negative group, no obvious differences in survival were found among the groups categorized by the presence of anti-HBs or anti-HBc prior to transplantation. 3) In the HBsAg positive group, those with no mismatch for HLA showed better survial and there were no differences in graft survival compared with the HBsAg negative group. 4) There were 4 deaths from hepatic failure which occurred only in the HBsAg positive group and only in recipients with cyclosporine therapy. We conclude that patients with pre-existing HBs antigenemia may be poor candidates for renal transplantation.