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Giant juvenile fibroadenoma of the breast: a case report and brief literature review
송봉섭,김은규,설혜실,서주희,이준아,김동호,임중섭 대한소아내분비학회 2014 Annals of Pediatirc Endocrinology & Metabolism Vol.19 No.1
A girl (age, 12 years 11 months) consulted the pediatric endocrinology clinic because of a rapidly growing right breast mass over 13 cm observed during the preceding 3 months. A surgical excision was performed, and the mass was diagnosed as a giant juvenile fibroadenoma. Giant juvenile fibroadenomas are rare, usually occurring between 10 and 18 years of age, and characterized by massive and rapid enlargement of an encapsulated mass. The etiology is believed to be an end-organ hypersensitivity to normal levels of estrogen. We report a case of giant juvenile fibroadenoma and present a review of the diagnostic workup and management of a large breast tumor during adolescence.
COOPERATIVE LATERAL VEHICLE CONTROL FOR AUTONOMOUS VALET PARKING
송봉섭 한국자동차공학회 2013 International journal of automotive technology Vol.14 No.4
This paper presents a lateral vehicle control algorithm for autonomous valet parking (AVP). Under the assumption that the position and heading angle are provided via vehicle-to-infrastructure (V2I) communication, the lateral controller aims to conduct two different driving maneuvers, i.e., forward driving and backward parking, and to control various types of vehicles in a unified approach. Therefore, it is necessary for the lateral controller to be robust enough to track the desired trajectories for different driving maneuvers, as well as to compensate for the uncertainty caused by the need to consider various vehicle types. With the assumption of operating conditions such as a low speed and small slip angle, a nonlinear kinematic model with kinematic constraints is used for the design of the lateral control. Based on this nonlinear model, a nonlinear control technique called dynamic surface control (DSC) is applied to design the lateral controller, and its stability is analyzed in the framework of linear differential inclusion. Finally, the proposed lateral control algorithm is validated through vehicle simulations and field tests.