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최인구,이응혁 대한의용생체공학회 1994 의공학회지 Vol.15 No.2
The objective of the research reported in this paper is to design locomotion system of the motorized wheelchair, to develope the wall following algorithm. The indoor navigation of a motorized wheelchair can be based on the wall following techniques. In this paper, it is proposed to enhance stability and efficiency using the 3 ultrasonic sensors arranged at a same perpendicular pivot. Using this method, the angle between the motorized wheelchair and the wall is detected and the range of control commands has been increased. For the better stability, the calculated slope of a wall using LSLF algorithm was fed back to the control part. By adapting the suggested algorithm and method, the motorized wheelchair could follow a wall in 4 seconds, for a change of distance between the wheelchair and wall from 30 to 100cm.
From Connected to Automated Driving
최인구 대한교통학회 2016 대한교통학회 학술대회지 Vol.75 No.-
자율주행차는 레이더, 카메라, 라이다 등의 차량센서 정보를 이용하여 차량 주변상황을 인지․판단하고 차량을 제어하면서 스스로 목적지까지 운행한다. 자율주행차 기술의 급격한 성장과 더불어, 사물인터넷(IoT), 인공지능(AI)와 같은 기술변화는 사람과 모든 사물을 연결하고 지능화하는 4차 산업혁명을 예고하고 있다. 도로에서도 일반차량 및 자율주행 차량과 도로인프라가 통신으로 연결되어 서로 협력하는 차세대 ITS(C-ITS, 협력 지능형 교통체계) 시범사업과 자율협력주행 도로시스템 R&D를 추진하고 있다. 자율주행차량 센서 인식범위의 한계를 보완하기 위해 도로인프라로부터 정확한 정보를 수집하여 제공함으로써 자율주행차량의 안전도를 향상(Redundancy) 시킬 수 있을 것이며, 중․장기적으로는 자율주행차량이 차선변경과 합류시 수행하는 차량제어 기술과 교통센터에서 빅데이터와 실시간 교통시뮬레이션을 통한 교통흐름을 네트워크 차원에서 최적화하는 기술을 개발할 계획이다. 이러한 연구개발은 미국 연방교통국(US DOT)는 ITS 전략(2015∼2019)과 유럽연합의 Horizon 2020 프로그램(2016∼2020) 등을 참조하여 세계적 기술개발에 대응하도록 할 계획이다.
청열막성방(淸熱膜性方)이 Cationized Bovine Serum Albumin투여로 유발된 Mouse의 Membranous Nephropathy에 미치는 영향
최인구,조충식,김철중,Choi, In-Gu,Cho, Chung-Sik,Kim, Cheol-Jung 대한한방내과학회 2008 大韓韓方內科學會誌 Vol.29 No.1
Objective : Membranous nephropathy (MN) is the most common cause of adult nephrotic syndrome worldwide. MN has been defined as granular subepithelial deposition of IgG immune complexes along the glomerular basement membrane (GBM). We aimed to identify the effects of Chungyeolmaksungbang (CYMSB) treatment on cBSA-induced in MN mouse model. Methods : The effect of Chungyeolmaksungbang treatment was studied on the morphology and protein excretion in the cationized bovine serum albumin (cBSA)induced mouse chronic serum sickness nephritis model. One group of mice was given intra-peritoneal (i.p.) immunizing doses of cBSA and complete Freund's adjuvant. One week later, these animals began a single i.p. injection of cBSA for 4 weeks. A second group followed the same injection protocol, but was given CYMSB p.o. Results : Proteinuria significantly was decreased and serum albumin was increased in the group treated with cBSA and CYMSB extract compared with the control. Serum BUN was significantly decreased on CYMSB compared with control. CD3e+/CD19 cells ratio of peripheral blood was decreased and CD4+/CD8 cells was increased. Level of $IL-1{\beta}$ was significantly decreased, and $IFN-{\gamma}$ was significantly increased. Concentration of IgG and IgM was significantly decreased compared with control. Thickness of GBM was decreased on histological analysis of kidney. Deposition of CD4 and CD8 was decreased on immunohistochemical staining of kidney. Conclusions : We conclude that CYMSB treatment may could be a useful remedy agents for treating the MN with cBSA.
진무탕(眞武湯)이 백서의 갑상선기능저하증에 미치는 영향
최인구,채은영,장선규,조충식,김철중,Choi, In-Goo,Chae, Eun-Young,Chang, Sun-Kyu,Cho, Chung-Sik,Kim, Cheol-Jung 대한한방내과학회 2006 大韓韓方內科學會誌 Vol.27 No.4
Objectives : This study was done to investigate the effects of JMT on hypothyroidism in rats. Materials and Methods : After pretreatment with 50mg/kg thiouracil for 30 days, the experimental group was treated with 0.56g/kg JMT orally and the control group was treated with 0.56g/kg of normal saline instead for 20 days. The various indicators related to hypothyroidism were measured, such as T3-uptake content, T3 content, T4 content, TSH content, hematological values, enzyme activity, total cholesterol content, Na+ content change in the serum and body weight of rats induced by thiouracil. Results : The JMT-treated group showed significant increase in comparison with the control group in serum T3-uptake and T4 content. The JMT-treated group also showed significant decrease in comparison with the control group in serum TSH content. However, the JMT-treated group did not show significant increase in comparison with the control group in serum T3 content. The JMT-treated group showed significant increase in comparison with the control group in serum RBC. The JMT-treated group showed significant decrease in comparison with the control group in serum CPK, ALP, LDH content and serum total cholesterol content. The JMT-treated group did not show significant increase in comparison with the control group in serum Na+ content. The JMT-treated group showed significant decrease in comparison with the control group in body weight. Conclusions : These results suggest that JMT is useful in treatment of hypothyroidism.