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최적 경로 및 충돌 회피를 위한 다개체 모바일 로봇의 동적 경로 계획 알고리즘
최병준(Byung June Choi),진성문(Sung Miin Jin),박재훈(Jaehoon Park),김범수(Bum-Soo Kim),문형필(Hyungpil Moon),구자춘(Ja Choon Koo),정완균(Wankyun Chung),최혁렬(Hyouk Ryeol Choi) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.5
Motion planning of multiple mobile robots is one of the challenging problems in robotics. In this paper, we present a dynamic path planning algorithm for multiple mobile robots using D* Lite algorithm. A native approach of path planning for multiple robots is to assign of priorities to individual robot and to move the robots in a sequential way based on the priorities. While these methods are very convenient, it may cause congestions when many robots need to go through narrow passage. Moreover, deciding priorities would be problematic when the number of robots is very large. The key idea of our approach is to generate detour path in an optimal way. In the first path planning step, each robot computes its optimal path using D<SUP>*</SUP> Lite, without any consideration of the paths of the other robots. When each robot moves to follow its own trajectory, some robots may collide with other. In this case, the robots that are involved in collision generate detour path using D<SUP>*</SUP> Lite algorithm which is known for finding detour path optimally. Then, by considering the total distance of all the robots, it is determined which robot takes detour and which robot takes the original path. Our approach can find a solution that minimizes the overall path length. The proposed dynamic path planning algorithm is validated by simulation experiments.
( Byung Geun Kim ),( Myung Hwan Noh ),( Choong Heon Ryu ),( Hwa Seong Nam ),( Su Mi Woo ),( Seung Hee Ryu ),( Jin Seok Jang ),( Jong Hun Lee ),( Seok Ryeol Choi ),( Byeong Ho Park2 ) 대한내과학회 2013 The Korean Journal of Internal Medicine Vol.28 No.3
Background/Aims: The bedside index of severity in acute pancreatitis (BISAP) is a new, convenient, prognostic multifactorial scoring system. As more data are needed before clinical application, we compared BISAP, the serum procalcitonin PCT), and other multifactorial scoring systems simultaneously. Methods: Fifty consecutive acute pancreatitis patients were enrolled prospectively. Blood samples were obtained at admission and after 48 hours and imaging studies were performed within 48 hours of admission. The BISAP score was compared with the serum PCT, Ranson`s score, and the acute physiology and chronic health examination (APACHE)-II, Glasgow, and Balthazar computed tomography severity index (BCTSI) scores. Acute pancreatitis was graded using the Atlanta criteria. The predictive accuracy of the scoring systems was measured using the area under the receiver-operating curve (AUC). Results: The accuracy of BISAP (≥ 2) at predicting severe acute pancreatitis was 84% and was superior to the serum PCT (≥ 3.29 ng/mL, 76%) which was similar to the APACHE-II score. The best cutoff value of BISAP was 2 (AUC, 0.873; 95% con- fidence interval, 0.770 to 0.976; p < 0.001). In logistic regression analysis, BISAP had greater statistical significance than serum PCT. Conclusions: BISAP is more accurate for predicting the severity of acute pancreatitis than the serum PCT, APACHE-II, Glasgow, and BCTSI scores.
Structural basis for the recognition of N-end rule substrates by the UBR box of ubiquitin ligases
Choi, Woo Suk,Jeong, Byung-Cheon,Joo, Yoo Jin,Lee, Myeong-Ryeol,Kim, Joon,Eck, Michael J,Song, Hyun Kyu Nature Publishing Group, a division of Macmillan P 2010 Nature Structural and Molecular Biology Vol.17 No.10
The N-end rule pathway is a regulated proteolytic system that targets proteins containing destabilizing N-terminal residues (N-degrons) for ubiquitination and proteasomal degradation in eukaryotes. The N-degrons of type 1 substrates contain an N-terminal basic residue that is recognized by the UBR box domain of the E3 ubiquitin ligase UBR1. We describe structures of the UBR box of Saccharomyces cerevisiae UBR1 alone and in complex with N-degron peptides, including that of the cohesin subunit Scc1, which is cleaved and targeted for degradation at the metaphase-anaphase transition. The structures reveal a previously unknown protein fold that is stabilized by a novel binuclear zinc center. N-terminal arginine, lysine or histidine side chains of the N-degron are coordinated in a multispecific binding pocket. Unexpectedly, the structures together with our in vitro biochemical and in vivo pulse-chase analyses reveal a previously unknown modulation of binding specificity by the residue at position 2 of the N-degron.
Billroth II 수술 후 발생한 소장의 세균과다증식에 의한 흡수장애 1예
최창렬,박경남,한동수,이민호,이정익,강태영,윤병철,이동후,이오영,전용철,은창수,함준수,기춘석,정청일 대한소화기학회 2001 대한소화기학회지 Vol.37 No.2
A large number of disorders have been associated with proliferation of enteric microorganisms in the small intestine. Billroth II partial gastrectomy is one of the factors that can develop bacterial overgrowth of small intestine. This bacterial overgrowth can lead to malabsorption or disturbed metabolism of intestinal contents. Many cases of bacterial overgrowth after partial gastrectomy have been reported in America and European literature. However, no case has been reported in Korea. Here, we describe a 44-year-old male patient with malabsorption who compalined of abdominal discomfort and peripheral edema. He had a history of Billroth II operation due to perforated gastric ulcer which had occurred 10 years before visiting our hospital. Jejunal biopsy was performed for differential diagnosis. In the aspirated jejunal fluid culture, $gt;10^5 organisms/mL were observed. After sensitivity based antibiotics therapy, clinical improvement was observed and he recovered well.