이동로봇의 실시간 장애물인식에 관한 연구

오세봉,Nguyen Huu Cong,김준홍,조창제,한성현 한국공작기계학회 2008 한국공작기계학회 추계학술대회논문집 Vol.2008 No.-

This paper achieves a research about avoidance of obstacles avoidance based on ultrasonic sensor. The performance of the proposed obstacle avoidance robot controller in order to determine the exact dynamic systems modeling system that uncertainty is difficult for nomadic controlled robot direction angle by ultrasonic sensors throughout controlled performance tests. In additionally, this study is an in different ways than the self-driving simulator in the development of ultrasonic sensors and unmanned remote control techniques used by the self-driving robot controlled driving through an unmanned remote controlled unmanned realize the performance of factory automation.

대장암의 근치적 수술 후 폐 전이성 종양의 절제 1예 보고

오지영,유승기,김승정,최진혁,이순남,김광호,한운섭 梨花女子大學校 醫科大學 醫科學硏究所 1995 EMJ (Ewha medical journal) Vol.18 No.2

Although the role of surgical management of metastatic disease from primary carcinoma of the coln and recutm is still controversial, resection of hepatic metastasis improves survival rate of patients with primary colorectal carcinoma treated locally. The lung is the most common site of extra-abdominal metastasis following resection of a prymary colorectal tumor and not amenable to curative therapy. It is possible to resect the pulmonary metastasis in selected patients following resection of colorectal cancers, but the 5-year survival rates are ranged from 9% to 57%. Authors report a case of resection of pulmonary metastasis occured 3 years after resection of primary colon carcinoma.

두가지 혈류 유발방법에 의한 새로운 심폐소생술(이중 혈류 유발 심폐소생술)장치의 개발

황성오,김현,조준휘,오범진,임종천,최경훈,윤정한,이승환,김영식,이강현,이윤선 大韓應急醫學會 1999 대한응급의학회지 Vol.10 No.2

Background: There have been many efforts to augment blood flow during cardiopulmonary resuscitation. These efforts have focused on maximizing the effect of cardiac pump or thoracic pump alone. However, considering that the heart is the biggest blood reservoir and increase of intrathoracic pressure can generate blood flow, simultaneous exploitation of both mechanisms may have synergistic effect. We hypothesized that simultaneous chest constriction in addition to sternal compression by standard CPR may have additive hemodynamic effects by preventing deformation of the chest and increase of intrathoracic pressure. Methods and results: we built a new mechanical device to perform compression and thoracic constriction simultaneously. The device consists of two main elements. Piston in the center is to depress the sternum. Strap is to constrict the thorax circumferentially. Strap is attached to both sides of the piston. When the piston is pushed down, it depresses the sternum and pulls on the thoracic strap. To determine strap width to produce optimal hemodynamic effect, we measured hemodynamic parameters with variable widths of strap in two dogs after induction of ventricular fibrillation. Result of the experiment showed that 10cm wide strap was determined to be most effective. We also determined optimal depth of compression to produce maximal hemodynamic effect with animal experiments using two dogs. Animal experiments showed that the highest aortic pressure could be generated when the stemum was depressed to 5 cm. Cardiopulmonary resusciation using a new device could generate higher systolic aortic pressure, coronary perfusion pressure and end-tidal carbon dioxide tension in comparison with standard cardiopulmonary resuscitation in a pilot animal study using two dogs. Conclusion: New cardiopulmonary resuscitation method using a mechanical device designed by us could perform sternal compression and simultaneous thoracic constriction, and generate better hemodynamic effects than standard cardiopulmonary resuscitation in pilot animal experiments.

유계되지 않은 불확실성을 포함하는 로봇 매니퓰레이터를 위한 새로운 가변구조 제어

천경한,장준오 위덕대학교 산업기술연구소 2000 산업기술연구소 논문집 Vol.4 No.1

본 논문에서는 시변고속이면서 유계되지않은 불확실성을 포함하는 로봇 매니플레이트를 위한 가변구조를 제안한다. 제안한 제어기는 슬라이딩 모드 제어와 도달 모드 제어로 구성되어 있으며 광범위한 로봇 매니플레이트에 대하여 견실하다. Lyupnov 함수를 이용한 안정성 해석은 제안한 방식이 본 논문에서 가정한 불확실성에 대하여 견실함을 보여준다. 또한 제안한 제어기는 도달 모드 설계 시 승율 도달 법칙을 이용하였으므로 유한 도달 시간을 가지며 영으로 수렴한다. 마지막으로 두 축 로봇 매니플레이터에 대한 모의 실험을 통하여 제안한 알고리듬이 원하는 궤적을 정확하게 추적하며 불확실성에 대해서도 견실 안정함을 보여준다. In this paper the author proposed a variable structure control scheme for robot manipulators including various uncertainties which are unbounded and fast time-varying as well. The proposed controller is composed of the sliding mode control and the reaching mode control, and is robust enough to cover a broad class of nonlinearities which are inevitable in robot manipulators. The stability analysis performed by the Lyapunov method shows that the proposed scheme is robust against the class of uncertainties. Also, the proposed controller guarantees a finite reaching time from the power rate reaching law, and the output tracking error can converge to zero in a finite time. Finally, the simulation performed for a two-link robot manipulator shows the proposed scheme has accurate tracking capability and robustness.

노령에서 고관절 골절에 영향을 주는 수상전 요인

김종오,윤여헌,고영도,유재두,정준모,방한천,강규복 대한골절학회 2002 대한골절학회지 Vol.15 No.4

목 적 : 노령에서 고관절골절의 여러 원인적 요인들과 상관관계를 분석, 그 연관성에 대해 알아 보고자 하였다. 대상 및 방법 : 2001년 1월부터 2002년 5월까지 대퇴 고관절 골절로 본원에서 치료받은 환자중 60세 이상이고 골밀도 검사를 시행받은 158례를 대상으로, 수상전 요인을 나이, 성별, 흡연여부, 비만정도, 골절종류, 수상장소, 다른 이환 질환, 골절전 활동도, 골밀도 검사, 수상당시 바닥의 경도, 수상당시 넘어진 방향, 수상에너지에 따라 대퇴 경부골절과 전자간 골절, 전자간 골절중 안정골절과 불안정 골절로 나눠 비교하였다. 결 과 : 80세 이상의 군에서 대퇴 전자간 골절이 대퇴 경부 골절에 비해 의미있게 많이 발생했음을 알 수 잇었으며(p<0.001) 환자의 수상전 활동정도의 비교에서도 활동정도가 낮았던 군에서 대퇴 전자간 골절이 의미있게 많이 발생하였다(p<0.001). 골밀도 검사에 따른 비교에서는 T-score -3.0 이하인 군에서 대퇴 전자간 골절이 많았으며(p<0.005), 수상에너지에 따른 비교에서는 적은 에너지에 의한 골절이 전자간 골절에서 많았다(p<0.05). 대퇴 전자간 골절은 안정 골절과 비안정 골절로 나눈 비교에서는 사회 활동이 어려운 ADL C이하의 군과(p<0.05), 골밀도 T-score -3.0 이하인군에서는 의미있는 차이를 보였다(p<0.001). 결 론 : 노령에서의 고관절 골절 중 80세 이상의 고령에서, 골밀도 T-score -3.0 이하인 경우, 일상생활 활동정도가 낮은 경우에, 비교적 적은 에너지에 의한 충격시에 대퇴 전자간 골절의 발생이 대퇴 경부 골절에 비해 의미있게 많았고 전자간 골절에서 불안정 골절은 사회활동이 적고 골밀도 T-score -3.0 이하인 경우 많음을 알수 있었다. Purpose : We studied the co-relation on the causes of the hip fracture through the analysis of a relevance on the etiological factors as increased incidence according increasing old age. Materials and Methods : Total 158 cases that treated on the hip fracture from 2001 Jan. to 2002 May were studied. The parameters were age, gender, smoking, obesity, type of fracture, place of fracture, other comorbidity, activity of daily living, bone marrow densitometry, hardness of floor, orientation, injury energy. And then, we analysis of difference between femur neck fracture and femur intretrochanter fracture and between stable femur intertrochanter fracture and unstable femur intertrochanter fracture. Results : The incidence of the femoral intertrochanteric fracture was larger significantly than that of the femoral neck fracture in the older then 80(p<0.001). On the comparison of the pre-fractural activity of daily living, the group revealed lower activity had larger incidence of femoral intertrochateric fracture(p<0.001). Also, the femoral intertrochanteric fracture was more larger osteoporosis patient group(p<0.005), and lower energy trauma(p<0.05). In a unstable femoral intertrochanteric fracture, 21 cases(77.7%) of total 27 cases were belong to the group of the activity of daily living scale below C(p<0.05), 24 cases pf 27 cases were belong to the osteoporosis patient who was estimated below -3.0 on T-score(p<0.001). Conclusion : In the hip fracture of the elderly patients, the femoral intertrochanteric fracture is more prevalance ratherthe femoral neck fracture on the cases of older patient more than 80 year-old, lower activity of daily living scale, lower T-score less than -3.0 on BMD, lower energy trauma. Also, in femur intertrochanter fracture, unstable fracture is more common in low daily activity and owteoporosis.

노령의 대퇴 전자간 골절 치료에서 압박고 나사못의 안정성 및 유용성

김종오,노권재,윤여헌,고영도,유재두,정준모,방한천,정재학 대한골절학회 2003 대한골절학회지 Vol.16 No.2

목 적: 노령의 대퇴 전자간 골절에서 압박고 나사못의 안정성에 영향을 주는 인자들간의 상관 관계와 골절 양상에 따른 술후 고관절 기능을 평가 및 분석하였다. 대상 및 방법: 압박고 나사를 이용하여 수술적 치료를 시행한 231명의 환자 중 6개월 이상 추시가 가능하였던 60세 이상 84명의 환자들을 대상으로 했다. 방사선적 계측은 압박고 나사못의 활강 길이 및 내반각, 가압 나사 위치, 정복 상태, 원위 골편의 내측 전위를 측정하였으며 술후 기능은 Clawson의 기능 평가표로 하였고 골절 양상에 따라 방사선 계측과 기능 회복과의 상관 관계를 평가하였다. 결 과: 임상 결과는 불안정 골절에서 양호가 10례, 불량이 23례, 안정 골절에서는 양호 40례, 불량이 11례로 안정 골절에서 임상 결과가 좋았고(p<0.001), 압박고 나사 활강은 10 ㎜ 이상일 때 양호가 4례, 불량이 21례, 10 ㎜ 이하에서 양호가 46례, 불량이 13례로 10 ㎜ 이상 활강시에 술후 결과가 불량했다(p<0.001). 다르 방사선적 계측 요인은 결과에 의미있는 차이를 보이지 않았다. 또한, 불안정 골절 중에서 전위 양상 골절의 경우 10㎜ 이상 활강이 12례, 10㎜ 이하 활강이 8례, 분쇄 양상 골절의 경우는 10㎜ 이상이 11례, 10㎜ 이하가 2례로 분쇄 양상의 불안정 골절에서 10㎜ 이상 활강이 의미있게 많았다 (p<0.001). 결 론: 10㎜ 이상의 지연 나사 활강은 고관절 기능 회복 약화를 유발시킬 수 있으며 불안정 골절 분쇄 양상 골절은 이런 지연 나사의 활강이 과도하게 유발될 수 있으므로 불안정 분쇄 양상 골절에서 압박고 나사의 단독 사용은 재고해 보아야 할 것이다. Purpose: To evaluate the relationship between fracture stability and functional results, and analyze the correlation between stability factors and the outcome in intertrochanteric fracture of the elderly. Materials and Methods: Of the 231 patients, 84 patients with age above 60 were able to follow up for minimum 6 months. We measured the sliding length of the lag screw, varus degree, position of lag screw, reduction status and medialization of distal fragment radiologically. The functional outcome of the treatment was evaluated with the Clawson's result classification and we evaluated the correlation between the radiological results of measurement and the functional recovery depending on the Evans fracture classification. Results: There were good results in 40 cases out of 51 stable fractures, and in 10 cases out of 33 unstable fractures (p<0.001). In case of sliding of lag screw more than 10㎜, good results were obtained in 4 cases, and poor in 21. And in case of sliding less than 10㎜, good results were obtained in 46, and poor in 13. (p<0.001).But there was no relationship between other radiologic factors and clinical results. In unstable type, there were 12 cases with lag screw sliding more than 10㎜ and 10 cases with less than 10㎜. In comminuted type, there were 11 cases with lag screw sliding more than 10㎜ and 2 cases with less than 10㎜(p<0.001). Conclusion: The sliding of lag screw more than 10㎜ may result in poor outcome. As in comminuted unstable pattern, sliding of lag screw might be excessive, the use of compression hip screw alone is not good treatment option.

이중혈류유발 심폐소생술이 심정지를 유발한 개의 단기 생존율에 미치는 영향

황성오,조준휘,강구현,김성환,문중범,이강현,이승환,윤정한,최경훈,홍은석 대한응급의학회 2000 대한응급의학회지 Vol.11 No.3

Background and Objectives: We previously reported that, compared with standard cardiopulmonary resuscitation(S-CPR), better hemodynamic effects could be achieved by simultaneous sterno-thoracic cardiopulmonary resuscitation(SST-CPR) in which we compressed the sternum and constricted the thorax circumferentially during the systolic period by using a device. This study was designed to assess whether SST-CPR, compared with S-CPR, improve the survival rate of dogs with cardiac arrest. Subjects and methods: Twenty-five mongrel dogs(19∼31㎏) were enrolled in this study. After four minutes of ventricular fibrillation induced by an AC current, animals were randomized to resuscitate with either S-CPR(n=13) or SST-CPR(n=12). Epinephrine(1 ㎎) was injected into the right atrium every three minutes after the beginning of CPR. Defibrillation was attempted after 6 minutes of CPR. Standard advanced cardiac life support was started if defibrillation was not successful. Results: SST-CPR resulted in significantly(p<0.001) higher systolic arterial pressure(91±47 vs 47±24 ㎜ Hg), diastolic pressure(43±24 vs 17±10 ㎜ Hg), coronary perfusion pressure(35±25 vs 13±9㎜ Hg), and end tidal CO2 tension(9±4 vs 3±2 ㎜ Hg). Two of 13 animals(15 %) resuscitated with S-CPR and six of 12 animals(50%) resuscitated with SST-CPR survived until 12 hours after cardiac arrest(p<0.05). Donclusion: SST-CPR, compared with S-CPR, improves the short-term survival rate in canine cardiac arrest.

이동로봇의 장애물 회피기술

김준홍,심병균,오세봉,Nguyen Huu Cong,한성현 한국공작기계학회 2008 한국공작기계학회 춘계학술대회논문집 Vol.2008 No.-

In this paper, it is presented a new approach to the design of intelligent control system of a autonomous robot with two drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy neural network, and back propagation algorithm to train the fuzzy neural network controller in the framework of the specialized learning architecture, It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tracking of the speed and azimuth of a mobile robot driven by two independent wheels

2007년 대한감염학회 권장 성인 예방접종 권장안

강진한,김홍빈,손장욱,이상오,정문현,정희진,최영화,최정현,최준용,최희정 대한감염학회 2008 감염과 화학요법 Vol.40 No.1

In 2007, the Korean Society of Infectious Diseases recommended an immunization schedule for adults residing in Korea. This recommendation includes four categories: standard immunization for healthy persons, supplementary immunization for persons with underlying illnesses, recommendations for health-care personnel and for international travelers. The Standard Immunization Schedule consists of universal vaccination (tetanus-diphtheria/tetanus-diphtheria-pertussis (Td/Tdap); hepatitis A vaccine for persons aged 20s; human papilloma virus vaccine for women under 26 years old; meningococcal vaccine for military recruits and college students in dormitories; influenza vaccination for persons aged 50 years or more and pregnant women; and pneumococcal vaccination for persons aged 65 years or more) and catch-up vaccination (hepatitis A vaccine for persons aged 30s; hepatitis B vaccine, varicella and MMR vaccines for persons who have uncertain specific immunities). The Supplementary Immunization Schedule recommends 4 vaccines, i.e., pneumococcal, influenza, meningococcal, and Haemophilus influenzae type b, appropriate to the underlying illnesses, and confirmation of the presence of antibodies to hepatitis A and hepatitis B. The Recommendation for Health-Care Personnel includes universal vaccination (influenza and pertussis) and catch-up vaccination (hepatitis B, measles-mumps-rubella and varicella for seronegative health-care personnel). The Recommended Immunization for International Travelers focuses reinforcement of vaccinations for healthy persons and includes certain immunizations necessary for international travel (yellow fever, meningococcal, plaque, tick-borne encephalitis, and cholera). These guidelines can be seen at www.ksid.or.kr.

열대 지역에서 통일형 초다수성 벼 품종의 생육 및 수량성 비교

이지윤,준현,성환,손영보,송유천,한상익,박동수,권영업,이철원,이종희 忠北大學校 農業科學硏究所 2015 農業科學硏究 Vol.31 No.2