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저가 적외선센서를 장착한 이동로봇에 적용 가능한 격자지도 작성 및 샘플기반 정보교합
권태범,송재복 한국로봇학회 2009 로봇학회 논문지 Vol.4 No.3
Low-cost sensors have been widely used for mobile robot navigation in recent years. However, navigation performance based on low-cost sensors is not good enough to be practically used. Among many navigation techniques, building of an accurate map is a fundamental task for service robots, and mapping with low-cost IR sensors was investigated in this research. The robot’s orientation uncertainty was considered for mapping by modifying the Bayesian update formula. Then, the data association scheme was investigated to improve the quality of a built map when the robot’s pose uncertainty was large. Six low-cost IR sensors mounted on the robot could not give rich data enough to align the range data by the scan matching method, so a new sample-based method was proposed for data association. The real experiments indicated that the mapping method proposed in this research was able to generate a useful map for navigation.
진주종의 측두골 고해상력 전산화단층촬영소견과 수술소견의 비교
권태범 대한영상의학회 1993 대한영상의학회지 Vol.29 No.5
To evaluate the value of HRCT imaging in middle ear cholesteatoma, we prospectively analysed the CT images in 28 surgically proven cases with cholestatomas regarding main site of lesion, ossicular change, facial nerve exposure and fistula formation. The most common main site of lesion was the epitympanum (92.8%) The results of sensitivity, posistive predictability, and accuracy by CT imagings were as follows : for ossicular involvement 94.1% 88.8% and 86.2% in malleus, 96.0%, 88.8% and 85.7% in incus, 81.2%, 81.2% and 78.5% in stapes ; for facial nerve exposure, 66.6%, 57.1% and 81.2% for fistula formation 100%, 75.0% and 96.4% respectively. In conclusion, the temporal bone HRCT imaging is an accurate preoperative method in detecting main lesion site, ossicular involvement, fistula formation. Because of the low sensitivity and positive predictability in detecting facial nerve exposure, it is necessary to correlate the HRCT image with the clinical stantus.
실외 이동로봇의 고도지도 기반 위치인식을 위한 고도관성모멘트 추출 및 정합
권태범(Tae-Bum Kwon),송재복(Jae-Bok Song),강신천(Sin-Cheon Kang) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.2
The problem of outdoor localization can be practically solved by GPS. However, GPS is not perfect and some areas of outdoor navigation should consider other solutions. This research deals with outdoor localization using an elevation map without GPS. This paper proposes a novel feature, elevation moment of inertia (EMOI), which represents the distribution of elevation as a function of distance from a robot in the elevation map. Each cell of an elevation map has its own EMOI, and outdoor localization can be performed by matching EMOIs obtained from the robot and the pre-given elevation map. The experiments and simulations show that the proposed EMOI can be usefully exploited for outdoor localization with an elevation map and this feature can be easily applied to other probabilistic approaches such as Markov localization method.
Immunoglobulin G4 비관련 특발성 경화성 장간막염
권태형 ( Tae Hyung Kwon ),조광범 ( Kwang Bum Cho ),이현직 ( Hyun Jik Lee ),권선영 ( Sun Young Kwon ),이윤석 ( Yoon Suk Lee ) 대한소화기학회 2019 대한소화기학회지 Vol.73 No.1
Sclerosing mesenteritis is a rare benign disease with a prevalence of 0.16-3.4% and is characterized by chronic nonspecific inflammation and extensive fibrosis in the adipose tissue of the mesentery although the exact pathogenesis is still elusive. A 65-year-old woman was referred with suspicion of an abdominal mass and biliary stones on abdominal ultrasonography and CT. Bile duct stones were confirmed by endoscopic ultrasonography and successfully treated by endoscopic retrograde cholangiography with stone removal. Furthermore, a 4.7 cm conglomerated mass on small intestinal mesentery was suspected as sclerosing mesenteritis based on the features on abdominal MRI. However, because it could not be differentiated from malignancy without histologic examination, laparoscopic excisional biopsy was performed; it showed only inflammatory cells with extensive fibrosis. Therefore, the abdominal mass was confirmed as sclerosing fibrosis and the patient was followed-up without any treatments because no mass-related symptoms accompanied the findings. Six months later, abdominal CT showed no significant change in the mass. Herein, we report a rare case of incidentally found idiopathic sclerosing mesenteritis. (Korean J Gastroenterol 2019;73:50-55)