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김윤구,이기동,Kim, Yoon-Gu,Lee, Ki-Dong 대한임베디드공학회 2008 대한임베디드공학회논문지 Vol.3 No.3
The development of an unmanned vehicle basically requires the robust and reliable performance of major functions which include global localization, lane detection, obstacle avoidance, path planning, etc. The implementation of major functional subsystems are possible by integrating and fusing data acquired from various sensory systems such as GPS, vision, ultrasonic sensor, encoder, and electric compass. This paper focuses on implementing the functional subsystems, which are designed and developed by a graphical programming tool, NI LabVIEW, and also verifying the autonomous navigation and remote control of the unmanned vehicle.
USB(Universal Serial Bus) 데이터 송수신 성능향상을 위한 적응성 통신방식
김윤구,이기동,Kim, Yoon-Gu,Lee, Ki-Dong 한국통신학회 2006 韓國通信學會論文誌 Vol.31 No.10A
USB(Universal Serial Bus)는 최근 컴퓨터시스템에서 가장 인기 있는 인터페이스 중의 하나인데 이를 보다 확대하여 사용 시 즉, 다수의 디바이스들이 서로 연결되는 댁내망을 구성할 때는 버스대역을 시분할 다중화(TDM, Time Division Multiplexing) 방식으로 사용하는 USB의 특징상 버스대역의 병목현상을 초래하게 되는 데 이러한 상황을 보다 효율적으로 대처할 수 있는 버스 대역 사용방안을 제안한다. USB(Universal Serial Bus) is one of the most popular communication interfaces. When USB is used in an extended range, especially configurating In-home network by connecting multiple digital devices each other, USB interface uses the bandwidth in the way of TDM (Time Division Multiplexing) so that the bottleneck of bus bandwidth can be brought. In this paper, the more effective usage of bus bandwidth to overcome this situation is introduced.
Autonomous Terrain Adaptation and User-Friendly Tele-Operation of Wheel-Track Hybrid Mobile Robot
김윤구,안진웅,곽정환,홍대한,In-Huck Kim,신동환 한국정밀공학회 2012 International Journal of Precision Engineering and Vol. No.
This paper presents a terrain-adaptive wheel-track hybrid robot that uses a pair of combined wheel and track systems. The hybrid mobile platform can change the shape of track to adapt to various terrains so that it is able to move fast on flat terrain and to show good performance in overcoming stairs or obstacles. The proposed platform consists of an ordinary wheel structure for fast navigation on flat floors and a transformable tracked structure for climbing stairs effectively. In detail, three track arms installed on each side of the platform are used for the navigation mode transition between flatland navigation and stair climbing. The mode transition is determined and implemented by the adaptive driving mode control of the mobile robot. This wheel-track hybrid mobile platform is evaluated through experiments that assess its navigation performance in real and test-bed environments. This hybrid mobile robot is embodied to perform given tasks in a hazardous environment for surveillance, reconnaissance, and search and rescue applications.
증례 : 소화기 ; 복막암종증으로 오인된 뱀 생식에 의한 스파르가눔증
김윤구 ( Yun Ku Kim ),김명환 ( Myung Hwan Kim ),박한승 ( Han Seoung Park ),장지웅 ( Ji Woong Jang ),현일식 ( Yil Sik Hyun ),김지훈 ( Ji Hun Kim ) 대한내과학회 2012 대한내과학회지 Vol.82 No.3
Sparganosis is a zoonosis caused by sparganum. Humans can be exposed to sparganum by ingesting undercooked snakes or drinking infected copepods harboring sparganum. Sparganosis commonly manifests as migrating subcutaneous masses and may involve multiple organ systems such as the musculoskeletal system, central nervous system, the eyes, and the genitourinary system. We report here a case of laparoscopically confirmed sparganosis caused by ingestion of undercooked snakes. The sparganosis involved the liver and peritoneum and was initially difficult to differentiate from peritoneal carcinomatosis. (Korean J Med 2012;82:331-336)
만성 신부전 환자와 신이식 환자에서 혈장 총 호모시스테인과 엽산의 농도
김범(Beom Kim),하경원(Kyoung Won Ha),이윤하(Yoon Ha Lee),김혜영(Hye Young Kim),허우성(Woo Seong Huh),김대중(Dae Joong Kim),김윤구(Yoon Goo Kim),오하영(Ha Young Oh) 대한내과학회 1998 대한내과학회지 Vol.55 No.1
N/A Background: A few articles reported that the plasma total homocysteine(tHcy) concentration of renal transplant recipients(RTR) was higher than that of normal controls, but lower than that of patients with chronic renal failure. But renal function of the RTR was variable, and plasma tHcy concentration of RTR with normal renal function was unknown. We compared plasma tHcy concentration of RTR with norrr1 renal function to normal controls and evaluated the relation between folate concentration, the independent factor of plasma tHcy concentration, and plasma tHcy in patients with chronic renal failure in predialysis, hemodialysis(HD) and continuous ambulatory peritoneal dialysis(CAPD), Methods We measured fasting plasma level of total homocysteine by high-performance liquid chromatography and folate concentration in 36 predialysis CRF patients(Ccr<25mlu'min), 37 HD patients, 28 CAPD patients, 41 RTR(serum creatinine≤1.4mg/dL) and % healthy controls. Results : 1)Mean(±SD) tHcy concentration in pre- dialysis CRF(21.93 ±14.33 μ mol/L), HD(18.24±8.73μmol /L) and CAPD(17.16±7.8μmol/L) patients was significantly higher than that in controls (8.91±4.11μmol/L, P<0.05) but tHcy concentration of RTR group(8.99±3.99 μmol/L)had no difference from that of normal controls 2)In predialysis patients, CAPD patients, and HD patients showed a significant negative correlation between serum folate and plasma tHcy concentrations (r=-0.18, p<0.05). 3)In predialysis, HD and CAPD patients, mean plasma folate concentratirin in patients with 1mg/ day-folate supplementation(20.41±15.65ng/ml.) was higher than patients without 1mg/day-folate supplementation (10.20±8.24ng/mL)(p<0.05) and mean plasma tHcy concentration in patients with 1mg/day-folate supplementation (17.87±7.94μmol/L) was lower than patients without 1mg/day-folate supplementation(21.87±13.35μmol/L)(p<0.05). Conclusion: Plasma tHcy concentration in RTR with normal renal function had no difference with that in normal controls. In predialysis, HD, and CAPD patients, plasma tHcy had negative correlation with plasma folate concentration and plasma tHcy in patients with 1mg folate supplementation, usual dose in chronic renal failure, was higher than that in patients without folate supplementation and lower than that in normal controls.