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증례 : 순환기 ; 약물용출스텐트 삽입 후 스텐트내재협착과 함께 발생한 관상동맥류의 치료 1예
황태현 ( Tae Hyeon Hwang ),박상돈 ( Sang Don Park ),백용수 ( Yong Soo Baek ),김수한 ( Soo Han Kim ),이선영 ( Sun Young Lee ),고규용 ( Gyu Yong Go ),우성일 ( Seong Ill Woo ) 대한내과학회 2014 대한내과학회지 Vol.86 No.5
관상동맥류는 관상동맥 조영술에서 드물게 발견되는 소견이며 이는 관상동맥 중재술 시 발생하는 혈관벽의 기계적 손상과 관련된 것으로 생각된다. 다른 유발 원인으로는 죽상 경화증, 선천성, 결합조직 장애, 혈관염, 감염, 약재 유발성, 외상, 특발성 등이 있다. 관상동맥류의 합병증은 다양하며 드물게 파열되는 경우가 있고 치료에 대한 합의가 아직까지 명확히 이루어지지는 않았다. 저자들은 55세 남자에서 약물 용출스텐트 삽입 후 5년이 지난 뒤에 발생한 거대 관상동맥류와 스텐트 내 재협착을 그래프트스텐트를 이용하여 성공적으로 치료하였기에 이를 보고하는 바이다. Coronary artery aneurysms are detected rarely during coronary angiography, and are associated with injury to the mechanical vessel wall during percutaneous coronary intervention. Potential causes also include atherosclerosis, congenital defects, connective tissue disorders, vasculitis, infection, drug-related injury, and trauma; it can also be idiopathic. The complications of coronary artery aneurysms vary, but they rupture only rarely. However, there is no consensus treatment strategy for coronary artery aneurysm after coronary intervention. We report a case of a 55-year-old male who developed a coronary artery aneurysm and in-stent restenosis after percutaneous coronary intervention with a drug-eluting stent. The aneurysm was treated successfully with the implantation of a graft stent. (Korean J Med 2014;86:608-611)
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천동훈(Dong-Hun Cheon),이재욱(Jae-Wook Lee),우성현(Seong-Hyeon Woo),최지욱(Ji-Wook Choi),강호선(Ho-Sun Kang),이장명(Jang-Myung Lee) 제어로봇시스템학회 2021 제어·로봇·시스템학회 논문지 Vol.27 No.3
In this paper, we propose an adaptive four-leg landing system for a quadcopter to enable stable landing on inclined surfaces or rough terrain while maintaining its attitude. A rotorcraft has a disadvantage in that it must have a flat ground for landing because the existing landing gear system is fixed and cannot be changed according to ground conditions. The proposed adaptive landing system makes it possible for a quadcopter to operate in various environments with minimal sensors. For this purpose, a four-leg landing system with two degrees of freedom having a two-link structure was manufactured. Through kinematic analysis of the landing leg, the coordinates of the joint and end-effector were identified, and an equation for horizontal control was established. When landing on the slope, the ground surface was detected using force sensors, attached at the end of each leg. Adaptive landing control was performed according to the roll and pitch values of the inertial measurement unit sensor mounted on the quadcopter. The proposed system was pre-validated in the simulation environment of Matlab Simulink. The superiority of the proposed system was verified experimentally in various environments. In an indoor environment, the effectiveness of the system was verified in a situation where it landed at a constant speed using a testbed. Finally, the system stability was verified through flying and landing of the quadcopter in an outdoor environment.
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