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내부형 연속체 로봇의 모델링 및 임피던스 제어에 대한 연구
장세진(Se-Jin Chang),강봉수(Bong-Soo Kang) 제어로봇시스템학회 2017 제어·로봇·시스템학회 논문지 Vol.23 No.3
This paper presents the dynamic characteristics of an intrinsic continuum robot that were identified using the frequency-response test. The developed continuum robot consisted of three pneumatic artificial muscles in parallel between the base plate and the distal plate. An impedance control scheme was designed based on the linear and bending models of the continuum robot to produce the desired linear and rotational impedance for the external environment. Experiment results revealed that the proposed impedance controller could give good performance in the trajectory following of the reference force/torque by reinforcing the stiffness of the robot system when the end plate of the continuum robot kept in contact with an external wall.
홍성창(Sung-Chang Hong),이병환(Byung-Hwan Lee),장세진(Se-Jin Jang),박영훈(Young-Hoon Park) 대한공간정보학회 2015 한국지형공간정보학회 학술대회 Vol.2015 No.5
본 논문은 무인항공사진측량을 이용하여 농경지도(Farm Map)의 최신성을 향상시키고 고품질 농업통계 정보를 확보하기 위한 방법을 연구하였다. 무인항공기로부터 취득된 영상자료를 처리하여 고정밀 DSM(수치표면모델)과 정사영상을 제작하고 이를 기반으로 고품질 농경지도를 구축하였다. 실험 결과 DSM과 정사영상의 위치 정확도는 X방향 1.4㎝, Y방향 2.9㎝, Z방향 1.7㎝의 표준편차로 대축척 농경지도 제작에 활용 가능성을 보였으며, 고해상도 영상을 사용함으로서 농경지 분류 정확도를 향상시킬 수 있었다. 향후 농지정보의 최신성, 경제성 등을 향상 시킬 수 있을 것으로 판단되며 전국 각지의 농업통계 표본지역을 무인항공기를 이용하여 제작 한다면 농업현황정보 및 경지면적 추출의 정확도를 개선하고 신속한 농경지도 갱신이 가능할 것으로 사료된다.
송효섭(Hyo-Seob Song),장세진(Se-Jin Chang),신병주(Byung-Ju Shin),양윤모(Yun-Mo Yang) 한국정보과학회 1999 정보과학회논문지(B) Vol.26 No.6
We have recognized Korean Sign Language as a vision-based intelligent Human-Computer Interaction (HCI), in consideration of the welfare of the handicapped and the generality of engineering. In view of psychological burden of the handicapped, we set the minimum constraints on the input taken from monochrome image sequence. As the hand shape and moving direction is the most important information in the sign-language recognition, we showed the effectiveness of our method to extract that information and applicability to the recognition. In the part of hand shape information, we showed the process to extract the shape information and recognize fourteen consonants sign characters of which the shape information is crucial. For the information of moving direction, we also showed the effective method in the recognition of simple nine sign words of which the moving direction is very important. 본 논문은 최근 연구가 고조되고 있는 지적 인터페이스에 대한 연구로서, 장애인 복지와 공학적인 일반성을 고려하여 수화를 인식하였다. 장애인의 수화를 인식한다는 입장에서 심리적 부담을 주지 않고 최소한의 제한조건만을 설정하여 수화의 흑백동영상을 입력으로 하였다. 수화인식에서 손의 형상과 움직임 방향정보가 제일 중요함을 감안하여 각각 그 정보를 추출하고 인식에 적용하는 방법을 개발하여 그 유효성을 보였다. 즉 형상정보의 추출 및 인식에 대해서는 형상정보만이 중요한 수화 지문자 자음 14자를 대상으로 하여 인식하는 과정을 보였다. 또한 손의 움직임정보에 대해서는 움직임 방향만이 중요한 정보가 되는 간단한 수화 단어 9개를 대상으로 인식하여 그 과정과 방법을 보였다.
초음파 기관지 내시경 세침흡인을 이용하여 진단한 폐 사르코이드증
김원영 ( Won Young Kim ),장유진 ( You Jin Chang ),류지원 ( Ji Won Lyu ),박영수 ( Young Soo Park ),장세진 ( Se Jin Jang ),송진우 ( Jin Woo Song ),오연목 ( Yeon Mok Oh ),심태선 ( Tae Sun Shim ),이상도 ( Sang Do Lee ),김우성 ( Woo Su 대한결핵 및 호흡기학회 2010 Tuberculosis and Respiratory Diseases Vol.68 No.5
Background: Pulmonary sarcoidosis often involves mediastinal or hilar Lymph nodes in the Lung parenchyma. Mediastinoscopy is the gold standard for diagnosis, but it is invasive and expensive. Transbronchial needle aspiration using conventional bronchoscope is Less invasive than mediastinoscopy, but its diagnostic accuracy is in question due to the blind approach to targeting Lymph nodes. Transbronchial needle aspiration (TBNA) via endobronchial ultrasound (EBUS) has high diagnostic value due to direct visualization of Lymph nodes and to its relatively safeness. The purpose of this study was to assess the usefulness of EBUS-TBNA in the diagnosis of pulmonary sarcoidosis. Methods: Twenty-five patients with symptoms of sarcoidosis were enrolled into this study. Core tissue was obtained for a definitive diagnosis. Endobronchial biopsy, transbronchial Lung biopsy, and bronchoalveolar Lavage were performed to verify diagnosis. For patients without a confirmed diagnosis after the above procedures were performed, the additional procedures of mediastinoscopy or video-associated thoracoscopic surgery were performedto confirm a final diagnosis. Results: A total 25 EBUS procedures were done and 50 Lymph nodes were aspirated. Thirty-three (37) out of 50 Lymph nodes were consistent with non-caseating granuloma, confirming sarcoidosis as the final diagnosis. Sarcoidosis was the final diagnosis for all 25 patients, and 21 required EBUS-TBNA for a final diagnosis. There were no complications associated with the procedure. Conclusion: EBUS-TBNA is already a well-known procedure for diagnosing mediastinal or hilar Lymphadenopathy. We used EBUS-TBNA for the diagnosis of pulmonary sarcoidosis and our results showed 84% diagnostic accuracy and no complications related to the procedure. EBUS-TBNA is a reliable and practical diagnostic modality in the diagnosis of pulmonary sarcoidosis.
방영환(Younhwna Bang),최승(Seung Choi),장세진(Se-Jin Chang),이강수(Gangsoo Lee) 한국정보과학회 2004 한국정보과학회 학술발표논문집 Vol.31 No.2Ⅰ
정보통신 인프라를 운영하고 있는 조직은 주요 정보자산의 위협, 취약성 및 위험 분석·평가에 많은 관심이 고조되고 있다. 위험 분석·평가는 다수의 평가자(전문지식을 가진 평가자)의 주관적인 관점이 많이 작용하며 평가결과들 간에 평가 결과에 대한 문제를 야기 시킬 수 있다. 따라서 평가자들의 평가의견을 보다 효과적으로 결합(적용)할 수 있는 절차 및 방법이 요구된다. 본 논문에서는 분산 환경에서 다수의 평가자들의 평가의견을 집합개념 중 서로 다른 집합끼리의 합을 구하는 절차에서 착안하여 이를 적용한 실용적인 위험분석 방법론을 제시한다.
문영한,차봉석,노재훈,이명근,이경종,장세진 大韓産業醫學會 1990 대한직업환경의학회지 Vol.2 No.2
A recent increase in hospital cost in Industrial Accident Compensation System has caused an issue. Especially the many problems in assessing and paying hospital cost have made necessary improvement measures on this. For this purpose the study analyzed 179,442 medical bills for industrial accident patients during 1986∼1988. And various annual statistic data, references and documentations are also reviewed. The results of this study were as follows : 1. The average days for medical treatment per injury decreased depending upon hospital grade in the order of clinic, hospital, and general hospital, and the average hospital charges per injury decreased in the order of general hospital and clinic. 2. The inpatients' leading injury was traumatic amputation of fingers, and open wound of fingers came to leading injury among the outpatients. The proportions of 10 leading injuries among inpatients and outpatients were 42.7% and 49.2% respectively. 3. As a consequence of the analysis of average medical charges, fractures of neck of femur in inpatients, and intervertebral disc disorders in outpatients were obtained as the most prevalent injuries. The coalworkers' pneumoconiosis and injury to nerve roots and spinal plexus were most prominent injuries with respect to the days for medical treatment. 4. According to annual days for medical treatment, fracture of tibia and fibula was the most prevalent in inpatients, and sprains and strains of back was the most prevalent in outpatients. Traumatic amputation of fingers and other 10 leading injuries has a 42.6% share of total inpatients' hospital charges, and fracture of phalanges of hand and other 10 leading injuries possesses 53.4% of total outpatients' hospital charges. 5. Multiple regression analysis revealed that length of hospital stay, number of radiologic examinations, duration of operation, age, and others were the major determinants of total hospital charges. A comparison with medical insurance and car insurance for hospital charges and days for treatment showed 2-4 times higher than medical insurance, but showed 0.4∼1.0 times lower than medical insurance and car insurance for daily treatment charges.