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경사로에서 세그웨이 로봇의 주행 속도를 통한 경사각 추정
정희인(Hee-In Jeong),이상용(Sang-Yong Lee),이장명(Jang-Myung Lee) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.11
This paper proposes an angle estimation of Segway robot for the slop driving. Most of Segway robot was controlled by pose control of keeping robot’s balance and motor control of driving. In motor control, we analyzed Segway robot kinetically and estimated an angle of inclination using the velocity that depends on input force. In pose control, also, we used PD controller and evaluated a stability of controller through MATLAB simulation. Assuming the robot keeps its balance stably using controller, we could linearize dynamics. We could obtain the result through the experiment which estimates an angle using the velocity of Segway robot that is derived from linearized dynamics.
탄광부 진폐증 환자에서 맞춤형 호흡 재활 치료 프로그램의 임상적 효용성
정희 ( Hee Cheong ),이정민 ( Jeong Min Lee ),박인기 ( In Ki park ),김종규 ( Jong Kyu Kim ),전근재 ( Geun Jae Jeon ),김주령 ( Ju Ryung Kim ),김지홍 ( Ji Hong Kim ),최병용 ( Byoong Yong Choi ) 대한내과학회 2014 대한내과학회지 Vol.87 No.6
Background/Aims: It is unknown whether pulmonary rehabilitation (PR) is an effective intervention to manage coal worker pneumoconiosis (CWP). We evaluated the efficacy and safety of an individualized PR program in 53 patients with CWP hospitalized in two medical institutions. Methods: The PR program consisted of upper and lower extremity exercises to improve exercise endurance and skeletal musculoskeletal strength. All subjects performed treadmill and ergometer exercise with steady loading weights three times/week for 12 weeks. The following tests were performed before and after the study to investigate the efficacy of the PR program: modified Borg scale, pulmonary function test, mid-thigh circumference, maximum muscular strength, 6-min walk distance (6MWD), and the St. George’s Respiratory Questionnaire (SGRQ), Korean version. Results: Forty patients (75.5%) completed their PR programs. They improved significantly on the modified Borg scale, mid thigh circumference, maximum muscular strength, 6MWD (all p < 0.000), and SGRQ (p = 0.007), however, no significant improvement was observed on the pulmonary function test. A significant improvement in dyspnea (p = 0.004) and 6MWD (p = 0.002) was observed in 12 patients with forced expiratory volume in 1 sec < 60%. The PR program with smoking cessation resulted in significantly more improvement on the 6MWD (p < 0.0001) and the SGRQ score (p = 0.002), as compared to those of patients who did not quit smoking. Conclusions: Our results show that an individualized 12-week PR program improves exercise capacity and quality of life for patients with CWP. (Korean J Med 2014,87:690-697)
김동수,김용기,박인철,손덕현,이일두,정희,차광수,강필중,이정유 대한내과학회 1990 대한내과학회지 Vol.39 No.5
Rhinocerebral mucormycosis is a serious and commonly fatal fungal infection. The causative organism. ordinarily a saprophyte, becomes pathogenic in person who are made susceptible by coexisting. debilitating disease such as diabetic ketoacidosis and immunosup-pressed condition. We report a well-documented case of rhinocerebral mucormycosis in not controlled diabetic woman, Her condition rapidly deteriorated. The diagnosis was con- firmed by demonstration of the characteristic broad, branching, nonseptate hyphae by histopathology. And the mucormycete Rhizopus was isolated from the infected tissue culture.
김경모,민병철,박광민,이승규,김인구,김성철,황신,이영주,정희,윤종현,최보화 대한소화기학회 2000 대한소화기학회지 Vol.35 No.2
Background/Aims: The aim of this study was to evaluate the preoperative factors influencing the short-term outcome after liver transplantation (LT) for biliary atresia. Methods: From December 1994 through August 1998, a total of 18 children with biliary atresia received LTs at Asan Medical Center. The children were divided into two groups: group A and group B. Group A was characterized by longer hospitalization ($gt;60 days) or early mortality and group B by shorter hospitalization ($lt;60 days). Preoperative clinical status, each indication of LT and the sum of the indications were compared between two groups. Results: Median age of the patients was 15 months and median body weight was 8 kg. Median follow up period was 18 months and 16 children were alive. Among 18 children, indications of LT were progressive jaundice in 17, uncontrolled ascites in 12, synthetic dysfunction in 12, variceal bleeding in 7, intractable cholangitis in 7, and failure to thrive in 11 children. Only pretransplant serum albumin level and the sum of the number of indications were identified to be significantly different between two groups. Conclusions: These results suggest that early transplantation before progressive deterioration of patient's clinical status is needed in order to shorten hospital stay and improve outcome.