진화적 상호작용을 이용한 군집로봇의 환경적응

문우성(Woo-sung Moon),장진원(Jin Won Jang),백광렬(Kwang Ryul Baek) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.3

In this paper we consider the multi-robot system that collects target objects spread in an unexplored environment. The robots cooperate each other to improve the capability and the efficiency. The robots attract or intimidate each other, as behaviors of bacterial swarms or particles with electrical moments. The interactions would increase the working efficiency in some environments, but it would decrease the efficiency in some other environments. Therefore, the system needs to adapt to the working environment by adjusting the strengths of the interactions. The strengths of the interactions are expressed as sets of gene codes that mean the weights of each kind of attracting or intimidating vectors. The proposed system adjusts the gene codes using evolutional strategy. The proposed approach has been validated by computer simulation. The results of this paper show that our inter-swarm interacting strategy and optimizing algorithm improves the working efficiency, adaptively to the characteristics of environments.

군집로봇을 위한 다중 코드 초음파센서의 코드조합 최적화

문우성(Woo-sung Moon),조봉수(Bong-su Cho),백광렬(Kwang Ryul Baek) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.7

In multi-robot systems, ultrasonic sensors are widely used for localization and/or obstacle detection. However, conventional ultrasonic sensors have a drawback, that is, the interference problem among ultrasonic transmitters. There are some previous studies to avoid interferences, such as TDMA (Time Division Multiple Access) and CDMA (Code Division Multiple Access). In multiple autonomous mobile robots systems, the Doppler-effect has to be considered because ultrasonic transceivers are attached to the moving robots. To overcome this problem, we find out the ASK (Amplitude Shift Keying)-CDMA technique is more robust to the Doppler-effect than the BPSK (Binary Phase Shift Keying)-CDMA technique. In this paper, we propose a new codeexpression method and a Monte-Carlo based algorithm that optimizes the ultrasonic code combination in the ASK-CDMA ultrasonic system. The experimental results show that the proposed algorithm improves the performance of the ultrasonic multiple accessing capacity in the ASK-CDMA ultrasonic system.

증예(症例) : 신경주위 악성 말초신경초종양

문우성 ( Woo Sung Moon ),김숙 ( Sook Kim ),최호열 ( Ho Yeul Choi ) 전북대학교 의과학연구소 2001 全北醫大論文集 Vol.25 No.2

악성 말초신경초종양(Malignant peripheral nerve sheath tumors, MPNST)은 조직학적 소견이 매우 다양하다. 종양을 구성하는 세포의 기원은 아직까지 정립되어 있지 않다. 최근에 악성 말초신경초종양 중 주로 신경주위 세포(perineurial cell)로 구성되어 있는 종양을 신경주위 악성 말초신경초종양(perineurial MPNST)으로 분리하였다. 저자들은 45세 남자에서 발생한 신경주위 악성 말초신경초종양 1예를 경험하였기에 보고하고자 한다. 이 종양은 상완의 피하조직에서 발견되며 방추형 혹은 난원형 세포들이 다발을 이루거나 작은 혈관주위로 소용돌이치는 배열을 특징으로 하였다. 그리고 이들 세포들은 전자현미경적으로 신경주위 세포임이 확인이 되었다. 임상 및 병리소견이 다른 종류의 악성 말초신경초 종양과 다르므로 신경주위 악성 말초신경종양은 면역학적 검사와 전자현미경적 검사를 통해 확진을 해주어야 된다.

FPGA 기반의 냉연강판 핀홀 검출 시스템

하성길(Sung-Kil Ha),이정은(Jung Eun Lee),문우성(Woo Sung Moon),백광렬(Kwang Ryul Baek) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.18 No.1

The quality of steel plate products is determined by the number of defects and the process problems are estimated by shapes of defects. Therefore pinholes defects of cold rolled steel have to be controlled. In order to improve productivity and quality of products, within each production process, the product is inspected by an adequate inspection system individually in the lines of steelworks. Among a number of inspection systems, we focus on the pinholes detection system. In this paper, we propose an embedded system using FPGA which can detect pinholes defects. The proposed system is smaller and more flexible than a traditional system based on expensive frame grabbers and PC. In order to detect consecutive defects, FPGAs acquire two dimensional image and process the image in real time by using correlation of lines. The proposed pinholes detection algorithm decreases arithmetic operations of image processing and also we designed the hardware to shorten the data path between logics due to decreasing propagation delay. The experimental results show that the proposed embedded system detects the reliable number of pinholes in real time.

13세 환아에서 발생한 장중첩증을 유발한 공장의 림프관종

박호성 ( Ho Sung Park ),이호 ( Ho Lee ),문우성 ( Woo Sung Moon ),이승찬 ( Seung Chan Lee ),최우봉 ( Woo Bong Choi ),최현웅 ( Hyun Woong Choi ) 대한소화기학회 2007 대한소화기학회지 Vol.49 No.4

Lymphangioma is a benign tumor composed of numerous small or large thin-walled lymphatic spaces. It shows a predilection for head, neck, and axilla. Jejunal lymphangioma in children is extremely rare. We present a case of 13-year-old girl with jejuno-jejunal intussusception secondary to lymphangioma in jejunum. To our knowledge, this is the second report of jejunal lymphangioma causing intussusception in a child. (Korean J Gastroenterol 2007;49:256-259)

FPGA 기반의 냉연강판 핀홀 검출 시스템

하성길,이정은,문우성,백광렬,Ha, Sung-Kil,Lee, Jung Eun,Moon, Woo Sung,Baek, Kwang Ryul 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.8

The quality of steel plate products is determined by the number of defects and the process problems are estimated by shapes of defects. Therefore pinholes defects of cold rolled steel have to be controlled. In order to improve productivity and quality of products, within each production process, the product is inspected by an adequate inspection system individually in the lines of steelworks. Among a number of inspection systems, we focus on the pinholes detection system. In this paper, we propose an embedded system using FPGA which can detect pinholes defects. The proposed system is smaller and more flexible than a traditional system based on expensive frame grabbers and PC. In order to detect consecutive defects, FPGAs acquire two dimensional image and process the image in real time by using correlation of lines. The proposed pinholes detection algorithm decreases arithmetic operations of image processing and also we designed the hardware to shorten the data path between logics due to decreasing propagation delay. The experimental results show that the proposed embedded system detects the reliable number of pinholes in real time.

장간막에서 발생한 염증성 근섬유모세포종의 세침흡인 세포학적 소견 - 1예 보고 -

손현진,김주헌,문우성,최호열,강명재,Son, Hyun-Jin,Kim, Joo-Heon,Moon, Woo-Sung,Choi, Ho-Yeul,Kang, Myoung-Jae 대한세포병리학회 2000 대한세포병리학회지 Vol.11 No.1

Since inflammatory myofibroblastic turner was initially recognized in the lung, this tumor has been described in other extrapulmonary sites. In spite of relatively uniform histologic findings in various organs, a rarity in extrapulmonary sites and highly vascular characteristics frequently lead to a misdiagnosis in preoperative radiology and fine needle aspiration cytology. We present a case of inflammatory myofibroblastic tumor occurring in the mesentery of a 4-month-old girl. Fine needle aspiration cytology smear disclosed characteristic spindle cells intermixed with prominent mature plasma cells and lymphocytes. According to the immunohistochemical staining, we recognized that the intervening spindle cells are myofibroblasts which have reactivity for the both actin and vimentin.

지방모세포종의 세침흡인 세포학적 소견 - 2예 보고 -

오소영,정명자,문우성,강명재,이동근,Oh, So-Yeong,Chung, Myoung-Ja,Moon, Woo-Sung,Kang, Myoung-Jae,Lee, Dong-Geun 대한세포병리학회 1998 대한세포병리학회지 Vol.9 No.2

Lipoblastoma is a rare benign neoplasm occurring exclusively in children below the age of three years. It affects chiefly the upper and lower extremities, and less commonly head and neck area, trunk, mediastinum, mesentery, and retroperitoneum. We present two cases of lipoblastoma occurring in the mediastinum of a 21-month-old boy and in the back of a 15-month-old boy. The characteristic features of Fine needle aspiration cytology smears were the presence of immature fat cells in the form of spindle-shaped cells, stellate cells and vacuolated lipoblasts along with lipocytes against a myxomatous background. Two tumors were histologically confirmed to be lipoblastomas. Lipoblastoma can be cytologically diagnosed by considering the cytologic findings and the age of the patient.

간 섬유화와 비만세포 및 간성상세포의 연관성

박호성 ( Ho Sung Park ),장규윤 ( Kyu Yun Jang ),정명자 ( Myoung Ja Chung ),문우성 ( Woo Sung Moon ),강명재 ( Myoung Jae Kang ),이동근 ( Dong Geun Lee ) 전북대학교 의과학연구소 2004 全北醫大論文集 Vol.28 No.1

배경: 만성 간질환에서 섬유화의 정도에 따른 비만세포 및 간성상세포의 출현 빈도를 알아봄으로써 이 세포들이 간 섬유화와 어떤 연관성이 있는지를 알아보고자 한다. 방법: 문맥역 섬유화를 보인 만성 간염으로 진단된 침생검 검체 11예를 제 1군, 섬유성 격막을 보인 만성 간염으로 진단된 침생검 검체 11에를 제 2군, 간경화중을 동반한 간세 포암종으로 진단된 절제생검 검체 17예룰 제3군으로 분류하여 Toluidine blue 염색으로 비만세포를 확인하고 α-smooth muscle actin 에 대한 면역조직화학염색으로 간성상세포를 확인하였다. 결과: 각 실험군에서 1개의 문맥역당 관찰 되는 비만세포와 간성상세포 수를 비교했을 때 섬유화가 진행된 경우는 비만세포와 간 성상세포의 수가 통계학적으로 의미 있게 증가하였다(p<0.05). 또한 간 섬유화시 비만 세포화 간성상세포의 수는 함께 증가하였다 (p<0.05). 결론: 만성 간질환에서 간의 섬유화에는 비만세포와 간성상세포가 함께 관여하며 이들 세포간의 상호작용이 간 섬유화 과정에서 중요하다고 생각된다. Objectives: It is well known that hepatic stellate cells are involved in hepatic fibrosis, however, the role of mast cells in hepatic fibrosis is unclear in spite of their association with tissue fibrosis in many other organs. So, we studied the frequency and distribution of mast cells and hepatic stellate cells in chronic liver disease with fibrosis to investigate the relationship between these cells and hepatic fibrosis. Methods: In this study, needle biopsy specimens from 11 cases of chronic hepatitis with portal fibrosis (Group 1), 11 cases of chronic hepatitis with septal fibrosis (Group 2), and resection specimen from 17 cases of hepatocellular carcinoma with liver cirrhosis (Group 3) were selected. Mast cells were identified by toluidine blue staining and hepatic stellate cells were identified by immunohistochemical stain for α-smooth muscle actin. Results: The number of mast cells and hepatic stellate cells per portal tract is significantly increased in Group 2 and 3 compared with that of Group 1 (p<0.05). There is significant correlation between the increase of mast cells and that of hepatic stellate cells (p<0.05). Conclusion: These results suggest that mast cells and hepatic stellate cells may participate in the pathogenesis of hepatic fibrosis with close correlation between each others.

경부에 전이한 Sex Cord Tumor with Annular Tubules의 세침흡인 세포소견 - 1예 보고 -

오소영,강명재,정명자,문우성,이동근,Oh, So-Yeong,Kang, Myoung-Jae,Chung, Myoung-Ja,Moon, Woo-Sung,Lee, Dong-Geun 대한세포병리학회 1997 대한세포병리학회지 Vol.8 No.2

A sex cord tumor with annnular tubules is a relatively rare ovarian neoplasm. The cytologic findings from a fine needle aspiration biopsy of neck metastasis of a sex cord tumor with annnular tubules are described. The origin of the neck metastasis was the right ovary, and the tumor was diagnosed six years ago. The cytologic findings were characterized by tumor cells arranged in solid or follicular patterns. The tumor cells formed rosette-like or complex tubular structures with central rounded or coalesced hyaline materials. It was difficult to distinguish this tumor cytologically from granulosa cell tumor, thyroid follicular neoplasm, Sertoli-Leydig cell tumor, and Brenner tumor, but complex tubular structures were helpful in discriminating between these tumors.