Predictive Risk Assessment Using Cooperation Concept for Collision Avoidance of Side Crash in Autonomous Lane Change Systems

Hyunsoo Lee,Chang Mook Kang,Wonhee Kim,Woo Young Choi,Chung Choo Chung 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10

We present an innovative approach to risk assessment using cooperation concept for collision avoidance of side crash for autonomous lane change system. The cooperation concept is proposed to check an available space in the target lane for lane change in a short period of the future. Before moving to the target lane, the ego vehicle needs to check whether the object vehicle is cooperative or not for the lane change. The object vehicles are indexed as cooperative driver (CD) or non-cooperative driver (NCD) through the conditions based on the relative longitudinal acceleration and the collision free time. If the object vehicle is CD, the ego vehicle moves toward the target lane within the original lane for the preparation of the lane change. The ego vehicle should keep its lateral position within the original lane until the situation for the lane change becomes safe. As soon as the risk assessment becomes safe, the lane change is performed. Therefore, lane change can be started in advance compared to the conventional methods. The proposed method was validated via computational simulation and experimental results.

Rat의 복강내에 투여한 5-fluorouracil-polyglycolic acid 제형이 장기에 미치는 영향에 관한 연구

강대영,송규상,최정목,노승무,정경수,오정연,김진향,양준묵,최선웅,이진호,조준식,민병무,김용백,김창식,박근성,김승영,김학용,인현빈 충남대학교 의과대학 지역사회의학연구소 1998 충남의대잡지 Vol.25 No.1

For more effective intraperitoneal chemotherapy, the authers made 5-fluorouracil-polyglycolic acid composite disks(FU-PGA disks) with 5-fluorouracil and polyglycolic acid, a biodegradable polymer. We inserted the FU-PGA disk into the peritoneal cavites of Sprague-Dawley male rats, the control and three experimental groups; one FU-PGA disk insert group(300mg/kg), two FU-PGA disk insert group(600mg/kg), and three FU-PGA disk insert group(900mg/kg). The control group received a similar number of PGA disk inserts. A pharmacokinetic study was performed to measure the 5-fluorouracil concentration in the peritoneal fluid, blood, and tissues(liver, kidney and heart) at 24 hours, 72hours and 168 hours after insertion of the FU-PGA disk. Light and electron microscopic studies were done. The results were as follows: 1) The number of white blood cells and platelets decreased after FU-PGA insertion. The degree was proportional to the duration and amounts inserted. The change in the number of red blood cells varied slightly. 2) Light microscopically, slight changes were noted at 168 hours in the 3 disk insert group (900mg/kg). Mild fatty change and hepatocyte degeneration around the central veins of the liver were noted, with vacuolar degeneration in the proximal convoluted tubules of the kidney. 3) Electron microscopically,the liver showed focal increases of lipid droplets in the hepatocytes, and irregular nuclear membrane with focal nucleolar segregation of the fibrillar and granular elements. Also the double membranous structure of the hepatocytes and Kupffer cells was widened with bleb formation. The kidney showed wide separation of the nuclear double membrane in the proximal convoluted tubular cells and mesangial cells, with vacuolation and myelin figure formation in the mitochondria of the proximal convoluted tubular cells, at 72 hours and 168 hours in the 2 to 3 FU-PGA insert groups. The heart showed focal loss of cristae,vacuolation and myelin figure formation in the mitochondria of the 2 to 3 FU-PGA insert groups. In conclusion, despite the large amont of FU-PGA inserted, the histopathological changes in the liver, kidney and heart were slight, and consonant with the very low amount of 5-fluorouracil concentrations detected in the liver, kidney and heart. The above results suggest that the FU-PGA composite can serve as a new device for releasing drugs in a controlled manner and easily targeted to intraperitoneal organs. This device can improve the efficacy of intraperitoneal chemotherapy for gastric cancer.

Hydrogen Behavior in Ti-Added Reduced Activation Ferritic-Martensitic Steels

Kang‑Mook Ryu,Dae Geon Lee,Joonoh Moon,Chang‑Hoon Lee,Tae‑Ho Lee,Jae Sang Lee,Dong‑Woo Suh 대한금속·재료학회 2021 METALS AND MATERIALS International Vol.27 No.3

Hydrogen behavior and corresponding mechanical degradation were examined in TaTi-RAFM and EUROFER97 steels. Increased Ta content with Ti addition decelerates the hydrogen diffusion but increases the solubility in the lattice. It ismainly led by the higher fraction of Ta-rich MC carbides and dislocation density in TaTi-RAFM steel. Overall activationenergy of hydrogen trapping of investigated steels is evaluated to be 25.3 ~ 25.6 kJ/mol in the tempered condition. The activationenergy increases to nearly 30 kJ/mol when the steels are re-austenitized and quenched. Higher activation energy withincreased dislocation density indicates that the dislocation provides for trap site with higher activation energy than Ta-richMC carbide. Mechanical degradation by hydrogen with respect to the yield strength, tensile strength and uniform elongationcould not be observed in all investigated steels. The presence of hydrogen only has influence on the loss of post-uniformelongation. For a given charging time, the loss of post-uniform elongation is more remarkable in TaTi-RAFM steel due tothe larger hydrogen uptake.

6-OHDA가 흰쥐 등쪽솔기핵내 도파민성 신경세포와 별아교세포에 미치는 영향

홍은석(Eun Seog Hong),남성안(Seong Ahn Nam),조승묵(Seung Mook Jo),강태천(Tae-Cheon Kang),원무호(Moo Ho Won),최창도(Chang Do Choi) 대한해부학회 1999 Anatomy & Cell Biology Vol.32 No.4

신경독성물질인 6-hydroxydopamine (6-OHDA)이 중추신경계통 내 도파민성 신경세포에 미치는 영향과 이에 따른 별아교 세포들의 반응을 형태학적으로 규명하고자 본 연구를 시행하였다. 흰쥐의 가쪽뇌실에 6-OHDA를 투여한 후 면역조직화학 염색을 시행하여 광학현미경 하에서 등쪽솔기핵 내 도파민성 신경세포에 나타나는 퇴행성변화와 주위 별아교세포들의 반응양상 등을 경시적으로 제 3일, 제 5일, 제10일 및 제20일에서 관찰하였던 바 아래와 같은 결과를 얻었다. 6-OHDA에 의한 도파민성 신경세포의 퇴행성변화는 약물투여후 제 3일군에서 세포돌기가 팽대되고, 제 5일군과 제 10일군에서는 세포돌기의 소실과 함께 세포체가 위축되었고, 제20일군에서는 세포체가 소실되었다. 또한 6-OHDA에 의해 도파민성 신경세포들의 손상이 진행되면서 별아교세포들의 반응양상은 제 5일에서 대조군에 비해 급격하게 증가하였으며, 제20일에 이르러 최고값을 보였다. 이상의 결과로부터 6-OHDA가 중추신경계통 내 도파민성 신경세포들에 선택적이고 강한 세포독성을 유발하여 퇴행성 변화가 진행되고, 세포 손상이 시간 경과에 따라 진행되면서 주위의 별아교세포들이 지속적으로 증가된 활동을 보인다는 사실을 알게 되었다. This study was designed to clarify the cytotoxic effects of 6-hydroxydopamine (6-OHDA) on the dopaminergic neurons and astrocytes in the dorsal raphe nucleus (DRN), and to investigate neurodegenerative changes by immunohistochemistry. Adult male rats (Sprague-Dawley strain) weighing from 250 to 350 g were used as experimental animals. 6-OHDA (100 μg dissolved in 0.1% ascorbic acid) was injected into the lateral ventricle of the rat brain with the Hamilton syringe. The control rats were treated with the similar volume of 0.1 % ascorbic acid. The rats were sacrificed at the 3rd, 5th, 10th and 20th day, respectively, after the injection of 6-OHDA. The cytotoxicity of 6-OHDA resulted in severe neurodegeneration of the dopaminergic neurons in the DRN. In the 3rd day, the dopaminergic fibers were dilated. In the 5th and 10th days, the dopaminergic fibers were depleted, and dopaminergic cell bodies were shrunken. In the 20th day, the dopaminergic cell bodies were almost completely disappeared. Astroglial reactions induced by 6-OHDA were also observed in the DRN. In the 5th day, astrocytes were significantly increased as compared with that of the control value. The value were reached at its maximum by the 20th day. Based on the present results, it suggests that 6-OHDA may act as a specific neurotoxin to dopaminergic neurons in the DRN, and induce severe neurodegenerative changes. Also, it suggests that the astroglial reaction in the DRN is gradually activated during the neurodegerative changes

백서의 복강내에 투여한 Mitomycin-C-Polyglycolic acid 제형이 장기에 미치는 영향에 관한 연구

송규상,강대영,최정목,노승무,정경수,오정연,김진향,양준목,최선웅,이진호,조준식,민병무,김용백,김창식,박근성,김승영,김학용,인현빈 충남대학교 의과대학 지역사회의학연구소 1998 충남의대잡지 Vol.25 No.1

To evaluate the in-vivo effects of mitomycin-C-polyglycolic acid composite(MMC-PGA) the disk: shaped composite were implanted into the peritoneal cavity of the Sprague-Dawley rats. The pathologic changes were examined at various time points up to 12 weeks. Initially the soft tissue around the inserted disks showed capillary congestion at 3 days. Inflammatory infiltrates with foreign body giant cells appeared from the 2nd week and reached peak response at 6-8 weeks. These reaction diminished prominently at 12 weeks. No specific pathologic change was found in the liver, the kidneys, and the heart. The above results suggest that the MMC-PGA composite can serve as a new device for intraperitoneal chemotherapy of various types of cancers.

생체분해성 고분자를 이용한 사시수술용 제형개발 및 효용성에 대한 연구

민병무,김용백,김승영,김창식,박근성,길숙종,조항진,이성복,노승무,송규상,강대영,조준식,양준묵,정경수,최선웅,이진호,김학용,인현빈 충남대학교 의과대학 지역사회의학연구소 1998 충남의대잡지 Vol.25 No.1

A new device, muscle clamping system was developed to facilitate exact quatifying technique A strabismus surgery, and reduce the risk of complications. The device is composed of a lower fixing body with three jaws and an upper supporting body. They are used to clip an extraocular muscle and fix it to the sclera with a single bite. Superior rectus recession on 16 rabbit eyes were performed with this new device. Conjunctival injection, muscle adhesion strength, and light microscopic findings were examined at 1, 2, 4 and 8 weeks postoperatively. The Conjunctival injection were minimal, adhesion power ranged from 420 to 600 gram gravity, which is sufficient in withstand the normal pull of human extraocular muscle. In microscopic exam, some Inflammatory cells and fibrosis were found. The new device was technically easy, fast, and accurate, so it may be useful in stabismus surgery.

6-OHDA가 흰쥐 등쪽솔기핵내 도파민성 신경세포와 별아교세포에 미치는 영향

홍은석,남성안,조승묵,강태천,원무호,최창토 대한해부학회 1999 Anatomy & Cell Biology Vol.32 No.4

개인 이동체의 탑승자 질량 변화에 강인한 선형 매개변수 가변 제어기법

안대용(Dae-Young An),강창묵(Chang Mook Kang) 한국자동차공학회 2022 한국자동차공학회 학술대회 및 전시회 Vol.2022 No.11

Linear parameter varying(LPV) system can be effectively applied to control in an environment where parameters change. And linear quadratic regulator(LQR) controller is optimal controller in state-space model. In this paper, we propose a LPV controller for velocity control of personal mobility such as an electric wheelchair, which can be varying a wheelchair mass. We are modelling a wheelchair system using dynamics and kinematics and get an interpolation parameter vector by weighing a wheelchair mass. It can be optimized control strategy for the user`s weight using the LPV control system. To prove the effectiveness of the proposed method, a single LQR controller and LPV controller were compared and analyzed using MATLAB/Simulink. The proposed method has better control performance compared to a single LQR controller.

생체분해성 망막압정을 이용한 망막고정에 대한 실험적 연구

김용백,민병무,김창식,박근성,김승영,길숙종,조항진,이성복,노승무,송규상,강대영,조준식,양준묵,정경수,최선웅,이진호,김학용,인현빈 충남대학교 의과대학 지역사회의학연구소 1998 충남의대잡지 Vol.25 No.1

Biodegradable retinal fixation devices obtain mechnical fixation of the retina with desirable chorioretinal scarring and with the potential for local, sustained release of antimetabolites and steroids to inhibit proliferative vitreoretinopathy. We manufactured a biodegradable retinal tack with barb that was designed in order to prevent intrusion from implantation of retinal tacks. This study was carried to evaluate the efficacy for retinal fixation and the capability for sustained release of drugs with a newly designed biodegradable retinal tack Biodegradable retinal tacks were made of polymers of glycolic acids and were designed with barbs in a shape to prevent the disinsertion. Biodegradale retinal tacks are divided into 3 parts, a conical portion that is inserted into the sclera, a cylinder portion that remains in the vitreous, and a neck portion between the pin and the cylinder. The tapered conical end was manufactured to allow easy insertion through the retina and choroid into the sclera. A cylinder portion was manufactured with a tapered angle that fixes firmly into the orifice of 19 gauge spinal needle. A neck portion, 0.4 mm in diameter, was designed to prevent disinsertion from following implantation of retinal tack. The applicator was a 19 gauge spinal needle and its orifice was prepared to 15°angle to accept the tapered cylinder portion of the retinal tack. The retinal tacks, secured in the needles, were passed through the formed vitreous and inserted into the retina, choroid, and sclera and were released by pushing the internal needle, usually within 2-3mm of the medullary ray of the posterior rabbit retina A retinal tack was placed in each of 8 pigmented rabbit eyes. Slit-lamp biomicroscopy, indirect ophthalmoscopy and fundus photography were performed periodically from 1 day to 8 weeks after surgery. Eight eyes were enucleated and studied by light microscopy at 8 weeks. Biomicroscopic evaluation of the animals revealed edemas adjacent to the retinal surfaces immediately after insertion of the biodegradable retinal tacks in all the animals. These edemas disappeared after 1 week. The first noticeable change in the size of retinal tacks was shown after 2weeks. The size of the retinal tacks gradually got smaller, decreasing to about one-half at 4 weeks and about one-third at 8 weeks. All retinal tacks remained in inserted places without any movement for an 8 week period. On light microscopy, epiretinal proliferations were seen to extend into the vitreous cavity. Cellular capsules that lined the inner aspect of the scleral defect caused by tack insertion were found. However the adjacent retina had a normal cytologic appearance and architecture in all specimens. We manufactured a biodegradable retinal tack that is designed to prevent intrusion from implantation of retinal tacks. All biodegradable retinal tacks reduce in size with time, but no retinal tacks extruded from the inserted place. The newly designed biodegradable retinal tack can be used for retinal fixation and may be used as a vehicle for the introduction of pharmacologic agents to prevent the cellular events that promote proliferative vitreoretinopathy.

위암환자의 복강내에 투여한 Mitomycin C-Carbon Particle의 Mitomycin 용출에 관한 연구

노승무,조영훈,정경수,오정연,김진향,양준묵,강대영,송규상,조준식,최선웅,이진호,민병무,김용백,김창식,박근성,인현빈,정현용,김학용 충남대학교 의과대학 지역사회의학연구소 1998 충남의대잡지 Vol.25 No.1

Locoregional recurrence is the most common type of recurrence in surgical operation of gastric adenocarcinoma, and peritoneal dissemination is one of the most difficult problems in advanced gastric adenocarcinoma treatment. Because the peritoneal cavity is the most common site of the first recurrence after gastric cancer resection, intraperitoneal chemotherpy seems a logical choice for cancer chemotherapy. The Mitomycin C(MMC) adsorbed by the activated charcoal particles(CH) is relatively released when the drug concentration surrounding the carbon particles becomes low in the peritoneum of the peritoneal cavity. For the intraperitoneal chemotherapy on the advanced gastric adenocarcnoma, mitomycin C adsorbed on activated carbon particles was administered in the peritoneal cavity just before abdominal wall closure. The closed drainage tubes were inserted in the peritoneal cavity and clamped for tuo hours after completion of operation. MMC concentrations were serially measured in peritoneal fluid, plasma and urine at 2hour, 48 hour, 72 hour and 168 hour following its administration in order to study the efficacy of the MMC-CH as a drug delivery system. There were minimal toxicities in born marrow, liver, and gastrointestinal system after intraperitoneal MMC-CH administration. The data of this study suggested that MMC-CH may have a somewhat more beneficial effect than surgery alone when administered in optimal dose and schedules, but the MMC concentration of the peritoneal fluid was not sufficient to eradicate remnant cancer cells, and effective duration of maintenance was only below 24 hours in the peritoneal fluid and plasma.