Linear lateral motion model for urban delivery skid steering robot

Tae Won Kang,Sung Woo Cho,Chang Hyeon Park,Sang Min Lee 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11

This paper deals with the linear lateral motion model for the dynamic skid steering mobile robot system. Previous papers, it doesn’t have any research which considers the lateral target position of the robot but also driving conditions. The proposed model includes a cornering stiffness to contemplate varying road conditions. For driving based on the vision sensors, it has a parameter like look-ahead distance detected with a stereo or depth camera. States of the model consider the yaw-rate state, then make the robot more smooth or more exact. Following the yaw-rate state, lateral position and yaw state are changed. We observe various scenarios by adopting a high-level controller or trajectory on the proposed model. The proposed model’s reliability was validated through computational simulation results and genuine commercial service with a real robot, Neubility-inc’s Neubie.

FCT 5 : Fractional laser-assisted topical imiquimod 5% cream treatment for recalcitrant common warts in children

( Hyun Chang Ko ),( Jeong Min Kim ),( Hyun Ho Cho1 ),( Won Jeong Kim ),( Je Ho Mun ),( Margaret Song ),( Hoon Soo Kim ),( Byung Soo Kim ),( Moon Bum Kim ) 대한피부과학회 2013 대한피부과학회 학술발표대회집 Vol.65 No.2

Background: Conventional destructive modalities for warts like cryotherapy or laser ablation have some limitations that are excruciating pain during procedure, in especially pediatric patients. Imiquimod is a topical immune response modifier that was approved for treating genital and perianal warts. But, thick stratum corneum of common warts may act as a barrier against drug permeation via the skin. Objectives: To evaluate efficacy and safety of above treatment. Methods: Eleven pediatric patients (6 female and 5 male, mean age 12.5 years) were included in this study. The lesions were treated by fractional 2940 nm Er:YAG laser for achieving the penetration of stratum corneum with 1 or 2 weeks intervals. Then, imiquimod 5% cream was self-applied once daily for 5 days a week. Assessment of response and adverse effects was performed every 2 weeks until complete clearance or up to maximum of 48 weeks. Pain during procedure was checked by VAS (0-10). Results: 8 out of 11 (72.7%) patients experienced complete clearance of all warts lesions. Mean duration of total treatment was 29.7 (16-48) weeks. Mean number of fractional laser treatment was 17.5 (8-37) times. No significant adverse effect was observed. VAS score of the pain during fractional laser treatment was 2.4 (1-4), comparing with 6.2 (5-8) during cryotherapy. Conclusion: Fractional ErYAG laser-assisted topical 5% imiquimod cream is an effective and safe treatment option for recalcitrant common warts of the children do not tolerate pain well.

액체로켓엔진의 성능 민감도 해석

조원국(Won Kook Cho),남창호(Chang Ho Nam),박순영(Soon Young Park),김철웅(Chul Woong Kim) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.11

A sensitivity analysis of the liquid rocket engine has been made. A mode analysis program is used to predict the performance change due to the variation of rocket engine operating environment. The propellant supply pressure and density are the major variables of the operating condition. The material properties of the turbine driving gas is assumed as the function of mixture ratio. The discrepancies of performance change between constant turbine driving gas properties and variable properties are greater for the case of fuel pump inlet pressure change than the oxidizer pump inlet pressure change.

안면신경마비에 대한 안륜근 미소안면침 증례보고

조아름,김지현,주경옥,원재선,김창환,Cho, Ah-Reum,Kim, Ji-Hyun,Chou, Ching-Yu,Won, Jae-Sun,Kim, Chang-Hwan 대한한방안이비인후피부과학회 2010 한방안이비인후피부과학회지 Vol.23 No.2

Objective : This study was designed to evaluate the effect of Miso Facial Acupuncture on Orbicularis Oculi muscle. Methods : Two men and four women with Facial nerve palsy were recruited. Miso Facial Acupuncture on Orbicularis Oculi muscle was performed two times a week for three weeks. The effects of the treatment were evaluated by H-B scale, Y-system and clinical symptom. Results : Before treatment with Miso Facial Acupuncture, three patients showed H-B scale improvement and the other three patients had no change. and four patients showed Y-system improvement and the other two patients had no change. In six cases, the patients had improvement in clinical symptom related with Orbicularis Oculi muscle function. Conclusion : Miso Facial Acupuncture on Orbicularis Oculi muscle showed significant improvement in facial nerve palsy.

Aggressive Variant of Chromophobe Renal Cell Carcinoma Accompanied by Tonsillar Squamous Cell Carcinoma

Min Chul Cho,Chang Ahn,Ji Hyeon Roh,Jungbum Bae,Jong Sun Choi,Eo-Jin Kim,Hae Won Lee,Kwang Soo Lee 대한비뇨기종양학회 2013 대한비뇨기종양학회지 Vol.11 No.2

Chromophobe renal cell carcinoma (ChRCC) is a distinct histologic subtype of RCC and accounts for approximately 5% to 10%. The prognosis for ChRCC is considered to be better than those for other types of RCC. Sarcomatoid transformation occasionally occurs and has been presented as a predicting factor of poor prognosis. However, there has been a scarcity of reports on aggressive type of ChRCC without sarcomatoid change. Here we report an unusual case of aggressive variant of ChRCC with hilar lymph node metastasis, with tumor necrosis and without sarcomatoid change. In addition, this case was accompanied by synchronous occurrence of tonsillar squamous cell carcinoma.

기후변화와 키메라현상에 대한 계층 간의 관계인식

백정애(Jungae Baik),김인경(In Kyoung Kim),김진영(Jin Yung Kim),노용환(Yong Hwan Noh),배선영(Sunyoung Bae),우명원(Myoung Won Woo),장혁기(Hyukki Chang),조성돈(Sung Don Cho),장매희(Maehee Chiang) 인간식물환경학회 2011 인간식물환경학회지 Vol.14 No.3

This study was investigated to research the basis of interdisciplinary fusion through the survey on the basis of the answers of professionals and general public, gender, humanities, science and engineering about the question of climate change and chimera which is one of the various phenomena that affect the human life. All respondents’ perceptions of climate change was high and natural disasters was showed the most destruction according to climate change. The answer of awareness of climate change and the damage, chimerism was significant differences between age groups sex, specialized domain-specific individuals. In addition, a group of respondents for science and engineering professionals was higher for awareness of climate change and the chimerism and heir negative opinion for chimerism was relatively low in comparison of other research groups.

Safety of a Traditional Korean Medicine, Cheonggan extracts (CGX): A 2-week Single-dose Toxicity Study in SD Rats and Beagle Dogs

Shin, Jang-Woo,Cho, Jung-Hyo,Seo, Dong-Seok,Sung, Nak-Won,Kwon, Min,Son, Chang-Gue The Society of Korean Medicine 2009 대한한의학회지 Vol.30 No.6

Objectives: To evaluate the acute toxic effects and approximate lethal dose of Cheonggan extracts (CGX) in SD rats and beagle dogs. Methods: Male and female rats were divided into 4 groups (Control, CGX 1250, CGX 2500, CGX 5000) respectively and male and female dogs were divided into two groups respectively (Control, CGX 5000) respectively. A single oral dose of CGX was treated to the rats and dogs. Mortality, signs of gross toxicity, and behavioral changes were observed over 14 days. All animals were observed every hour for 4 hours after administration and once a day thereafter for 14 days. Body weights were determined at $0_{th}$, $7_{th}$, and $14_{th}$ days. All surviving animals were sacrificed and necrotized. Major organs were inspected visually for gross findings. Results: No animals died in any of the groups during the experimental period (2 weeks), rats or dogs. Body weights of rats and dogs during the experiment continuously increased in all groups but there was no significant change. No abnormal clinical signs were observed for 2 weeks after a single administration of CGX in any dose group of CGX, rats or dogs. No abnormal findings in major organs were observed in any group of rats or dogs. Conclusion: CGX does not have acute toxic effects in rats or dogs. Therefore, an approximate lethal dose is assumed to exceed 5000 mg/kg in both rats and dogs.

A comparison of the treatment outcome of oral tofacitinib with other conventional therapies in refractory alopecia totalis and universalis: A retrospective study

( Ye Eun Kim ),( Jung-won Shin ),( Chang-hun Huh ),( Min-woo Kim ),( Ji-su Lee ),( Ohsang Kwon ),( Soyun Cho ),( Hyun-sun Park ) 대한피부과학회 2018 대한피부과학회 학술발표대회집 Vol.70 No.2

Background: Treatment of alopecia totalis and alopecia universalis is often challenging and unsatisfactory. Recently, Janus kinase inhibitor has shown promising results. Objectives: The aim of this study is to compare the efficacy and tolerability between oral tofacitinib and conventional modalities for treating refractory alopecia totalis/universalis. Methods: A total 74 patients (18, treated with tofacitinib; 26, treated with conventional oral treatment (steroid ± cyclosporine); 30, treated with diphenylcyclopropenone) were included and their medical records were reviewed retrospectively. Results: After 6 months, 44.4% of patients in the tofacitinib group, 37.5% in the conventional oral treatment group, and 11.1% in the diphenylcyclopropenone group achieved 50% SALT change. During the treatment, 10% of patients in the tofacitinib group, 73.1% in the conventional oral treatment group, and 10% in diphenylcyclopropenone group experienced adverse drug reactions. Conclusion: In conclusion, oral tofacitinib was more effective than diphenylcyclopropenone immunotherapy and more tolerable than conventional oral treatment after 6 months of treatment.

분류된 학습률을 가진 고속 경쟁 학습

김창욱,조성원,이충웅,Kim, Chang-Wook,Cho, Seong-Won,Lee, Choong-Woong 대한전자공학회 1994 전자공학회논문지-B Vol.b31 No.11

This paper deals with fast competitive learning using classified learning rates. The basic idea of the proposed method is to assign a classified learning rate to each weight vector. The weight vector associated with an output node is updated using its own learning rate. Each learning rate is changed only when its corresponding output node wins the competition, and the learning rates of the losing nodes are not changed. The experimental results obtained with image vector quantization show that the proposed method learns more rapidly and yields better quality that conventional competitive learning. 본 논문은 분류된 학습률을 이용한 고속 경쟁 학습에 대한 연구이다. 이연구의 기본 개념은 각 출력 노우드의 연결강도 벡터에 분류된 학습률을 할당하는 것이다. 출력 노우드의 각 연결강도 벡터는 자기 자신의 학습률에 의하여 갱신된다. 각 학습률은 관련되는 출력 노우드가 경쟁에서 승리할 때에만 변화되며, 승리하지 못한 노우드들의 학습률은 변화되지 않는다. 영상 벡터 양자화에 대하여 실험한 결과는 제안한 방법이 기존 경쟁 학습 방법에 비하여 더 빠르게 학습되고 더 좋은 화질을 갖게 됨을 보였다.

우리나라 하천 관리에서 생물지형학의 적용과 전망

김대현(Daehyun Kim),김원(Won Kim),김은석(Eunsuk Kim),옥기영(Giyoung Ock),장창래(Chang-Lae Jang),최미경(Mikyoung Choi),조강현(Kang-Hyun Cho) 응용생태공학회 2020 Ecology and resilient infrastructure Vol.7 No.1

하천과 홍수터 생태계에서 생물지형학 연구는 폭 넓은 시공간 차원에서 생물계와 수문-지형체계 사이의 복잡한 다중관계를 다루어 왔다. 본 총설에서는 하천에서 (1) 생물과 수문지형 조건의 다자간 관계, (2) 생물다양성과 서식처 이질성의 관계, (3) 생태계 유형에 대한 교란의 영향에 대하여 설명함으로써 하천지형생물학의 범위와 과정을 논의하였다. 시간적으로 하천의 생물지형 복합체는 지형, 선구, 생물지형 및 생태적 단계의 순서로 전환이 된다. 공간적으로 물 흐름과 유사 분포가 식생과 상호작용하여 하도 지형의 변화가 일어난다. 이렇게 형성된 하천의 공간적 이질성은 하안의 생물종다양성을 증가시킨다. 그러나 댐 하류 하천에서는 서식처 유형과 조건이 심각하게 훼손되어 생물다양성이 저하된다. 우리나라의 하천에서는 최근 국지적 교란과 전 지구적 기후변화로 하안 식생이 번무하고 특히 외래종이 빠르게 정착하고 있다. 따라서 급격한 기후변화와 인류에 의한 압박의 시대에서 하천 생물과 수문지형 조건 사이의 상호 관계를 이해하는 것이 더욱 중요할 것으로 생각된다. 이 총설에서 논의한 하천 생물지형 개념틀은 우리나라 하천의 생태적 관리와 복원에 기여할 것으로 기대된다. In fluvial and riparian ecosystems, biogeomorphological research has considered the complex, multi-way relationships between biological and hydro-geomorphological components over a wide range of spatial and temporal scales. In this review, we discussed the scope and processes of fluvial biogeomorphology by explaining (1) the multi-lateral interactions between organisms and hydrogeomorphic conditions, (2) the relationships between biodiversity and habitat heterogeneity, and (3) the effects of disturbance on ecosystem patterns. Over time, an organism-landform complex along streams transitions in the sequences of geomorphic, pioneer, biogeomorphic, and ecological stages. Over space, water flow and sediment distributions interact with vegetation to modify channel topography. It is the habitat heterogeneity in streams that enhances riparian biodiversity. However, in the areas downstream of a dam, habitat types and conditions are substantially damaged and biodiversity should be reduced. In South Korea, riparian vegetation flourishes in general and, in particular, invasive species actively colonize in accordance with the changes in the fluvial conditions driven by local disturbances and global climate change. Therefore, the importance of understanding reciprocal relationships between living organisms and hydrogeomorphic conditions will ever increase in this era of rapid climate change and anthropogenic pressure. The fluvial biogeomorphic framework reviewed in this article will contribute to the ecological management and restoration of streams in Korea.