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Eui Sin Yim,Sung Eun Lee,Young Seok Lee,Seok-Kyoon Kim 제어로봇시스템학회 2018 제어로봇시스템학회 국제학술대회 논문집 Vol.2018 No.10
This study proposes an off-line optimization technique based position controller for two-wheeled mobile balancing robot (2-WMBR) applications. The contribution of this article is to systematically design the outer-loop system through a surface analysis method, which is a kind of offline optimization techniques, without robot parameters. The classical linear quadratic regulator (LQR) technique is applied to the inner-loop system without any modification. The LEGO Mindstorms controlled by the MATLAB/Simulink software is used to confirm the efficacy of the proposed technique.
오프라인 최적화 기법 기반 이륜 밸런싱 로봇 최적 추종 제어
임의신(Eui Sin Yim),김석균(Seok-Kyoon Kim) 대한기계학회 2018 대한기계학회 춘추학술대회 Vol.2018 No.12
This study proposes an off-line optimization technique-based position controller for two-wheeled mobile balancing robot (2-WMBR) applications. The contribution of this article is to systematically design the outer-loop system through a response surface analysis method, which is a kind of offline optimization techniques, without robot parameters. Innerloop system uses linear quadratic regulator (LQR) technique. It keeps the balance of two-wheeled mobile robot. The model of two-wheeled mobile balancing robot is LEGO Mindstorms EV3, was controlled by the MATLAB/Simulink software is used to confirm the efficacy of the proposed technique.
항 흉선세포 말형청글로불린에 대한 즉시형 과민증의 예측에 있어서 피부반응시험과 특이 IgE 항체검사의 임상적 유용성
이현주(Hyun Joo Lee),임의진(Eui Jin Yim),지서영(Seo Young Ji),강석윤(Seok Yoon Kang),서유진(Yu Jin Suh),조재웅(Jae Woong Cho),김선신(Sun Sin Kim),이수걸(Soo Keol Lee),남동호(Dong Ho Nahm),박해심(Hae Sim Park),김현수(Hyun Soo Kim),남동기 대한천식알레르기학회 2000 천식 및 알레르기 Vol.20 No.6
N/A Background: Horse antithymocyte globulin (ATG) is a useful treatment for aplastic anemia and for bone marrow transplantation from HLA-mismatched donors, Mortality due to anaphylactic reaction to horse ATG has been reported. We evaluated the clinical significance of skin test and specific IgE measurement for the prediction of immediate type hypersensitivity reaction to horse ATG. Subjects and methods : The study subjects consisted of 25 patients who received horse ATG. Underlying diseases of the 25 patients included aplastic anemia (n=20), leukemia (n=3), lymphoma (n=1), and Gaucher's disease (n=1). Skin prick test was done on these patients using undiluted ATG solution (Upjohn, USA) with duplication. Specific IgE to ATG was detected by enzyme-linked immunosorbent assay and immunoblot analysis. Results : Skin prick test was positive in 7 (28%) of 25 patients. None of the patients showing negative skin prick test experienced immediate type hypersensitivity reaction to ATG. All patients showing positive skin prick test received desensitization before the administration of a full dose of ATG. However, 3 of 7 patients showing positive skin prick test experienced immediate type hypersensitivity reaction one of them died of anaphylaxis. Specific IgE measurement using enzyme-linked immunosorbent assay was not useful in predicting immediate type hypersensitivity reaction to ATG because of nonspecific bindings. Specific IRE measurement using immunoblot analysis was only positive in the one patient who died of anaphylaxis. Conclusion : Skin prick test was clinically useful in the prediction of irnmediate type hypersensitivity reaction to horse ATG, but specific IgE measurement was not. Further studies might be needed to develop an in vitro test for the prediction of immediate type hypersensitivity reaction to horse ATG. (J Asthma Allergy Clin Immunol 20: 986-42, 2000)