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핵사포드 기계 공구의 재구성을 위한 발-배치 알고리즘 개발
유영순,가춘식 安東大學校 工業技術硏究所 2001 공업기술연구논문집 Vol.8 No.1
본 논문에서는 새로운 병렬구조를 갖는 기계장치의 하나인 핵사포드 기계 기구의 발-배치 알고리즘에 대하여 기술한다. 모듈 병렬운동 기계의 구성을 위한 도구로써 핵사포드 기계 기구의 발-배치를 위한 해석법을 정의하고 제안한다. 이동 플랫폼의 제안된 작업 영역과 다리 모듈의 이동 범위에 기초하여 이 프로그램이 원하는 작업영역을 제공하기 위한 각 발의 가장 적절한 위치를 결정하는 것을 제시된 실험을 통하여 확인할 수 있다. This paper presents an investigation of new reconfiguration used for enhancing the ability of hexapods to adapt to the workspace change and assisting them to integrate into the current manufacturing environment. As a utility to guide the reconfiguration of module PKMs, this defined and presented a construction method for Foot-Placement Space (FPS). Based on the desired workspace of the mobile platform and the range of motion of theleg modules, the program will provide information on the feasible locations for the feet of the legs so that the required workspace can be realized. Experimental results have shown to verify the effectiveness of the proposed algorithm.
퍼지 제어 이론을 이용한 이동 로봇의 장애물 회피 알고리즘
유영순,가춘식 安東大學校 工業技術硏究所 2000 공업기술연구논문집 Vol.7 No.1
이 논문은 새로운 지연 시간 기법을 도입한 퍼지 논리 제어기를 개발하여 자율 이동 로봇이 미지의 환경에서 고정 및 이동 장애물을 회피하는 알고리즘을 제안한다. 이 논문에서는 실시간으로 임의로 변화하는 장애물 회피 문제를 해결하기 위하여 지연 시간 기법을 이용한 개선된 퍼지 제어 알고리즘을 개발하였다. 이러한 제어 방법은 정해진 목표점을 장애물과 부딪히지 않고 실시간으로 최적의 경로를 찾아 실시간으로 주행하도록 하는데 매우 유용하다. 컴퓨터 모의실험을 통해 장애물 회피에 있어서 제안한 제어기법의 유용성을 검증하였다. This paper presents a delayed time path planning method of the Autonomous Mobile Robot using fuzzy logic controller for avoidance of fixed and moving obstacles in unknown environment. It is the objective of this paper to develop fuzzy control algorithms using delayed time techniques to deal with moving obstacles randomly in real time. This control method gives the benefit of the collision free movement in real time and optimal path to the pre-settled goal. The computer simulations are demonstrated the effective of the suggested control method in obstacle avoidance.
S-177 Disseminated pseudomyxoma peritonei after surgical resection of IPNB,
( Ga-yeong Shin ),( Seung Bae Yoon ),( In Seok Lee ),( Myung Ah Lee ),( Moon Hyung Choi ),( Eun Sung Jung ) 대한내과학회 2016 대한내과학회 추계학술대회 Vol.2016 No.1
Background: Intraductal papillary neoplasm of bile duct(IPNB) is a recognized precursor of invasive bile duct carcinoma. The treatment of IPNB includes hemihepatectomy and resection of involved extrahepatic bile ducts and the prognosis is closely associated with complete resection of tumor.Case: A 64-year-old man was admitted to our hospital with acute abdominal pain. An enhanced computed tomography(CT) and magnetic resonance imaging showed diffuse dilated intrahepatic and common bile ducts. During endoscopic retrograde cholangiography, diffuse dilatation of intrahepatic bile ducts with amorphorous filling defects was shown and much mucin was presented at the orifice of papilla. Under the diagnosis of IPNB, he underwent a laparoscopic left hepatectomy. The pathologic finding was compatible with an intestinal-type high-grade IPNB and the resection margin was free from tumor. He was lost to follow up. After 29 months later, he revisited our hospital suffering from abdominal distension. Abdominal CT scan revealed extensive soft tissue masses involving omentum and parietal peritoneum and a large amount of ascite The preserved right hepatic lobe was free from IPNB and the appendix looked normal. An ultrasound-guided omental biopsy was performed and indicated the presence of extracellular mucin pools containing scant strips of mucinous epithelium. The biopsy specimens were consistent with pseudomyxoma peritonei. Immunohistochemical analysis showed that both primary IPNB and mucinous epithelial cells in pseudomyxoma peritonei were immunoreactive with cytokeratin 7, mucin 2, and mucin 5AC. Both of them were negative for cytokeratun 20 and mucin1. He received 6 cycles of gemcitabine plus cisplatin chemotherapy; however, he died of progression of disease 13 months after recurrence. Conclusions: In our case, the recurrence of IPNB presented as disseminated PMP although the resection margin was free for tumor. All things considered, the possible mechanism of tumor recurrence in our case may be the spillage of tumor cells during surgery rather than incomplete resection. Our case shows that, in addition to complete resection of tumor, prevention of spillage of tumor cells containing mucin is also important in treating IPNB.
Ga Yeong Kim,Sang Bin Lee,Ok Kon Moon,Ji Sung Kim,Jung Hyun Choi,Jung San Wang,Joo Hyun Park,Hong Rae Kim,Ju Hwan Lee,Kyung Ok Min 국제물리치료학회 2014 Journal of International Academy of Physical Ther Vol.5 No.2
This study investigated the effects of changes to the pulsation factor of pulsed direct currents on wound healing. Patients with a pressure ulcer at a care hospital for the elderly were randomly divided into three groups: Group 1 involved the application of 100㎲ in pulse duration, 10 ㎳ in pulse period, 100 pps in a pulsation factor, 15 ㎃ in pulse amplitude, and polarity red+ by using pulsed direct currents; Group 2 involved a change of pulse period to 8 ms; and Group 3 received general wound management. Although there were no statistically significant differences in the changing stages of pressure ulcers among the groups, all the groups dropped in numerical stages. In the two groups to which pulsed direct currents were applied, there was a statistically significant reduction in the stages of pressure ulcers from the initial assessment to the 12-week assessment (p<.05). Even though there were no statistically significant differences in changes to the area of pressure ulcers among the groups, a statistically significant decrease was found in pulsed direct current group 2 whose pulse period was shortened (p<.05). There was no difference in the healing rate of pressure ulcers among the groups, but it made a numerical increase in pulsed direct current group 1 and group 2 and a numerical decrease in group 3. There were no significant differences in the characteristics of those who had a full recovery among the groups. Those findings indicate that pulsed direct currents have positive effects on the wound healing of patients with a pressure ulcer and that a treatment with pulsed direct currents whose pulsation factor is raised by reducing the pulse duration is especially effective.