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Flip 모션을 이용한 신개념 필드 로봇 플랫폼의 큰 장애물 등반 정적 해석 및 실험
서병훈(ByungHoon Seo),신명석(Myeongseok Shin),정경민(Kyungmin Jeong),서태원(TaeWon Seo) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.10
The ability to overcome obstacles is necessary for field robots for various applications including the ability to climb stairs. While much research has been performed focusing on overcoming obstacles, the resulting robots do not have sufficient ability to overcome obstacles such as stairs. In this research, the purpose is to overcome relatively large obstacles by flipping locomotion through the modification of the stair climbing robotic platform of the previous research. We propose two scenarios to overcome large obstacles: a rear wheel driving system and an elevation system using a ball screw. The research is performed based on static analyses on obstacleclimbing. As the simulation results indicate, we determined the optimal posture of the robot for climbing obstacles for rear wheel driving. Also, an elevation system is analyzed for obstacle climbing. Between the two scenarios an elevation system is determined to reduce the operating torque of the actuator, and the prototype was recently assembled. The climbing ability of the robotic platform is verified. We expect the application area for this robotic platform will be in accident areas of nuclear power plants.
인진오령산 복용 후 간기능 혈액화학수치가 호전된 1례 보고
Hong Hyeon-Joon,Jeong Myeongseok,Joo Seongsu,Chu Hongmin 대한침도의학회 2023 대한침도의학회지 Vol.7 No.1
Background: The purpose of this study is to report on patients who showed improvement in liver function test results following the administration of Injinoryeong-san. Methods: A woman visited seeking herbal medicine prescription for symptoms of numbness in her hands and feet. Abnormal elevation of ALT and AST was observed in the blood test conducted before prescribing herbal medicine, so I administered IJORS. Results: After two weeks of taking IJORS, the patient’s liver function test (LFT) returned to normal, and additional improvements were observed in symptoms such as indigestion and fatigue. Conclusion: LFTs are helpful in assessing the patient’s liver function before prescribing herbal medicine. IJORS can be prescribed for patients with abnormal high LFTs.