비젼 제어시스템에 사용된 카메라의 최적개수에 대한 실험적 연구

장완식,김경석,김기영,안힘찬 한국공작기계학회 2004 한국생산제조학회지 Vol.13 No.2

The vision system model used for this study involves the six parameters that permits a land of adaptability in th relationship between the camera space location of manipulable visual cues and the vector of robot joint coordinates is estimated in real he. Also this vision control method quires the number of cameras to transform 2-D camera plane from 3-D physical space, and be used irrespective of location of cameras, if visual cues are displayed in the same camera plane. Thus, this study is to investigate the optimal number of cameras used for the developed vision control system according to the change of the number of cameras. This study is processed in the two ways : a) effectiveness of vision system model b) optimal number of cameras. These results show the evidence of the adaptability of the developed vision control method using the optimal number of cameras.

인간 면역부전 바이러스(HIV) 감염자 사이에서의 1기 및 2기 매독의 유행

장희창,조재현,박완범,이기덕,이창섭,김홍빈,오명돈,최강원 대한감염학회 2004 감염과 화학요법 Vol.36 No.6

목적 : 국내 HIV 감염자 사이에서 발생한 매독의 유행을 보고하고, 그 역학적 특성을 규명하고자 하였다. 재료 및 방법 : 1999년 7월부터 2003년 9월까지 서울대학교 병원에서 추적 관찰을 받아온 HIV 감염자를 대상으로 하여 1기 및 2기 매독의 발생을 조사하였다. 발생률을 정확히 구하기 위해 추적 관찰을 받은 모든 HIV 감염자의 인년을 6개월 간격으로 구하였다. 결과 : 51개월 동안, 465명의 HIV 감염자가 서울대학교 병원에서 추적 관찰을 받았다. 이중 38명이 1기 및 2기 매독으로 진단되었다. 1기 및 2기 매독의 발생률은 이기간 동안 100인년 당 4.1명이었다. 1999년 7월부터 2001년 12월 사이에는 발생자가 없었으나, 이후 발생률은 꾸준히 증가하여 2003년 9월에는 100인년 당 18.8명이 되었다. 1기 및 2기 매독의 발생률은 동성애자 및 양성애자에서 이성애자에서보다 4.3배 높았고, HAART로 치료를 받지 않은 환자에서 HAART로 치료를 받고 있던 환자에서 보다 10.9배 높았다. 결론 : 2002년부터 국내 HIV 감염자 사이에서 1기 및 2기 매독이 유행하기 시작하였고, 이러한 유행은 동성애자와 양성애자 및 HAART로 치료를 받고 있지 않던 사람 사이에서 발생하였다. Background : This study was performed to characterize the epidemiologic and clinical features of outbreak of syphilis among HIV sero-positive patients in Korea. Materials and Methods : A retrospective case review of patients diagnosed with primary and secondary syphilis from July 1999 to September 2003 was carried out at Seoul National University Hospital in Korea. To estimate the incidence, person-years (PYs) of all HIV sero-positive patients, who visited the hospital in the same period, were calculated every 6 months. Results : In a 51 month period, 465 HIV-positive patients were followed up at Seoul National University Hospital. 38 cases of primary and secondary syphilis were diagnosed. The incidence of primary and secondary syphilis was 4.1 per 100 PYs during the study period. There was no case from July 1999 to December 2001, and then the incidence rose until September 2003 from 5.5 per 100 PYs in 1999 to 18.8 per 100 PYs in 2003. The rate of primary and secondary syphilis was 4.3 times higher among homosexual and bisexual men than heterosexual men (95% CI 1.87 to 11.17), and 10.9 times higher among patients who did not receive HAART than patients who were receiving HAART (95% CI 5.47 to 21.79). Conclusion : The outbreak of primary and secondary syphilis among HIV-positive patients started in 2002 and has been escalating, especially among homosexual/bisexual men and in patients who did not receive HAART.

로봇 비젼 제어를 위한 확장 칼만 필터링 모델 개발

장완식,박성일,이성민,김기영,신광수 朝鮮大學校 機械技術硏究所 2002 機械技術硏究 Vol.5 No.2

The computational time in estimating the parameter of vision control algorithm is very important for robot's position control in real time. Unfortunately, the batch estimation used commonly requires much computational time because it has iteration method. So, the batch estimation has difficulty for robot's position control in real time. On the other hand, the Extended Kalman Filtering(EKF) has much advantages in that it is a simple and efficient recursive procedures. Thus, this study is to develop the EKF algorithm for the robot's vision control in real time. This vision system used in this study involves the six parameters to account for the camera inner (orientation, focal length etc) and outer parameters (the relative location between robot and camera). Then, EKF is applied to estimate these parameters, and based on estimated these parameters, EKF also is applied to estimate the robot's joint angles used for robot's operation. Finally, Experiment on the robot's position control is performed to show the practicality of vision control scheme based on the EKF.

이미지 평면에서 다물체 중심 위치를 구하기 위한 화상처리 기법 개발

장완식,김기영,안힘찬 朝鮮大學校 機械技術硏究所 2002 機械技術硏究 Vol.5 No.2

Recently, the use of vision system is rapidly increasing in inspection and robot's position control. To apply the vision system, it is necessary to transform the physical coordinate of object into the image information acquired by CCD camera, which is called image processing. Thus, to use the application of the vision system in the inspection and robot's position control in real time, we have to know the position of object in the image plane. Particularly, in case of rigid body using multi-cues to identify its shape, the each position of multi-cues must by calculated in an image plane at the same time. To solve these problems, this study is developed the image processing algorithm of multi-cue's centroids position.

비젼 제어시스템에 사용된 카메라의 최적개수에 대한 실험적 연구

장완식,김선호,김기영,임호진,안힘찬 朝鮮大學校 機械技術硏究所 2002 機械技術硏究 Vol.5 No.2

The vision system model used for this study involves the six parameters that permits a kinds of adaptability in the relationship between the camera space location of manipulable visual cues and the vector of robot joint coordinates is estimated in real time. Also this vision control method requires the number of cameras to transform 2-D camera plane from 3-D physical space, and be used irrespective of location of cameras, if visual cues are displayed in the same camera plane. Thus, this study is to investigate the optimal number of cameras used for the developed vision control system according to the change of the number of cameras. This study is processed in the two ways : a) effectiveness of vision system model b) optimal number of cameras c) These results show the evidence of the adaptability of the developed vision control method using the optimal number of cameras.

성인의 만성 기침에 대한 감별진단으로서의 백일해

박완범,박상원,이기덕,이창섭,장희창,김홍빈,김의종,오명돈,최강원 대한감염학회 2004 감염과 화학요법 Vol.36 No.6

목적 : 백일해는 소아기에 발생하는 전염병으로 오랫동안 알려져 왔다. 그러나, 미국과 유럽에서는 1990년대에 들면서 성인에서도 백일해가 유행하며, 만성 기침 환자의 20% 정도가 백일해를 앓는 것으로 보고하고 있다. 저자들은 국내에서 성인 만성기침의 원인으로 백일해의가능성을 확인하고자 하였다. 재료 및 방법 : 2002년 9월부터 2003년 5월까지 서울의 일개 대학보건진료소 또는 일개 시립병원 외래를 방문한 환자 중 기저 폐질환 없이 1주 이상 기침을 하는 성인을 대상으로 Bordetetlla pertussis에 대한 배양검사와 중합효소 연쇄반응검사(PCR)를 시행하였다. 결과 : 1주 이상의 기침을 하는 성인 102명 중 배양검사에서 양성인 환자는 없었으나 3명(2.7%)에서 PCR 양성이었으며 이들 모두 3주 이상 기침이 지속되었고 백일해의 특징적인 증상을 호소하였다. 결론 : 국내에도 성인에서 백일해가 발생하고 있음을 확인하였고 따라서 성인 만성기침의 원인으로 백일해를 감별 진단해야 한다. Background : Pertussis was long considered a childhood illness. However, in the last two decades, it has been reported as a cause of prolonged cough in adolescents and adults in other countries. Infection of Bordetella pertussis was prospectively searched among adults with a persistent cough. Materials and Methods : Adult patients, who visited either the outpatient clinic of a municipal hospital or a university health service center due to cough of more than six days' duration without underlying pulmonary disease, from September 2002 to May 2003, were enrolled. The culture and polymerase chain reaction (PCR) were used for confirming of B. pertussis infection. Results : 102 adult patients with persistent cough were evaluated. 3 (2.9%) patients were PCR positive for B. pertussis. There were no patients with positive culture. All patients with positive PCR had one or more classic symptoms of pertussis and their cough persisted for 3-7 weeks. Conclusion : We confirmed the morbidity of pertussis in Korean adults with persistent cough. Pertussis should be considered as a differential diagnosis of chronic cough in adults.

간경변증 환자에서 Escherichia coli 균혈증 합병 시 간기능 장애에 따른 C-reactive protein 생성 능력에의 영향

박완범,강철인,김동민,이기덕,장희창,김홍빈,오명돈,이효석,최강원 대한감염학회 2003 감염과 화학요법 Vol.35 No.5

목적 : C-reactive protein(CRP)은 간에서 생성되는 급성 반응물질이다. 하지만 간부전증 환자에서 CRP의 반응이 간기능에 따라 어느 정도 영향을 받는지는 별로 알려진 바가 없다. 본 연구에서는 간기능에 따른 CRP 생성 능력을 평가하고자 하였다. 방법 : E. coli 균혈증이 있는 간경변증 환자 30명을 대상으로 하였고 간기능은 균혈증이 발생하기 전 2개월 이내에 측정된 혈청 빌리루빈, 혈청 알부민, 프로트롬빈시간, Child-Pugh 점수로 평가하였다. 대조군 A는 간질환이 없으면서 E. coli 균혈증이 발생한 환자 30명으로 하였고 대조군 B는 간경변증이 있으면서 급성 감염의 증거가 없는 환자 30명으로 하였다. 환자군과 대조군 간에 CRP의 최대값을 비교하였다. 결과 : CRP의 최대값은 환자군에서 7.3±5.0㎎/dL, 대조군 A에서 17.9±8.3㎎/dL로 환자군에서 유의하게 낮았다.(P<0.001). 간경변증 환자에서 CRP의 생성은 Child-Pugh 점수에 비례하여 감소하였으나(P=0.004) Child=Pugh class C의 간기능을 가진 환자군에서도 대조군 B와 비교하여 의미있는 CRP의 생성을 보였다(5.3±3.2 vs. 0.5±0.4㎎/dL, P<0.001). 결론 : 간기능부전 환자에서 CRP 반응은 간기능 저하 정도에 따라 둔화되지만 심한 간기능 장애를 가진 환자에서도 CRP의 생성은 유지된다. Background : C-reactive protein (CRP) is an acute phase reactant produced in the liver. To assess the influence of liver dysfunction on the production of CRP, we evaluated CRP response to E. coli bacteremia in patients with or without liver cirrhosis (LC). Methods : 30 LC patients who developed spontaneous peritonitis with E. coli bacteremia were enrolled in the study. Baseline values of total bilirubin, serum albumin, and prothrombin time were obtained within 2 months prior to infection. Liver dysfunction was categorized according to the Child-Pugh score. 30 patients with E. coli bacteremia who had no underlying liver dysfunction were included as a control group. Matched-control of 30 LC patients without evidence of acute infection was also included. The peak CRP values were compared among the groups. Results : In the patients with E. coli bacteremia, the mean value of peak CRP was 7.3 (+/- 5.0) ㎎/dL in LC patients, 17.9 (+/- 8.3) mg/dL in patients without liver dysfunction (p<0.001). In the advanced LC patients with Child-Pugh class C, the level of CRP was 5.2 (+/- 3.3) ㎎/dL in patients with E. coli bacteremia, 0.5 (+/- 0.4) ㎎/dL in patients without acute infection (P<0.001). Child-Pugh score had correlation with decrease of CRP (linear regression test, P=0.004). Conclusion : CRP response during E. coli bacteremia was attenuated but maintained even in patients with advanced liver dysfunction.

폐경전후 여성에 있어서 혈장 지질농도변화와 골밀도 비교

강완석,장판기,정기령,이은희 한국건강관리협회 1999 건협 Report Vol.2 No.-

간경변증 환자에서 Escherichia colli 균혈증 합병 시 간기능 장애에 따른 C-reactive protein 생성 능력에의 영향

박완범,강철인,김동민,이기덕,장희창,김흥빈,오명돈,이효석,최강원 대한감염학회 2003 감염과 화학요법 Vol.35 No.5

운동선수의 연간 심박수와 혈중유산소농도와의 관계

임완기,장창현,고영완 한국스포츠리서치 2004 한국 스포츠 리서치 Vol.15 No.5

Number of heart beats of rating of perceived exertion (RPE) when aerobic density in blood is 2.5 mmol/ℓ(aerobic work threshold value: AerT) or 4.0 mmol/ℓ(anaerobic work threshold value: AnT) have been used efficiently as method for monitoring training intensity. However sometimes it was pointed out that number of heart on change of physical strength. In this study 13 speed skating athletes were studies for the purpose of comparing number of heart beats at the time of AperT and AnT. RPE and displayed power by carrying out maximum exercise by gradual increase of cycle ergometer before and after the season. Displayed power of AerT was 126+/-87 vs. 163+/-12 Watt(prior to season vs. during the season, p<.05) and at AnT it was 215+/-67 va. 231+/-37 Watt (p<.05). At the time of maximum exercise it was 343+/-22 vs. 365+/-41 Watt (p<.05). On the other hand in terms of number of heart beats at AerT it was 131+/-10 vs. 132+/-15 beats/min, and at AnT it was 162+/-48 vs. 165+/-22 beats/min. At the time of maximum exercise it was 197+/-10 vs. 198+/-17 beats/min and it was all the same figures. Also with RPE and at AerT it was 2.0+/-1.2 vs. 2.8+/-0.3 and at AnT it was 5.5+/-0.4 vs 5.5+/-0.1 which was same. In the above it was confirmed that displayed power at AerT and AnT and maximum exercise may be varied depending on annual physical condition change but number of heart beats and RPE did not show such variation therefore they are effective for monitoring annual training intensity.