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- 저자 : Novitsky (검색결과 2 건)
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Aleksandr Novitsky,Dmirty Yukhimets 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
In this paper, we propose a method for constructing a mobile robot navigation system based on data fusion obtained from on-board sensors and cameras using an extended Kalman filter. Moreover, the video device we use is a low cos web-camera, that leads to whole system price reduction. The approach can significantly improve the accuracy of mobile robot navigation where global positioning systems are not available. The method proposed consists of two stages. In the first stage video processing and providing additional information about mobile robot movement occurs. A second stage is the fusion of the navigation data obtained from the video stream and the data received from the onboard sensors of the mobile robot. The experimental study of the proposed approach proved its higher accuracy and efficiency comparing with methods based on onboard sensors or mobile robot video camera only.
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새로운 Authracycline 계 항암성 항생물질 DA-125 의 랫드에 대한 4주 용량설정시험 ( DRF ) 과 13 주 아급성 독성시험
백남기(Nam Gi Baik),안병옥(Byoung Ok Ahn),이순복(soon Bok Lee),이상득(Sang Deuk Lee),김원배(Won Bae Kim),양중익(Jung Ick Yang),(Eric J . F . Spicer),(Susan Novitsky),(Lee Bernal),(Pamela Ball),(Mary Ellen Mckenna),(K . 한국응용약물학회 1994 Biomolecules & Therapeutics(구 응용약물학회지) Vol.2 No.2
This study was conducted to investigate the repeated dose toxicity of DA-125, a new anthracycline antitumor antibiotic, in rats. Before the 13-week main study, a 4-week dose-range finding (DRF) study was carried out. The administration of DA-125 intravenously at dosage levels of 0, 0.125, 0.5, 2.0, and 8.0 ㎎/㎏/day to rats for 4 weeks resulted in premature deaths of all animals in the 8.0 ㎎/㎏/day group and in the deaths of 4 males and 4 females at 2.0 ㎎/㎏/day. Body weights were markedly reduced in the 8.0 ㎎/㎏/day group and showed dose-related decreases in all treatment groups when compared with the control group. Reductions in weight gain were slight and not significantly different at 0.125 ㎎/㎏/day but animals receiving 0.5 ㎎/㎏/day showed more marked decreases in gain in a clear dose-related manner. Based on the results of the above DRF study, a 13-week repeated dose intravenous toxicity study in rats with DA-125 was performed at a dose level of 0, 0.012, 0.08 and 0.3 ㎎/㎏/day. No treatment related effects were noted in behavior or body weight in all treatment groups. One male at the highest dose level died on study day 26, but the death could not be related to test article toxicity. Swelling and scabbing of the ears was present in all of the groups, including the control group. There were no treatment related changes in the hematological, biochemical or urinalysis values in all treatment groups. Thymus weights were significantly reduced in males receiving 0.3 ㎎/㎏/day and they were sligltly, and not significantly, reduced in females of the same group. While there were no associated histological changes. Treatment related necrosis was found in the tail vein (injection site) at 0.08 and 0.3 ㎎/㎏/day. On the basis of these results, the no observed effect level (NOEL) was 0.012 ㎎/㎏/day and the maximum tolerated dose (MTD) was estimated to be more than 0.3 ㎎/㎏/day under the conditions tested.
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