자율이동로봇을 위한 직선선분 기반 지도 작성

강승균,임종환,강철웅 제주대학교 공과대학 첨단기술연구소 2004 尖端技術硏究所論文集 Vol.15 No.1

The paper presents an efficient method of extracting line segment in a local map of robot's surroundings. The local map is composed of 2-D grids that have both the occupancy and orientation probabilities based on the bayesian map building model. The local map is continuously updated while the robot explorers its unknown environment and the orientations of all grids in the local map are clustered into several groups according to their values. The line segments are then extracted from the clusters based on least square methods. A merging method that reconstructs lines and corners is developed to build a topological map. The proposed technique is illustrated by experiments in an indoor environment.

그리드지도의 방향확률을 이용한 직선선분의 추출

강승균,임종환,강철웅 제주대학교 공과대학 첨단기술연구소 2003 尖端技術硏究所論文集 Vol.14 No.1

The paper presents an efficient method for extracting the line segments in a local map of a robot's surroundings. The local map is composed of 2-D grids that have both the occupancy and orientation probabilities from sonar information. To find the shape of an object in a local map from orientation information, the orientations are clustered into several groups according to their values. The line segment is ,then, extracted from the clusters based on Hough transform. The proposed technique is illustrated by experiments in an indoor environment.

생활체육 테니스 참가자의 참여정도에 따른 여가만족 및 생활만족에 관한 연구

김승철,이동현,육영숙,장선웅 한국스포츠심리학회 2003 한국스포츠심리학회지 Vol.14 No.3

본 연구는 생활체육 참가자의 사회인구학적 특성과 참여정도에 따른 여가만족과 생활만족의 차이 및 관계를 비교 분석하여 생활체육 테니스의 참여 기회확대와 활성화를 위한 기초자료를 제공하고자 한다. 이와 같은 목적을 달성하기 위하여 2002년 서울시 S구 소재의 생활체육 테니스 시설을 중심으로 테니스 활동에 참가하는 만20세 이상 성인을 모집단으로 무선표집된 10개소 테니스 시설에서 총 300명을 집락표집(cluster sampling) 하여 생활체육 테니스 참가자의 참여정도에 따른 여가만족 및 생활만족의 각 변인간 차이를 분석하였다. 그 결과 사회인구학적 특성변인에 따른 여가만족에서는 남자가 신체적, 사회?교육적, 환경적 요인이 여자보다 높게 나타났고, 연령에서는 연령이 높아질수록 신체적 요인이 증가하는 것으로 나타났으며, 고연령 집단에서 사회?교육적 요인, 환경적, 휴식적 요인이 높게 나타났다. 교육수준에서 신체적 요인은 교육수준이 높을수록 만족 요인이 증가하는 것으로 나타났으며, 수입에서는 고수입 집단이 신체적, 사회?교육적, 휴식적 요인이 높은 것으로 나타났다. 또한 연령은 높고 수입이 많은 집단에서 생활만족이 높게 나타났으며, 참여정도에 따른 여가만족에서는 참여기간이 증가할수록 사회?교육적, 환경적, 휴식적 요인이, 참여시간에서는 참여시간이 증가할수록 신체적, 사회?교육적, 환경적, 휴식적 요인이 높아지는 것으로 나타났다. 생활체육 테니스 참가자의 여가만족이 생활만족에 미치는 영향과 인과 관계에서는, 사회?교육적, 환경적 요인이 생활만족에 가장 많은 영향을 주는 것으로 나타났으며, 마지막으로 생활체육 테니스 참가자의 참여정도(기간, 빈도, 시간)에 따른 생활만족에서는 참여기간, 참여시간에서 유의한 차이가 있는 것으로 나타났다. 참여기간과 참여시간은 각각 기간과 시간이 증가할수록 생활만족이 높아지는 것으로 나타났다. 본 연구의 결과와 다수의 선행연구 결과들의 차이는 변인 및 요인의 다양성에서 비롯되는 것으로 사료되며, 참여정도와 생활만족의 관계를 설명하는 보다 많은 연구가 필요하고, 생활만족에 관련한 변인과 하위 요인을 정확히 측정하고 신뢰할 수 있는 도구와 일관성 있는 결과들이 지속적으로 제시되어야 한다. This study was to examine differences and relationship between life and leisure satisfaction of sports participants based on socio-demographic groups in order to broaden participation opportunities in tennis as well as to provide fundamental data for further studies. To achieve its main goal, 300 subjects of this study were selected among adults tennis participants over 20 at 10 tennis facilities located in Seoul in 2002 by means of multi-stage stratified cluster sampling method, and were analyzed factors of leisure satisfation and life satisfaction depends on degree of participation of tennis participants. The result shows that physical, socio-environmental, educational factors of male participants indicated higher than those of women. Older participants showed higher physical factor, and the aged group indicated high socio-educational, environmental, relax factors. As the educational level was higher, the satisfaction factor increased, and high income group showed high physical, socio-educational, relax factors. The age and high income group expressed high life satisfacton, and as participation period and time become longer, socio-educational, environmental, relax factors became higher. There was also cause and effect relationship between leisure and life satisfaction, and socio-educational, environmental factors were main factors. Lastly, life satisfaction was stastically different depends on degree of participation (period, frequency, time), and longer participation period and time lead to higher life satisfaction. However, this study and some previous studies are contradictory in some ways. It is considered that those conflicting results stem from various factors and variables, thus consistent insturments and reliable results should be created through further studies on degree of participation and life satisfaction.

韓國産·中國産 운지(Coriolus versicolor(Fr.) Quel)의 抗腫瘍 成分에 관한 比較 연구

崔乘基,金泰均,林雄圭 서울대학교 농과대학 농업개발연구소 1993 서울대농학연구지 Vol.18 No.1

韓國産과 中國産 雲芝 Coriolus versicolor (Fr.) Quel의 抗腫瘍成分의 수율과 종양억제율을 비교하기 위해, 단백결합다당류를 유기용매침전과 ultrafiltration method에 의해 分離, 定量하였다. 한국산 Coriolus versicolor (Fr.) Quel의 항종양 성분의 수율은 13.8%였고, 중국산 Coriolus versicolor (Fr.) Quel의 항종양 성분의 수율은 12.7%였다. 한국산과 중국산 시료간에 종양억제율에는 유의성 있는 차이가 보이지 않았다. To Compare the yield and inhibition of ratio antitumor constituents of Coriolus versicolor (Fr.) Quel in Korea and China, protein-bound polysaccharides were isolated and quantitated by organic solvent precipitation method and ultrafiltration method. The yield of antitumor constituents of C. versicolor (Fr.) Quel in Korea was 13.8% and the yield of antitumor constituents of C. versicolor (Fr.) Quel in China was 12.7%. The inhibition ratio of both did not showed significant value..

피부적용제제로서 우르솔릭 애씨드를 함유한 큐보좀의 제조 및 평가

이승연,경기열,이종화,지웅길 忠南大學校 生命科學硏究院 醫藥品開發硏究所 2006 藥學論文集 Vol.21 No.-

Nanosized particle of bicontinuous cubic liquid crystalline phase system nominated "cubosome" allows for simultaneous incorporation of water- and oil-soluble materials as well as amphiphiles. The solubilization of ursolic acid, a highly hydrophobic molecule, into a cubosome system was formulated by liquid precursor dilution method. Ursolic acid (UA) with anti-inflammatory and anti-aging effect obtained from some plants. The cubosomes with and without UA were prepared and evaluated. The cubosomes had mean diameter of from 30 to 300 nm. The size increased according as the glyceryl monooleate(GMO) content increased and ratio of poloxamer 407 to water decreased. The turbidity of cubosome increased with increase of GMO content, but the addition of poloxamer 407 reduced the particle size with bluish appearance. Cubosomes from the GMO-ethanol-poloxamer 407-water system were proved relatively stable dispersion system without any creaming and sedimentation for 80 days at various storage temperatures. Viscosity of cubosomes was increased at high concentration of GMO and a rheological property of cubosomes revealed pseudo-plastic flow and weak thixotropic behavior. The percutaneous absorption rate of UA in cubosome system was 2.7 times higher than in liposome system.

적응중첩함수에 의한 음성신호의 최적특징 추출

최웅세,장승관,김창석 明知大學校 産業技術硏究所 1994 産業技術硏究所論文集 Vol.13 No.-

This thesis is proposed the adaptive overlap function for absorbing the time variation of speech signal. In this paper, the time variation which is known to the problem on speech recognition is absorbed by diving the speech signal into the equal number of frames regardless of lenght of signal and the frames of the signal are divided by the adaptive overlap function. Equal number of the features of the speech signal extracted from the frame data by using FRLS. As the results that the proposed algorithm applied to the numeral speech, it was found that the adaptive overlap function was absorbed the time variation by dividing the speech signal into the constant frame number, equal number of the features of the speech signal were extracted from each frame.

가스유량에 따른 흡입마취제의 섭취

김교상,이동호,김윤기,이청,전세웅,서정국,유희구,김경헌,승익상 대한마취과학회 1989 Korean Journal of Anesthesiology Vol.22 No.6

Any factor which increases rebreathing (such as a decrease in inflow rate or an increase in ventilation) or increase uptake (such as an increase in solubility or in cardiac output) will lower the inspired anesthetic concentration. This in turn, will be reflected in an slower rate of anesthesia induction. In a circle absorption system, the inspired anesthetic concentration may be reduced from the inflowing concentration by rebreathing of anesthetic depleted gas. Semiclosed system, most widely used modern anesthetic system was tested to determine what effect the inflow rate had on the rate of rise of anesthetizing alveolar concentration of halothane and enflurane. The results were as follows: 1) High fresh gas inflow rate put the inspired anesthetic concentration close to that of inflow more rapidly. 2) In halothane anesthesia with 4 and 6 L/min of fresh gas flow, the anesthesia induction time was about 20 and 15 minutes respectively. But there was marked delay of the development of anesthesia by 2 L/min of fresh gas fiow. 3) In enflurane anesthesia, the anesthesia induction time was within about 10 minutes without respect to inflow rate. With these results, in general inhalation anesthesia with halothane or enflurane when a semiclosed technique and 100% oxygen are employed, a total gas flow at 4 to 6L per minute is recommended to establish a satisfactory induction and maintenance level of anesthesia.

A case of patient with pulmonary thromboembolism undergoing cesarian resection treated with mechanical thrombectomy

( Seung Yup Lee ),( June Ho Bae ),( Ji Young Park ),( Seung Gi Yu ),( Jae Ung Choe ),( Chang Seob Song ) 대한내과학회 2011 대한내과학회 추계학술대회 Vol.2011 No.1

Introduction: Pulmonary thromboembolism(PTE) is known to be exogenous material that travels to the lungs through the pulmonary circulation, causing a partial or complete occlusion of the pulmonary vasculature. we reported the patients with massive PTE from the deep veins thrombosis (DVT) after undergoing cesarian resection and treated successfully mechanical thrombectomy using Arrow-Treretola percutaneous thrombolytic device (ATPTD) after using the adequate thrombolytic agents. Case: A 31 year-old women was admitted for sudden shortness of breath that occurred the day before. The patient did not complained of fever, chills or productive sputum. She underwent cesarian resection two days before and there were no history of DM, hypertension and smoking. Laboratory test at admission, D-dimer was increased to 5.3 ug/ml. Pulmonary CT showed PTE in both pulmonary arteries of right middle lobe, bilateral upper lobe, and anterior and posterior basal segment of right lower lobe. Lt. basal posterior segmental and subsegmental arteries were suspicious of pulmonary infarction and partial collapses were at left lower lobe. An echocardiography showed enlarged RV and RA with reduced LVEF and slightly D-shape of septum on LV. US Doppler lower extremity sonography revealed acute DVT. We decided thrombolysis for massive PTE with urokinase. After infusion, pulmonary angiography showed that thrombus decreased, but thrombus of right lower pulmonary artery remained. So we used ATPTD for thrombus maceration and IVC filter insertion. Symptoms were improved and was discharged with warfarinization. After 3 days, the patient was admitted to the ER again due to both leg edema. CT lower extremity venography showed that acute bulky DVT were seen from inner lumen of IVC filter to iliac vein without flow or collateral vessels. Overnight catheter thrombolysis was performed using urokinase. But thrombus remained in follow up angiography. We performed mechanical thrombectomy and partial pharmacology thrombolysis using 8F aspiration thrombectomy catheter, ATPTD and urokinase to eliminate chronic DVT of distal IVC and both common iliac vein. The patient was improved and were discharged.

A case of patient with pulmonary thromboembolism undergoing cesarian resection treated with mechanical thrombectomy

( Seung Yup Lee ),( June Ho Bae ),( Ji Young Park ),( Seung Gi Yu ),( Jae Ung Choe ),( Chang Seob Song ) 대한내과학회 2011 대한내과학회 추계학술대회 Vol.2011 No.-

Improved Endothelial Function in Patients with Atrial Fibrillation through Maintenance of Sinus Rhythm by Successful Catheter Ablation

SHIN, SEUNG YONG,NA, JIN OH,LIM, HONG EUY,CHOI, CHEOL UNG,CHOI, JONG IL,KIM, SEONG HWAN,KIM, EUNG JU,PARK, SANG WEON,RHA, SEUNG‐,WOON,PARK, CHANG GYU,SEO, HONG SEOG,OH, DONG JOO,KIM, YOUNGȁ Blackwell Publishing Inc 2011 Journal of cardiovascular electrophysiology Vol.22 No.4

<P> <B>Effect of Ablation on Endothelial Function</B>. <B><I>Background:</I></B> Although atrial fibrillation (AF) is a risk factor for endothelial dysfunction (ED), the effect of catheter ablation (CA) on AF‐associated ED has not been evaluated. The aims of this study are to determine if the degree of ED predicts the outcome of AF ablation and to evaluate whether ED can be improved through restoring sinus rhythm (SR) by successful CA.</P><P> <B> <I>Methods:</I> </B> This study prospectively enrolled 80 subjects who underwent CA for AF (paroxysmal AF = 61, persistent AF = 19). Eighty subjects with no history of AF were enrolled as controls, all of whom were matched by age, gender, body mass index, and atherosclerotic risk factor distribution. Brachial artery flow‐mediated dilatation (FMD) was measured at baseline, and at 1 month and 6 months post CA in AF subjects who remained in SR. Among controls, FMD was measured at baseline and at 6 months. We used high sensitivity C‐reactive protein (hs‐CRP), interleukin‐6, soluble E‐ or P‐selectin, and endothelin‐1 as biomarker indices for inflammation and/or ED.</P><P> <B> <I>Results:</I> </B> Compared with controls, AF subjects had lower FMD at baseline (FMD<SUB>baseline</SUB>, P < 0.001). After successful CA, FMD was significantly improved at 1 month and 6 months, nearly approaching control levels. A multivariate analysis revealed that FMD<SUB>baseline</SUB>, hs‐CRP, and left atrial volume (LAV) were independent predictors for arrhythmia recurrence after CA. Other biomarkers were not related to rhythm outcome.</P><P> <B> <I>Conclusion:</I> </B> AF subjects have significantly impaired FMD, which can be reversed through maintenance of SR by successful CA. FMD<SUB>baseline</SUB>, hs‐CRP, and LAV are important predictors for AF recurrence after CA. <I>(J Cardiovasc Electrophysiol, Vol. 22, pp. 376‐382)</I></P>