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규조토와 진동 메커니즘을 이용하여 외벽의 고착화된 오염물을 제거하기 위한 외벽 청소 로봇의 청소 유닛 설계 및 제작
유성근(Sungkeun Yoo),전영재(Youngjae Jeon),김태균(Taegyun Kim),배장호(Jangho Bea),김종원(Jongwon Kim),김화수(Hwa Soo Kim) 대한기계학회 2015 대한기계학회 춘추학술대회 Vol.2015 No.11
The cost of cleaning the windows of high-rise buildings has been constantly rising due to high labor cost and high risk, thus many robots are being developed to replace human labor. The general way for robot to clean the windows is by using rotating brush which causes various matters such as scratches and uncleaned spots. This paper presents the design of cleaning unit using vibrating mechanism with diatomite to remove fixed-dust on the building facade.
( Sungkeun Kim ),( Hee Yeon Kim ),( Chang Wook Kim ),( Ji Young Kim ),( Aran Hong ),( Su Lim Lee ),( Yoo Dong Won ) 대한간학회 2018 춘·추계 학술대회 (KASL) Vol.2018 No.1
Aims: Transcatheter arterial chemoembolization (TACE) for hepatocellular carcinoma (HCC) in patients with aortic dissection is a potentially risky and demanding technique. Access to the true aortic lumen might not be allowed by the arterial entry route chosen. Methods: Here we report a case of repeated sessions of TACE through true and false lumens in a HCC patient with chronic aortic dissection. Results: A 56-year old male presented with infiltrative HCC with right portal vein tumor thrombosis. Abdominal computer tomography scan also revealed an incidental asymptomatic aortic dissection involving descending aorta from proximal segment to superior mesenteric artery (SMA) origin level. Celiac trunk was supplied by false lumen, and SMA was supplied by true lumen. On SMA angiography, right hepatic artery was originated from SMA. HCC was supplied by segment 7 and 8 branch of right hepatic artery. Infusion of adriamycin and lipiodol mixture and subsequent embolization was performed to superior branches of right hepatic artery. Catheterization to celiac axis was failed due to its origin from pseudolumen caused by aortic dissection. Complete response was achieved after sequential radiation therapy. After 1 year, nodular HCC recurred at segment 4. On this session of repeated TACE, catheterization to false lumen was successful. Left hepatic angiography showed tumor stain supplied by segment 4 branch, and embolization was performed. One year later, viable portion was noted in infiltrative HCC at segment 7. Repeated TACE was performed to embolize segment 7 branch supplying infiltrative tumor. Conclusions: In this case, we presented our experience with selective hepatic angiography and SMA angiography in a HCC patient with descending aortic dissection. To our knowledge, this is the first description of hepatic angiography using true and false lumen in a HCC patient with a concomitant aortic dissection.
( Sungkeun Kim ),( Hee Yeon Kim ),( Su Lim Lee ),( Young Mi Ku ),( Yoo Dong Won ),( Chang Wook Kim ) 대한간암학회 2020 대한간암학회지 Vol.20 No.1
Transcatheter arterial chemoembolization (TACE) is a useful palliative therapeutic modality for hepatocellular carcinoma (HCC). Postembolization syndromes, such as fever, abdominal pain, and elevated liver enzyme levels are commonly known complications of TACE. One post-TACE pulmonary complication, lipiodol pneumonitis, is rarely reported. Lipiodol pneumonitis after TACE appears to be associated with chemical injury due to accidental perfusion of lipiodol to the lung vasculature, promoted by arteriovenous shunts within the hypervascular HCC. Here, we report a 42-year-old man with unresectable HCC and hepatic vein thrombosis. The patient was initially treated with TACE. The following day after TACE, acute respiratory symptoms such as dyspnea and cough developed with decreased oxygen saturation. Chest X-ray and computed tomography showed multiple patches and diffuse ground-glass opacities in both lung fields, suggesting of lipiodol pneumonitis. The patient’s condition and radiologic abnormalities subsequently improved after 2 weeks of conservative treatment alone. (J Liver Cancer 2020;20:60-66)
A Case of Acute Hemoperitoneum Due to Spontaneous Rupture of the Umbilical Vein in Cirrhosis
( Sungkeun Kim ),( Hee Yeon Kim ),( Chang Wook Kim ),( Ji Young Kim ),( Aran Hong ),( Su Lim Lee ),( Yoo Dong Won ) 대한간학회 2018 춘·추계 학술대회 (KASL) Vol.2018 No.1
Aims: In patients with portal hypertension, acute hemoperitoneum due to spontaneous rupture of umbilical vein was rarely reported. We report a case of spontaneous rupture of umbilical in a cirrhotic patient without extrinsic trauma history. Methods: A 50-year-old male without previous trauma was transported to the emergency department after experiencing sudden crampy whole abdominal pain. Results: He has had a regular check up for liver cirrhosis. The abdomen was distended with generalized tenderness but without peritoneal signs. Laboratory data showed a hemoglobin of 6.8 g/dl; the white blood cell count was 13260/mm3 and the platelets were 128000/mm3. Liver function tests were normal, except for aspartate aminotransferase 70 U/L, a prothrombin time of 18.5 s, with a control of 11.2, and an albumin of 2.2 mg/dl. Abdominal CT scan showed a umbilical vein with a massive contrast leakage to the peritoneum and the presence of a large amount of hemoperitoneum. An emergent angiographic embolization procedure was performed to stop bleeding from paraumbilical vein. The patient recovered well after angiographic embolization procedure and was discharged home on the sixth day after the procedure. Conclusions: In a cirrhosis patient who has rapid onset of abdominal distention and pain, as well as hypotension and tachycardia, intraperitoneal hemorrhage must be considered. Computed tomography scan typically represent a dilated umbilical vein and periumbilical contrast leakage. Early recognition and their intervention with embolization of the ruptured vessel are critical for the successful management of these patients.
Parallel 2-DoF manipulator for wall-cleaning applications
Joo, Inho,Hong, Jooyoung,Yoo, Sungkeun,Kim, Jongwon,Kim, Hwa Soo,Seo, TaeWon Elsevier 2019 AUTOMATION IN CONSTRUCTION - Vol.101 No.-
<P><B>Abstract</B></P> <P>The walls of high-rise buildings are cleaned manually several times per year. The cleaning work is difficult and extremely dangerous for human workers, and there are several ongoing studies to automate this work by robotic solutions. To achieve successful cleaning performance, the cleaning operation must adapt to the environmental conditions. In this study, we design and assemble a manipulator for use in wall-cleaning applications. From the design requirements identified by investigating a high-rise building in Korea, we determine the two important degrees of freedom (DOF) and design a parallel mechanism to achieve motion. With the parallel configuration, the design parameters are optimized based on a dynamic index to achieve high cleaning performance on a scaffold. A prototype is assembled, and the cleaning performance is verified on a test bench. A field test with the developed manipulator will be performed in the near future.</P> <P><B>Highlights</B></P> <P> <UL> <LI> Automation of façade cleaning is necessary to replace dangerous work of humans. </LI> <LI> 2-DOF parallel mechanism is designed and analyzed to manipulate the cleaning unit. </LI> <LI> Kinematic design parameters are optimized to maximize dynamic manipulability. </LI> <LI> Workspace and cleaning experiments are used to validate manipulator performance. </LI> <LI> Dynamic manipulability is verified by force-sensing experiment at actuating joint. </LI> </UL> </P>