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3D Vision-Based Local Path Planning System of a Humanoid Robot for Obstacle Avoidance
Tae-Koo Kang,Myo-Taeg Lim,Gwi-Tae Park,Dong W. Kim 대한전기학회 2013 Journal of Electrical Engineering & Technology Vol.8 No.4
This paper addresses the vision based local path planning system for obstacle avoidance. To handle the obstacles which exist beyond the field of view (FOV), we propose a Panoramic Environment Map (PEM) using the MDGHM-SIFT algorithm. Moreover, we propose a Complexity Measure (CM) and Fuzzy logic-based Avoidance Motion Selection (FAMS) system to enable a humanoid robot to automatically decide its own direction and walking motion when avoiding an obstacle. The CM provides automation in deciding the direction of avoidance, whereas the FAMS system chooses the avoidance path and walking motion, based on environment conditions such as the size of the obstacle and the available space around it. The proposed system was applied to a humanoid robot that we designed. The results of the experiment show that the proposed method can be effectively applied to decide the avoidance direction and the walking motion of a humanoid robot.
Basic : Hepatocolic fistula after radiofrequency ablation for hepatocellular carcinoma (초)
( Min Gyu Kang ),( Tae Hee Lee ),( Ji Hyun Jeong ),( Woon Tae Na ),( Dong Hyuk Lim ),( Hoon Sup Koo ),( Kyung Ho Song ),( Yong Seok Kim ),( Sun Moon Kim ),( Kyu Chan Huh ),( Young Woo Choi ),( Young W 대한간학회 2011 Clinical and Molecular Hepatology(대한간학회지) Vol.17 No.3(S)
Kim, Tae S .,Chung, Su W .,Kim, Seung H .,Kang, Bok Y .,Hwang, Seung Y .,Lee, Jae W . 전남대학교 약품개발연구소 2000 약품개발연구지 Vol.9 No.1
BLK mouse fibroblasts (H-2^b) were genetically engineered to express costimulatory B7.1 and interleukin-2 (BLK/IL2/B7.1). The BLK/IL2/B7.1 cells were then pulsed with an ovalbumin (OVA) epitope as a model antigen (Ag) (BLK/IL2/B7.1/OVA), and tested for the induction of OVA-specific cytotoxic T lymphocytes (CTLs) in C57BL/6 mice (H-2^b). The genetically engineered fibroblasts lacking one or two of three factors (interleukin-2, B7.1, and OVA) were constructed and used as controls. Immunization with the BLK/IL2/B7.1/OVA cells induced strong cytotoxic activities against OVA-expressing EL4 (EG7) tumor cells, but not against other H-2^b tumor cells, such as EL4, C1498 and B16F1 cells. The magnitude of the cytotoxic response in mice with the BLK/IL2/B7.1/OVA cells was significantly higher than the response in mice immunized with any other cell constructs. CD8^+ T cells with OVA-specific cytotoxic activities were predominant in mice immunized with the BLK/IL2/B7.1/OVA cells. Furthermore, immunization with the BLK/IL2/B7.1/OVA cells significantly prolonged the survival of mice, compared with any other cell constructs, when the mice were challenged with EG7 tumor cells at 2 weeks postimmunization. Induction of antitumoral CTL immunity by the BLK/IL2/B7.1/OVA cells was independent of host Ag-presenting cells and of CD4^+ T-cell and natural killer 1.1^+ cell help. These results suggest that fibroblasts can be genetically modified to efficient Ag-presenting cells for the induction of an Ag-specific CTL response.
( Eun Ji Kim ),( Eui Kyu Chie ),( Kyu Bo Kim ),( Sae Won Han ),( Tae You Kim ),( Seung Yong Jung ),( Kyu Joo Park ),( Gyeong Hoon Kang ),( Sung W Ha ) 대한내과학회 2014 대한내과학회 추계학술대회 Vol.2014 No.1
Background: Effect of concurrent chemotherapy regimen on patients undergoing preoperative chemoradiotherapy for locally advanced rectal cancer was contradictory in recently published long-term results of two large prospective randomized trials. This study was undertaken to examine the differential effect of chemotherapy regimen in single center cohort through retrospective analysis. Methods: Medical records of 279 patients who underwent preoperative concurrent chemoradiotherapy, followed by radical surgery for locally advanced rectal cancer from July 2003 to December 2010 were retrospectively reviewed. Radiation dose ranged from 45 to 54 Gy. Thirty-four patients were treated with one cycle of iv bolus 5-FU, 500mg/m<sup>2</sup> on D1-3 (group A), 214 patients with two cycles of 5-FU with identical schedule (group B) and 31 patients with oral capecitabine, 1650mg/ m<sup>2</sup> daily on days with radiotherapy (group C). Radical surgery was performed median 57 days from the end of radiotherapy. Sphincter preserving surgery was performed in 261 patients, while 18 underwent abdominoperineal resection. Results: Median follow-up duration was 60.1 months. Patients in group A had poor performance compared to other groups (p=0.015). five year overall survival (OS), disease free survival (DFS), locoregional free survival (LRFS), distant metastasis free survival (DMFS) were 83.2%, 76.0%, 80.6% and 77.2%, respectively. Sphincter preserving surgery rate (SPSR) for tumors located below 5 cm from anal verge was inferior in group A (76.9% vs. 93.7% vs. 89.3%, p=0.027, respectively). However, chemotherapy regimen was not related with other end points. In addition, there was no grade 3 or higher toxicity during treatment in all patients. Conclusions: Although SPSR was inferior for patients treated with one cycle of iv bolus 5-FU, there was no difference in other endpoints with acceptable toxicity. Results from current analysis may provide guidance in the treatment selection for patients with compromised performance.