Simulation of Mobile Robot Navigation based on Multi-Sensor Data Fusion by Probabilistic Model

Tae?seok Jin 한국산업융합학회 2018 한국산업융합학회 논문집 Vol.21 No.4

Presently, the exploration of an unknown environment is an important task for the development of mobile robots and mobile robots are navigated by means of a number of methods, using navigating systems such as the sonar-sensing system or the visual-sensing system. To fully utilize the strengths of both the sonar and visual sensing systems, In mobile robotics, multi-sensor data fusion(MSDF) became useful method for navigation and collision avoiding. Moreover, their applicability for map building and navigation has exploited in recent years. In this paper, as the preliminary step for developing a multi-purpose autonomous carrier mobile robot to transport trolleys or heavy goods and serve as robotic nursing assistant in hospital wards. The aim of this paper is to present the use of multi-sensor data fusion such as ultrasonic sensor, IR sensor for mobile robot to navigate, and presents an experimental mobile robot designed to operate autonomously within indoor environments. Simulation results with a mobile robot will demonstrate the effectiveness of the discussed methods.

심전도의 디지털 기록화 모듈과 개인용컴퓨터 저장/분석시스템의 개발

조명찬,김기석,배장환,연태진,김동운,이태수,전은석,김유진 충북대학교 의학연구소 2001 忠北醫大學術誌 Vol.11 No.2

연구목적: 현재 우리나라의 의료분야에서는 정보기술의 발전으로 처방 전달 시스템과 전자차트의 활용이 상용화 되고 있으나 병원내에서 가장 많이 처방되고 검사되는 12-유도 심전도의 디지털화와 이에 연계된 심전도 결과의 개인용 컴퓨터로의 저장, 인터넷을 이용한 병원으로의 전송이나 타 기관에서의 심전도 결과의 동시 관찰 등에 관한 기술 등은 개발되지 못한 상태이다. 이에 본 연구에서는 심전도를 디지털화하며 저장이 가능한 PC 모듈을 개발하고 심전도 결과를 병원 전산 시스템에 포함시켜 병원내외에서 편리하게 조회, 검색할 수 있는 디지털 인터페이스를 개발하려 하였다. 재료 및 방법 : 낮은 전력에서 잡음특성이 우수한 대역여파기와 증폭기를 설계하였으며 각종기능이 내장된 고신뢰성 프로세서를 채택하였으며 전원 잡음이 고려된 필터와 전원 회로 설계로 하드웨어를 개발하였다. MSC 6.0과 Visual Basic 6.0을 바탕으로 하여 active X 모듈화를 유도하고 조회용 PC에서의 복원과 PACS로의 연동을 통해 순환기내과용 PACS 개발이 가능하도록 소프트웨어를 준비하였다. 결과: 심전도 검사자가 쉽게 장착, 검사가 가능한 소형화된 측정 모듈을 개발하였고 극저전류에서 동작이 가능하였으며 우수한 데이터의 압축 및 복원률을 구현하였다. 결론: 이번 심전도 디지털 모듈의 개발로 기존의 감광지에 의존하던 심전도 결과의 보존과 보관공간에 의한 경제적인 손실을 상당 부분 해결할 수 있으며 OCS에 연계된 결과로 인해 원내에서의 다면적 진료가 가능하다. 이번 연구에서 개발된 기술은 향후 디지털화된 심전도 기록장치와 같은 고부가 의료장치의 국산화와 광파일 의무기록 시스템이나 검사물의 무선 전송에 채용되어 의료 전달 체계나 응급체계의 발전에 기여하리라 사료된다. Purpose : The progressed communication technology commercialized the order communication system ( OCS) and the electric medical records( EMR) in the field of medicine in Korea. However, technologies of digitalization such as recording to personal computer, transfer to internet and simultaneous observation of electrocardiogram ( ECG) recorded at the different center were not realized yet. This study tried to invent personal computer module that can digitalize and record of the ECG and design the digital interface that can approach and search digitalized ECG in various part of hospital simultaneously. Materials and Methods : We had designed high-fidelity digital filter and amplifier which can work in very low voltage, had selected multifunctioned microprocessor. Activation X modulation was conducted by MSC 6.0 and Visual Basic 6.0. Softwares were prepared for the transfer of ECG informations from terminal PC to PACS and cardiologic PACS was designed for future application. Results : We have developed the small, portable, very low voltage managed ECG module and high quality digitalized information compression software in OCS and PACS. Conclusion : This invented ECG digital archive module can save hospital cost by substitution of ECG papers for digital storage or on-line storage, therefore ECG data can be handled in multisector of the hospital and through telemedicine. This technology can be applied to domestic ECG digitalizing device development and effective medical transfer system by adoption cordless medical information delivery.

뇌 심혈관계 관련질환 유소견 근로자들의 의료이용에 관한 연구

최태성,유재영,김진석,장은철,박주언,우극현 순천향의학연구소 2006 Journal of Soonchunhyang Medical Science Vol.12 No.2

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冷凍冷藏倉庫 前室部 侵氣防止裝置의 適用에 關한 硏究

석호태,곽현철,송승영,송진규,이영욱 대한건축학회 2003 대한건축학회논문집 Vol.19 No.4

This study aims to evaluate the economic performance of infiltration prevention devices for the refrigerated warehouse. It is showed that the cooling loads of refrigerated warehouses is changed by assembling of infiltration prevention devices in a previous study. Space loads and cooling energy costs according to the types of the infiltration prevention devices are analyzed by the DOE-2.1E simulation. Based on the Life Cycle Costs considered the costs of initial construction, repair·replace, cooling energy and operating energy, the probability of reducing energy consumption and application of infiltration prevent devices in vestibule of refrigerated warehouse is founded.

남성 건강검진 수진자에서 간기능 장애 및 비알코올성 지방간과 대사 증후군과의 관련성

최태성,유재영,김진석,장은철,박주언,김병익 순천향의학연구소 2006 Journal of Soonchunhyang Medical Science Vol.12 No.2

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담배거세미나방에서 분리된 항균펩티드 유전자의 대량 발현에 관한 연구

태건식,현석진 단국대학교 1999 論文集 Vol.34 No.-

The antibacterial gene isolated from the common cutworm. Spotoptera litura showed high degree of homologies in its nucleotide sequence to those of the cecropin genes from Hyalophora cecropia, implying that it may encode the antibacterial peptide. In this experiment, the antibacterial gene from S. litura was subcloned to the expression vector pGEX-1λT and overexpressed in BL21. The antibacterial gene is composed of total 114 nucleotides which encodes the relatively small peptide of 37 amino acid residues. This gene was designed to make a fusion protein with glutathione-S-transferase in response to the addition of IPTG. The total proteins from the cell extract were separated by SDS-PAGE and the overexpressed fusion protein was detected at the right positon in terms of its molecular weight. The fusion protein was also purified by use f the affinity column chromatography technique with the resin in which glutathione was cross-linked to 4% agarose bead.

급성 백혈병 환자에서 수두양 피부병변을 보인 파종성 Fusarium 감염 1예와 국내 파종성 Fusarium 감염증에 대한 고찰

오수진,정희선,김준성,김태석,조병식,최수미,김명신,이연수,이석,신완식 대한감염학회 2007 감염과 화학요법 Vol.39 No.5

최근 면역저하환자의 증가와 함에 국내에서도 점차 침습성, 파종성 Fusarium 감염증 보고가 증가하고 있다. Fusarium 감염은 아스페르길루스 감염과 유사한 임상양상을 보이지만 특징적인 피부병변을 동반하고 혈액배양에서 균이 분리되는 경우가 더 많다. 저자들은 급성 림프구성 백혈병으로 진단받고 치료중인 30세 남자 환자에서 중증의 호중구 감소 상태에서 비특이적인 피부병변을 동반한 파종성 Fusarium 혈류감염을 경험하였기에 국내 증례 고찰과 함께 보고하는 바이다. 환자의 초기 피부병변은 구진에서 시작하여 주로 소포성 병변과 일부 통증을 동반한 결절 등 여러 형태로 나타났고, Tzank 도말검사 양성으로 비정형 수두로 오인되었다. 이후 피부병변은 농포로 변하였고, 혈액배양 및 피부 조직검사에서 파종성 Fusarium 감염으로 진단받았다. 환자는 liposomal amphotericin B, voriconazole 병합요법과 G-CSF 투여, 과립구 수혈을 받았으나, 호중구 감소증에서 회복하지 못하고 급성 호흡곤란증후군과 다장기 기능부전으로 사망하였다. 본 증례는 파종성 Fusarium 감염의 경우에도 수두양 병변으로 비특이적인 양상으로 나타날 수 있으므로, 감별진단을 위해 적극적으로 혈액배양과 피부조직검사를 시행해야 함을 보여준다. Recently, we experienced a case of disseminated fusarial blood stream infection with varicelloid skin eruptions, who had suffered from persistent neutropenic fever after salvage chemotherapy for relapsed acute lymphocytic leukemia (ALL). Neutropenia continued in spite of G-CSF and granulocyte transfusion, and he failed to respond to conventional amphotericin B initially, and then liposomal amphotericin B and voriconazole combination therapy. Disseminated fusariosis can be diagnosed by blood cultures in 50% of patients and present skin lesions in more than 80% of patients. So, typical skin lesions are important clue to diagnose of the disseminated fusariosis. However, many skin lesions in immunocompromised hosts are due to various infectious and non-infectious causes. So, this case shows that it is important to obtain biopsy specimens of skin lesions for histopathologic examination, culture and staining. Here, we present our case with the review of the literatures reported in our country, so far.

이엽성 대흉근도상피판을 이용한 협부 관통결손부의 재건 : -증례보고 및 통상적인대흉근피판과의 비교-

김태섭,김은석,김재진 대한악안면성형재건외과학회 2001 Maxillofacial Plastic Reconstructive Surgery Vol.23 No.3

Main disadvantages of conventional pectorails major myocutaneous flap is bulkness of muscular pedicle. It makes difficult to use this flap in a case of supraomohyold neck dissection. Pectoralis major myocutaneous island flap is a modification to overcome this shortcoming. And bilobular design of skin portion of this flap could be used for reconstruction of a through and through defect. We report a case of reconstruction of full-thickness defect of cheek with bilobular pectoralis major myocutaneous island flap and compare it with conventional pectoralis myocutaneous flap.

아파트형 공장의 기준층규모별 CORE 공간구성비에 관한 연구

김진태,정지석,최무혁 대한건축학회 2003 대한건축학회 학술발표대회 논문집 - 계획계/구조계 Vol.23 No.1(계획계)

The purpose of this study is to analyze the decision factors of core size and their area ratio by the typical floor size of apartment-type factories in Seoul. The process of this study 1) investigated the decision factors of core size through documents, 2)analyzed and researched the decision factors of core size with a case of apartment-type factories. The results of this stud were as follows; 1)The core area ratio of apartment-type factories was on an average investigated into 21.73%, 2)The core type of One side A was used in small typical floor size, and the core type of Center was used in large typical floor size, 3)The area ratio of core constitution elements was investigated into elevators 13.81%, corridors 52.62%, stairs 13.85%, toilets 12.93%, and the others 5.19%.

忠州市 地域特性을 反暎한 共同住宅 計劃硏究 : 충주지역 거주자의 APT 선호특성을 중심으로

朴碩鉉,朴義權,柳顯紀,尹勝照,孫泰鎭,金基洙 충주대 2003 産業科學論文集 Vol.11 No.-

The purpose of this research is to analyze the correlation of the characteristics of dwellers and residential preference in apartment housing through the case study of 340 samples in 25 housing estates which were built in Chung-ju city The contents of this research consist of two main parts. The first part is to identify characteristics of dwellers, which might have an influence on residential preference in apartment housing. The second part is to identify the main physical elements of residential preference that can be influenced by the personal characteristics. Thus, this research will contribute to the establishment of the planning methods which increase residential preference in apartment housing, while promoting the quality of residential environment in Chung-ju city.