손 제스처 기반의 로봇 원격제어

최경묵(Choi Kyung-Mook),나용길(Na Yong-Gil),채승병(Chae Seung-byeong),정경훈(Jung Kyeong-Hoon) 한국방송·미디어공학회 2010 한국방송공학회 학술발표대회 논문집 Vol.2010 No.11

본 논문에서는 영상처리 기능을 통해 손 제스처를 인식하는 알고리즘을 개발하고 이를 활용하여 로봇의 움직임을 원격으로 제어하는 시스템을 구현하였다. 전체 시스템은 손 영상을 획득하는 카메라, 영상처리를 수행하는 컴퓨터, 그리고 LEGO Mindstorm 로봇으로 구성되며, 컴퓨터와 로봇 사이의 통신은 Mindstorm에 내장된 블루투스 기능을 사용하였다. 카메라에서 획득한 영상에서 사람의 손에 해당하는 영역만을 추출하기 위해 먼저 컬러 필터링을 수행하였으며 영상의 신뢰성을 향상시키기 위해 잡음을 제거하는 보정 작업을 거친다. 그리고 무게중심 연산을 통해 손의 중심점을 추정하고 이로부터 일정 거리에 있는 손가락 영역을 추출한다. 마지막으로 펼쳐진 손가락 개수를 구하고 그 개수에 따라 미리 설정된 명령을 로봇에 전송한다. 실험을 통해 조명 상태가 양호하고 배경이 복잡하지 않은 대부분의 환경에서 로봇 원격제어가 성공적으로 이루어짐을 확인하였다.

Expression of Fas-associated Factor 1 in the Developing Testis

An Sik Noh(노안식),Su Hee Kim(김수희),Young Jin Choi(최영진),Soo Il Kim(김수일),Yong Gil Na(나용길),Chong Koo Sul(설종구),Young Ho Lee(이영호) 대한체질인류학회 2009 해부·생물인류학 (Anat Biol Anthropol) Vol.22 No.2

Fas-associated factor 1 (FAF1)은 Fas 관련 물질로서, Fas 매개 세포사멸을 유도한다. FAF1 유전자는 생쥐의 여러 기관 중 고환에서 가장 많이 발현된다. 본 연구의 목적은 생쥐의 발생 또는 발달 중인 고환에서 FAF1의 발현과 그 역할을 규명하고자 하였다. C59/BL6 15.5일과 생후 1, 2 및 8주령의 C57/BL6 생쥐 고환에서 H-E 염색과 FAF1에 대한 면역조직화학염색을 시행하였다. FAF1은 생쥐 15.5 태자부터 8주령의 생쥐까지 모두 발현되었다. 고환에서 FAF1 양성세포는 발생 및 발육단계별로 달랐다. 더욱이 FAF1의 세포 내(세포질 또는 핵) 발현양상은 고환의 발생 또는 발달 단계별로 달랐다. 특히, 세포분화가 활발히 진행되는 1주령 및 8주령 생쥐의 생식세포에서는 FAF1이 주로 핵에 발현되었으며, 세포사멸이 최대로 일어나는 2주령의 생식세포에서는 주로 세포질에서 FAF1이 발현되었다. 이를 종합하면, FAF1은 생쥐 고환의 생식세포에서 주로 발현되며, 정자형성 시 세포기능을 조절하여 세포분화와 세포사멸에 관여하고 있음을 보여주었다. FAS associated factor 1 (FAF1) is a Fas-associating molecule, which enhances Fas mediated apoptosis. FAF1 gene is expressed most abundantly in the testis among the mouse organs. The aim of this study was to reveal the expression and the role of FAF1 in the developing testis. H-E stain and FAF1 immunohistochemistry were performed in the testis and epididymis of the E15.5 embryo, and 1, 2, and 8 week-old C57/BL6 mice. FAF1 was expressed in the testis from E 15.5 embryo to 8 week-old mice. Cell type of FAF1 positive cells was different among the developmental stage. Furthermore, cellular (cytoplasmic or nuclear) localization of FAF1 in the male germ cells was different during the developmental stage. FAF1 was expressed mainly in the nuclei of the germ cells 1 and 8 weeks after birth, when cell differentiation occurs actively in the testis. However, FAF1 was expressed in the cytoplasms of germ cells 2 weeks after birth, when apoptosis occurs maximally in the testis. Taken together, it can be suggested FAF1 expressed in male germ cells in the testis. FAF1 might be involved in regulation of the cellular function during spermatogenic cell differentiation and apoptosis in the testis.

방광암 환자에서 염색체 이상이 예후에 미치는 영향에 대한 세포유전학적 연구

나용길,임재성,윤율로,설종구 충남대학교 의학연구소 2001 충남의대잡지 Vol.28 No.2

Bladder cancer is the most common type of urinary cancer in Korea. Usually it has an unpredictable natural history with respect to tumor invasion and recurrence. The cytogenetic results and genetic alterations of bladder cancer are thought to be closely related to cancer promotion and progression. To predict the possible relationship among them, we performed the cytogenetic analysis in the bladder cancer patients. The specimens of the 32 patients who underwent operations for the bladder cancer were obtained and cultured. Of them 15 cases were cytogenetically abnormal. There were wide variety of structural and numerical chromosomal aberrations. The most frequently affected chromosomes were 4, 8, 9 and 19 as determined by karyotyping. In our study, as in other studies the more the genes were hyperdiploidy and the more the genetic aberrations were complex, and the cancer was more invasive and the cancer grade was higher. There was frequent loss on chromosome 4, 9, 19 and the appearance of marker chromosomes. Although most amplifications and deletions have been previously described in the literature, our study showed some intriguing and uncommon regions, different from those found in past studies.

Portable Diode Laser와 Fiberoptic Delivery System을 이용한 전립선비대증의 치료

나용길 충남대학교 의과대학 지역사회의학연구소 1997 충남의대잡지 Vol.24 No.1

Interstitial laser coagulation (ILC) therapy which coagulates prostate tissue is a new and promissing method of treatment for symptomatic benign prostatic hyperplasia (BPH) patients. We studied the clinical efficacy and safety of ILC using a diode laser. A total of 15 patients with symptomatic BPH underwent interstitial laser coagulation by portable diode laser and a fiberoptic delivery system. Voiding outcomes, including international prostate symptom scores (IPSS), peak urinary flow rates, and prostate volume were measured by time, and immediate and short-term (3 months)complications were assessed. Epidural anesthesia was performed in all patients. At 3 months, there was as 64.9% improvement is IPSS (25.9 to 9.1, P<0.05) and a 48.2% decrease in prostate volume (46.2 to 23.9 gm, P<0.05). There were no intraoperative complications. Postoperatively, four patients had tansient hematuria and two had transient urinary retention. Our results show that interstitial laser coagulation by diode laser appears to be a single, safe and efficacious procedure for the treatment of symptomatic BPH. I n addition, it is hoped that this will reduce the postoperative dyuria that a significant proportion of men complan of following endoscopic laser coagulation or vaporization of the prostatic urethral lumen.

요도손상환자의 임상적 고찰

나용길,김영수 충남대학교 의과대학 지역사회의학연구소 1997 충남의대잡지 Vol.24 No.2

We studied 49 cases of urethral injury, patient who had been admitted to the department of urology, Chugnam National University Hospital from 1995 to 1997. The following results were obtained: 1. Among the 49 patients the age distribution ranged form 11 to 75 years of age with the average being 38.8 years. 2. In most of the cases the injury site was located in the anterior part of the urethra(85.7%) and the cause of injury was the straddle injury(62.3%). complete urethral rupture was common in the posterior urethral injuries while incomplete urethral injury was common in the anterior urethral injuries. 3. In the cases of anterior urethral injury, the group who were managed by initial suprapubic cystostomy developed urethral stricture in 92.3% of the patients. Among the 12 cases of urethral stricture, eight were shown to have a complete obstruction of the urethra by concomitant retrograde and voiding cystourethrography. Therefore more aggravative management i.e., primary realignment, is needed in cases of complete rupture in anterior urethral injuries.

Parkinson's Disease 환자의 배뇨장애에 관한 연구

나용길 충남대학교 의과대학 지역사회의학연구소 1996 충남의대잡지 Vol.23 No.2

Parkinson's disease is one of the most common neurologic conditions causing voiding dysfunction. It is supposed that 35% to 75% of patients with Parkinson's disease will have symptoms of neurogenic voiding dysfunction. Carefully performed urodynamic investigation is the key to understanding the pathophysiology of Parkinson's disease and forms the basis for reasonable treatment. We evaluated the 20 cases of Parkinson's disease who were admitted to Chungnam National University Hospital from Aug., 1995 to Nov., 1996. Symptoms of voiding dysfunction were presented in 70% of the patients. The presenting symptoms were urgency and frequency(64%), obstructive symptoms(21%), and mixed irritative and obstructive symptoms(15%). Detrusor hyperreflexia was the most common urodynamic finding(55%), and normal(20%), impaired detrusor contractility(15%), detrusor areflxia(10%) were in order. There was a poor correlation between the parkinsonian patient's urologic symptoms and the urodynamic findings.

비뇨기계의 구조와 생리

나용길 약업신문사 2000 의약정보 Vol.2000 No.6

가토에서 일측 요관 부분 및 완전폐색시 신장과 요관의 조직학적 변화

김상현,김용웅,육승모,한동석,노안식,임재성,김홍식,나용길,설종구 충남대학교 의학연구소 2003 충남의대잡지 Vol.30 No.2

This study was designed to clarify histologic changes in the experimental rabbit kidney and ureter after unilateral partial or complete ureteral obstruction. A total of 20 adult white rabbits were divided into 4 subgroups in the partial obstruction followed by 2 weeks, the partial obstruction followed by 4 weeks, the complete obstruction followed by 2 weeks, and the complete obstruction followed by 4 weeks. The normal control group was consisted of 5 adult white rabbits. The kidneys and ureters for light microscopy were fixed in 10% neutral formalin, embedded in paraffin and stained with hematoxylin and eosin. Abnormal histologic fingings showed in ipsilateral kidney and ureter of all subgroups(such as dilatation of uriniferous tubule, focal necrosis and desquamation of epithelium, interstitial fibrosis, glomerular congestion, widening of Bowman's space, dilatation of ureter, epithelial cell atrophy or loss, interstitial fibrosis and interstitial inflammation). These findings were most severe in the group of the complete-obstructed ureter for 4 weeks. No significant changes showed in contralateral ureter of all subgroups. The degree of obstruction was severe and period of obstruction was long, the histological changes in ipsilateral side were severe. Despite of changes in ipsilateral side no abnormal findings showed in contralateral side. We suggest that long term experimental investigation of histologic changes in ipsilateral side and compensatory changes in contralateral side have to be studied.

여성 복압성 요실금에서 전기자극을 이용한 골반저근운동의 효과

김윤종,김진겸,임재성,나용길,설종구 충남대학교 의과대학 지역사회의학연구소 2000 충남의대잡지 Vol.27 No.2

Purpose: PFME(Pelvic floor muscle exercise) has been used in stress Incontinence patients as a primary treatment. The purpose of this study is to evaluate the efficacy of well structed PFME with functional electrical stimulation in these patients. Materials and methods: Ninety five women with stress incontinence were assigned to pelvic floor muscle training program. The mean age of the patients was 43.5 years and according to the Stamey grades, 50(52.6%) were grade 1, 42(44.2%) were grade II and 3(3.2%) were grade III. In principle, we performed electrical stimulation. of 2 times a day, each 30 minutes in length and continued for at least 3 months. Results: In our study, overall success ratee was 76% at lmonth, 96.3% at 2months, 94.4% at 3months and 92% at 6months after treatment, at respectively. The cure rate according to the symptom grade was 48% in grade I, 23.8% in grade II and 0% in grade III, so the degree of grade was significant parameter predictive of a good outcome (p<0.05). Intravaginal pressure increased by 10cmH2O. Increased vaginal pressure was found in 93% of the patients and at least 50% improvement was 61%. Conclusion: PFME using functional electrical stimulation is more effective for the patients who have good compliance, low degree stress incontinence. In order to attain and maintain good results, a well structed program that teaches specific muscle exercise should be used and the patients should be followed by a maintenance program and reinforcement.

여성 복합성요실금의 치료에 있어서 치골질식 근말실링 술식의 장기추적 결과

노안식,나용길,설종구 大韓泌尿器科學會 2002 Korean Journal of Urology Vol.43 No.5