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Dynamics and Control of 2 DOF 5-bar Parallel Manipulator with Closed Chain
Chung, Young-Hoog,Lee, Jae-Won,Sung, Yoon-Gyeoung,Joo, Hae-Hoo Korean Society for Precision Engineering 2001 International Journal of Precision Engineering and Vol.2 No.1
A method is proposed to obtain the Jacobian matrix of the 5 -bar parallel manipulator by employing the orthogonality between position and velocity vectors of rotating rigid-body around a fixed point. The dynamics of the 5-bar parallel manipulator is analyzed and utilized to design the computed-torque controller by developing a transformation matrix of the passive joints with respect to the active ones. In experimental demonstration, it shows that high-speed and accuracy tasks are performed by the proposed computed-torque control.
윤용범(Yong Bum Yoon),송인성(In Sung Song),김정룡(Chung Yong Kim),박용현(Yong Hyun Park),김남일(Yong Il Kim),이진호(Jin Hoo Lee) 대한소화기학회 1987 대한소화기학회지 Vol.19 No.1
The common bile duct diaphragm is the extremly rare cause of the obstructive jaundice. We experienced a case of common bile duct diaphragm in a 47 years old male who complained intermittent right upper quadrant abdominal pain and itching since 7 months prior to admission. Percutaneous transhepatic cholangiography and retrograde cholangiopancreaticography revealed the typical common bile duct diaphragm and the diagnosis was confirmed by operation. We reported a typical case of the common bile duct diaphragm and it is the first case of common bile duct diaphragm in Korea.
S-47 Predictive risk factors associated with synchronous multiple early gastric cancer
( Young Jae Kwon ),( Seok Hoo Jeong ),( Kwang An Kwon ),( Jungsuk An ),( Woon Kee Lee ),( Kyoung Oh Kim ),( Jun-won Chung ),( Yoon Jae Kim ),( Dong Kyun Park ),( Jung Ho Kim ) 대한내과학회 2016 대한내과학회 추계학술대회 Vol.2016 No.1
Background and Aim:?Previous studies evaluated risk factors of synchronous multiple early gastric cancer, but only in patients who received the same treatment modality, which may limit the applicability of the results to the general population. We aimed to elucidate the predictive risk factors of synchronous multiple early gastric cancer regardless of the treatment modality. Methods:?Patients who underwent early gastric cancer treatment between July 2005 and June 2015 were retrospectively reviewed. In total, 1529 patients who were treated for early gastric cancer were included. Further analysis was performed to verify the difference between endoscopic and surgical treatment groups. Results:?Among the 1529 patients, synchronous multiple early gastric cancer was diagnosed in 68 (4.4%) patients. The mean age of all the patients was 61.3±11.5 years. In total, 1073 (70.2%) patients were men and 456 (29.8%) patients were women. Significant differences in sex (p=0.004), gross appearance (p=0.038), depth of invasion (p=0.007), and lymphovascular invasion (p=0.039) were found between patients with solitary early gastric cancer and synchronous multiple early gastric cancer by univariate analysis. In multivariate analysis, male sex (odds ratio, 2.475; p=0.011) and submucosal invasion (odds ratio, 1.850; p=0.033) were independent predictive risk factors of synchronous multiple early gastric cancer. Significant differences in age, tumor size, longitudinal location, depth of invasion, and histology were found between patients groups depending on the mode of treatment in multivariate analysis.?Conclusions:?Male sex and submucosal invasion were predictive risk factors of synchronous multiple early gastric cancer. Patients with these factors should undergo more meticulous endoscopic surveillance.?Keywords:?Risk factors, Endoscopy, Neoplasms, Multiple primary, Synchronous
질의-응답 시스템을 위한 한국어 시간 표현의 인식 및 정규화
윤도상(Do-Sang Yoon),이도길(Do-Gil Lee),정후중(Hoo-jung Chung),임해창(Hea-Chang Rim) 한국정보과학회 언어공학연구회 2004 한국정보과학회 언어공학연구회 학술발표 논문집 Vol.16 No.1
본 논문에서는 질의-응답 시스템의 질의에서 많이 나타나는 시간 표현을 인식하고, 인식한 시간 표현에 대해서 정규화하는 방법을 제안한다. 본 논문에서 사용하는 질의-응답 시스템의 도메인은 TV방송 스케줄, 날씨 정보이며, 이러한 도메인에서는 시간 표현이 매우 빈번하게 사용되기 때문에 질의에 나타나는 시간 표현을 정확하게 인식해서 정규화하는 것이 중요하다. 제안하는 방법은 시간 표현을 의미와 기능에 따라 분류하고 각 유형마다 적절한 인식 및 정규화 기법을 사용한다. 질의에서 시간 표현은 시간 개체명 태거, 품사 태거, 시간 파서를 사용하여 인식하고, 시간 추론기와 시간 표현 사전을 이용하여 정규화한다. TV방송 스케줄과 날씨 정보 도메인의 280개 질의에서 184개의 시간표현을 이용하여 평가한 결과, 시간 표현의 인식과 정규화는 각각 93%와 96%의 정확률, 97%와 93%의 재현율을 보였다.
정민지 ( Min Ji Chung ),구태본 ( Tae Bon Koo ),이택후 ( Taek Hoo Lee ),전상식 ( Sang Sik Chun ),이윤순 ( Yoon Soon Lee ) 대한산부인과학회 2007 Obstetrics & Gynecology Science Vol.50 No.3
Endometriosis is a relatively common disease, affecting 5-10% of women of reproductive age. But, endometriosis affecting the urinary tract is very rare entity. Involvement of urinary tract by endometriosis occurs in about 1% of women with pelvic endometriosis. Ureteral endometriosis is mostly asymptomatic for a long time, and associated with nonspecific symptoms at clinical presentation and difficult preoperative diagnosis. The involvement of the ureter is rarely intrinsic by implantation of endometrial tissue in the wall of the ureter, but rather due to external compression by adjacent endometriosis and its attendant inflammation and fibrosis. We have experienced a case of right severe hydroureteronephrosis due to ureteral stricture from endometriosis. Laparoscopic nephrectomy was done due to renal atrophy. At the same time, laparoscopic total hysterectomy with right salpingo-oophorectomy was performed because of the uterine adenomyosis and right ovarian endometrioma. So, we report that with a brief review of literatures.