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서석환 한국경영과학회 1989 한국경영과학회 학술대회논문집 Vol.- No.1
This paper deals with collision-avoidance trajectory planning for multiple robot environments where work areas of two or more manipulators intersect. Trajectory planning is composed of two stages: obstacle-avoidance path planning, followed by velocity planning. A CAD program, called MULYPATH, is developed based on a new concept of multi-robot path planning. The CAD system allows the user to generate a set of obstacle avoiding paths and "interference map" for multiple robots. The velocity planner then takes these paths to derive minimum-cost trajectories with dynamic programming technique. Practical application of the method is for optimal synthesis multiple robot trajectories in off-line.
서석환,이정길,유수봉,김두식,류시정,김경한 대한마취통증의학회 2012 Korean Journal of Anesthesiology Vol.63 No.6
Background: The intubation difficulty scale (IDS) has been used as a validated difficulty score to define difficult intubation (DI). The purpose of this study is to identify airway assessment factors and total airway score (TAS) for predicting DI defined by the IDS. Methods: There were 305 ASA physical status 1-2 patients, aged 19-70 years, who underwent elective surgery with endotracheal intubation. During the pre-anesthetic visit, we evaluated patients by 7 preoperative airway assessment factors, including the following: Mallampati classification, thyromental distance, head & neck movement, body mass index (BMI), buck teeth, inter-incisor gap, and upper lip bite test (ULBT). After endotracheal intubation, patients were divided into 2 groups based on their IDS score estimated with 7 variables: normal (IDS < 5) and DI (IDS ≥ 5) groups. The incidence of TAS (> 6) and high score of each airway assessment factor was compared in two groups: odds ratio, confidence interval (CI) of 95%, with a significant P value ≤ 0.05. Results: The odds ratio of TAS (> 6), ULBT (class III), head & neck movement (< 90o), inter-incisor gap (< 4 cm), BMI (≥ 25 kg/m2) and Mallampati classification (≥ class III) were respectively 13.57 (95% CI = 2.99-61.54, P < 0.05), 12.48 (95% CI = 2.50-62.21, P < 0.05), 3.11 (95% CI = 0.87-11.13), 2.32 (95% CI = 0.75-7.19), 2.22 (95% CI = 0.81-6.06), and 1.22 (95% CI = 0.38-3.89). Conclusions: We suggest that TAS (> 6) and ULBT (class III) are the most useful factors predicting DI. Background: The intubation difficulty scale (IDS) has been used as a validated difficulty score to define difficult intubation (DI). The purpose of this study is to identify airway assessment factors and total airway score (TAS) for predicting DI defined by the IDS. Methods: There were 305 ASA physical status 1-2 patients, aged 19-70 years, who underwent elective surgery with endotracheal intubation. During the pre-anesthetic visit, we evaluated patients by 7 preoperative airway assessment factors, including the following: Mallampati classification, thyromental distance, head & neck movement, body mass index (BMI), buck teeth, inter-incisor gap, and upper lip bite test (ULBT). After endotracheal intubation, patients were divided into 2 groups based on their IDS score estimated with 7 variables: normal (IDS < 5) and DI (IDS ≥ 5) groups. The incidence of TAS (> 6) and high score of each airway assessment factor was compared in two groups: odds ratio, confidence interval (CI) of 95%, with a significant P value ≤ 0.05. Results: The odds ratio of TAS (> 6), ULBT (class III), head & neck movement (< 90o), inter-incisor gap (< 4 cm), BMI (≥ 25 kg/m2) and Mallampati classification (≥ class III) were respectively 13.57 (95% CI = 2.99-61.54, P < 0.05), 12.48 (95% CI = 2.50-62.21, P < 0.05), 3.11 (95% CI = 0.87-11.13), 2.32 (95% CI = 0.75-7.19), 2.22 (95% CI = 0.81-6.06), and 1.22 (95% CI = 0.38-3.89). Conclusions: We suggest that TAS (> 6) and ULBT (class III) are the most useful factors predicting DI.