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이상룡,허근섭,강오현,이춘영,Lee, Sang-Ryong,Heo, Geun-Sub,Kang, Oh-Hyun,Lee, Choon-Young 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.3
In this paper, we proposed a technique to recognize three states in stance phase of gait cycle. Walking assistive devices are used to help the elderly people walk or to monitor walking behavior of the disabled persons. For the effective assistance, they adopt an intelligent sensor system to understand user's current state in walking. There are three states in stance phase; Loading Response, Midstance, and Terminal Stance. We developed a foot pressure sensor using 24 FSRs (Force Sensing/Sensitive Resistors). The foot pressure patterns were integrated through the interpolation of FSR cell array. The pressure patterns were processed to get the trajectories of COM (Center of Mass). Using the trajectories of COM of foot pressure, we can recognize the three states of stance phase. The experimental results show the effective recognition of stance phase and the possibility of usage on the walking assistive device for better control and/or foot pressure monitoring.
배기만,이상룡,이상일,이춘영,Bae, Ki-Man,Lee, Sang-Ryong,Lee, Sang-il,Lee, Choon-Young 대한임베디드공학회 2008 대한임베디드공학회논문지 Vol.3 No.2
The pipes have been laid underground while the industry is developing. We have to take maintenance procedure when the pipes are cracked or ruptured. It is very difficult jop to check pipe's crack because the pipes are narrow and laid underground. Using in-pipe robot, we can check the conditions of inner section of pipes, therefore, we designed a crawler type robot to search cracked pipe. In this paper, we have made a special focus on the control of the robot using differential drive algorithm to move in curved section of pipes. The detailed design of the robot with experimental result show the effectiveness of the robot in pipe maintenance.
족소양담경(足少陽膽經)에서 투사(投射)되는 신경원(神經元)의 표식부위(標識部位)에 대한 연구(硏究)
육상원 ( Sang Won Ryuk ),이광규 ( Kwang Gyu Lee ),이상룡 ( Sang Ryoung Lee ),김점영 ( Jum Young Kim ),이창현 ( Chang Hyun Lee ),이봉희 ( Bong Hee Lee ) 대한경락경혈학회 2000 Korean Journal of Acupuncture Vol.17 No.1
The purpose of this morphological studies was to investigate the relation to the meridian, acupoint and nerve. The common locations of the spinal cord and brain projecting to the the gallbladder, GB34 and common peroneal nerve were observed following injection of transsynaptic neurotropic virus, pseudorabies virus(PRV), into the gallbladder, GB34 and common peroneal nerve of the rabbit. After survival times of 96 hours following injection of PRV, the thirty rabbits were perfused, and their spinal cord and brain were frozen sectioned(30㎛). These sections were stained by PRV immunohistochemical staining method, and observed with light microscope The results were as follows: 1. In spinal cord, PRV labeled neurons projecting to the gallbladder, GB34 and common peroneal nerve were founded in thoracic, lumbar and sacral spinal segments. Densely labeled areas of each spinal cord segment were founded in lamina V, VII, X, intermediolateral nucleus and dorsal nucleus. 2. In medulla oblongata, The PRV labeled neurons projecting to the gallbladder, GB34 and common peroneal nerve were founded in the A1 noradrenalin cells/C1 adrenalin cells/caudoventrolateral reticular nucleus, rostroventrolateral reticular nucleus, medullary reticular nucleus, dorsal motor nucleus of vagus nerve, nucleus tractus solitarius, raphe obscurus nucleus, raphe pallidus nucleus, raphe magnus nucleus, gigantocellular nucleus, lateral paragigantocellular nucleus, principal sensory trigeminal nucleus and spinal trigeminal nucleus. 3. In Pons, PRV labeled neurons were parabrachial nucleus, Kolliker-Fuse nucleus and cochlear nucleus. 4. In midbrain, PRV labeled neurons were founded in central gray matter and substantia nigra. 5. In diencephalon, PRV labeled neurons were founded in lateral hypothalamic nucleus, suprachiasmatic nucleus and paraventricular hypothalamic nucleus. 6. In cerebral cortex, PRV labeled neuron were founded in hind limb area. This results suggest that PRV labeled common areas of the spinal cord projecting to the gallbladder, GB34 and common peroneal nerve may be first-order neurons related to the somatic sensory, viscero-somatic sensory and symapathetic preganglionic neurons, and PRV labeled common area of the brain may be first, second and third-order neurons response to the movement of smooth muscle in gallbladder and blood vessels. These PRV labeled neurons may be central autonomic center related to the integration and modulation of reflex control linked to the sensory system monitoring the internal environment, including both visceral sensation and various chemical and physical qualities of the bloodstream. The present morphological results provide that gallbladder meridian and acupoint may be related to the central autonomic pathways.
김영조(Young Jo Kim),정영기(Young Ki Chung),이병욱(Byung Wook Lee),이상룡(Sang Ryong Lee),최동준(dong Joon choi) 대한소화기학회 1986 대한소화기학회지 Vol.18 No.2
A clinical analysis ivas carried out on 46 cases of pyloric channel ulcers collected from 4,565 persons who had taken gastrofiberscopic examinations from Maich, 1981 to Fchruary, 1986 at the 1)Department of Internal Medicine in the Maryknoll hospital. The results obtained were as follows: 1) Pyloric channel ulcer devloped in 3.8% of incidence from all cases of peptic ulcer. 2) The male to female ratio was 2.5:1. Those in the 4th decades were the most frequently observed age group and the average was 46.2 years of age. 3) The most frequent complaint was upper ahdominal pain with a rate of 69.6% and the next came indigestion, nausea and vomiting, belching, bloating in order. weight loss was in minority (10.9). 4) The most common site of channel ulcer vas anterior wall with a rate of 59.5% and the frequency of the other sites were lesser curvature, greater curvature, posterior wall in order. 5) Considering the healing process of ulcer, the most frequent stage was active stage, the next came healing and scarring stage in order. 6) The longitudinal diameter of active channel ulcer was below 5mm with 68.8% of incidence and almost ones were l0mm or less. The majority of those were round shape. 7) In 45.7% of all cases the channel ulcer did not cambine ulcers on the other sites and 37.0% of the channel ulcers combined gastric ulcer.
동의보감(東醫寶鑑)에 나타난 자락료법(刺絡療法)에 대한 고찰
권영완 ( Young Wan Kwon ),이상룡 ( Sang Ryong Lee ) 경락경혈학회 2011 Korean Journal of Acupuncture Vol.28 No.3
Objectives : This study is designed to improve the practical possibility using Blood-Letting therapy through reviewing the literature recorded in the Donguibogam. Methods : Records on Blood-Letting therapy have been extracted from Donguibogam. First all articles containing the key words ``Hyul (血)`` and ``Rak (絡)`` have been extracted. Of them, records associated with Blood-Letting therapy had been sited and classified in terms of searching patterns for the Blood-Letting area, instruments for Blooding-Letting, cautions and side effects for the practice, applicable symptoms, acupoints/extraordinary acupoints, and Blood-Letting areas. Results : The regions capable of Blood-Letting are generally engaged with abnormal skin color such as black, bluish red, dark purple, dark blue, etc, and localized collection of fibrous exudate. There are several instruments used for Blood-Letting therapy; Samreongchim (三陵鍼), Chogyong (草莖), Pichim (피鍼), Lodaeguan (蘆管尖), Sachim (砂鍼), Saechim (細鍼), Gichim (기鍼), Eunjam (銀簪), nail, etc. Several cautions and side effects of the Blood-Letting therapy are presented. The Blood-Letting therapy could be applied to broad spectrum of symptoms. Body parts being applied were not only several acupoints but also effective points of the body. Conclusions : This study shows that Donguibogam represents Blood-Letting therapy in clear fashion so as to enhance the convenience and its practicality.