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동적환경에서 무선 AP를 이용한 모바일 로봇의 목표 탐색 알고리즘
조정우 ( Jung-woo Jo ),배기민 ( Gi-min Bae ),원일용 ( Ill-young Weon ) 한국정보처리학회 2016 한국정보처리학회 학술대회논문집 Vol.23 No.2
로봇 주행 기술은 전통적인 로봇요소 기술 외에도 여러 기술로 대상 응용서비스에 따라 IT 기술과 적극적인 융합을 통해 다양한 주행방법과 주행성능이 향상되고 있다. 본 논문에서는 대표적인 실내 모바일 로봇인 로봇 청소기를 대상으로 기존의 방법인 적외선과 카메라 방법이 아닌 보통 가정에도 쉽게 존재하는 AP를 이용해 목표를 설정하여 포섭구조 이론을 기반으로 동적인 환경에서도 충전 스테이션 까지 자율 주행이 가능한 로봇 알고리즘을 설계하였다. 그 결과 동적인 환경을 설정하여 로봇이 AP를 찾아가는 것을 확인하였고 주행 경로와 경과 시간을 표로 도출하여 다른 경우를 예측할 수 있게 하였다. 향후 행동 기반 로봇과 다양한 센서를 이용하여 로봇의 위치와 목표점 사이의 최단거리 경로를 구하여 주행하는 것이 목표이다.
중풍환자(中風患者)의 연하장애(嚥下障碍)에 전중혈 구치료(灸治療)가 미치는 효과(效果)
나병조,이준우,이차로,박영민,최창민,선종주,정우상,문상관,박성욱,조기호,김태훈,Na, Byong-Jo,Rhee, Jun-Woo,Lee, Cha-Ro,Park, Young-Min,Choi, Chang-Min,Sun, Jong-Joo,Jung, Woo-Sang,Moon, Sang-Kwan,Park, Sung-Wook,Cho, Ki-Ho,Kim, Tae-Hun 대한한방내과학회 2005 大韓韓方內科學會誌 Vol.26 No.2
Objectives: Dysphagia is a common in stroke patients. Dysphagia often affects the rehabilitation of stroke patients by increasing the risk of nutritional deficits and aspiration pneumonia. Despite the proliferation of physical therapies including swallowing training, much controversy remains regarding the application and benefit of them. Therefore, in this study, the clinical effect of moxibustion at Chonjung(CV17, Shanzhong) on post-stroke dysphagia were assessed using Swallowing Provocation Test(SPT). Methods: Dysphagia subjects were selected by Dysphagia Screening Test. Swallowing function was tested by Swallowing Provocation Test(sec). Direct moxibustion was applied to the acupoint, Chonjung, five times and Swallowing Provocation Test was performed before and after 30 minute. The Latency Time of Swallowing Reflex (LTSR) was checked by SPT. To find factors related with improving swallowing function, Cold-Heat and Excess-Deficiency Diagnosis were considered. Results: A total of 42 patient were included, but two of them were excluded due to severe coughing. Overall, the swallowing reflex improved significantly. In subgroup analysis on brain lesion, non-brain stem lesion patients significantly improved. Moxibustion was more effective in the cold group than in the heat group, but there were no differences between the Excess and the Deficiency groups. Conclusions: The result of this clinical study suggest that moxibustion at Chonjung(CV17, Shanzhong) is an effective treatment for the dysphagia patients after stroke, especially in non-brain stem lesion and the cold diagnosed patients.
공복혈당수치와 운동유발전위의 상관관계에 대한 후향적 분석 : 중추운동신경과 말초운동신경의 비교
나병조,박성욱,정우상,문상관,박정미,고창남,조기호,김영석,배형섭,홍진우,Na, Byung-Jo,Park, Seong-Uk,Jung, Woo-Sang,Moon, Sang-Kwan,Park, Jung-Mi,Ko, Chang-Nam,Cho, Ki-Ho,Kim, Young-Suk,Bae, Hyung-Sup,Hong, Jin-Woo 대한한방내과학회 2007 大韓韓方內科學會誌 Vol.28 No.3
Objectives : Peripheral neurodegeneration occurs in diabetes mellitus (DM), both sensory and motor nerve. but we don't know exactly if DM affects central nerve pathway for all studies. Electrophysiologic study is one of the most important diagnostic tools for diabetic neuropathy. Electroneurography and electromyography are usually used. but evoked potentials (EP) is more sensitive to small nerve fiber damages and useful for central nerve evaluation in addition to peripheral nerves. Most diabetic neuropathy studies by EP have been performed with somatosensory evoked potentials (SSEP). In contrast, the objective of this study is to investigate if DM targets central motor neurons by assessing the relation between fasting blood sugar (FBS) and motor evoked potentials (MEP) latency. Methods : We inspected the medical records of 34 patients who had MEP tests during admitting days. The latency from cervical portion to abductor pollicis brevis was used as peripheral motor conduction time (PMCT). and the latency from vertex to cervical portion was used as central motor conduction time (CMCT). Then, they were correlated to FBS using correlation analysis. Results : There was a significant linear relation between FBS and PMCT (Pearson's correlation coefficient r=0.487, p<0.01), but a poor linear relation between FBS and CMCT (Pearson's correlation coefficient r=-0.l97. p>0.05). Conclusions : This study suggests that prolonged latencies of MEP in DM may be due to peripheral neuropathy rather than dysfunction of central motor pathway. therefore the clinical use of MEP to diabetic neuropathy has to be divided segmentally.
죽력(竹瀝)이 흰쥐의 중대뇌동맥(中大腦動脈) 및 전뇌허혈(全腦虛血) 폐쇄 허혈모델에 미치는 영향
김재홍,홍진우,나병조,박성욱,정우상,문상관,박정미,고창남,조기호,김영석,배형섭,Kim, Jae-Hong,Hong, Jin-Woo,Na, Byung-Jo,Park, Seong-Uk,Jung, Woo-Sang,Moon, Sang-Kwan,Park, Jung-Mi,Ko, Cham-Nam,Cho, Ki-Ho,Kim, Young-Suk,Bae, Hyung-Sup 대한한방내과학회 2008 大韓韓方內科學會誌 Vol.29 No.3
Objective : The purpose of this study was to investigate the neuroprotective effect of Jukryuk on 4-vessel occlusion(4-VO) and middle cerebral artery (MCA) ischemia. Method : After administration of Jukryuk, we compared the Jukryuk-treated group, the control, and the sham groups, in view of several points as follows 1) We evaluated the damage characterized by coagulative cell change of pyramidal neurons and pronounced gliosis in each group 2) We counted the number of normal pyramidal shapes after ischemia in each group 3) Immunohistochemistry (cyclooxygenase-2) 4) In focal ischemic injury model, we measured the volume of ischemic area Results : In this experiment, the effect of Jukryuk was determined to be protecting neuron cell shape, reducing the number of neuron cells damaged by ischemia and the volume of the ischemic area. In immunohistochemistry, Jukryuk reduced cyclooxygenase-2 expression Conclusions : According to this study, Jukryuk can protect neuron cells from injury by cerebrovascular ischemia.
중풍 후 언어 장애에 대한 ☐☐의부집성(醫部集成)☐☐의 침구치료 고찰
정동원,민인규,문상관,나병조,홍진우,박성욱,정우상,박정미,고창남,조기호,배형섭,김영석,Jeong, Dong-won,Min, In-kyu,Moon, Sang-kwan,Na, Byong-jo,Hong, Jin-woo,Park, Seong-uk,Jung, Woo-sang,Park, Jung-mee,Ko, Chang-nam,Cho, Ki-ho,Bae, Hyung- 대한중풍순환신경학회 2007 대한중풍.순환신경학회지 Vol.8 No.1
Objectives and methods : The Euibujipsung is one of the huge-scale encyclopedias about Oriental Medicine. To search the most frequently used aupoints for dysarthria after stroke, we used Euibujipsung CD-ROM database with several chinese character keyword concerned with vernal function(語, 言, 音, 啞, 瘖, etc). Results : We found four popular acupoints(PC5, GV20, GV16, TE6), and five meridians (Governor vessel, Gall Bladder, Heart, Large Intestine and Triple Energizer). We also found that the extra meridians were used more frequently than other type of meridians. Conclusion : We think that these findings can give further ideas to clinical practice and research fields for stroke rehabilitation in Oriental medicine.