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Robot Operating System 기반 고속 자율주행 모바일 로봇의 개선된 벽면추종 주행방식
한승한,최용래,양재필,황형준,김기훈,신주혜,장동영,심동하 한국생산제조학회 2019 한국생산제조학회지 Vol.28 No.3
This study demonstrates an -based high-speed autonomous mobile robot using an improved wall-following driving algorithm. The right triangular method is a popular wall-following technique. However, it cannot provide a sufficiently fast response for the abrupt change in wall direction at a corner, resulting in crashes. Therefore, a mixed-mode method is proposed by using the triangle bisection method at a corner to achieve high-speed cornering. The autonomous robot detects a corner using a corner recognition algorithm. The implemented robot employs ROS for system operations and LIDAR sensor to scan wall faces. The maximum measured speed around corners is 2.8 m/s (10.1 km/h), which is 75% higher than that of the triangular method. The robot passes through a right angle corner without crashing at a maximum speed of 1.8 m/s (6.5 km/h). The implemented robot platform and algorithm can be applied and expanded for the development of high-speed autonomous mobile robots.
60분 심폐소생술이 구조자의 혈중 젖산 농도, 심박동수, 운동자각도에 미치는 영향
한승은,안희정,심규식,방성환,송효숙 한국컴퓨터정보학회 2022 韓國컴퓨터情報學會論文誌 Vol.27 No.8
In this study, when cardiopulmonary resuscitation continued for a long time, the rescuer's blood lactic acid concentration, heart rate, and rating of perceived exertion were measured to identify the change in the rescuer's fatigue. Data collection was conducted from July 5 to July 9, 2021, with a total of 24 students, 12 students department of special warfare medical non-commissioned officer, and 12 students department of emergency medical technology at D University, undergoing a two-person alternative chest compression resuscitation for 60 minutes. As a result of the study, the rescuer's blood lactic acid concentration, heart rate, rating of perceived exertion, and chest compression speed were significantly changed according to the duration of CPR (p<.001, p<.001, p<.001, p<.001). blood lactic acid concentrations at every measurement cycle (30 minutes, 40 minutes, 50 minutes, 60 minutes) showed a significant positive correlation with heart rate (r=.696, p<.001, r=.672, p<.001, r=.709, p<.001, r=.782, p<.001), there was also a significant positive correlation with the rating of perceived exertion (r=.476, p<).05, r=.426, p<.05, r=.470, p<.05, r=.470, p<.05). Therefore, monitoring the fatigue of rescuers using heart rate and rating of perceived exertion will be useful for maintaining high-quality chest compression in situations where cardiopulmonary resuscitation is required for a long time. 본 연구에서는 장시간 심폐소생술 지속 시 구조자의 혈중 젖산 농도, 심박동수, 운동자각도를측정함으로써 구조자의 피로도 변화를 파악하고자 하였다. 자료수집은 2021년도 7월 5일부터 7월9일까지 D 대학교 특전의무부사관과 학생 12명, 응급구조학과 학생 12명 총 24명을 대상으로 60 분 동안 2인 교대 가슴 압박 소생술을 수행하였다. 연구 결과 심폐소생술 지속시간에 따른 구조자의 혈중 젖산 농도, 심박동수, 주관적 피로도인 운동 자각도, 가슴 압박 속도는 유의미한 변화가 있었다(p<.001, p<.001, p<.001, p<.001). 매 측정 주기(30분, 40분, 50분, 60분) 시 혈중 젖산 농도는 심박동수와 유의한 정적 상관관계가 나타났으며(r=.696, p<.001, r=.672, p<.001, r=.709, p<.001, r=.782, p<.001), 운동자각도와도 유의한 정적 상관관계가 나타났다(r=.476, p<.05, r=.426, p<.05, r=.470, p<.05, r=.470, p<.05). 따라서 장시간 심폐소생술이 요구되는 상황에서 심박동수와 운동자각도를 활용한 구조자의 피로도 모니터링은 고품질의 가슴 압박을 유지하는데 유용할 것이다.