Quadrotor-tracking controller design using adaptive dynamic feedback-linearization method

Choi, IH,Bang, HC SAGE Publications 2014 Proceedings of the Institution of Mechanical Engin Vol.228 No.12

<P>Design of an adaptive dynamic feedback-linearization control law for a quadrotor unmanned aerial vehicle under uncertain parameters is presented. Because the quadrotor carries rotational speed-varying thrusters, it has the advantage of simple mechanism compared to the pitch-varying thrusters. However, it is subjected to slow dynamics in thruster and suffers from uncertainties in efficiency due to power subsystem. Additionally, parametric uncertainties tend to exist such as thruster misalignment, mass, and inertia. The control law is targeted to tracking reference trajectories under such uncertainties. Dynamic feedback-linearization method is employed primarily to produce the small-bandwidth thruster signal. A dynamic observer is used to estimate the states of feedback-linearized system, and Lyapunov-based update laws are derived to compensate for uncertain parameters. The controller and its performance are evaluated using a nonlinear, six-degree-of-freedom dynamic model of a quadrotor unmanned aerial vehicle with a thruster model in the simulation. The results illustrate that the proposed control law enhances tracking performance even with slow and misaligned thruster.</P>

광범위 낭종 제거술 및 개창술에 의한 중두개와 지주막 낭종의 수술적 치료

최현철,전신수,이관성,김문찬,강준기 대한신경외과학회 2003 Journal of Korean neurosurgical society Vol.33 No.1

복식 전자궁적출시 예방적 항생제효과의 비교

김현찬,성문수,최상림,김용학,이정형,유병규 대한산부인과학회 1992 Obstetrics & Gynecology Science Vol.35 No.1

인제대학교 의과대학 부속 부산백병원에서 (1988년 1월∼1989년 12월) 복식 전자궁적출술을 시행한 170례를 대상으로 대조군(n=50)군과 투약(A)군 (fasigyn 투여군, n=50) 및 투약(B)(cefuroxime+amikacin, n=70)으로 나누어 예방적 항생제의 효과를 비교 분석한 바 다음과 같이 결과를 요약하여 결론을 내릴 수 있었다. 1. 열성이환의 빈도와 추가적인 다른 항생제의 투여를 하였던 경우가 투약군에서 대조군에 비하여 낮았으며 추가적 항생제의 투여는 주로 뇨로감염이 원인이었다. 2. 복벽 창상감염 및 골반감염(골반봉과직염 및 질구개 봉과직염)은 경미한 경우이었고 빈도가 높지 않았으며 대조군과 투약(A)군에서 별 차이가 없었으나 투약(B)군에서는 1예도 없었다. 골반농양의 경우는 각 군에서 1예도 없었는데 이는 아마도 질구개를 개방한 술식과 더불어 열성이환을 보인 예에 추가적으로 다른 항생제를 사용한 것에 기인한 것으로 사료된다. 3. 대조군과 투약(A)군에서는 뇨로감염의 빈도는 비교적 높은 편이었으나 대부분 무증상세균뇨의 경우이었다. 4. 투약(A)군에 비하여 투약(B)군이 열성이환, 창상감염, 골반감염 및 뇨로감염의 빈도가 현저히 낮았다. 5. 입원기간은 투약(B)군에서 7.3±0.9일로 가장 짧았으나 각군간에 큰 차이는 없었다. 저자들이 시행한 수술전 처치 및 수술방식은 대조군과 투약군에서 다른 보고자에 비하여 열성이환의 빈도가 비교적 낮고 중한 골반감염과 이로 인한 후유증으로 입원이 연장된 례는 없었다. 따라서 저자등이 시행한 술식(질구개 개방)과 더불어 비용이 적게들고 간편한 수술 전, 후 단기 복합 예방적 항생제(cefuroxime+amikacin) 투여는 열성이환과 감염을 효과적으로 감소시킬 수 있는 제제로 사료된다. One hundred and seventy patients undergoing elective abdominal hysterectomy were placed on a comparative study to evaluate the efficacy of preoperative fasigyn (group A, n=50) versus perioperative cefuroxime sodium and amikacin sulfate (group B, n=70) prophylaxis in diminishing the postoperative infection rate. The control (group C, n=50) did take any antibiotics. The three groups of patients were comparable with regard to preoperative clinical features, associated medical disorders and intra/postoperative conditions, etc. The febrile morbidity was noticed in 6%, 2.9%, and 12% of group A, B, and C, respectively. Significant pelvic infections complications (pelvic and vaginal cuff cellulitis) were observed in 4%, and 6% of group A and C. No case of pelvic abscess were encountered among three groups. Abdominal wound infection, moderate degree, was found in 4%, and 2% of group A and C, but none in groups B. Urinary tract infection (mostly asymptomatic bacteriuria), the most frequent complication in this study, was found in 16%, 7%, and 26% of group A, B, and C, respectively. No remarkable difference of hospital stay was found among three groups but more cases of infections complications were treated by additional other antibiotics in group A and C. The incidence febrile morbidity was relatively low and serious consequence of infections complications were rare in this study and the efficacy of perioperative short course of combination of cefuroxime sodium and amikacin sulfate could be demonstrated.

부각자궁임신파열의 1예

김형철(HC Kim),이홍주(HJ Lee),임영균(YG Im),최숙(S Choi),정호순(HS Chung) 대한산부인과학회 1974 Obstetrics & Gynecology Science Vol.17 No.5

희유한 부각자궁 임신이 임신 21주에 파열을 일으킨 예를 경험하였기에 이를 보고하고 문헌 적 고찰을 하였다. A case of ruptured cornual pregnancy which was treated at Seoul Adventist Hospital was summarized clinically with brief review of references. 1) Cornual pregnancy is a very rare form of ectopic pregnancy, in which the embryo is implanted in a rudimentary horn of the uterus. 2) The symptoms are similar to those of the interstitial type of ectopic pregnancy. 3) Diagnosis is very difficult and is most likely mistaken for a soft myoma, with perhaps an early abortion of an intrauterine pregnancy.

복식 전자궁적출술시 예방적 Fasigyn의 효과

김현찬,제구화,김기태,박호,조종희,최상림 대한산부인과학회 1990 Obstetrics & Gynecology Science Vol.33 No.6

인제대학교 의과대학부속 부산백병원에서 복식 전 자궁적출술시 Fasigyn을 예방적으로 투여하여 대조군과 비교하여 그 효과를 분석한바 다음과 같은 결과를 요약하고 결론을 내릴 수 있었다. 1. 열성이환의 빈도와 추가적인 다른 항생제투여가 필요한 경우가 투약군에서 대조군에 비하여 반감하였다. 2. 복벽창상감염은 경미한 경우이었고 빈도가 높지 않았으며, 대조군과 투약군에서 빈도는 별 차이가 없었다. 3. 골반감염(골반 봉과직염 및 질구개 봉과직염)의 빈도는 투약군과 대조군에서 큰 차이가 없었으며, 양군에서 골반농양의 경우는 1례도 없었다. 이는 아마도 질구개를 개방한 술식과 더불어 열성이환을 보인 예에 추가적으로 다른 복합항생제를 사용한 것에 기인한 것으로 사료된다. 4. 뇨로감염의 빈도는 비교적 높은 편이었고, 투약군에서 대조군보다 그 빈도가 낮았다. 저자들이 시행한 수술 전처치 및 수술방식에는 대조군과 투약군에서 비교적 열성이환의 빈도가 다른 보고자에 비하여 낮고 중한 골반감염과 이로인한 문제가 될만한 후유증으로 입원이 연장된 예는 없었다. 저자들이 시행한 술식과 더불어 비용이 적게들고 간편한 예방적 단회경구 Fasigyn의 투여는 다소 열성이환과 비뇨기감염의 빈도를 저하 시킨고로 그 효과를 인정할 수 있다고 생각되며, 환자를 선별하여 예방적으로 투여하는 것이 좋을 것으로 생각된다. 그러나 비뇨기감염의 빈도가 비교적 높은 것으로 보아 향후 이에 대한 개선된 대책이 요구된다. In 100 patients undergoing elective abdominal hysterectomy, a double blind study was undertaken to evaluate the efficacy of Fasigyn treatment in diminishing the postoperative infection rate. The study group (n= 50) received a single dose of 2.0 gm Fasigyn p.o. before 12 hours preoperatively while the control group (n= 50) did not. The two groups of patients, 50 in each, were comparable with regard to age, anemia, pathologic condition, length of operation, blood loss and indication of htsterectomy, etc. The febrile morbidity was noticed in 6 % and 12 % of the study and control groups, respectively. Significant pelvic infectious complications (pelvic and vaginal cuff cellulitis) were observed in 6 % of the control group and 4 % of the study group but no case of pelvic abscess was encountered. Abdominal wound infection, moderate degree, was found in 2 % of the control group and 4 % in the study group. Urinary tract infection, the most frequent complication in this study, was found in 26 % of the control and in 16 % of the study group. The result of this study indicated that oral preoperative single dose Fasigyn prophylaxis reduced modestly the over all rate of febrile morbidity and urinary tract infection, but no significant difference of pelvic and abdominal wound infection rate was found between two groups. No difference of hospital stay was found between two groups but more case of infectious complication in the group were treated by additional other antibiotics. Because the incidence of febrile morbidity is relatively low and serious consequences of pelvic and abdominal infection are rare in this study, the routine Fasigyn prophylaxis in all low risk patients undergoing elective abdominal hysterectomy, although somewhat effective, is probably not always necessary, but it seems to be prudent to give additional measures to reduce postoperative urinary tract infection.

고위험군 융모성질환에서 EMA-CO요법의 치료 결과

김현찬,김기태,최상림,김용학 대한산부인과학회 1992 Obstetrics & Gynecology Science Vol.35 No.1

인제대학교 부속 부산백병원 산부인과에서 1986년 초부터 1989년 말까지 WHO기준에 의한 고위험군 융모성질환 18례를 EMA-CO 요법으로 치료하여 아래와 같은 결과를 얻었다. 1. 환자의 평균 연령은 40.6±8.6세이었고 평균 위험점수는 10.6±2.4이었다. 2. 총 18례 중 16례가 경쾌되어 경쾌율은 88.9%이었다. 3. 혈청 β-HCG가 경쾌수준(5mlU/ml)에 도달할 때까지의 기간은 평균 13주이었고 화학요법투여 주기는 평균 6주기이었고 경쾌수준에 도달한 후 평균 1.9주기 더 투여하였다. 4. 전이 병소에 따른 경쾌율은 폐 91.7%, 골반 100%, 뇌 66.7%, 간과 질이 100%, 신장에 전이된 경우는 치료에 실패하였다. 5. 약물에 대한 부작용으로는 탈모증과 오심이 100%, 조혈기관 독성 94.4%, 구토 77.8%, 경도의 간독성 50%, 구내염 33.3%이었고 약진, 심부정맥혈전증과 화학적 뇌막염을 각각 2, 1, 1례 경험하였다. 6. 본원에 입원전 선행 단일화학요법에 저항을 보인 1례와 뇌, 신장 및 폐장에 다발성 전이를 보인 1례에 각기 EMA-CO 요법을 적용하였으나 효과가 만족스럽지 못하여 BEP 요법으로 대치하였으나 모두 실패하였다. Eighteen patients of high-risk(mean risk score of 10.6±2.5) gestational trophoblastic dsisease had been treated (Jan. 1986∼Dec. 1989) with EMA-CO regimen. The results could be summarized as follows : The sustained remission rate (mean duration of follow up, 20.0±10.4 months) was 88.9% with mean applied course of 6±2, and additional 1.9 courses of chemotherapy. The toxicity of EMA-CO regimen was relatively frequent, in order of frequency, alopecia and nausea(100%), bone marrow depression(94.4%), vomiting(77.8%), stomatitis(33.3%) etc. However it could be manageable and tolerable for scheduled course of chemotherapy. EMA-CO regimen was not satisfactory on one case of previous failed chemotherapy(risk scor of 13) and the other case of multiple metastasis of brain, kidney and lung(risk score of 15). BEP regimen was appleid on those cases but could not achieve remission. As a conclusion, we could believe that EMA-CO regimen was quite effective one with tolerable toxicity and we also could suggest combination chemotherapy, consisted of etoposide and cisplatin, from the outset on ultra high-risk group (risk score over 13 or/and multiple site of metastasis, brain etc.).

다혈관 질환에서 관동맥 중재술과 관동맥 우회로술의 장기 성적 비교:후향적 다기관 연구

권현철,최성희,최병일,조승연,노영무,이원로 대한순환기학회 2003 Korean Circulation Journal Vol.33 No.9

악성 위험지수 (RMI;risk of malignancy index) 에 의한 난소종양의 평가

김현찬,김기태,김우경,이재준,최영태,한지원 대한산부인과학회 1997 Obstetrics & Gynecology Science Vol.40 No.11

The purpose of this clinical study was to evaluate the efficacy of RMI(risk of malignancy index) as a preoperative predictive screening method in ovarian tumors. The RMI was calcula- ted by the following formula;─ RMI=The ultrasonographic score(0, 1, or 3) x serum CA-125 level x menopausal status score(1 or 3). The preoperative RMI was obtained from 69 cases of ovarian tumors operated from July 1993 to March 1996 at the Dept. of Obstetrics and Gynecology , Pusan Paik Hosp. Reviewing the histopathological diagnosis of surgical specimen, using RMI cut-off value of 200, the sensitivity, specificity, positive and negative predictive value of RMI was obtained and compared with CA-125 value and sonographic scores, respectively. The results obtained were as follows; 1. The sensitivity of RMI was 67.7%, it was lower than that of serum CA-125 value(74.0%) and ultrasonographic score(80.6%)(P=0.535). 2. The specificity of RMI was 100%, it was higher than that of serum CA-125 value(81.6 %) and ultrasonographic score(84.2%)(P=0.006). 3. The positive predictive value of RMI was 100%, it was higher than that of serum CA-125 value(76.7%) and ultrasonographic score(80.6%)(P=0.047). 4. The negative predictive value of RMI was 79.2%, it was lower than that of CA- 125 value(79.5%) and ultraconographic score(84.2%)(P=0.83). In conclusion, the RMI could be a useful screening method to discriminate a benign from malignant ovarian tumors prior to operation.

흰쥐의 발정주기에 따른 Pit-1과 Prolactin 유전자 발현에 관한 연구

김현찬,강성구,최영석 대한산부인과학회 1994 Obstetrics & Gynecology Science Vol.37 No.3

본 연구는 흰쥐 발정주기의 특정시기에서의 pit-1과 prolactin mRNA 합성변화를 조사하였다. 최소한 3번이상의 연속적인 발정주기를 나타내는 성숙한 흰쥐에서 각 발정단계별(오전10시)과 발정전기에서는 10:00시부터 18:00까지 2시간 간격으로 뇌하수체를 적출하여 mRNA 합성변화를 실험하였다. mRNA 수준은 각 유전자의 cDNA를 probe로 하여 RNA-DNA hybridization 방법에 의하여 측정하였다. Pit-1 유전자발현은 발정후기에 많았으며 다른시기에는 적었다. 또한 발정전기 시작후 12:00시와 18:00시에 가장 많았다. 이에 비하여 prolactin mRNA 합성은 발정전기와 발정기에 가장 많았으며 발정전기의 시간대에서는 10:00시에 가장 많았다가 감소한 후 다시 18:00시까지 서서히 증가하였다. 흰쥐의 발정전기에서 pit-1과 prolactin mRNA의 수준이 서로 상이하게 변하는 것은 이러한 유전자들의 발현이 생리적으로 조절되고 있음을 시사한다. The author studied the changes in pit-1 and prolactin messenger ribonucleic acid (mRNA) syntheses during the female rat estrous cycle. Adult female rats exhibiting at least three consecutive 4-day estrous cycles were used in this experiment. Animals were sacrificed at 10:00 AM of each stage of the estrous cycle, and at 2-hour intervals from 10:00 AM to 18:00 PM during the proestrous stage checked by vaginal smear method. The anterior piruitaries were used for RNA purification and mRNA levels were determined by DNA-RNA hybridization with the rat pit-1 and prolactin cDNA probe. The level of pit-1 mRNA wa higher at metestrous stage than at the other stages. Also prolactin mRNA level reached at the maximum level in the morning of the pro-and estrous stages. During proestrous stage pit-1 and prolactin mRNA levels fluctuated. Pit-1 mRNA levels gradually increased until 12:00 MD and reached at the maximuj level at 18:00 PM. But prolactin mRNA level showed a peak at 10:00 AM and then gradually decreased. After 12:00 MD prolactin mRNA level gradualy increased until 18:00 PM. These data showed that pit-1 and prolactin mRNA levels fluctuated during estrous and proestrous cycle: and it might indicate that some physiological role could regulate the expression of pit-1 and prolactin gene during estrous cycle.

경계성 난소상피종양에 대한 임상적 고찰

김현찬,김기태,김우경,오희연,최영태,한지원 대한산부인과학회 1997 Obstetrics & Gynecology Science Vol.40 No.11

A clinical and pathological study was made on a series of 34 cases of borderline epithelial ovarian tumors, which were managed at Pusan Paik Hospital of InJe university, from January 1985 to December 1996. The results obtained as follows: 1. The incidence was 19.9%(34/171 cases) among all epithelial ovarian malignancies. 2. Age distribution was between 14 and 78 years old, mean age was 37 years old. 3. As for the parity, nulliparity was most common(38.2%). 4. Abdominal discomfort(58.8%), palpable mass(41.2%) and abdominal distension(41.2 %) were the main symptoms. 5. As for the FIGO stage, 29(85%) cases were at Ia, 2(5.9%) cases at Ic, 1(2.9%) case at IIc, at IIIb, at IIIc, respectively. 6. The most common histological type was mucinous, 28(82.4%) cases, the next was serous, 5(14.7%) cases. 7. Among the surgical staging procedures, the positive rate of peritoneal cytology was 29 %(5/22) and that of omentectomy was 12.5%(2/16). 8. Twenty one(61.8%) cases were managed by conservative operation and 13(38.2%) by extirpative operation, and postoperative chemotherapy was given in 2 cases. 9. Follow-up was possible in 27(79.4%) cases. The duration of follow-up ranged from 7 to 115 months. Mean duration was 32.9 months. The presumed 5 year survival rate was over 85%.