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Lee, Gun-You,Oh, Myung-Suck,Kim, Sang-Bong Korean Society for Precision Engineering 2003 International Journal of the Korean Society of Pre Vol.4 No.6
This paper presents development of a high speed rotating arc sensor system using a microprocessor based controller with tracking function for a complicate curved fillet welding line, The welding tip connected to the torch body is eccentrically positioned from the centerline of the torch, The area during one rotating cycle is divided into 4 regions of front, rear, right and left in welding direction of the torch tip to determine the horizontal deviation between the welding seam and the torch position. The average value at each region is calculated using the regional current values and a low pass filter incorporated with the moving average method is implemented. The effectiveness of the developed system is proven through the experimental results for several kinds of complicate curved fillet welding lines.
격자형 용접선 추적을 위한 용접 이동로봇의 모델링 및 제어
이근유(Gun You Lee),서진호(Jin Ho Suh),오명석(Myung Suk Oh),김상봉(Sang Bong Kim) 대한기계학회 2003 대한기계학회 춘추학술대회 Vol.2003 No.4
This paper presents the motion control of a mobile robot with are sensor for lattice type welding. Its dynamic equation and motion control method for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven along a straight line or corner. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider controls. for the torch slider control, the proportional integral derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the corner with range of 90 constrained to the welding speed. The proposed control methods are proved through simulation results and the results have proved that the mobile robot has enough obility to apply the lattice type welding line.
A novel pancreaticogastrostomy method using only two transpancreatic sutures
Jeong Yeon Lee,Eun Young Kim,Jun Suh Lee,Soo Ho Lee,Gun Hyung Na,Tae Ho Hong,Young Kyoung You,Dong Goo Kim 대한외과학회 2015 Annals of Surgical Treatment and Research(ASRT) Vol.88 No.6
Purpose: To evaluate the surgical outcomes of pancreaticogastrostomy (PG) using two transpancreatic sutures with a buttress method through an anterior gastrostomy (PGt), and compare these results with our previous experience with pancreaticojejunostomy (PJ) including the dunking and duct to mucosa methods after pancreaticoduodenectomy (PD). Methods: In this study, 171 patients who had undergone PD between January 2005 and April 2013 were classified into three groups according to the method of the pancreaticoenteric anastomosis: dunking PJ (PJu group; n = 67, 39.1%), duct to mucosa PJ (PJm group; n = 41, 23.9%), and PGt (PGt group; n = 63, 36.8%). We retrospectively analyzed patient characteristics, perioperative outcomes, and surgical results. Results: Both groups had comparable demographics and pathology, and there were no significant differences in operative time, estimated blood loss, or postoperative hospital stay. Within the two groups, morbidities occurred in 49 cases (10.7%), and were not significantly different between the two groups, excepting postoperative pancreatic fistula (POPF). The PGt group had a lower rate of POPF (18/63, 28.6%) than the PJu and PJm groups (21/67, 31.3% and 19/41, 46.3%; P = 0.048), especially in terms of grades B and C POPF (4/63 [6.3%] in the PGt group vs. 7/67 [10.4%] in the PJu group and 9/41 [22.0%] in the PJm group, P = 0.049). Conclusion: The PGt method showed feasible outcomes for POPF and had advantages over dunking PJ and duct to mucosa PJ with respect to immediate postoperative results. PGt may be a promising technique for pancreaticoenteric anastomosis after PD.
HBsAg 양성인 비호즈킨 림프종 환자에서 항암 화학요법 후 간 기능 악화
김창민,이영우,이상원,김봉석,이군희,조진아,정숙향,이진오,한철주,김유철,정문관,강윤구,류백렬,곽진영,홍현주,이군학 대한소화기학회 2000 대한소화기학회지 Vol.35 No.1
Background/Aims: Immunosuppressive therapy such as anti-cancer chemotherapy is often complicated with reactivation of hepatitis B. We tried to investigate the prevalence of hepatitis B virus (HBV) infection in patients with non-Hodgkin's lymphoma (NHL). Furthermore, we evaluated the frequency of hepatic complications, the clinical outcome, and the risk factors associated with the development of hepatic complications in HBsAg-positive patients treated with chemotherapy for NHL. Methods: One hundred eighty-five patients who were diagnosed as NHL and treated with chemotherapy were retrospectively analyzed. Results: The prevalence of HBV infection was 14.1% of the patients. The frequency of hepatic complications in HBsAg-positive patients receiving chemotherapy for NHL was significantly higher than those of HBsAg-negative patients. (50% vs. 10.1%), and the complete response (CR) rate was significantly lower (42.3% vs. 67.9%). We could not find any significant risk factor associated with the development of hepatic complications in HBsAg-positive NHL patients received chemotherapy. Conclusions: For HBsAg-positive NHL patients receiving chemotherapy, special concern and close follow-up is needed because of high frequency of hepatic complication and low CR rate caused by chemotherapy.