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Yoo, Kyung Don,Kim, Clara Tammy,Kim, Myoung-Hee,Noh, Junhyug,Kim, Gunhee,Kim, Ho,An, Jung Nam,Park, Jae Yoon,Cho, Hyunjeong,Kim, Kyoung Hoon,Kim, Hyunwook,Ryu, Dong-Ryeol,Kim, Dong Ki,Lim, Chun Soo,Ki Wolters Kluwer Health 2016 Medicine Vol.95 No.33
<▼1><P>Supplemental Digital Content is available in the text</P></▼1><▼2><P><B>Abstract</B></P><P>Data regarding kidney transplantation (KT) and dialysis outcomes are rare in Asian populations. In the present study, we evaluated the clinical outcomes associated with KT using claims data from the Korean national public health insurance program. Among the 35,418 adult patients with incident dialysis treated between 2005 and 2008 in Korea, 1539 underwent KT. An optimal balanced risk set matching was attempted to compare the transplant group with the control group in terms of the overall survival and major adverse cardiac event–free survival. Before matching, the dialysis group was older and had more comorbidities. After matching, there were no differences in age, sex, dialysis modalities, or comorbidities. Patient survival was significantly better in the transplant group than in the matched control group (<I>P</I> < 0.001). In addition, the transplant group showed better major adverse cardiac event–free survival than the dialysis group (<I>P</I> < 0.001; hazard ratio, 0.49; 95% confidence interval, 0.32–0.75). Korean patients with incident dialysis who underwent long-term dialysis had significantly more cardiovascular events and higher all-cause mortality rates than those who underwent KT. Thus, KT should be more actively recommended in Korean populations.</P></▼2>
Navigation Behavior Selection Using Generalized Stochastic Petri Nets for a Service Robot
Gunhee Kim,Woojin Chung Institute of Electrical and Electronics Engineers 2007 IEEE Transactions on Human-Machine Systems Vol.37 No.4
<P>Appropriate design and control of behaviors of mobile robots are important for their successful autonomous navigation in a real dynamic environment. This paper proposes a formal selection framework of multiple navigation behaviors for a service robot. In the presented approach, modeling, analysis, and performance evaluation are carried out based on generalized stochastic Petri nets (GSPNs). By adopting a probabilistic approach, the proposed framework helps the robot to select the most desirable navigation behavior in run time according to environmental conditions. Moreover, after mission completion, the robot evaluates its prior navigation performance from accumulated data, and automatically uses the results to improve its future operations. Also, GSPNs have several advantages over direct use of other modeling formalisms such as finite state automata (FSA) or Markov processes (MPs). We conduct experiments on real guidance tasks with visitors by implementing the framework in the guide robot Jinny at the National Science Museum of Korea. The results show that the proposed strategy is useful for a robot's selection of an appropriate navigation behavior in a dynamic environment.</P>
A Sensitive and Rapid LC-MS/MS Method for Determination of Berberine in Human Plasma
Kim, Jae Hee,Mai, Xuan-Lan,Kim, Kyu Yeon,Sim, Min-Seok,Lee, So-Yeon,Seo, Hee-Won,Lee, Gunhee,Kim, Dae-Jung,Kim, Kyeong Ho Korean Society for Mass Spectrometry 2019 Mass spectrometry letters Vol.10 No.2
Coptidis Rhizoma (CR) has been used widely in traditional medicine to treat common diseases. This study aimed to develop a high-sensitivity liquid chromatography-tandem mass (LC-MS) spectrometry method for the evaluation of the pharmacokinetics of a new natural product that contain CR extract with the main bioactive compound, berberine, at trace concentrations. Human plasma samples were pretreated with methanol by a protein precipitation method. Berberine was analyzed on a Kinetex C18 column ($2.1mm{\times}50mm$, $100{\AA}$, $1.7{\mu}m$) using a mobile phase of 10 mM ammonium formate/0.1% formic acid in water (A) and acetonitrile (B) (50:50, v/v) with a flow rate of 0.25 mL/min. The analyte was detected by using electrospray ionization in positive mode with multiple reaction monitoring (MRM). The method was sensitive, with a lower limit of quantification of 1 pg/mL, which has not been previously obtained. The method was validated (over the range of 1-50 pg/mL) and applied successfully for the pharmacokinetic study of human plasma samples.
Tripodal Schematic Control Architecture for Integration of Multi-Functional Indoor Service Robots
Gunhee Kim,Woojin Chung IEEE 2006 IEEE transactions on industrial electronics Vol.53 No.5
<P>This paper discusses a control architecture and a system integration strategy for multifunctional indoor service robot public service robot (PSR) systems. The authors have built three versions of the PSR systems for four target service tasks, which are delivery, patrol, guidance, and floor cleaning. They clarify the requirements of the architecture in their applications, and propose the tripodal schematic control architecture as the solution to the architectural problems. The key idea of proposed architecture is to integrate robot systems using following three frameworks, layered functionality diagram, class diagram, and configuration diagram. The proposed architecture was successfully evaluated and implemented to PSR platforms for their target tasks. Experimental results clearly showed that the developed strategy was useful for developing the autonomous service robots</P>
Effects of disturbance timing on community recovery in an intertidal habitat of a Korean rocky shore
Kim, Hyun Hee,Ko, Young Wook,Yang, Kwon Mo,Sung, Gunhee,Kim, Jeong Ha The Korean Society of Phycology 2017 ALGAE Vol.32 No.4
Intertidal community recovery and resilience were investigated with quantitative and qualitative perspectives as a function of disturbance timing. The study was conducted in a lower intertidal rock bed of the southern coast of South Korea. Six replicates of artificial disturbance of a $50cm{\times}50cm$ area were made by clearing all visible organisms on the rocky substrate in four seasons. Each of the seasonally cleared plots was monitored until the percent cover data reached the control plot level. There was a significant difference among disturbance timing during the recovery process in terms of speed and community components. After disturbances occurred, Ulva pertusa selectively preoccupied empty spaces quickly (in 2-4 months) and strongly (50-90%) in all plots except for the summer plots where non-Ulva species dominated throughout the recovery period. U. pertusa acted as a very important biological variable that determined the quantitative and qualitative recovery capability of a community. The qualitative recovery of communities was rapid in summer plots where U. pertusa did not recruit and the community recovery rate was the lowest in winter plots where U. pertusa was highly recruited with a long duration of distribution. In this study, U. pertusa was a pioneer species while being a dominant species and acted as a clearly negative element in the process of qualitative recovery after disturbance. However, the negative effect of U. pertusa did not occur in summer plots, indicating that disturbance timing should be considered as a parameter in understanding intertidal community resilience in temperate regions with four distinct seasons.
Formation of Mobile Robots with Inaccurate Sensor Information
Kim, Gunhee,Lee, Doo-Yong,Lee, Kyungno Institute of Control 2001 Transaction on control, automation and systems eng Vol.3 No.4
This paper develops a control method for some generic formation tasks of multiple mobile robots with inaccurate sensor information. Inaccurate sensor information means that all the robots have only local sensors that cannot accurately measure absolute distances and directions of objects. That is, all the sensors have limitation on the range, and uncertainty in the values. Therefore, more robust and reliable control logic is proposed and implemented. The logic is developed considering generic situations and increasing the number of robots participating in the formation. Petri nets are used for modeling and design of the control logic, which can visualize the control models and make it easy to check the states of each robot. Physically homogeneous mobile robots are designed and built to evaluate the developed logic. Each robot is equipped with eighteen infrared sensors and a UHF transceiver module. The experiment results are analyzed quantitatively by using the data of the relative distances and angles between the robots. And the trajectories of the robots during the formation are also evaluated. The developed control approach is demonstrated with experiments to be successful and efficient for the formation of autonomous mobile robots.