자율이동로봇의 국부 초음파지도를 이용한 길잡이지도 선택 방법

강승균,임종환 濟州大學校 産業技術硏究所 1999 산업기술연구소논문집 Vol.10 No.1

Conventional position estimation has been performed by placing landmarks or giving the entire environmental information in advance. Unlikely to the conventional ones, the study addresses a new method that the robot itself can select distinctive features in the environment and save them as landmarks without any a priori knowledge, which can maximize the autonomous behavior of the robot. First, an orientation probability model using sonar sensors is applied to construct a local map of robot's surrounding. The feature of the object in the map is then extracted and the map is saved as landmark. The usefulness of all these approaches are illustrated with the results produced by a real robot equipped with ultrasonic sensors.

풍력 발전 시스템의 피치제어

강상수,강승균,임종환,허종철 濟州大學校工科大學産業技術硏究所 1999 尖端技術硏究所論文集 Vol.10 No.1

Wind turbine system converts wind energy into electric energy. Since the velocity of wind is random in nature, control of the angular velocity of the blade is necessary in order to generate high quality electric power. The control of the blade can be divided into the stall regulation type and the pitch control type. The stall regulation type which utilizes an aerodynamic stall is simple and cheap, but it suffers from fluctuation of the resulting power. On the contrary, pitch control type is based on the fact that the torque of the blade can be changed by varying the pitch angle of the blade. It is mechanically and mathematically complicated, but the control performance is better than that of the stall regulation type. This paper derives a mathematical modeling of the wind turbine system, and suggests a pitch control algorithm. The validity of the algorithm is demonstrated with the results produced through sets of experiments.

풍력 발전 시스템의 피치제어

강상수,강승균,임종환,허종철 濟州大學校 産業技術硏究所 1999 산업기술연구소논문집 Vol.10 No.1

Wind turbine system converts wind energy into electric energy. Since the velocity of wind is random in nature, control of the angular velocity of the blade is necessary in order to generate high quality electric power. The control of the blade can be divided into the stall regulation type and the pitch control type. The stall regulation type which utilizes an aerodynamic stall is simple and cheap, but it suffers from fluctuation of the resulting power. On the contrary, pitch control type is based on the fact that the torque of the blade can be changed by varying the pitch angle of the blade. It is mechanically and mathematically complicated, but the control performance is better than that of the stall regulation type. This paper derives a mathematical modeling of the wind turbine system, and suggests a pitch control algorithm. The validity of the algorithm is demonstrated with the results produced through sets of experiments.

버스 정차시간 분석

강영균,서준석,고승영 명지대학교 산업기술연구소 2001 産業技術硏究所論文集 Vol.20 No.-

The time spent by passengers to board and alight buses is an important component of the total bus travel time. On average, about one fifth of the total travel time of a bus is spent at bus stop. If this stopped time due to boarding and alighting could be reduced, the saving of total travel time would be reduced also, and this contributes to the efficiency of route operation and vehicle fleet usage. So, this paper defined several kinds of times which are measured in this research of passenger boarding time, alighting time and acceleration - deceleration time. Also, this paper developed a model for bus boarding and alighting time as a function of factors such as fare system, vehicle design and the difference of travel time, and to get the value of bus acceleration -deceleration time in particular factors such as vehicle design and bus stop design.

대장선암에서 p53 과 P-glycoprotein의 분포에 관한 연구

강상균,김의한,장인성,김대중,양승하 순천향의학연구소 1997 Journal of Soonchunhyang Medical Science Vol.3 No.1

Adenocarcinoma of colon and rectum express many oncogenes. The p53 acts as tumor suppressor in normal tissue but mutant forms are known as doing important role in carcinogenesis of many malignant tumors, such as colorectal cancer, gastric cancer, and breast cancer. P-glycoprotein shows distribution in many normal tissues and malignant tumor. This protein occurs multidrug resistance to therapeutic anticancer drug, resulting in poor prognosis of patients. The expression of p53 and P-glycoprotein has been studied by many authors according to clinicopthologic findings of colorectal adenocarcinoma, but these results are controversial yet. To observe the relationship between both antigen and pathologic findings, including prognostic factos, of colorectal adenocarcinoma, we analysed 13 cases adenoma and 62 cases adenocarcinoma then processed for immunohistochemical stain by SLAB method using mouse monoclonal anti-p53 and JSB-1. The results were as followings; 1) The expression rate of p53 in adenoma and adenocarcinoma are 38.5% and 71.0%, respectively, and P-glycoprotein are 46.6% and 58.1%, respectively. 2) The p53 revealed higher expression rate in case of well differnetiated form, invasion to serosa and surrounding adipose tissue, lymphatic metastasis compared to that of moderately and poorly differentiated form, invasion to muscle, no lymphatic metastasis, but no difference accoding to site. 3) P-glycoprotein revealed higher positive rate in case of right side, invasion to surrounding adipose tissue, lymphatic metastasis compared to that of left side, invasion to muscle and serosa, no lymphatic metastasis, but no difference according to differentiation. 4) Both of p53 and P-glycoprotein revealed higher ex pression in case of right side, well and moderately differentiated form, invation to serosa and surrounding adipose tissue, lymphatic metastasis compared to that of left side, poorly differentiated form, invasion to muscle, no lymphatic metastasis. Above results revealed that the expression of p53 begins in adenoma and shows close relation with development of colorectal carcinoma. p53 and P-glycoprotein may reveal the relation with poor prognosis. Adenocarcinoma showing both positive reaction of p53 and P-glycoprotein is also similar prognostic relation.

혼합성 신경효종의 치료에 대한 임싱결과

최승진,이관성,홍용길,나형균,이상원,백민우,김문찬,강준기 대한신경외과학회 1998 Journal of Korean neurosurgical society Vol.27 No.12

위선암에서 p53과 EGFR 및 PCNA 발현에 관한 연구

강현욱,양승하,강상균 순천향의학연구소 1997 Journal of Soonchunhyang Medical Science Vol.3 No.1

Expression of oncogene in the gastric adenocarcinoma was considered as a determinant factor of cancer progression or prognosis by some authors, however, the results were so fluctuated according to the authors that there was no uniform agreement in their clinicopathological correlation as well as in its practical application. To evaluate correlation between the pathologic finding and the expression of p53, EGFR and PCNA, immunohistochemical studies were performed on paraffin-embedded sections of 84 gastric adenocarcinomas. Pathologic findings were classified as 4 subgroups by their histologic types, differentiation, invasion and lymph node metastasis. The correlation of PCNA labelling index with various clinicopathologic factors and oncogene expression was studied. The results were as follows; 1. p53 expression was seen in 47cases(55.56%) of gastric carcinoma, and correlation between p53 expression with tumor type, differentiation, invasion and lymph node metastasis was not proved. EGFR positive expression was found in 37(44.05%) cases and was increased in advanced gastric carcinoma, and cases of lymph node metastasis. 2. Co-expression of p53 and EGFR was observed in 18 cases(33.33%), suggesting existence of both oncogene in the same case, while both negative cases were 18 cases(33.33%) that suggest the possibility of presence of the other factors. 3. PCNA labelling index was higher in advanced gastric carcinoma and in cases of lymph node metastasis, but there was no statistical significance. 4. There was no statistical significance between PCNALI and p53 expression. 5. PCNALI and EGFR expression was parallel with pathologic finding such as differentiation, progression and metastasis of the carcinoma, these results suggest that there was significant correlation between PCNALI and EGFR. 6. PCNALI was statistically significant between two groups of both p53 and EGFR positive and both negative. 7. PCNALI showed statistical significance between EGFR positive and negative groups in cases of lymph node metastasis. In summary, the value of p53 expression as a prognostic factor was still doubtful but EGFR and PCNA expression tended to be associated with tumor progression and seemed to be objective and reliable prognostic factors, respectively. Combined method of EGFR and PCNA thought to be more helpful in preoperative decision or prediction of prognosis in gastric carcinoma.

자율이동로봇을 위한 직선선분 기반 지도 작성

강승균,임종환,강철웅 제주대학교 공과대학 첨단기술연구소 2004 尖端技術硏究所論文集 Vol.15 No.1

The paper presents an efficient method of extracting line segment in a local map of robot's surroundings. The local map is composed of 2-D grids that have both the occupancy and orientation probabilities based on the bayesian map building model. The local map is continuously updated while the robot explorers its unknown environment and the orientations of all grids in the local map are clustered into several groups according to their values. The line segments are then extracted from the clusters based on least square methods. A merging method that reconstructs lines and corners is developed to build a topological map. The proposed technique is illustrated by experiments in an indoor environment.

Paraquat lung에서 Fibronectin 분포에 관한 연구

강상균,양승하,김대중,김의한,김성용 순천향의학연구소 1996 Journal of Soonchunhyang Medical Science Vol.2 No.1

To investigate the process of the Paraquat induced pulmonary fibrosis, 10 mg/Kg and 20mg/kg of paraquat was administered intraperitoneally each of 10 rats respectively. Three, five, seven, ten and fifteen days after this injection, the rats were sacrificed. Immunohistochemical studies for fibronectin and histologic studies were carried out. Results were as follows. 1. Toxic effect of the paraquat seems to be depend on the dose of administered paraquat since the groups of the rate treated with 10 mg/kg revaled no significant tissue damage after 7 days. 2. The pulmonary changes seen in 20 mg/Kg treated group could be classified into two stages: the early changes such as hemorrhage, edema and hyaline membrane formation which are similar to the findings observed in adult respiratory distress syndrome and the late change characterized by fibrosis which observed in mild degree even after 2 weeks, so the fibrosis seen to need more time for full blown. 3. The positivity of fibronectin were observed in macrophage and exudate in the early stage of tissue destruction that the fibronectin productin is preceded fibrosis and plays an important role for the collection of inflammatory cells such as macrophaques and fiboblasts. The more tissue desturction is severe, the more strong positivity of fibronectin was observed in the early stage of tissue destruciton.

위선암에서 p53, c-erbB-2, 그리고 DNA ploidy의 상관관계에 관한 연구

강상균,양승하,김대중,김의한,곽현수 순천향의학연구소 1997 Journal of Soonchunhyang Medical Science Vol.3 No.2

Gastric carcinoma is the most common malignant tumor in korea and many oncogenes have found in gastric carcinoma. The relation between the expression of p53 and c-erbB-2 and the prognosis of patient in gastric adenocarcinoma have studied recently, but it is controversy. To evaluate correlation between the pathologic findings including prognostic factors and the expression of p53 and c-erbB-2, and DNA ploidy, we have performed immunohistochemical staining using 83 cases adenocarcinoma and flow cytometry with 56 cases. The results were as follows; 1) The expression rate of p53 was 45.8% in gastric adenocarcinoma. Differentiated, intestinal, advanced, and lymph node metastatic cases showed higher expression rates than poorly differentiated, diffuse, and non-metastatic cases, without statistically significance. 2) The expression rate of c-erbB-2 was 62.6% in gastric adenocainoma. c-erbB-2 was related to differentiated and intestinal types. Advanced and metastatic cases showed higher expression rates of c-erbB-2 than early and non-metastatic cases, but there was not statistic significance 3) Gastric adenocarcinoma showed correlation of DNA diploidy with poorly differentiated type and aneuploidy with differentiated. 4) DNA diploidy and aneuploidy showed correlation with c-erbB-2 negative and postive cases respectively, but correlation between DNA ploidy with p53 expression was not proved. Above results showed that p53 and c-erbB-2 may be related poor prognosis but there was no statistic significance. DNA aneuploidy and diploidy showed correlation with c-erbB-2 expressed and non-expressed cases, respectively, but not with p53 expression.