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천이비행모드를 고려한 스마트 드론의 Longitudinal Motion 동역학 모델링 및 제어기 설계
서범국(Beomgook Seo),김상호(Sangho Kim),이영재(Young Jae Lee),성상경(Sangkyung Sung) 제어로봇시스템학회 2017 제어·로봇·시스템학회 논문지 Vol.23 No.7
This paper investigates the design of the flight control system of multi-purpose drones with the transition flight mode in the longitudinal motion and analyzes the system through the simulation. The dynamic characteristic of the multi-purpose drone is mode dependent. Thus, the flight mode is separated into hover flight, transition flight, and level flight. Each flight mode has a different flight dynamic model and a controller. The PID controller is used to design the controller, and the stability analysis is done using the typical root locus method. Then, the control system design is validated via a longitudinal-mode flight simulation with transition sequence logics.
The Diagnostic Efficacy of M2BPGi for Liver Fibrosis in HCC and NAFLD Patients
( Se Young Jang ),( Won Young Tak ),( Soo Young Park ),( Young-oh Kweon ),( Yu Rim Lee ),( Bina Jeong ),( Sangkyung Seo ),( Gyoun-eun Kang ),( Gyeonghwa Kim ),( Keun Hur ),( Heon Tak Ha ),( Jae Min Ch 대한간학회 2018 춘·추계 학술대회 (KASL) Vol.2018 No.1
Aims: Mac-2 binding protein glycan isomer (M2BPGi) is recently identified as a useful non-invasive biomarker for the diagnosis of liver fibrosis. This study aimed to evaluate the diagnostic efficacy of serum M2BPGi for liver fibrosis in hepatocellular carcinoma (HCC) and non-alcoholic fatty liver disease (NAFLD) patients. Methods: M2BPGi levels were analyzed in serum samples collected from biopsy-proven HCC (n=135) and NAFLD (n=113) patients. Fibrosis was graded histopathologically in non-tumorous portion of HCC and NAFLD. Serum M2BPGi levels were determined with an automated immunoassay analyzer. Spearman’s correlation and Kruskal-Wallis test were used to evaluate the correlation and comparison among groups. Diagnostic efficacy for fibrosis was evaluated by the area under the receiver operating characteristic curve (AUC). Results: Median levels (range) of M2BPGi in HCC and NAFLD patients were 1.21 (0.12-14.33) cut-off index (COI) and 0.59 (0.13-5.90) COI, respectively. In HCC patients, fibrosis stages were 0 (n=22), 1 (n=10), 2 (n=11), 3 (n=16), and 4 (n=76). The M2BPGi levels showed a significant positive correlation (r= 0.436, P<0.001) with fibrosis grade in HCC patients and yielded the lower AUC value, 0.787 (P< 0.001) than transient elastography (TE), AUC value, 0.806 (P=0.030) to predict advanced fibrosis (F >2). In NAFLD patients, fibrosis stages were 0 (n=22), 1 (n=34), 2 (n=28), 3 (n=19), and 4 (n=10). The M2BPGi levels showed a significant positive correlation (r=0.578, P<0.001) with fibrosis grade in NAFLD patients and yielded the higher AUC value, 0.824(P< 0.001) than TE, AUC value, 0.637(P=0.035) to predict advanced fibrosis (F >2). Conclusions: Serum M2BPGi can be a useful non-invasive biomarker for predicting fibrosis in HCC and especially in NAFLD patients.