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Distance-based Acyclic Minimally Persistent Formations with Non-steepest Descent Control
박명철,안효성 제어·로봇·시스템학회 2016 International Journal of Control, Automation, and Vol.14 No.1
In this paper, we propose a control law to maneuver a group of mobile autonomous agents in the plane,where the information architecture among the agents is modeled by a directed graph. The objective is to achieve aprescribed formation shape by adjusting the inter-agent distances only, which is called the distance-based formationcontrol. The proposed control law uses only relative position measurements so that each agent achieves its controlobjective in a decentralized manner. On the basis of the proposed control law, we analyze the convergence propertyof squared-distance errors. We first study a triangular formation and then extend the results of to acyclic minimallypersistent formations having more than three agents. We also examine the formation including a moving leader. Numerical simulations and experiments with mobile robot platform are included.
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박명철,박동하,배남석,왕희정,김봉완,김치선 대한성형외과학회 2009 Archives of Plastic Surgery Vol.36 No.1
Purpose: Liver transplantation is considered as the treatment of choice in many acute and chronic liver diseases, and it is becoming more common. Since successful microscopic anastomosis of hepatic artery is a crucial requirement of successful liver transplantation, we studied and analyzed the result of hepatic artery anastomosis of liver transplantation in our liver transplantation center. Methods: 145 liver transplantations were performed from February 2005 to May 2008. Male to female ratio of the liver transplantation recipients was 3.4:1. Anastomosis of portal vein, hepatic vein and biliary tract was performed by the general surgeon, and anastomosis of hepatic artery was performed by the plastic surgeon under the loupe or microscopic vision. After the hepatic artery was reconstructed, anastomosed site status and flow were checked with Doppler ultrasonography intraoperatively and with contrast enhanced CT or angiography postoperatively if necessary. Results: Out of 145 liver transplantations, cadaveric liver donor was used 37 cases and living donor liver transplantation was performed 108 cases including the 2 dual donor liver transplantations. As for the baseline diseases that resulted in the liver transplantation, there were 57 cases of liver cirrhosis and hepatocellular carcinoma due to hepatitis B, taking up the greatest proportion. Single donor hepatic artery was used in 114 cases, and mean artery diameter was 2.92mm and mean artery length was 24.25mm. Hepatic artery was used as the recipient artery in every case except the 8 cases in which gastroepiploic artery was used as alternative. Out of 145 cases of hepatic artery anastomosis, 3 cases resulted in the thrombosis of the hepatic artery, requiring thrombectomy and re-anastomosis. In all 3 cases, thrombosis was found in left hepatic artery and there was no past history of hepatic artery chemoembolization. Conclusion: Incidence of hepatic artery thrombosis after the anastomosis of hepatic artery during liver transplantation was 2.1%, which is considered sufficiently low.
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어머니의 일-가정 갈등이 학령기 아동의 문제행동에 미치는 영향 - 우울의 매개효과와 소득의 조절효과를 중심으로 -
박명철,김재승 한국사회복지학회 2024 한국사회복지학 Vol.76 No.1
일하는 기혼 여성의 증가와 저출산에 대한 우려가 커지면서 일하는 어머니의 일-가정 양립의 어려움과 갈등이 가족 구성원에게 미치는 영향에 관한 연구가 활발히 진행되어 왔다. 그러나 일과 가정의 갈등이 학령기 자녀의 발달에 어떤 영향을 미치는지, 그리고 이러한 맥락에서 일하는 어머니의 우울과 가구 소득의 역할은 무엇인지에 대한 연구는 제한적이었다. 본 연구는 Bronfenbrenber의 생태체계 이론을 바탕으로 일하는 어머니의 일-가정 갈등이 학령기 아동의 내재화 및 외현화 행동에 미치는 영향과 어머니의 우울의 매개역할을 살펴보고, 자원 보존 이론(Hobfoll, 2001)을 기반으로 어머니의 일-가정 갈등과 아동의 문제행동의 관계에 있어 가구 소득이 조절효과가 있는지 살펴보았다. 한국아동패널조사 의 10차와 12차년도에 모두 응답한 일하는 어머니의 샘플 (N=650)을 구축하고, 다중회귀분석 및 Process Macro 4.0을 통해 분석을 진행하였다. 연구 결과, 어머니의 일-가정 갈등은 자녀의 문제행동 (내재화·외현화 문제행동)과 정적인 관계를 보였으며, 어머니의 우울은 이러한 관계를 완전 매개하는 것으로 나타났다. 또한, 어머니의 일-가정 갈등과 아동의 문제행동 사이의 정적인 관계는 소득이 낮은 가구에서 더 강해져 가구 소득의 조절효과가 확인되었다. 이러한 연구 결과를 바탕으로 우리나라의 취업모들의 일-가정 갈등을 줄이기 위한 일-가정양립 지원 정책과 개입 방안을 논의하였다. With the rise of working mothers and growing concerns over the low fertility rate in South Korea, the balance of work and family responsibilities of working mothers and its potential impacts on their child development has become a critical issue in Korea. However, limited research has explored how work-family conflict influences the development of school-aged children and the role of maternal depression and household income in this context. Guided by Bronfenbrenner’s ecological systems theory, the study examines the influence of working mothers’ work-family conflict on internalizing and externalizing behaviors of school-aged children and the mediating role of parental depression. In addition, drawn from Conservation of Resources theory, the study examines whether the effect of mothers’ work-life conflict on child behavior problems is moderated by household income. Using two waves of the representative sample of the Panel Study on Korean Children (N=650), the study employed lagged-dependent variable models and Process Macro Model 4 to answer the proposed research questions. Overall, the study found that mothers’ work-family conflict was positively associated with children’s internalizing and externalizing behaviors and that maternal depression fully mediated these associations. This finding suggests that mothers’ work-family conflict leads to their elevated depressive symptoms, which in turn increases child behavior problems. Moreover, the positive association between mothers’ work-family conflict and child behavior problems was stronger among mothers from low-income households, confirming the moderating effect of household income. Based on the findings, we discuss work-family policy and interventions to curtail work-family conflict among working mothers in Korea.
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SoC 프로그램의 원격 디버깅을 위한 실시간 추적도구의 구현
박명철,김영주,하석운,전용기,임채덕 한국정보처리학회 2005 정보처리학회논문지. 컴퓨터 및 통신시스템 Vol.12 No.7
To develop SoC program for embedded systems, a tool that can remotely debug from host system is needed. Because the existing remote debugging systems using GDB don’t offer information of the SoC program execution in real-time, it is difficult to observe condition of the program execution, and also they have limited characteristics to tools and use costly adaptors. In this paper, a real-time tracking tool that can record SoC status on the fly each execution of the assigned instructions is introduced and an economical USB-JTAG adaptor is proposed. And it is shown that this tool can track the execution of a composed program in the target system based on PXA255 processor. 임베디드 시스템에서 요구하는 SoC 프로그램을 개발하기 위해서는 자원이 풍부한 호스트 시스템에서 원격으로 디버깅할 수 있는 도구가 필요하다. 그러나 GDB를 이용하는 기존의 원격 디버깅 도구는 SoC 프로그램의 수행 시에 정보를 실시간으로 제공하지 못하므로 프로그램의 수행 양상을 실시간으로 감시하기 어렵고, 도구에 제한적인 고가의 어댑터를 사용한다. 본 논문은 지정된 명령문의 수행시마다 SoC의 상태를 수행 중에 기록할 수 있는 실시간 추적도구를 소개하고, 원격 디버깅을 위한 경제적인 USB-JTAG 어댑터를 제안한다. 그리고 본 도구가 PXA255 프로세서 기반의 타겟 시스템에서 합성 프로그램의 수행을 실시간으로 추적할 수 있음을 보인다.
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