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내부형 연속체로봇 개발 및 칼만필터를 이용한 말단장치 자세추정
강창현(Chang Hyun Kang),배지환(Ji Hwan Bae),강봉수(Bong Soo Kang) 대한기계학회 2015 大韓機械學會論文集A Vol.39 No.4
본 논문에서는 인간과의 안전한 접촉이 가능한 내부형 연속체로봇에 대한 설계개념과 로봇 말단 장치의 운동특성실험을 제시한다. 인간의 근육과 유사한 상극구동방식으로 작동하는 공압인공근육을 연속체로봇의 백본 및 구동장치로 사용하기 때문에, 외부환경과의 부드러운 접촉과 강한 접촉을 선택적으로 제어할 수 있는 로봇 관절에서의 가변강성이 가능하다. 그러나 내부형 연속체로봇은 백본소재의 굽힘 운동을 예측하기 어렵기 때문에 로봇 말단장치에서의 자세를 추정하기 어렵다. 이를 해결하기 위해 3 축 가속도계와 3 축 자이로스코프를 이용한 칼만필터 방법을 제안하고 개발된 내부형 연속체 로봇의 자세추정에 적용하여 실제 실험을 통해서 제안된 방법의 효율성을 검증하였다. This paper presents the design concept of an intrinsic continuum robot for safe man-machine interface and characteristic behaviors of its end-effector based on real experiments. Since pneumatic artificial muscles having similar antagonistic actuation to human muscles are used for main backbones of the proposed robot as well as in the role of the actuating devices, variable stiffness of robotic joints can be available in the actual environment. In order to solve the inherent shortcoming of an intrinsic continuum robot due to bending motion of the backbone materials, a Kalman filter scheme based on a triaxial accelerometer and a triaxial gyroscope was proposed to conduct an attitude estimation of the end-effector of the robot. The experimental results verified that the proposed method was effective in estimating the attitude of the end-effector of the intrinsic continuum robot.
RF 마그네트론 스퍼터링 법으로 제작한 ITZO 박막의 구조 및 광학적 특성
김동렬(Dong Ryeol Kim),배지환(Ji Hwan Bae),황동현(Dong Hyun Hwang),손영국(Young Guk Son) 한국표면공학회 2015 한국표면공학회지 Vol.48 No.6
Indium tin zinc oxide (ITZO) thin films were deposited on glass and quartz substrates by RF magnetron sputtering. The substrate temperature varied from 100℃ to 400℃. The structural and optical properties of thin films were investigated by X-ray diffraction (XRD), Field Emission Scanning electron microscopy (FESEM) and UV-Visible transmission spectra. It has been found from X-ray diffraction patterns that increasing the substrate temperature, the amorphous structure changes into polycrystalline structure. The FESEM results showed that all ITZO thin films have a smooth surface. The average optical transmittance (400 - 800 nm) was 82% and 80% at all films deposited at 200℃. The band gap energy ranges 3.41 to 3.57eV and 2.81 to 3.44eV with a maximum value at 200℃ all substrates temperature.
건강보험청구자료를 이용한 HER2 양성 전이성 유방암 환자의 조기 사망에 따른 간접적 질병 부담 분석
고화연(Hwa Yeon Ko),최아형(Ahhyung Choi),홍빈(Bin Hong),배지환(Ji-Hwan Bae),오인선(In-Sun Oh),박선경(Sun-Kyeong Park),박연희(Yeon Hee Park),신주영(Ju-Young Shin) 대한약학회 2023 약학회지 Vol.67 No.3
The premature deaths caused by human epidermal growth factor receptor-2 protein (HER2) positive metastatic breast cancer (MBC) among working age groups result in significant socioeconomic losses. This study aims to quantify the socioeconomic burden of disease in female patients and provide evidence that can inform healthcare policy decisions. We identified deaths from HER2-positive MBC over the period from 2007 to 2021, using nationwide claims data of South Korea. Then, we estimated years of potential life lost (YPLL), years of potential productivity lost (YPPLL), and cost of productivity loss (CPL) to quantify socioeconomic burden of the disease. During the period from 2011 to 2020, a total of 3,576 patients died from HER2-positive MBC. The total YPLL over the period of 10 years from 2011 to 2020 was 128,605 years, corresponding to an average of approximately 36.0 years per deceased patient. The total YPPLL during the same period was 55,608 years, corresponding to an average of approximately 15.6 years per deceased patient. Additionally, total CPL of approximately 310 million won per deceased patient was incurred. All three disease burden indicators were highest among the age group of 40 to 54 years, which are individuals in their most productive time of life.