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적외선 영상 처리를 통한 Formalin Test 통증 모델에서의 염전 침자극 효과에 대한 연구
류재관,이순걸,임성수,이재동,민병일,류운영,Ryu, Jae-kwan,Lee, Soon-geul,Rhim, Sung-soo,Lee, Jae-dong,Min, Byung-il,Ryu, Un-young 대한침구의학회 2004 대한침구의학회지 Vol.21 No.2
Objective: As a manual accupucture method, the twirling-needle treatment has been known more effective in relieving pain than the conventional simple accupuncture treatment. Finding a proper treatment condition is difficult because of the lack of a quantative measurement of the alleviation of pain made by acupuncture. In this research, the authors propose the use of infrared thermal images in a formalin test to quantatively verify the effect of twirling. Methods: After injecting 10%~20% formalin into the tail of rats, the infrared thermal images(ITI) have been obtained to estimate the thermal distribution caused by inflammation. The authors propose a processing method to measure the thermal distribution from the thermal images obtained from the infrared camera as a pain model of the formalin test. Results: The pain model obtained from the infrared thermal image has two phases. The first phase, which is a transient period, is the initial 20 minutes when the pain is developed after the formalin injection. The second phase, which is a steady state, is where the development of pain lasts for 60 minutes or more after the first stage. This characteristic of the proposed model based on ITI is consistent with that of the pain model reported by other researchers whose works are based on the time-course of flinching and licking/biting, following a different concentration of formalin. It is noticed that the response of the thermal distribution obtained from ITI shows very high correlation to the behavioral response in the formalin test performed by Kazuhiro Okuda and four others5). In addition, the authors propose an ITI method to determine the pain-reducing effect of the acupuncture. The thermal distribution obtained from the experiment shows that there is significant pain reducing effect made by the twirling-needle method.
무인수상정의 장애물 회피를 위한 3차원 라이다 기반 VFH 알고리즘 연구
원인식(Ihn-Sik Weon),이순걸(Soon-Geul Lee),류재관(Jae-Kwan Ryu) 인문사회과학기술융합학회 2018 예술인문사회융합멀티미디어논문지 Vol.8 No.3
In this paper, we use 3-D LIDAR for obstacle detection and avoidance maneuver for autonomous unmanned operation. It is aimed to avoid obstacle avoidance in unmanned water under marine condition using only single sensor. 3D lidar uses Quanergy s M8 sensor to collect surrounding obstacle data and includes layer information and intensity information in obstacle information. The collected data is converted into a three-dimensional Cartesian coordinate system, which is then mapped to a two-dimensional coordinate system. The data including the obstacle information converted into the two-dimensional coordinate system includes noise data on the water surface. So, basically, the noise data generated regularly is defined by defining a hypothetical region of interest based on the assumption of unmanned water. The noise data generated thereafter are set to a threshold value in the histogram data calculated by the Vector Field Histogram, And the noise data is removed in proportion to the amount of noise. Using the removed data, the relative object was searched according to the unmanned averaging motion, and the density map of the data was made while keeping one cell on the virtual grid map. A polar histogram was generated for the generated obstacle map, and the avoidance direction was selected using the boundary value. 본 논문은 무인수상정의 자율운항을 위한 장애물 탐지 및 회피기동을 위해 3차원 라이다를 사용하 였다. 단일센서만을 사용해서 해상조건에서의 무인수상정 장애물 회피운항을 하는데 목적이 있다. 3 차원 라이다는 Quanergy사의 M8센서를 사용하여 주변 환경 장애물 데이터를 로 수집하며 장애물 정보에는 Layer 정보와 Intensity 정보를 포함한다. 수집된 데이터를 3차원 직각좌표계로 변환 을 하고, 이를 2차원 좌표계로 사상한다. 2차원 좌표계로 변환한 장애물 정보를 포함하는 데이터는 수면위의 잡음데이터를 포함하고 있다. 그래서 기본적으로 무인수상정을 기준으로 가상의 관심영역을 정의하여서 규칙적으로 생성되는 잡음데이터에 대해서 삭제를 하였으며, 그 이후에 발생하는 잡음데 이터는 Vector Field Histogram으로 계산된 히스토그램 데이터에서 Threshold를 정해 밀도값에 비례 하여 잡음데이터를 제거하였다. 제거된 데이터를 이용하여 무인수상정의 움직임에 따른 상대물체를 탐색하여 가상의 격자지도에 1 Cell씩 저정하면서 데이터의 밀도 지도를 작성하였다. 작성된 장애물 지도를 폴라 히스토그램을 생성하고, 경계값을 이용하여 회피방향을 선정하였다.
Tail model의 기계적 이질통에 대한 전침 자극의 효과 및 교감신경계의 관여기전
이형석,민병일,황병길,박동석,이순걸,Lee, Hyung-suk,Min, Byung-il,Hwang, Byung-gil,Park, Dong-suk,Lee, Soon-geul 대한침구의학회 2003 대한침구의학회지 Vol.20 No.1
Objective : This study was intended to investigate the analgesic effects of electroacupuncture(EA) on mechanical allodynia according to the frequency and intensity of EA. Also to know if mechanical allodynia and the analgesic effects of EA is related to the sympathetci nervous system and/or the purinergic system. Methods : mechanical allodynia-induced rats were produced by resecting S1-S2 nerve. The zusanli(ST36) was used for acupoint and the rats were divided into 4 groups. Each group was given different stimuli[low frequency low intensity-EA(LFLI-EA), low frequency high intensity-EA(LFHI-EA), high frequency low intensity-EA(LFHI-EA), high frequency high intensity-EA(HFHI-EA)]. Futhermore, to make sympathectomy6-OHDA and phentolamine were administered intraperitonially and the concentration of norepinephrine(NE) were measured. As a ATP blocker, suramin was applied for this study. Results : Comparing to control group, each of the 4 groups(LFLI-EA, LFHI-EA, HFLI-EA, HFHI-EA) showed a significant reduction of response frequency of mechanical allodynia. LFHI-EA was more effective than that of LFLI-EA. The LFHI-EA group also had longer lasting effects from the stimulation than the other groups. Sympathectomy didn't show any reduction of response frequency of mechanical allodynia.(Each n=6, n=4). Nor did both sympathectomy and ATP block. The response frequency wasn't reduced by sympathectomy or by sympathectomy and ATP block, but was significantly reduced with LFHI-EA Conclusions : These results suggest that EA has a significant analgesic effect on mechanical allodynia which has no connection with NE and/or ATP.
엘보 인식에 의한 배관로봇의 실시간 위치 추정 및 후처리 위치 측정 알고리즘
이채혁(Chae Hyeuk Lee),김광호(Gwang Ho Kim),김재준(Jae Jun Kim),김병수(Byung Soo Kim),이순걸(Soon Geul Lee) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.10
Robots used for pipe inspection have been studied for a long time and many mobile mechanisms have been proposed to achieve inspection tasks within pipelines. Localization is an important factor for an inpipe robot to perform successful autonomous operation. However, sensors such as GPS and beacons cannot be used because of the unique characteristics of inpipe conditions. In this paper, an inpipe localization algorithm based on elbow detection is presented. By processing the projected marker images of laser pointers and the attitude and heading data from an IMU, the odometer module of the robot determines whether the robot is within a straight pipe or an elbow and minimizes the integration error in the orientation. In addition, an off-line positioning algorithm has been performed with forward and backward estimation and Procrustes analysis. The experimental environment has consisted of several straight pipes and elbows, and a map of the pipeline has been constructed as the result.