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초음파 센서 기반 분절형 캐터필러 계단 승강 로봇의 계단 치수 검출 기법에 관한 연구
신진우(Jin-woo Shin),염승호(Sung-ho Yum),이원영(Won-yung Lee),이응혁(Eung-hyuk Lee) 대한전기학회 2021 대한전기학회 학술대회 논문집 Vol.2021 No.10
In this paper, several ultrasonic sensor-based stair height and width detection techniques are proposed to generate the approach angle when the segmented caterpillar stair climbing robot enters the stairway. The location of the sensor to accurately analyze the height and width of the stairs was selected. Based on the distance data acquired through the sensor, an equation for detecting the dimension of the stairs was proposed. The performance test of the step dimension detection technique proposed in this paper was conducted. As a result of the experiment, it was confirmed that the accuracy of the step height and width detection technique was about 95.96% and 94.18%, respectively, with high performance.
강진경(Jin Kyung Kang),최흥재(Heung Jai Choi),김경희(Kyung Hee Kim),황용(Yong Hwang),김용범(Yong Bum Kim),이원영(Won Yung Lee) 대한소화기학회 1985 대한소화기학회지 Vol.17 No.2
N/A Most authorities agree the higher incidence of gallstones among diabetic patient. Although many reports on gallstones or diabetes mellitus have been published, and actual correlation between gallstones and diabetes mellitus remains obscure. The purpose of this reports is to know the incidence of gallstone in diabetics and of diabetics in the patients with gallstone. Authors studied prospectively and clinically the diabetics in a group of 173 patients with gallstones and gallstone in a group of 98 diabetic patients who were admitted to Yonsei University Yong-Dong Hospital for the same period of April 1983 to May 1984. The results obtained are summarized as follow: The incidence of gallstone to general admission patients is 1.5% and the prevalence of diabetes mellitus to total in-patients is 0.8% The gallstone was found in 11.0% of diabetics and were diabetic 19.4% of patients with gallstones. The age of peak incidence of gallstones is 5th decade and female was more prevalent than male with the ratio of 1.37:1. The age of peak incidence of diabetes mellitus is 6 th decade and female is less prevalent with the ratio of 0.72:l.3, The most common characteristic finding of patients of gallstones with diabetes mellitus is symptomless(42.1%)4, There is no significant difference in serum levels of cholesterol and triglyceride between diabetic and non-diabetic groups or with and without gallstones. 5. Comparative study on location of stones revealed, 72.8% in gallbladder only, 12.7% in common bile duct only, 4. 6% in intrahepatic duct only, and remainders in multiple site. There is no significant difference in terms of location of stone between diabetic and nondiabetic group.
승모판막구 협착증의 수술료법(31례보고)-1- : Report of 31 Cases
이영균,강중구,민성기,임창제,이원영,강형운 中央醫學社 1940 中央醫學 Vol.9 No.6
Mitral Commissurotomy was done for thirty one cases of mitral stenosis. Two uses were operated on under extracorporeal circulation. There was one operative mortality This case expired after blind mitral commissurotomy suddenly three days post-operatively. The patients were followed for one month to five years Eighty percent showed long-term improvement. Three cases showed no improvement. In one case moderate and in two mild degree of regurgitation was created by blind commissurotomy. In three apical diastolic murmur disappeared almost completely after operation but in the rest murmur persisted with diminished intensity.