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관절고착고장에 대한 육각 보행 로봇의 내고장성 걸음새 생성
장정민,Yang Jung-Min 대한전기학회 2005 전기학회논문지 D Vol.54 No.3
Fault-tolerant gait generation of a hexapod robot with crab walking is proposed. The considered fault is a locked joint failure, which prevents a joint of a leg from moving and makes it locked in a known position. Due to the reduced workspace of a failed leg, fault-tolerant crab walking has a limitation in the range of heading direction. In this paper, an accessible range of the crab angle is derived for a given configuration of the failed leg and, based on the principles of fault-tolerant gait planning, periodic crab gaits are proposed in which a hexapod robot realizes crab walking after a locked joint failure, having a reasonable stride length and stability margin. The proposed crab walking is then applied to path planning on uneven terrain with positive obstacles. i.e., protruded obstacles which legged robots cannot cross over but have to take a roundabout route to avoid. The robot trajectory should be generated such that the crab angle does not exceed the restricted range caused by a locked joint failure.
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대학촌 개발 방향에 대한 연구 - 평택ㆍ용죽지국 인근지역 주민의 설문조사분석을 중심으로
장정민,정혜정 동중앙아시아경상학회 2010 한몽경상연구 Vol.21 No.2
There are many strong point in making university village. First, it takes charge of functionality of Campus. Second, it bear the responsibility for Art and Science, Residence, Leisure, Social Relationship. A making village is a good point to student of the Pyeongtaek University, nearby a residents of the Pyeongtaek University. So, we study about the university village in another district. Also, we survey the nearby residents of the Pyeongtaek university. We proposal the making university village for development direction of the university district. We surveyed the residents living in nearby Pyeongtaek University. So, we analyze the result using the SPSS/PC 15.0. We analyze the question paper using the significant level 0.05. Also, we make the decision about the development direction in Pyeongtaek University village. We obtained the development direction of the Pyeongtaek University village through the result of survey. We proposal the direction of the development in Pyeongtaek University village. University village is very important to students of university, residents of nearby village, and students of middle and high school. So, many student want to make University village. Through this study, we know that they want to make the university village which is consist of culture space, theater, library, coffees-hop. Also, they want to make the culture load like Rodeo located in Bundang. Many residents want to make the university village like America. In the future, we consider about benchmarking to America for making University village.
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장정민,문우경,박정선,정세영,장미정,조나리야 대한영상의학회 2009 Korean Journal of Radiology Vol.10 No.6
Objective: To evaluate whether the removal of an intraductal mass using an ultrasound (US)-guided directional vacuum-assisted device can eliminate symptoms in patients presenting with abnormal nipple discharge. Materials and Methods: Between March 2004 and October 2006, 36 patients who presented with abnormal nipple discharge, underwent US-guided, 11-gauge vacuum-assisted biopsy for a benign intraductal single mass on US. The ability of the procedure to eliminate nipple discharge was evaluated by physical examination during follow-up US. Lesion characteristics, biopsy variables, and histologic features were analyzed to identify factors affecting symptom resolution. Results: Of the 36 lesions, 25 (69%) were intraductal papillomas, 10 (28%) were fibrocystic changes, and one (3%) was a fibroadenoma. The nipple discharge disappeared in 69% (25 of 36) of the women at a mean follow-up time of 25 months (range 12-42 month). There was no difference in the lesion characteristics, biopsy variables, and the histologic features between groups that eliminated the symptom compared those with persistent nipple discharge. Conclusion: US-guided directional vacuum-assisted removal of an intraductal mass appears to eliminate nipple discharge in only 69% of patients and thus, it should not be considered as an alternative to surgical excision. Objective: To evaluate whether the removal of an intraductal mass using an ultrasound (US)-guided directional vacuum-assisted device can eliminate symptoms in patients presenting with abnormal nipple discharge. Materials and Methods: Between March 2004 and October 2006, 36 patients who presented with abnormal nipple discharge, underwent US-guided, 11-gauge vacuum-assisted biopsy for a benign intraductal single mass on US. The ability of the procedure to eliminate nipple discharge was evaluated by physical examination during follow-up US. Lesion characteristics, biopsy variables, and histologic features were analyzed to identify factors affecting symptom resolution. Results: Of the 36 lesions, 25 (69%) were intraductal papillomas, 10 (28%) were fibrocystic changes, and one (3%) was a fibroadenoma. The nipple discharge disappeared in 69% (25 of 36) of the women at a mean follow-up time of 25 months (range 12-42 month). There was no difference in the lesion characteristics, biopsy variables, and the histologic features between groups that eliminated the symptom compared those with persistent nipple discharge. Conclusion: US-guided directional vacuum-assisted removal of an intraductal mass appears to eliminate nipple discharge in only 69% of patients and thus, it should not be considered as an alternative to surgical excision.
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