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- 저자 : 최홍용(Hong Yong Choi) (검색결과 14 건)
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최홍용 ( Hong Yong Choi ),이종진 ( Jong Jin Lee ) 대한외상학회 2004 大韓外傷學會誌 Vol.17 No.1
Background: We reviewed our experience in managing partial urethral rupture patients with immediate indwelling of the urethral catheter. Patients and Methods: Between January 1996 and December 2002 a total of 32 consecutive male patients with partial urethral rupture were reviewed retrospectively, including a clinical and radiographic of the retrograde urethrography. The average patient age was 50.6 years (14-87 years). The mechanisms of injury were represented by the blunt perineal trauma with straddle injury in 23 patients, accidental Foley catheter removal with ballooning in 5 patients, penile fracture in 3 patients and pelvic bone fracture in one patient. Results: All patients were diagnosed partial urethral rupture with retrograde urethrography and treated with immediate indwelling of the silicon urethral catheter. That were successfully performed at 1st or 2nd trial in 30 (94%) among 32 patients. There were no significant complication and average peak flow rate was 22.0ml/sec (16-30 ml/sec). Conclusion: Immediate careful indwelling of the urethral catheter was safe and effective treatment in partial urethral rupture with intact alignment.
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조수제 ( Su-je Cho ),최승열 ( Seoung-yeol Choi ),안재용 ( Jae-yong An ),홍성수 ( Sung-su Hong ),최홍용 ( Hong-yong Choi ) 한국정보처리학회 2021 한국정보처리학회 학술대회논문집 Vol.28 No.2
최근 산업 현장에서 많은 안전사고가 일어나고 있고, 현장 노동력의 부족으로 무인 로봇 시스템들을 도입하는 등 다양한 변화를 맞이하고 있다. 이에 차세대 자동화 시스템은 보다 유연하고 지능적이어야 한다. AGV(Automatic Guided Vehicle)의 경우 실시간으로 변하는 현장에 대응하기 어렵고, 새로운 어플리케이션에 대한 제품개발의 어려움이 따른다. 이에 대한 대안으로 AGV 인식 스택을 재구축하여 인간과 동일한 공간인식 능력을 갖춘 AMR(Autonomous Mobile Robot)이 대두되고 있다. 본 연구에서는 SLAM과 ROS를 이용하여 AMR의 기능을 구축하였다. YD Lidar 센서와 SLAM을 이용하여 주변 환경을 지도화 하여 로봇의 현재 위치를 파악할 수 있도록 제작하였고, 직접 지도상의 최적 경로를 파악하여 주변 장애물을 회피하며 주행할 수 있음을 확인하였다. DC 모터의 응답 특성에 따라 주행 속도, 조향각 등을 제어할 수 있도록 구현하였다.
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ROS 기반 이동 로봇 강화학습을 위한 시뮬레이션 환경 구축
오세현(Se-Hyeon Oh),박주환(Joo-Hwan Park),최홍용(Hong-Yong Choi),옥승호(Seung-Ho Ok) 한국정보기술학회 2022 Proceedings of KIIT Conference Vol.2022 No.12
최근 실내 이동 로봇 등 로봇의 자율주행에 관한 연구가 활발히 이루어지고 있으며 일반적으로 SLAM을 통한 맵 제작 후 네비게이션을 수행하는 방법이 주로 사용된다. 하지만 해당 방법은 새로운 환경에서 매번 맵핑을 해야 한다는 한계점이 있어 강화학습을 이용한 Mapless Navigation에 관한 연구가 증가하고 있다. 본 논문에서는 가상 시뮬레이션 툴인 Unity와 강화학습 플러그인인 ML-Agents를 기반으로 이동 로봇 강화학습 알고리즘을 구현하고 현실 로봇에 적용을 위해 ROS(Robot Operating System) 기반 모바일 로봇인 Turtlebot3 및 Unity 간의 통신환경을 구축하였다. 실험 결과 DDPG(deep deterministic policy gradient) 알고리즘으로 모바일 로봇을 강화 학습하여 보상 값의 수렴성을 통해 학습의 유효함을 확인하였고 ROS 기반 Turtlebot3와 통신하여 정상적으로 동작함을 확인하였다. Recently, research on autonomous driving of robots such as indoor transfer robots has been actively conducted, and in general, a method of performing navigation after making a map through SLAM is mainly used. However, this method has a limitation in that it must be mapped every time in a new environment, so research on Mapless Navigation using reinforcement learning is increasing. In this paper, we implement a mobile robot reinforcement learning algorithm based on the virtual simulation tool Unity and the reinforcement learning plug-in ML-Agents, and establish a communication environment between Unity and Turtlebot3, a ROS-based mobile robot, for application as a real robot. Experiments confirmed that the mobile robot is effective through convergence of reward values by reinforcing learning with a deep deterministic policy gradient (DDPG) algorithm, and that it operates normally by communicating with ROS-based Turtlebot3.
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김승룡 ( Seung Ryoung Kim ),김성희 ( Sung Hee Kim ),이수진 ( Su Jin Lee ),백민현 ( Min Hyun Baek ),천상훈 ( Sang Hoon Cheon ),최홍용 ( Hong Yong Choi ),이정한 ( Jung Han Lee ) 대한산부인과학회 2008 Obstetrics & Gynecology Science Vol.51 No.10
Vesicovaginal fistula may be a complication of gynecologic and obstetric procedures, of which abdominal hysterectomy remains as the most common cause. Although there are a number of transvaginal or transabdominal surgical techniques for the correction of this condition, we performed a laparoscopic repair to reduce the morbidity of the transabdominal approach. A 44-year-old woman presented with urinary incontinence after undergoing Cesarean hysterectomy for uterine atony eight years ago. After confirming her vesicovaginal fistula, laparoscopic repair was performed. The bladder and vaginal walls were mobilized by meticulous dissection and repaired by intracorporeal stitches in 2 layers followed by omental interposition. Total operative time was 3 and half hours and estimated blood loss was about 400 ml. Foley catheter was removed at 23rd day after operation. Patient was discharged at 26th day after confirming the complete correction of the fistula by cystogram. Laparoscopic repair of a vesicovaginal fistula appears to be a safe and effective procedure. We report this case with a brief review of literature.
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최홍용,노충희,최희석 인제대학교 1986 仁濟醫學 Vol.7 No.3
A case of horseshoe kidney associated with bilateral renal stones and variation of the renal vessel was presented with a brief review of the literatures. The patient was managed by ureterolithotomy and ureteroureterostomy because UPJ was compressed with aberrant renal vein. The result was good.
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이수완,최홍용,노충희,최희석 인제대학교 1986 仁濟醫學 Vol.7 No.4
The term adenomatoid tumor was applied by Golden and Ash to certain Small, circumscribed, benign vision of the genital tract in recognition of their somewhat adenomators structure. Adenomatoid tumors are generally found in the epididymis, tunica vaginalis or spermatic cord in the male and fallopian tube, uterus, ovary in the female. But most the tumors are found near or in epididymis. The histogenesis of the adenomatoid tumor has been controversial. But the possibility of an origin from mesothelium are considered recently. Adenomatoid tumors are usual solid, asymptomatic neoplasm, its size are less then 2 cm usually. Histogically the tumor consists of tubular and gland pattern lined with cuboidal or flattened cell and a fibrous stroma. Recently we experienced a painful adenomatoid tumor of epididymis after trauma.
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