Predictive Risk Assessment Using Cooperation Concept for Collision Avoidance of Side Crash in Autonomous Lane Change Systems

Hyunsoo Lee,Chang Mook Kang,Wonhee Kim,Woo Young Choi,Chung Choo Chung 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10

We present an innovative approach to risk assessment using cooperation concept for collision avoidance of side crash for autonomous lane change system. The cooperation concept is proposed to check an available space in the target lane for lane change in a short period of the future. Before moving to the target lane, the ego vehicle needs to check whether the object vehicle is cooperative or not for the lane change. The object vehicles are indexed as cooperative driver (CD) or non-cooperative driver (NCD) through the conditions based on the relative longitudinal acceleration and the collision free time. If the object vehicle is CD, the ego vehicle moves toward the target lane within the original lane for the preparation of the lane change. The ego vehicle should keep its lateral position within the original lane until the situation for the lane change becomes safe. As soon as the risk assessment becomes safe, the lane change is performed. Therefore, lane change can be started in advance compared to the conventional methods. The proposed method was validated via computational simulation and experimental results.

만성 두부외상 환자에서 99mTc - HMPAO Brain SPECT의 임상적 유용성

서정호(Jung Ho Suh),김동익(Dong Ik Kim),정태섭(Tae Sub Chung),이종두(Jong Doo Lee),박창윤(Chang Yoon Park),정진일(Jin Ill Chung),김영수(Young Soo Kim) 대한핵의학회 1992 핵의학 분자영상 Vol.26 No.1

N/A Minima1 deterioration of cerebral perfusion or microanatomical changes were undetectable on conventional Brain CT or MRI. So evaluation of focal functional changes of the brain parenchyme is essential in chronic head injury patients, who did not show focal anatomical changes on these radiological studies. However, the patients who had longstanding neurologic sequelae following head injury, there had been no available imaging modalities for evaluating these patients precisely. Therefore we tried to detect the focal functional changes on the brain parenchyme using Tc-99m-HMPAO Brain SPECT on the patients of chronic head injuries. Twenty three patients who had suffered from headache, memory dysfunction, personality change and insomnia lasting more than six months following head injury were included in our cases, which showed no anatomical abnormalities on Brain CT or MRI. At first they underwent psychological test whether the symptoms were organic or not. Also we were able to evaluate the cerebral perfusion changes with Tc-99m-HMPAO Brain SPECT in 22 patients among the 23, which five patients were focal and 17 patients were nonfocally diffuse perfusion changes. Thus we can predict the perfusion changes such as local vascular deterioration or functional defects using Tc-99m-HMPAO Brain SPECT in the patients who had suffered from post-traumatic sequelae, which changes were undetectable on Brain CT or MRI.

세 가지 표징(출 4:1-9)에 대한 시청각적 연구

장석정(Sok-Chung Chang) 연세대학교 신과대학(연합신학대학원) 2013 신학논단 Vol.71 No.-

?;?;Exodus 4:1-9 is a first example of Moses' protest concerning Israel's disbelief and YHWH's signs to assure him Israel's belief. Moses is worrying that Israel will not believe him and say YHWH does not appear to him. These worries are about Moses' delivering the words of YHWH to Israel. They include the aural elements and the visual elements together. In his protest, Moses actually asked YHWH to give him a visual evidence that could make Israel believe in his words.<br/> ?;?;In YHWH's response to Moses' protest, three sings were given. First, the staff changed into a snake. This sign shows 100% of the visual elements. The second sign was to make his hand infected with a skin disease. However, Moses had to put his hand into his bosom, so he could not see the process of change. That is why this sign has only 50% of the visual elements. The last sign was told to Moses and he could not experience it because he had to take some water from the Nile and pour it upon the land. It is supposed to change into blood. He will be able to try it when he actually goes to Egypt. So this third sign shows 0% of the visual elements. What these three signs mean is that the aural elements are more important than the visual elements. Moses has to deliver the words of YHWH through his mouth, that is, the aural elements.<br/> ?;?;Also the identity of ‘they’ in the protest of Moses in 4:1 has to reveal because the text does not say anything about them. Traditionally, the scholars have thought that ‘they’ are ‘the people of Israel.’ However, this study shows that not only the people of Israel but also the king of Egypt could be included in the category of ‘they.’ In order to realize Exodus, Israel had to get a permission from the Egyptian king. Moses needed to have signs to persuade him to make Exodus happen. The awkward connection between v. 8 and v. 9 proves that the third sign was prepared for the king of Egypt. As the three signs deliberately shows the importance of the words, here again the text indicates that only aural elements could make the people of Israel and the king of Egypt believe what Moses said in the name of YHWH. ?;?;Exodus 4:1-9 is a first example of Moses' protest concerning Israel's disbelief and YHWH's signs to assure him Israel's belief. Moses is worrying that Israel will not believe him and say YHWH does not appear to him. These worries are about Moses' delivering the words of YHWH to Israel. They include the aural elements and the visual elements together. In his protest, Moses actually asked YHWH to give him a visual evidence that could make Israel believe in his words.<br/> ?;?;In YHWH's response to Moses' protest, three sings were given. First, the staff changed into a snake. This sign shows 100% of the visual elements. The second sign was to make his hand infected with a skin disease. However, Moses had to put his hand into his bosom, so he could not see the process of change. That is why this sign has only 50% of the visual elements. The last sign was told to Moses and he could not experience it because he had to take some water from the Nile and pour it upon the land. It is supposed to change into blood. He will be able to try it when he actually goes to Egypt. So this third sign shows 0% of the visual elements. What these three signs mean is that the aural elements are more important than the visual elements. Moses has to deliver the words of YHWH through his mouth, that is, the aural elements.<br/> ?;?;Also the identity of ‘they’ in the protest of Moses in 4:1 has to reveal because the text does not say anything about them. Traditionally, the scholars have thought that ‘they’ are ‘the people of Israel.’ However, this study shows that not only the people of Israel but also the king of Egypt could be included in the category of ‘they.’ In order to realize Exodus, Israel had to get a permission from the Egyptian king. Moses needed to have signs to persuade him to make Exodus happen. The awkward connection between v. 8 and v. 9 proves that the third sign was prepared for the king of Egypt. As the three signs deliberately shows the importance of the words, here again the text indicates that only aural elements could make the people of Israel and the king of Egypt believe what Moses said in the name of YHWH.

북서태평양에 서식하는 살오징어(Todarodes pacificus) 계군 분석에 대한 고찰

김정연,문창호,윤문근,강창근,김경렬,나태희,최은정,이충일,Kim, Jeong-Yun,Moon, Chang-Ho,Yoon, Moon-Geun,Kang, Chang-Keun,Kim, Kyung-Ryul,Na, Taehee,Choy, Eun Jung,Lee, Chung Il 한국해양학회 2012 바다 Vol.17 No.4

This paper reviews comparison analysis of current and latest application for stock identification methods of Todarodes pacificus, and the pros and cons of each method and consideration of how to compensate for each other. Todarodes pacificus which migrates wide areas in western North Pacific is important fishery resource ecologically and commercially. Todarodes pacificus is also considered as 'biological indicator' of ocean environmental changes. And changes in its short and long term catch and distribution area occur along with environmental changes. For example, while the catch of pollack, a cold water fish, has dramatically decreased until today after the climate regime shift in 1987/1988, the catch of Todarodes pacificus has been dramatically increased. Regarding the decrease in pollack catch, overfishing and climate changes were considered as the main causes, but there has been no definite reason until today. One of the reasons why there is no definite answer is related with no proper analysis about ecological and environmental aspects based on stock identification. Subpopulation is a group sharing the same gene pool through sexual reproduction process within limited boundaries having similar ecological characteristics. Each individual with same stock might be affected by different environment in temporal and spatial during the process of spawning, recruitment and then reproduction. Thereby, accurate stock analysis about the species can play an efficient alternative to comply with effective resource management and rapid changes. Four main stock analysis were applied to Todarodes pacificus: Morphologic Method, Ecological Method, Tagging Method, Genetic Method. Ecological method is studies for analysis of differences in spawning grounds by analysing the individual ecological change, distribution, migration status, parasitic state of parasite, kinds of parasite and parasite infection rate etc. Currently the method has been studying lively can identify the group in the similar environment. However It is difficult to know to identify the same genetic group in each other. Tagging Method is direct method. It can analyse cohort's migration, distribution and location of spawning, but it is very difficult to recapture tagged squids and hard to tag juveniles. Genetic method, which is for useful fishery resource stock analysis has provided the basic information regarding resource management study. Genetic method for stock analysis is determined according to markers' sensitivity and need to select high multiform of genetic markers. For stock identification, isozyme multiform has been used for genetic markers. Recently there is increase in use of makers with high range variability among DNA sequencing like mitochondria, microsatellite. Even the current morphologic method, tagging method and ecological method played important rolls through finding Todarodes pacificus' life cycle, migration route and changes in spawning grounds, it is still difficult to analyze the stock of Todarodes pacificus as those are distributed in difference seas. Lately, by taking advantages of each stock analysis method, more complicated method is being applied. If based on such analysis and genetic method for improvement are played, there will be much advance in management system for the resource fluctuation of Todarodes pacificus. 본 종설논문은 살오징어의 기존 및 최근에 새롭게 적용되고 있는 계군 분석방법들을 비교 분석하여 각 분석방법의 장단점과 분석방법간의 상호보완에 대하여 고찰하였다. 살오징어는 북서태평양의 넓은 지역을 회유하는 어종으로 생태계 및 상업적으로 중요한 자원이다. 살오징어는 해양환경변화의 생물학적 지표로서의 가능성을 평가 받고 있으며, 장단기적인 어획량 및 분포역의 변화가 환경 변화와 함께 나타난다. 예를 들어, 1987/1988 무렵에 발생한 기후체제전환 이후 한류성 어종으로 분류되는 명태의 어획량은 급감하여 현재까지 그 영향이 지속되고 있는 반면, 살 오징어 어획량은 크게 증가하였다. 현재까지 명태 어획량의 감소에 대하여 남획과 기후변화에 초점이 맞추어진 해석이 있으나, 뚜렷한 원인 분석은 이루어지지 않고 있다. 그 이유 중 한 가지는 계군 분석에 근거한 생태, 환경적 측면에 대한 정확한 원인 분석이 이루어지지 않고 있는 것과 관련이 된다. 계군은 유사한 생물학적 특징을 가진 개체들이 제한된 영역 내에서 유성생식과정을 통하여 동일한 유전자 풀(gene pool)을 공유하는 집단으로, 동일 계군을 형성하는 개체들은 산란에서 자원으로 가입 후 다시 재생산 과정에 이르기까지 시간 및 공간적으로 각기 다른 환경의 영향을 받을 수 있다. 따라서, 종에 대한 정확한 계군 분석은 자원의 효과적인 관리 및 급격한 변화에 대한 중요한 대응 방안의 역할을 할 수 있다. 살오징어 계군 분석에 적용된 주요 방법은 크게 4가지로 형태학적 방법, 생태학적 방법, 표지방류법, 유전학적 방법이 있다. 형태학적인 방법은 분석방법이 가장 간단하고 다수의 개체를 비교적 쉽게 분석할 수 있지만 각 형질들은 성장기간 동안 환경에 의해 영향을 많이 받게 되어 개체간의 차이가 생긴다. 생태학적 방법은 주로 개체의 생리적인 변화와 분포 및 회유상태, 기생충의 기생상태나 종류 및 기생률 등을 분석, 산란장의 차이를 알아보는 연구이며, 현재 활발히 연구되고 있는 방법으로 유사한 환경에서 생활하는 집단을 알 수 있지만 유전적으로 같은 집단인지는 알기 어렵다. 표지방류법은 직접적인 방법으로 계군의 회유 및 분포, 산란장의 위치를 파악할 수 있지만 수거가 어렵고 초기 단계에는 표식을 하기 어렵다. 수산생물의 계군 분석을 위한 유전학적 방법은 자원관리학적 연구에 관한 기본적 정보를 제공해 왔다. 계군 분석을 위한 유전학적 방법은 이에 사용하는 유전자 마커(marker)의 감도에 따라 결정되며, 유전자 마커의 다형성이 높은 것을 선택해야 한다. 계군 분석을 위한 유전자 마커로는 오랜 기간 동안 동위효소 다형이 사용되어졌으며, 최근에는 mitochondria, microsatellite와 같이 DNA 염기배열 중에서도 변이성이 높은 영역을 선택하여 마커로 이용한 연구가 증가되고 있다. 기존의 형태학적 방법, 표지방류법, 생태학적인 방법들은 살오징어의 생활사, 회유경로, 산란장의 변화 등을 밝혀내어 계군을 파악하는데 많은 기여를 하였지만 여전히 각 해역에 분포하는 살오징어의 계군을 파악하기에는 어려움이 있다. 최근에는 기존의 계군 분석이 지닌 장단점을 비교 분석하여 복합적인 방법의 계군 분석이 이루어지며, 이러한 정보들을 바탕으로 유전학적 방법을 보완한다면 살오징어 자원의 변동에 대한 관리 방안을 마련하는데 도움을 줄 것이다.

Dipyridamole 부하 심근 SPECT에서 Dipyridamole의 작용과 부작용

고창순(Chang Soon Koh),이명철(Myung Chul Lee),정준기(June Key Chung),이동수(Dong Soo Lee),최창운(Chang Woon Choi),배상균(Sang Kyun Bae),양형인(Hyung In Yang),여정석(Jeong Suk Yeo) 대한핵의학회 1993 핵의학 분자영상 Vol.27 No.2

N/A Dipyridamole is an agent that may be used to noninvasively evaluate coronary artery disease. The effect of dipyridamole infusion its generally related to its induced peripheral vasodilatory effect. In normal person, heart rate is generally increased slightly while blood pressure decrease, but the achieved double product and related myocardial oxygen consumption have no significant change. The purpose of this study is to examine the effect and side effect of dipyridamole, and to compare different response to dipyridamole among the patients. We evaluated 847 patients who underwent dipyridamole stress myocardial SPECT. 93.6% of them had induced hypotension 0.9% showed no change of blood pressure, 5.5% had increased blood pressure 8.3% had no change of pulse rate more than 10% of basal pulse rate. Among diabetes, 16.9% was not change of pulse rate, 6.7% in non-diabetes. There was no significant correlation between age and rate pressure product rest(RPPr), in patients without perfusion defects on SPECT(y=7.1x+48.4r=0.13 p>0.01). As increasing age, RPPs/RPPr was declined(y=-11.6x+68.9 r=0.17 p〈0.01), similar results were obtained in patients with perfusion defect. The size of perfusion defect on myocardial SPECT have no correlation between RPPr and RPPs/RPPr. The side effects of dipyridamole included chest pain and chest tightness, headache, abdominal pain, dizzness, nausea, and dyspnea. As increasing age, dipyridamole-induced cardiac work at rest was increased, cardiac response to dipyridamole was decreased.

Rat의 복강내에 투여한 5-fluorouracil-polyglycolic acid 제형이 장기에 미치는 영향에 관한 연구

강대영,송규상,최정목,노승무,정경수,오정연,김진향,양준묵,최선웅,이진호,조준식,민병무,김용백,김창식,박근성,김승영,김학용,인현빈 충남대학교 의과대학 지역사회의학연구소 1998 충남의대잡지 Vol.25 No.1

For more effective intraperitoneal chemotherapy, the authers made 5-fluorouracil-polyglycolic acid composite disks(FU-PGA disks) with 5-fluorouracil and polyglycolic acid, a biodegradable polymer. We inserted the FU-PGA disk into the peritoneal cavites of Sprague-Dawley male rats, the control and three experimental groups; one FU-PGA disk insert group(300mg/kg), two FU-PGA disk insert group(600mg/kg), and three FU-PGA disk insert group(900mg/kg). The control group received a similar number of PGA disk inserts. A pharmacokinetic study was performed to measure the 5-fluorouracil concentration in the peritoneal fluid, blood, and tissues(liver, kidney and heart) at 24 hours, 72hours and 168 hours after insertion of the FU-PGA disk. Light and electron microscopic studies were done. The results were as follows: 1) The number of white blood cells and platelets decreased after FU-PGA insertion. The degree was proportional to the duration and amounts inserted. The change in the number of red blood cells varied slightly. 2) Light microscopically, slight changes were noted at 168 hours in the 3 disk insert group (900mg/kg). Mild fatty change and hepatocyte degeneration around the central veins of the liver were noted, with vacuolar degeneration in the proximal convoluted tubules of the kidney. 3) Electron microscopically,the liver showed focal increases of lipid droplets in the hepatocytes, and irregular nuclear membrane with focal nucleolar segregation of the fibrillar and granular elements. Also the double membranous structure of the hepatocytes and Kupffer cells was widened with bleb formation. The kidney showed wide separation of the nuclear double membrane in the proximal convoluted tubular cells and mesangial cells, with vacuolation and myelin figure formation in the mitochondria of the proximal convoluted tubular cells, at 72 hours and 168 hours in the 2 to 3 FU-PGA insert groups. The heart showed focal loss of cristae,vacuolation and myelin figure formation in the mitochondria of the 2 to 3 FU-PGA insert groups. In conclusion, despite the large amont of FU-PGA inserted, the histopathological changes in the liver, kidney and heart were slight, and consonant with the very low amount of 5-fluorouracil concentrations detected in the liver, kidney and heart. The above results suggest that the FU-PGA composite can serve as a new device for releasing drugs in a controlled manner and easily targeted to intraperitoneal organs. This device can improve the efficacy of intraperitoneal chemotherapy for gastric cancer.

중심시가지 재생을 위한 상인교육프로그램이 상인역량강화에 미치는 영향분석

전창진(Jeon, Chang-Jin),정철모(Chung, Cheol-Mo) 한국주거환경학회 2014 주거환경(한국주거환경학회논문집) Vol.12 No.1

A test-bed for a shopping district has been developed urban regeneration project with empowering business people as the central figure rejecting quantitative development established by government lead and activating a distressed neighborhood through its own efforts. Additionally, the main purpose of this project is to activate commercial supremacy by making the business people voluntary participation in the project and to strengthen of ability of them. This study analyzed impact of education program for business people on empowering of business people in the case of autonomous urban regeneration project. The result of the analysis showed that the program composition did not have impact on personal/internal change, interpersonal change and socioeconomic change. However, program operation showed to have impact on personal/internal change, interpersonal change and socioeconomic change. It is expected that the findings from the study can contribute to overcome the limitations of the previous programs on empowering business people and promote participation rate of business people by empirically analyzing the impact relation of the program and opportunities to plan the program with a new objective.

Correlating Structural Changes and Gas Evolution during the Thermal Decomposition of Charged Li_<i>x</i>Ni_0.8Co_0.15Al_0.05O₂ Cathode Materials

Bak, Seong-Min,Nam, Kyung-Wan,Chang, Wonyoung,Yu, Xiqian,Hu, Enyuan,Hwang, Sooyeon,Stach, Eric A.,Kim, Kwang-Bum,Chung, Kyung Yoon,Yang, Xiao-Qing American Chemical Society 2013 Chemistry of materials Vol.25 No.3

<P>In this work, we present results from the application of a new in situ technique that combines time-resolved synchrotron X-ray diffraction and mass spectroscopy. We exploit this approach to provide direct correlation between structural changes and the evolution of gas that occurs during the thermal decomposition of (over)charged cathode materials used in lithium-ion batteries. Results from charged Li<SUB><I>x</I></SUB>Ni<SUB>0.8</SUB>Co<SUB>0.15</SUB>Al<SUB>0.05</SUB>O<SUB>2</SUB> cathode materials indicate that the evolution of both O<SUB>2</SUB> and CO<SUB>2</SUB> gases are strongly related to phase transitions that occur during thermal decomposition, specifically from the layered structure (space group <I>R</I>3̅<I>m</I>) to the disordered spinel structure (<I>Fd</I>3̅<I>m</I>), and finally to the rock-salt structure (<I>Fm</I>3̅<I>m</I>). The state of charge also significantly affects both the structural changes and the evolution of oxygen as the temperature increases: the more extensive the charge, the lower the temperature of the phase transitions and the larger the oxygen release. Ex situ X-ray absorption spectroscopy (XAS) and in situ transmission electron microscopy (TEM) are also utilized to investigate the local structural and valence state changes in Ni and Co ions, and to characterize microscopic morphology changes. The combination of these advanced tools provides a unique approach to study fundamental aspects of the dynamic physical and chemical changes that occur during thermal decomposition of charged cathode materials in a systematic way.</P><P><B>Graphic Abstract</B> <IMG SRC='http://pubs.acs.org/appl/literatum/publisher/achs/journals/content/cmatex/2013/cmatex.2013.25.issue-3/cm303096e/production/images/medium/cm-2012-03096e_0014.gif'></P><P><A href='http://pubs.acs.org/doi/suppl/10.1021/cm303096e'>ACS Electronic Supporting Info</A></P>

최근 30년간 스포로트리쿰증 임상 병형의 추세에 대한 관찰

임채성,권경술,장호선,정태안,오창근 대한의진균학회 1997 대한의진균학회지 Vol.2 No.1

Background: The clinical types of sporotrichosis are generally classified into four group: lymphocutaneous, fixed cutaneous, and cutaneous disseminated, and hematogenous. Of these, the lymphocutaneous variety is the most frequently encountered pattern, constituting 80% of sporotrichosis patients and the fixed cutaneous sporotrichosis is the next. Potassium iodide (KI) was the most commonly used drug for the treatment of sporotrichosis. Many studies about these clinical findings of sporotrichosis have been reported, but comparative study on the changes in clinical findings has not been reported. Objective: The purpose of this study is to clarify the changes of the clinical findings in sporotrichosis in Korea. Methods: A total of 58 patients with sporotrichosis who had visited the Department of Dermatology, Pusan National University were divided into 2 groups according to the period and then the clinical findings of sporotrichosis were compared. Results: The results of study are summarized as follows: 1. During this period, there were 58 cases of sporotrichosis. In the past period (1967~1979) there were 35 cases of sporotrichosis, and there were 23 cases in the recent period (1980~1997) 2. In the past period, most cases (71.4%) were lymphocutaneous type, however in the recent period, most cases (69.2%) were fixed cutaneous type. 3. The most commonly affected site was right upper extremity in the past period, but face fright upper extremity were the most commonly affected sites in the recent period. 4. In the past period, 2nd and 3rd decades were prevalent age group, but 5th to 7th decades were prevalent age group in the recent period. 5. In the treatment of sporotrichosis, potassium iodide (KI) was the choice of treatment in the past period, however itraconazole is gradually used in the recent period. Conclusion: According to this study, many changes in clinical findings of sporotrichosis were noted, especially in the clinical type. We found that clnical type of sporotrichosis changed from lymphocutaneous type to the fixed cutaneous type with time. And we suggest that further observation would be necessary to define the meaning of these changes.

급성 췌장염의 시대적 변화

김배영(Bai Young Kim),김효종(Hyo Jong Kim),정형근(Hyung Keun Chung),김영관(Young Kwan Kim),동석호(Seok Ho Dong),김병호(Byung Ho Kim),이정일(Jung Il Lee),장영운(Young Woon Chang),장린(Rin Chang) 대한내과학회 1993 대한내과학회지 Vol.45 No.5

N/A Background: According to the rapid changes in social environment such as increasing alcohol consumption and the marked improvement in diagnostic technique, we expect that there have been major changes in various aspects of acute pancreatitis during the recent 12 years in Korea. Methods: The medical records of 317 patients with acute pancreatitis diagnosed from 1980 through 1992 were reviewed about clinical, laboratory and radiological findings in the three different time period. Results: 1) There has been an increasing incidence in male sex about three folds. 2) There has been an increasing trends in the duration of hospitalization. 3) A significant increase was observed in the proportion of patients with alcoholic pancreatitis in the three different time period; 26.9%, 45.7%, 50.7% respectively. 4) The complication rates have been slightly increased in the three different time period; 46.3%, 47.1%, 59.1% respectively. But, the type of complications has not been changed. 5) There is increasing severity in non-gallstone group, but no significant differences in gallstone group. There is a declining trends in the number of patients with muld severity index, but increasing trend in the number of patients with moderate severity index in non-gallstone group. 6) There was no significant differences in mortality rate. Conclusions: There has been major changes in the etiology ans severity of acute pancreatitis from 1980 through 1992. Especially, significant increase in the proportion of patients with alcoholic pancreatitis was observed in the three differnt time period. These results might be due to socioeconomic changes.