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전윤,차월석,권규혁,이동병 조선대학교 생산기술연구소 2000 生産技術硏究 Vol.22 No.1
In this study, we examined about effectives of the drug release by used glutaraldehyde amount and molecular weight varieties of chitosan in DDS. The release experiments of chitosan microspheres containing norfloxacin were operated in the phosphate buffer solutions of pH 7.4 and 37℃, and its results were as follows. In the linearly release time of drug, chitosan microspheres (Mw 190,000) of used glutaraldehyde 1 mL and 2 mL were 45 and 64 days, and chitosan microspheres (Mw 350,000) of used glutaralhyde 1 mL and 2 mL were 60 and 80 days relatively. These results showed more effective drug releases in the increments of molecular weight and glutaraldehyde In short, the formulation allows chitosan microspheres to suppress the burst effect of the drug release mechanism, which led to the controlled release pattern and microspheres
A Neurofuzzy Alogirthm-Based Advanced Bilateral Controller for Telerobot Systems
Dong-Hyuk Cha,조형석 제어·로봇·시스템학회 2002 International Journal of Control, Automation, and Vol.4 No.1
The advanced bilateral control algorithm, which can enlarge a reflected force by combining force reflection and compli-ance control, greatly enhances workability in teleoperation. In this scheme the maximum boundaries of a compliance controller and a force reflection gain guaranteeing stability and good task performance greatly depend upon characteristics of a slave arm, a master arm, and an environment. These characteristics, however, are generally unknown in teleoperation. It is, therefore, very difficult to determine such maximum boundary of the gain. The paper presented a novel method for design of an advanced bilateral controller. The factors affecting task performance and stability in the advanced bilateral controller were analyzed and a design guideline was presented. The neurofuzzy compliance model (NFCM)-based bilateral control proposed herein is an algorithm designed to automati-cally determine the suitable compliance for a given task or environment. The NFCM, composed of a fuzzy logic controller (FLC) and a rule-learning mechanism, is used as a compliance controller. The FLC generates compliant motions according to contact forces. The rule-learning mechanism, which is based upon the reinforcement learning algorithm, trains the rule-base of the FLC until the given task is done successfully. Since the scheme allows the use of large force reflection gain, it can assure good task performance. Moreover, the scheme does not require any priori knowledge on a slave arm dynamics, a slave arm controller and an environment, and thus, it can be easily applied to the control of any telerobot systems. Through a series of experiments effectiveness of the pro-posed algorithm has been verified.
A Neurofuzzy Algorithm-Based Advanced Bilateral Controller for Telerobot Systems
Cha, Dong-hyuk,Cho, Hyung-Suck Institute of Control 2002 Transaction on control, automation and systems eng Vol.4 No.1
The advanced bilateral control algorithm, which can enlarge a reflected force by combining force reflection and compliance control, greatly enhances workability in teleoperation. In this scheme the maximum boundaries of a compliance controller and a force reflection gain guaranteeing stability and good task performance greatly depend upon characteristics of a slave arm, a master arm, and an environment. These characteristics, however, are generally unknown in teleoperation. It is, therefore, very difficult to determine such maximum boundary of the gain. The paper presented a novel method for design of an advanced bilateral controller. The factors affecting task performance and stability in the advanced bilateral controller were analyzed and a design guideline was presented. The neurofuzzy compliance model (NFCM)-based bilateral control proposed herein is an algorithm designed to automatically determine the suitable compliance for a given task or environment. The NFCM, composed of a fuzzy logic controller (FLC) and a rule-learning mechanism, is used as a compliance controller. The FLC generates compliant motions according to contact forces. The rule-learning mechanism, which is based upon the reinforcement learning algorithm, trains the rule-base of the FLC until the given task is done successfully. Since the scheme allows the use of large force reflection gain, it can assure good task performance. Moreover, the scheme does not require any priori knowledge on a slave arm dynamics, a slave arm controller and an environment, and thus, it can be easily applied to the control of any telerobot systems. Through a series of experiments effectiveness of the proposed algorithm has been verified.
Dong Hyuk Cha,Dong Hwi Kim,Jeong Min Kook 대한정형외과 스포츠의학회 2023 Arthroscopy and Orthopedic Sports Medicine Vol.10 No.1
Background: The purpose of this study was to investigate the safety and efficacy of arthroscopy-assisted implantation of Cartistem®, an articular cartilage regeneration treatment composed of allogeneic umbilical cord blood-derived mesen-chymal stem cells, during medial owHTO for KL grades II and III patients with medial compartment osteoarthritis of the knee joint; radiological and clinical. Methods: From October 2017 to July 2019, arthroscopic chondroplasty with Cartistem® and medial owHTO were done on lesions with ICRS grade IV in patients with medial compartment arthritis and varus knee. Radiological outcomes including magnetic resonance imaging before and 1 year after surgery were used to calculate the extent of a chondral defect, KL grade, and joint space distance. Furthermore, the KSS and Lysholm score were calculated before and after sur-gery. The ICRS grade was determined at least 1 year following the operation through the second arthroscopy. Results: Eight patients who were followed up on for more than 1 year and had the second arthroscopy were investigated retrospectively out of a total of 22 cases. In radiological comparison before and after surgery, the KL grade was improved from III to II in two patients. In 8 patients, the JSD improved dramatically from 3.75 mm to 4.63 mm. The anatomical femorotibial angle was adjusted from varus 2.46° to valgus 9.28°. In the clinical score of 8 patients, the KSS climbed from an average of 46.63 to 70.50 and the Lysholm score increased from an average of 43.5 to 75.5, showing a substantial differ-ence. Furthermore, all patients who underwent a second arthroscopy had a significant improvement in their ICRS grade. Conclusion: For individuals with KL grade II and III and ICRS Grade IV medial compartment osteoarthritis of the knee, chondroplasty with Cartistem® under arthroscopy during medial owHTO can significantly improve the radiological and clinical outcomes.
차동혁 ( Dong Hyuk Cha ),옥선화 ( Sun Wha Ok ) 대한가정학회 2014 Human Ecology Research(HER) Vol.52 No.5
Focusing on the holistic concept of health, which embraces both physical and mental health, we investigated the effects of parenting and community factors on the health of 1,248 first- and second-year middle school students, on the basis of the data of the Korean Survey on the Activities and Culture of Youth and Children in 2009. The latent class analysis revealed three types of holistic health groups from the data, named as follows: (1) the healthy group, (2) moderate group, and, (3) fragile group. Then, we analyzed the effects of parenting factors and community safety on these health types according to the students` year in school and their mother`s status of employment. The results showed that the first-year students had consistent parenting effects on their own type of health, while the safety of the community only partly contributed to the probability of affiliation to healthier types. However, in the case of the second-year students, a neglectful parenting style and community safety consistently had significant effects on the students` type of health, while parental concern about an adolescent`s health did not contribute to the probability of affiliation to healthier types when only the mother was unemployed. The discussion considers how these results provide basic resources for formulating policies and creating intervention programs for addressing the health problems of adolescents.