PSD 센서 시스템을 이용한 이동물체의 실시간 위치측정

노재희,노영식,이양범 울산대학교 1999 공학연구논문집 Vol.30 No.1

본 논문에서는, 평면상에서 이동하는 물체의 위치를 실시간으로 측정하기 위한 PSD 센서 시스템을 개발하였다. 이동물체에 적외선 광원을 설치하고 이 광원으로부터 적외선광이 PSD 센서에 입사 되도록 한다. 센서로부터 얻은 광원에 대한 위치정보를 이용하여 실제 광원의 위치를 계산하기위한 알고리즘으로 파라미터 켈리브레이션과 신경 회로망을 이용한 방법을 제안하였다. 또한, 이동물체의 위치를 실시간으로 측정하기 위하여 PSD 센서를 이동공간 상부에 고정시키고 이동로봇 상에 적외선 광원을 설치한 후 이동 중에 있는 로봇의 위치를 측정하였다. 결과적으로 개발된 시스템으로부터 얻은 위치 정보는 매우 만족할 만큼 정확성이 있음을 보였다. In this thesis, PSD(Position Sensitive Detector) sensor system that estimates position for moving objects in 2D plane is developed. PSD sensor is used to measure the position of an incidence light in real-time. To get the position of light source of moving target, a new parameter calibration algorithm and neural network technique are proposed and applied Real-time position measurements of the mobile robotwith light source is examined to validate the proposed method. It is shown that the proposed technique provides accurate position estimation of the moving object.

자기 소호형 소자를 사용한 D급 고주파 인버터의 특성 평가 및 설계에 관한 연구

노채균,김동희,김종해,배영호 嶺南大學校 工業技術硏究所 1995 工業技術硏究所論文集 Vol.23 No.2

This paper investigates and compares operating characteristics of the main power conversion circuit and extension of safety operating zone etc in case of use switching device of voltage-fed type high frequency Inverter with self-turn-off device to a case of using nature-commutated type devices. In addition, this paper induced operating characteristics of the main power conversion circuit by examination to normalized parameter. This paper propose that a base data of the main power conversion circuit of characteristics evaluation for frequency characteristics, output characteristics and load characteristics etc.

3-Joint Planar Type 로봇 매니퓰레이터의 자기동조적응제어에 관한 연구

김규로,양희주,유용석,최명진,오택열 慶熙大學校 大學院 院友會 1996 高凰論集 Vol.17 No.-

This study has parallelogram trajectory tracking of Three Joint Planar type Robot Manipulator. The equation of motion for the three joint planar manipulator are obtained by substituting Lagrange's energy expression into Euler-Lagrange's equation and forming the appropriate derivative. Lagrangian method allows us to obtain the dynamics equations for very complicated systems in the simplest manner possible. SISO model is used for design of the controller. The design of controllers may be considered primary controller for manipulators to track the desired trajectory under ideal conditions and secondary controller to compensates for undesirable deviations of the motion from the trajectory caused by external and internal disturbances. The aim of this paper is to evaluate the efficiency by self-tunning adaptive control and considering a characteristic of control. Through the computer simulation, obtained the following results 1) selt-tunning adaptive control is superior to PD control, 2) During the learning period, the adaptive control algorithm is searching proper estimates and controller gains. After this period, the outputs of the joints start tracking closely the desired valued.

사람 갑상선자극호르몬 수용체를 발현하는 Chinese Hamster Ovary(hTSHR-CHO)세포를 이용한 자극형 갑상선자극호르몬 수용체 항체 활성 측정의 임상적 유용성

한희정,원진호,채수홍,김현진,송민호,김영건,노흥규 충남대학교 의과대학 지역사회의학연구소 2000 충남의대잡지 Vol.27 No.1

Detection of thyroid stimulating hormone receptor(TSHR) autoantibodies has clinical value in establishing the diagnosis of Graves ' disease, and in predicting its clinical course with high sensitivity and high specificity. Especially, TBII using radioreceptor assay has been widely used. Recently, for detecting thyroid stimulating antibody(TSAb), a sensitive method using human TSH receptor-transfected Chinese Hamster Ovary(CHO) cells has been developed and clinically used. The aims of this study are to determine the change and discrepancy of 2 TSHR autoantibodics in clinical course and to evaluate the correlation between 2 autoantibodies. We measured TSAb and TBII in 30 newly diagnosed and untreated patients and in 73 previously diagnosed as Graves ' disease and treated with antithyroid drug. Also we compared the changes of the antibodies in clinical course and correlation between 2 antibodies. Thes results are summarized follows. 1. In newly diagnosed patients, all of the 30 patients had positive TBII and/or TSAb. None of them had negative TBII and negative TSAb. And in newly diagnosed patients, mean TBII and mean TSAb values are 46.8% and 361%, respectively. In 73 treated patients mean values are 18. 7% and 196% each other. Therefore, newly diagnosed group has significant greater TBII and TSAb than antithyroid drug-treated group. 2. TBII was significantly different between euthyroid group and thyrotoxic group in antithyroid drug-treated patients, but TSAb was not. 3. TBII was sequentially decreased as increased medication duration, but TSAb was not shown sequential decrease as increased medication duration. 4. There was significant negative correlation between cumulative doses of antithyroid drug and TBII, but no significant correlation between cumulative doses and TSAb. 6. There was significant positive correlation between TBII and TSAb in total patients group and in antithyroid drug medication group, but not in newly diagnosed group. In conclusion, in Graves ' disease patients, detection of TSHR antibodies are clinical values in establishing the diagnosis and prediction of clinical course. A method detecting TSAb using hTSHR-CHO cells should be further studied for standardization of measurement, and for detecting the changes of TSAb in clinical course, long-term follow-up of patients are important.

덕유산 국립공원 저서성대형무척추동물의 군집변동 및 생물학적 수질평가

이영미,노상은,조희욱,이종은 7개 국립대학교 환경연구논문집 공동발행 위원회 2005 공업기술연구 Vol.5 No.-

A biological assessment of water quality was carried out in Deogyusan National Park from April 2005 to August 2005. The benthic macroinvertebrates collected seasonally from 5 field sites were identified mostly up to species level. The benthic macroinvertebrates collected from the surveyed sites were composed of 105 species, 74 genera, 46 families, 12 orders, 4 classes and 3 phyla. Dominant species occurring in all the surveyed sites was white color Chironomus sp. of Diptera. The dominance index(DI) showed the highest as 0.666 at site 3 and the lowest as o.388 at site 5. The species diversity index(H') showed the highest as 3.998 at site 5 and the lowest as 2.752 at site 3. Ecological score of benthic macroinvertebrate(ESB) Showed the highest as 199 at site 5 and the lowest as 149 at site 3. All surveyed sites were Oligosaprobic that the water quality estimated by ecological score of benethic macroinvertebrate community

농부가 아닌 환자에서 발생한 긴털가루진드기(Tyrophagus Putrescentiae)에 의한 기관지천식 1례

최대로,김형수,고창옥,김희선,윤호성,박용범,김상훈,이재영 대한천식 및 알레르기학회 2004 천식 및 알레르기 Vol.24 No.1

Storage mites are believed one of the most important allergens in farmers and rural regions. Tyrophagus putrescenitiae, belonging to storage mites, is found not only within storehouses but also in the house dust, and the third most common mites following Dematophagoides farinae and Dermatophagoides pteronyssnus in house dust in Korea. The sensitization rate to Trophagus putrescentiae was reported as high as that of house dust mite in patients visiting the allergy clinic in large cities in Korea. We experienced a 69-year-old man who had suffered from dyspnea, wheezing, and coughing for 10 years. He retired from the teaching profession, and had lived in a large city. Deajeon. The skin prick test showed a positive reaction to Tyrophagus putrescentiae and negative reactions to house dust mites. The bronchial challenge test with Tyrophagus putrescentiae showed late asthmatic reaction. We confirmed a Tyrophagus putrescentiae induced asthma in non occupational setting. (J Asthma Allergy Clin Immunol 24 : 141-5, 2004)

고전압 급준펄스의 오버슈트 개선에 관한 연구

곽희로,권동진,김영찬 崇實大學校 生産技術硏究所 1994 論文集 Vol.24 No.-

This paper describes very fast rising high voltage pules generation using the traveling wave theory of the transmission line. This very fast rising high voltage pulse generator consists of a charging coaxial cable, a discharging switch, and a terminating resistance. The results of the study show that the rising time of pulses is very fast about 30 [nsec]. The length of the coaxial cable and the charging voltage can regulate the duration and the amplitude or the polarity of the pulse. In addition, rod to plane electrodes are suitable as a short switch and the overshoot of pulse was improved with the larger radius of the rod electrode.

入力電流의 高調波 低減을 위한 새로운 다이리스터 整流回路의 개발

柳喆魯,金聖中,李公熙,李星龍,高榮浩 全北大學校 1987 論文集 Vol.29 No.-

The harmonics involved in input AC line currents of thyristor rectifier apparatus have recently been a serious problem in the cause of burning power condenser, mis-action of UFR(protective relay), and trouble of the automatic voltage controller, etc, in the sending or distribution electric power system. As an effective counter-measure for this, the method of having switching taps on the conventional interphase reactor and its artificial utilization have been adapted, as we know. The conventional 3 tap method, however, is not achieved an effect of reducing harmonics under firing angle 15˚. In this paper, a new method of reducing harmonics involved in input AC line currents or output DC voltage of rectifier circuit is presented, which is due mainly to the equipment of the 2-3 switching taps on interphase reactor. Thereofre, main contents of this study are the following three items; 1) optimal number of taps 2) optimal turn ratio of interphase reactor 3) optimal control angle of interphase reactor.

양성 갑상선 결절에서의 무수 알코올 치료 효과

김도희,나소영,이효진,홍우정,김군순,조영석,구본정,송민호,김영건,노흥규 충남대학교 의과대학 의학연구소 2002 충남의대잡지 Vol.29 No.1

목적 : 양성 갑상선 결절 환자에서의 PEI의 치료효과 및 부작용을 알아보고자 하였다. 방법 : 양성 갑상선 결절 환자 88명을 대상으로 초음파 소견에 따라 낭종성 결절, 복합성 결절, 고형성 결절 등 세 그룹으로 분류후 전체 및 각각에 대한 PEI의 치료효과 및 부작용을 조사하였다. 결과 : 양성 갑상선 결절 환자 88명을 PEI로 치료후 결절의 크기가 50%이상 감소한 경우는 전체 환자중 77.2%이었고 각 결절별로 살펴보면 고형성 결절에서 52.6%, 복합성 결절에서 72.4%, 낭종성 결절은 92.5%이었다. 부작용은 동통, 결절내 출혈, 감염, 결절의 누출등이 있었으나 대부분 무증상이었다. 결론 : PEI는 양성 갑상선 결절 환자증 적응증을 잘 살펴 고려해 볼 수 있는 치료법이라 생각되며 특히 낭종성 결절 환자에서 주사기에 의한 흡인후에 재발한 경우 일차적인 치료로 PEI를 고려해 볼 수 있겠다. Ultrasonography(US)-guided percutaneous ethanol injection (PEI) has been performed for the treatment of autonomous functioning thyroid nodules, thyroid cysts, & cold thyroid nodules. The author studied the efficacy of PEI in the treatment of benign cold thyroid nodules both solid and cystic (complex & pure). Eighty-eight euthyroid outpatients (age:44.2±13.9years, 75 women and 13 men) with benign cold thyroid nodules or simple thyroid cysts (69 with a single nodule and 19 with a prominent nodule within multinodular goiter) were includied in this study. After PEI, each subtype of thyroid nodules was divided into three groups in according to volume reduction complete response (90% or more of volume reduction), partial response (50% or more of reducton but below 90%), and failure (below 50% or increase in size) group. Overall response rates of PEI for benign thyroid nodules were complete 45(51.1%), partial 23(26.1%), failure 20(22.7%). In 20 cold solid nodules, complete response was observed in 6(30.0%), partial response in 5(25.0%), and failure in 9(45.0%). In 28 complex cysts, complete response was observed in 8(28.6%), partial response in 12 (42.9%), and failure in 8(28.6%). In 40 pure cysts, complete response was observed in 31(77.5%), partial response in 6 (15.0%), and failure in 3 (7.5%). Side effects comprised pain 8 (9.2%), intranodular bleeding 13 (14.6%), extracapsular leakage 1(1.1%), infection 1 (1.1%), increased size l(1.1%), and none 64(72.7%). PEI may prove a safe & effective tool for the therapy of cold thyroid nodules in selected cases and may be the treatment of choice of recurrent thyroid cysts. However, further investigation involving a larger number of patients and a longer follow-up is needed.

SDS-PAGE를 이용한 우리나라 벼 유전자원의 저장단백질 특성평가

이석영,강희경,이정로,마경호,박용진 한국국제농업개발학회 2003 韓國國際農業開發學會誌 Vol.15 No.4

벼 종실의 단백질 함량 및 조성은 식미에서 매우 중요한 형질로서, 우리나라 벼 유전자원의 종실 단백질 조성의 특성을 평가하고자 재래종 벼 390점, 샤레 46점 및 앵미 105점을 공시하여 SDS-PAGE방법으로 조사한 결과는 다음과 같다. 1. 우리나라 벼 유전자원의 단백질 패턴은 60kD 및 13kD의 단배질 분포에 따라 총 24개형으로 구분되었다. 2. 저장 단백질 중 60kD의 밴드패턴에 의한 분석에 의하면 앵미 및 샤레벼의 63%, 재래종의 91%, 육성종 100%가 진한 밴드패턴을 보였다. 3. 저장단백질 13kD밴드의 패턴에 의해 6가지 형태로 구분되었으며, 대부분의 accessions은 13kD-a 및 13kD-b사이에 추가적인 밴드가 관찰되었다. Protein contents and their composition are very important in controlling rice quality. A total of 633 rice (Oryza sativa L.) varieties/lines consisting of 390 landraces, 46 Share and 105 Red rice weedy type collection, and 92 improved varieties were analyzed for endosperm storage protein evaluation using single seed of each accession. Proteins were separated by the Sodium Dodecyl Sulfate Polyacrylamide Gel Electrophoresis (SDS-PAGE). The 24 different types were developed based on the polypeptide banding patterns of 60kD and 13kD proteins. In the 60kD polypeptide banding pattern, almost 63% of Red rice and Share collection showed thick band intensity, while 91.1% of landraces and 100% of improved varieties had weak band intensity. Six types were discriminated at the near 13kD polypeptide by the intensity and migration mode. Most of accessions had two bands at prolamin of 13kD-a and 13kD-b, but one band was detected between 13kD-a and 13kD-b of the 21 accessions of the Red rice collection and five improved varieties.