계단승월이 가능한 시각장애인 유도 로봇 개발

이종실,이응혁,민홍기,홍승홍 한국장애인재활협회 2003 재활복지 Vol.7 No.1

현대 사회에 이르러 생활 환경의 향상과 기술의 발달로 복지에 대한 관심이 높아졌으나 국내의 장애인에 대한 복지 시설은 아직 미비한 수준이다. 보도의 점자 블록이나 신호등의 보행 음향 외에 시각 장애인이 실외 활동을 하기 위한 안내 시설이 거의 없어 많은 불편을 초래한다. 따라서 시각장애인을 위한 안전하고 편안한 보행을 위한 보조장치가 필요하다. 본 연구에서는 시각장애인에게 보다 안전하고 편리한 보행보조 수단을 제공하기 위하여 계단 승월이 가능한 유도로봇을 개발하였으며, 이의 시스템은 실외에서 장시간사용이 가능하도록 저전력 구동이 가능한 이동로봇 제어부, 외부 위치 정보를 GPS에 의해 유도가 가능하도록 자기위치추정시스템과 계단 승월이 가능한 메카니즘부로 구성하였다. 제안된 시각장애인 유도로봇의 구동을 위하여 이동 로봇 구동 및 운용 소프트웨어를 개발하였으며, 초음파 센서 어레이를 이용한 장애물 인식을 통한 스테레오 음성 유도 알고리즘, 관성항법시스템을 이용한 주행 경로 보정 시스템 및 알고리즘, 시각 장애인 유도를 위한 점자 보도 블록 인식 기법을 개발하였다. 자기위치추정시스템에서는 자기위치 추적 시스템 H/W와 사용자 인터페이스 개발로서 DGPS수신 모듈과 점자 입력기 및 인터페이스 기법을 개발하였으며, 계단 승월을 위한 유도로봇 메카니즘으로 유성 차륜 방식을 이용하여 이동 메커니즘을 설계하였다. Interest about welfare by upgrade of living environment and development of technology to reach in modern society but welfare facilities about disabled person are unprepared level yet. It causes many discomforts because there is seldom guidance equipment that the visually impaired except Braillewriter type block or walk sound of signal lamp does outdoor activity. Therefore, we need auxiliary equipment for more safe and well walk for the visually impaired. The purpose of this study is to develop a stair-climbing guide robot as auxiliary equipment for the visually impaired. We developed a control part with low-power usable for many long hours outside the door, self-localization system guiding the robot by using the GPS of localization information and mechanism part with an ability of climbing stairs. We developed mobile robot driving and operating software to operate the guidance robot for the visually impaired such as obstacle detection with ultrasonic sensor array, obstacle avoidance through the sound imaging method, position calibration using INS (Initial Navigation System) and detection of braille blocks. In self-localization system, we developed a self-localization H/W and user interface, we adapted DGPS receiver module and suggested a method to interface for braille keypad. For ability of climbing stairs, we constructed wheel mechanism of a guide robot using planetary type.

수군 녹조류 (數群 綠藻類) 의 유리 아미노산 분포에 따른 계통학적 연구 조류의 화학성분과 계통학적 상관성에 대하여 (3)

이민재(Min Jai Lee),홍순우(Soon Woo Hong),이인규(In Kyu Lee) 한국식물학회 1962 Journal of Plant Biology Vol.5 No.3

LEE, Min-Jai, HONG, Soon-Woo & LEE, In-Kyu, (Dept. of Botany, Seoul National Univ.) An analytical studies of free amino acid and its relationship among the main groups of green algae (Ⅲ). Kor. Jour. Bot. V (3) : 25-29, 1962. Succeeding the previous papers, nineteen species of marine green algae and three species of fresh water green algae are analyzed to the free amino acid patterns by paper chromatogram, and it has been described as containing significant qualities of the pattern in relation to phylogenetic studies. Those seem to have a tendency of recognizable pattern on inter-Orders and inter-Phyla of marine algae. And the patterns of fresh water and marine green algae are also carried out referring to these studies.

ULSI 금속배선용 구리의 전착

이동녕,김기범,최창희,이효종,민석홍 대한금속재료학회(대한금속학회) 1998 대한금속·재료학회지 Vol.36 No.10

The microstructural evolution of Cu films deposited by electroplating was investigated with the variation of the deposition rate from 0.1 ㎛/min to 3 ㎛/min by using a copper sulfate solution. Electrodeposition of copper was conducted on 0.1 ㎛ or 0.5 ㎛ thick copper seed layer deposited by sputtering process. The growth characteristics were investigated by monitoring the surface microstructure, electrical resistivity and chemical composition. The feasibility of electroplating process for ultra-large-scale integration(ULSI) metallization scheme was demonstrated through preferred crystallographic growth direction, resistivity and step coverage. The uniform Cu film was successfully electroplated at deposition rates from 0.5 to 3 ㎛/min and its continuous growth on the copper seed layer was observed in every specimen. The resistivity of as-deposited copper film made at deposition rates from 0.5 to 3 ㎛/min was about 2.5μΩ-㎝ and subsequent annealing in a vacuum at 200℃ for 2 min reduced it to 2.3μΩ-㎝.

Conditioned Media of ASC-17D Sertoli Cells Induce G1-Growth Arrest of DU145 Human Prostate Cancer Cells

Min, Bon Hong,Kang, Sang Wook,Lee, Kwang Ho,Choi, Sang Hyun,Kang, Hyeog,Chun, Boe Gwun The Korea Science and Technology Center 1998 BMB Reports Vol.31 No.5

We studied the effects of ASC-17D rat Sertoli cell-conditioned media (rSCCM) on the proliferation of the DU145 prostate cancer cells. rSCCM was prepared from ASC-17D cells cultured in DMEM/F-12 serum-free media at a nonpermissive temperature of 40℃, which is the condition for the high expression of clusterin. We found that rSCCM could inhibit the proliferation of DU145 cells by arresting the cell cycle in the G1 phase in a dose-dependent manner. This growth arresting activity was abolished by boiling rSCCM for 5 min. The G1 growth-inhibiting activity of rSCCM was also detected in other prostate-originated cancer cells examined (ie., LNCaP and PC-3) but not in other cells (ASC-17D, HepG2, SK-N-SH, and NIH3T3). Western blot analysis of partially purified growth inhibiting fractions with the clusterin antibody showed that the cytostatic factor in rSCCM was not clusterin. This cytostatic factor was semipurified by DEAE-Sepharose, ammonium sulfate precipitation, and Phenyl-Sepharose column chromatography, and was estimated to have a molecular weight of 88 kDa by Sephacryl S-300 gel filtration.

Fluoxetine이 Schedule-Induced Polydipsia가 유발된 백서 뇌에서 Tyrosine Hydroxylase 발현에 미치는 영향

이기철,이정호,최영민,정주호,정홍경,이용민,김도형,이대환 大韓神經精神醫學會 2001 신경정신의학 Vol.40 No.2

연구목적: Fluoxetine은 serotonin을 매개하여 간접적으로 dopamine 신경전달기능을 억제한다고 추정되고 있다. 또한 운동장애에서 운동기능의 악화를 유발한다고 알려져 있다. 그러나 신경세포체에서 fluoxetine이 dopamine에 어떠한 영향을 주는지는 아직까지 확실치 않다. 저자들은 schedule-induced polydipsia를 유발시킨 백서 뇌의 흑질, 복부피개영역, 미상핵에서 tyrosine hydroxylase(TH) 발현이 저하됨을 발견하였다. 이를 통해서 fluoxetine이 백서 뇌의 dopamine 기능에 긍정적인지 혹은 부정적인지를 규명하고자 하였다. 방법: 4주간의 schedule-induced polydipsia 과정을 거친 백서에서 면역죄치화학적인 방법으로 흑질, 복부피개영역, 미상핵의 tyrosine hydroxylase 발현이 저하됨을 확인한 후, 실험동물들에게 fluoxetine 10mg/kg를 3주간 복강내 주사하였다. 실험백서들을 희생시켜 뇌 조직을 적출하여, TH 면역조직화학 염색법을 이용하여 흑질, 복부피개영역, 그리고 미상핵의 TH 면역반응세포를 관찰하고 이를 정상백서와 비교하였다. 결과: 1) 다갈증이 유발된 백서의 흑질, 복부피개영역, 미상핵에서 tyrosine hydroxylase 발현이 정상백서 보다 저하됨을 관찰하였다. 2) 3주간에 걸친 fluoxetine 투여후 흑질, 복부피개영역, 미상핵의 tyrosin hydroxylase 발현이 다시 증가하는 소견을 보였다. 결론: Fluoxetine 만성투여가 흑질, 복부피개영역 그리고 미상핵의 tyrosin hydroxylase를 증가시키는 소견을 얻었다. 이러한 결과는 임상에서 dopamine 결핍과 연관된 질환들에서 fluoxetine을 만성투여하면 운동기능을 포함한 증상들의 개선을 가져올 수도 있다고 추정된다. Objective: It has been suggested that fluoxetine inhibits the dopaminergic neurotransmission by serotonergic mediation. And also, it has been shown to inhibit synthesis of DOPA in dopamine-rich areas of the rat forebrain. These dopamine-antagonistic capacity of fluoxetine is only supported by anecdotal report that the increased amount of motor disability in patients with idiopathic Parkinson's disease after exposure to fluoxetine. However, there is still no evidence of the direct effect of fluoxetine on dopaminergic neuronal cell body in the substantia nigra, VTA, caudate & putamen. This study was designed to evaluate the effects of fluoxetine in rat brain which showed decreased numbers of dopaminergic neuronal cell body induced by schedule-induced polydipsia(SIP). Method: We incidentally found that 4 weeks of schedule-induced polydipsic rats revealed the suppression of tyrosine hydroxylase expression in the substantia nigra, VTA, caudate & putamen with the immunohistochemistric measures. After 3 weeks of intraperitoneal injection of 10mg/kg of fluoxetine to the schedule induced polydipsic rats, the tyrosine hydroxylase expression was also measured with immunohistochemistry. We compared the tyrosine hydroxylase expression among the normal control, the polydipsic rats, and the rats with fluoxetine treatment. Results: 1) By contrast with the control, the polydipsic rats revealed the evidence of decreased tyrosine hydroxylase expression in the substantia nigra, VTA, caudate & putamen. 2)After daily injection of fluoxetine for 3 weeks, the polydipsic rats showed increment of tyrosine hydroxyase expression in those areas. Conclusions: In previous studies, a great deal of results suggest that fluoxetine negatively influence the dopaminergic systems indirectly via serotonergic activation such as inhibition of dopamine synthesis or transport system. Although our results are obtained from rodents, we suggest that fluoxetine directly and positively enhance the dopamine system in the substantia nigra, VTA, caudate & putamen. The chronic adminstration of fluoxetine may be helpful to dopamine-depleted condition in clinical situations. We anticipate the replication studies of our findings and well-controlled clinical trial.

김치유래 젖산균의 균체지방산 분석을 이용한 분류학적 연구

이정숙,정민철,김우식,이근철,김홍중,박찬선,이헌주,주윤정,이근종,안종석,박완,박용하,민태익 한국미생물생명공학회 ( 구 한국산업미생물학회 ) 1996 한국미생물·생명공학회지 Vol.24 No.2

표준균주를 포함한 230여개의 김치유래 젖산균에 대한 균체지방산(FAMEs)을 분석하였다. FAMEs profiles는 Euclidian Distance 17.5에 의해 7개의 Major Cluster와 1개의 Single Cluster로 나뉘어졌다. 이중 A, B, C 및 Cluster는 Leuconostoc속으로 분석되어졌고, F는 Lactobacillus속으로 분석되어졌다. 그리고 E와 G cluster는 두개의 Genus가 혼재되어 나타났으며 보충적인 연구가 필요하다. 앞으로 김치유래 젖산균의 균체지방산 분석결과를 기반으로 한 데이타베이스에 95가지 탄소원을 이용하는 수치분류학적 접근방법 및 Pyrolysis Mass Spectrometry 등의 화학적 분석 방법과 분자친화적 연구를 통한 종합적 분류정보 체계가 갖추어지면 젖산균의 신속, 정확한 동정 및 연구에 활발히 이용되어질 것이다. Two hundreds and thirty lactic acid bacteria, mostly isolated from Kimchi, including type strains were sued for analysis of cellular fatty acids. The 230 test strains were recoverd in 7 major and 1 single clusters defined a Euclidian distance of 17.5. These aggregate taxa were equivalent to the genus Leuconostoc (aggregate group A, B, C and D), and the genera Leuconostoc and Lactobacillus (aggregate group G). It is concluded as evident that FAMEs (Fatty Acid Methyl Esters) profile of cell can be used as a criterion in classification of lactic acid bacterial from kimchi. Additional comparative taxonomic studies need to be carried out on well chosen representative strains to determine the most appropriate methods of value.

본태성 고혈압 환자의 적혈구 Na+-Li+ Countertransport 와 적혈구막 지방산 구성에 대한 연구

이영우,고경수,고재준,박경수,김원배,한은경,김성연,조보연,이홍규,고창순,민현기 한국지질학회 1991 韓國脂質學會誌 Vol.1 No.1

Since the changes of Na^+-Li^+ countertransport (SLC) Vmax in essential hypertension have been reported. it has been known that hyperlipidemia could affect SLC independently of blood pressure. To reveal the relation between SLC Vmax and RBC membrane fatty acid conposition in the hypertensive patients, we divided patients into two groups according to their levels of SLC Vmax of erythrocytes(elevated SLC Vmax: n=4, normal SLC Vamx: n=6). The results were as follows: 1) There was no difference in body mate index, waist-hip ratio, blood pressure, serum cholesterol level between two groups. Triglyceride were higher in elevated group (278.0±180.0 ㎎/㎗) than normal group (124.3±60.7 ㎎/㎗) but there was no statistical significance. HDL-cholesterol levels were significantly lower in elevated group (32.0±3.6 vs. 44.8±8.9 ㎎/㎗) and free fatty acid concentrations, intracellular (RBC) Na^+ concentrations were similar between two groups. 2) The results of oral glucose tolerance test showed no differences in the glucose and insulin area, however the incremental insulin areas of elevated group (108.8±31.3, μU. min/㎖×10²) were significantly higher compared with those of normal group (56.3±20.7 μU. min/㎖×10²). 3) In the elevated group, palmitic acid proportions of erythrocytes (22.1±0.7%) were higher than those of normal group (20.1±0.7%) and SLC Vmax showed significant correlation (r=0.81, p$lt;0.01) with palmitic acid proportion. These results suggest that the abnormal lipid metabolism may change the RBC Na^+ transport system through the alterations of RBC membrane fatty acid composition.

Pseudomonas sp. BCNU 171균에서의 유기용매 shock반응과 heat shock반응의 연관성

이승범,김미림,정미연,박정욱,김민정,주우홍 Institute of Genetic Engineering Changwon National 1999 Gene and Protein Vol.3 No.1

The response of Pseudomonas sp. BCNU 171 to various forms of stress was examined by using O'Farrell two-dimensional gel electrophoresis. The toluene resistance of mid-growth cells of Pseudomonas sp. BCNU 171 grown at 30℃ was enhanced by exposing the cells to a prior toluene shock in the presence of 0.05% toluene for 30 min. The heat tolerance of the cell was also induced by the same condition. Individual protein expression was examined at 30 min and 60 min by silver staining after the addition of 0.05%(v/v) toluene to mid-growing cultures of the strain BCNU 171. The toluene stress response increased the expression of eighteen proteins between 30 and 60 min toluene exposure. At 60 min after toluene addition, a toluene specific protein was detected. A few proteins induced by toluene and heat were overlapped on 2D-PAGE.

都市主婦의 MAP와 %Fat 調査分析

李敏炯,蔡鴻遠,金正子 慶北大學校 體育科學硏究所 1991 체육과학연구지 Vol.7 No.-

The purpose of this study is to analyze a maximal aerobic power(MAP) and % fat of the urban female. The subjects are 73 urban females who were devided into three groups(27 young femeles, 35 middle females, and 11 old age females) I measured Margaria bench stepping, VO_2 max calculated by Margaria's estimation expression, and % fat was calculated by using Nagamine's estimation expresstion. Therefore, The results of this study is to be compared to the cross sectional analysis among three groups. The results are as follows : 1. 「MAP」 Young female groups MAP was 41.4±13.99㎖/㎏·min, middle age females 39.2±13.95㎖/㎏·min, and old age females, 38.2±10.4㎖/㎏·min. This data showed that 3 groups were in fitness. 2. 「% Fat」 %fat in young female groups % fat was 31.4±5.46%, middle age females, 32.5±8.09%, and old age females, 31.3±6.92%. According to the results, 3 groups have no statistical significance(P>.05). These data showed that three groups were over weight(obesity).

심혈관계 질환으로 관상질환 집중치료실에 입원한 환자들의 혜후 측정을 위한 APACHEⅢ점수 체계의 임상적 유용성

이공섭,이창선,최현주,홍종서,강지향,김도형,이민영,오인균,김병엽,김상억,김학찬,한승혜,이재용,지영우,안경주 대한순환기학회 2000 Korean Circulation Journal Vol.30 No.8