초음파 및 적외선 센서를 이용한 자율이동로봇의 확률지도 형성에 관한 연구

안양준,진광식,윤태성 國立 昌原大學校 産業技術硏究所 2002 産技硏論文集 Vol.16 No.-

For the navigation of an autonomous mobile robot in complex environment, the map building of the environment is needed using sensors. The ultrasonic sensor is low cost, easy to install and has high-speed information processing persormance. Environment recognition using ultrasonic sensors, however, has two major problems: the uncertainty information of sensor and false readings caused by specular reflection and multipath effect. In order to resolve these problems, an map building method using Bayesian update model was proposed previously[5]. In this paper, we present an improved method of probability map building that uses infrared sonsors and shift division Gaussian probability distribution with the existed Bayesian update model using ultrasonic sensors. The validity and the persormance of the improved map building method are examined by simulation and experiment with real mobile robot.

외상 후 속발된 주관절 변형에 있어서 운반각의 변화가 척골 근위부 성장에 미치는 영향

안상로,이광진,박원,오기영 충남대학교 의과대학 지역사회의학연구소 1994 충남의대잡지 Vol.21 No.2

The posttraumatic cubitus varus and valgus deformity is generally caused by malunion of supracondylar and condylar fracture of humerus in growing children. Generally it is known that carrying angle change is benign deformity causing no specific functional disabilities and the correction of the carrying angle change is performed for cosmetic reason. But after corrective osteotomy, there remained some Lasy S deformity on elbow joint. We invesgated the cause of this Lasy S deformity and found that most of deformity is caused by improper osteotomy, but we also found there developed some bowing deformity of the proximal ulnar metaphysic. So we measure the proximal ulnar bowing of 12 cases of cubitus varus and 4 cases of cubitus valgus which were operated on from 1984 to 1994. We also study the correlation between the amount and duration of the carrying angle change which the amount of the proximal ulnar bowing. The amount of carrying angle and carrying angle change correlate with the change of proximal ulnar bowing significantly. There is some correlation with duration of carrying angle change from proximal ulnar bowing.

海運産業에서 傭船의 經濟的 價値에 관한 考察

안기명,이상직,이광수 한국해양대학교 국제해양연구소 2001 韓國海洋大學校 人文社會科學論叢 Vol.13 No.1

Abstract The purpose of this study is to emphasize the importance of chartering decision in the shipping firms. In fact, skipping industry does the business in a completely open market between shipping firms and cargo owners all over the wolrd. This connection, the level of risk on the business managent of shipping firm is relatively high compared with other industries. In particular, the decision on the ship purchase, ship building and ship chartering is very important element to decide the future of the company. Accordingly, this paper will study the essential elements which will effect to the decision of the ship chartering and the basic reasons why shipping firms make the decisions of ship chartering with the burden of high risk management. According to the above results of the study, shipping firms make chatering decisions even though they are on the high level of risk in order to improve cash flow and profit of the company. Furthermore, the shipping firms operating ships efficiently and positively run into chartering market with high level of risk on chartering decision. It shows a shipping firm has no particular option except the derision of chartering in order to survive and grow up continuously under unlimited competition in the world-wide open market.

방전관용 전극개발 및 특성에 관한 연구

안성환,황동원,최준영,송시준,전용우,박원주,이광식 영남대학교 공업기술연구소 2001 工業技術硏究所論文集 Vol.29 No.1

This paper describes the development of sputtered tungsten electrode for discharge tube by making use of Sputtering method using plasma. The Xe discharge tube was designed and fabricated by using sputtered tungsten electrode, and the ICCD(Intensified Charged Coupled Device) and monochromator were used in order to observe the discharge image distribution and to measure the signal intensity. As a result, the emission light form the electrode was spreaded almost uniformly over a wide wavelength band, and the discharge image distribution and the signal intensity show quite a uniform distribution. The emission light from the Xe discharge tube was peaked at 488[nm] and 648[nm].

뇌실내출혈로 인한 급성 수두증에서 관찰된 해리증후군

김광기,이경민,이정주,오종배,안태범,정상욱,남현우,박성호 대한신경과학회 1999 대한신경과학회지 Vol.17 No.5

굴(Oyster) 배지에서의 세균 증식

안상용,고광균 순천향대학교 1993 논문집 Vol.16 No.2

This study was performed to develop Korean products of culture medium which favors the growth of the enteric bacteria and others. The essential nutrients was made from the extract of a oyster (Ostrea gigas). The new plating Oyester agar medium was tested for the growth of the members of the Enterobacteriaceae and Vibrionaceae and their ability to from colonies with nutrient agar medium. The following results were obtained. 1. Oyster agar medium was better than nutrient agar medium for the growth and isolation of all the members of the Enterobacteriaceae. The Salmonella enteritidis and E. coli formed large colonies especially on the oyster agar plate. 2. Oyster agar plate was the best media for the isolation and selection of Pseudomonas aeruginosa. 3. Most of the Vibrionaceae were inhibited on Oyster agar media and Staphylococcus aureus were highly inhibited.

세 건의 재해사고를 통한 우리 나라의 재해대책 분석

안무업,황성오,임경수,강성준 대한응급의학회 1993 대한응급의학회지 Vol.4 No.2

Disaster is a any community or regional events that disrupts community functions and activities and cause concern for the lives, health, and property of the citizens of that community. Successful management of disaster requires adequate planning and practice drills. Emergency medical service must play an important role in disaster management because any disaster produces various types of patients who need emergent care. We tried to analyse korean disaster planning in review of three recent disasters including aircraft crash, ship submergence, and road traffic accident. The result of disaster survey shows that there are many defects in Korean disaster plan at the stage of notification, propagation, rescue, stabilization and withdrwal and emergency medical service system is not being involved in disaster management because korean disaster plan is a civil-defence model. We conclude that current korean disaster plan is inadequate for management of disaster and it should be reinforced.

개질아스팔트 콘크리트의 변형강도와 소성변형특성 연구

김광우,최선주,이문섭,홍상기,안경애,이순제 강원대학교 부설 석재복합신소재 제품연구센터 2003 석재연 논문집 Vol.8 No.-

본 연구는 정하중하에서 최대하중과 변형을 이용하여 구한 변형강도(K_(D))로부터 아스팔트 콘크리트의 소성변형 계수의 추정 가능성을 보여준다. 이 논문은 새로운 강도특성치인 K_(D)를 개발하는 김테스트 연구의 일부로 최근 2, 3단계의 연구결과이다. 19mm 편마암과 화강암 2가지 골재와 3가지 폴리머로 제조한 7가지 바인더로 같은 입도에서 소성변형 저항성이 다른 14가지 혼합물을 만들었다. 3단계에선 슬래브 공시체(30cm x 30cm x 6cm)를 제조후 반으로 나누어 한쪽 공시체에선 두 개의 김테스트 공시체 코어를 뜨고 다른 한쪽으로는 60℃ 반복주행(WT)시험을 수행하였다. 한편 2단계에선 슬래브 공시체의 가운데에서 WT 시험을 수행하고 그 양옆에서 김테스트 공시체 코어를 채취하였다. 4가지 하중봉을 사용하여 60℃에서 김 테스트를 수행하였다. 침하깊이-반복회수 곡선으로부터 최종 침하 깊이와 동적안정도 두 가지 소성변형 계수를 각 혼합물별로 구했다. 각 하중봉과 골재 별로 K_(D)와 소성변형 계수간의 통계적 상관관계 분석을 수행한 결과 K_(D)와 소성변형 계수와의 결정계수가 매우 높게(R² > 0.9) 나타났다. 그러므로 K_(D)는 소성변형 계수를 추정하는데 있어 매우 적합한 특성치이며 4cm 직경에 1cm 반경으로 원형절삭한 하중봉이 R² 가장 높게 나타나는 하중봉임을 알 수 있었다. 따라서 김테스트는 향후 소성변형을 추정하기 위한 표준화된 특성치로 사용할 수 있도록 더 연구 개발을 할 수 있을 것으로 판단되었다. This study shows predictability of rut parameters of asphalt concrete based on the deformation strength (K_(D)) which is obtained from the maximum load, deformation and size variables of loading head under simple static loading. This paper is the result of latest studies, phases 2 and 3, which are parts of Kim Test study for developing a new strength property, K_(D), for asphalt concrete. Two aggregates, gneiss and granite, with maximum size of 19mm and seven binders using three polymers(LDPE, SBS, SBR) were used to produce 14 different natures of rut resistance mixtures using the same gradation. A slab(30m x 30cm x 6m) was cut into two pieces and 2 cores for Kim test were taken from a half piece and the other piece was used for wheel tracking (WT) test at 60℃ in phase 3. In phase 2, WT test had been carried out in the middle of a whole slab and cores were taken from both sides of the wheel path along the center line. Kim test was performed using four loading heads at 60℃. Two rut parameters, depth of rut and dynamic stability, from the rut depth-cycle curve from a WT test were obtained for each mixture. Statistical analysis were performed for each loading head and aggregate to find out correlation between K_(D) values and each rut parameter. The analysis result showed that K_(D) had very high coefficient of determination (R² > 0.9) on the average with rut parameters. It was found that K_(D) is a good property that has excellent predictability for rut parameter of asphalt concretes, and the 4cm diameter loading head with 1cm curvature radius gave the best result in R². Therefore, Kim test can be further developed as a standard property for use in rut performance estimation of asphalt concretes.

당뇨병 백서의 간세포에서 Glucokinase 활성도 및 유전자 발현에 대한 인슐린의 영향

강성이,팽정령,서광식,안규정,우정택,김성운,양인명,김진우,김영설,김광원,최영길 경희대학교 유전공학연구소 1993 遺傳工學論文集 Vol.5 No.-

목적 당대사의 조절 상태에 따른 생체 변화를 분자 수준에서 이해하고자 식이 조건을 달리한 정상 백서와 화학적으로 유도된 당뇨병 백서의 간조직에서 혈당수준과 인슐린치료 정도에 따라 나타나는 글루코키나제 활성도 및 유전자 발현을 분석하였다. 방법 스트렙토조토신 정맥투여 후 당뇨병의 유발을 확인하고, 인슐린을 1일 3회 3일간 복강내로 투여하여 상태를 안정시킨 후, 인슐린 투여군은 인슐린 투여 6시간이내에 그리고 인슐린 비투여군은 24시간 후 단두하여 채혈하고 복강을 열어 간조직을 채취하였다. 채취한 간조직에서 글루코키나제 활성도는 인산화된 포도당에서 NADH의 형성을 형광분광계로 측정하였으며, 글루코키나제 유전자 mRNA발현은 Northern 분석법을 이용하였다. 성적 정상 백서에서 공복상태와 식이를 섭취한 경우에 간조직의 글루코키나제 효소의 활성은 차이가 없었으나, 글루코키나제 유전자 mRNA 발현은 증가되었다. 당뇨병이 유발된 백서의 간조직에서 글루코키나제 효소의 활성 및 글루코키나제 유전자의 mRNA 발현은 정상 백서에 비하여 낮았다. 인슐린 투쳐 후 글루코키나제 효소의 활성 및 글루코키나제 유전자의 mRNA 발현이 증가되었고, 특히 혈당이 정상화된 경우에서 글루코키나제 유전자의 mRNA 발현이 증가도었다. 결론 인슐린에 의한 간조직에서 글루코키나제 효소의 활성 및 글루코키나제 유전자의 mRNA을 증가를 볼수 있었다. 당뇨병 백서에서 인슐린 투여 후에 혈당조절이 안된 경우 간조직의 글루코키나제 유전자의 mRNA 발현이 증가가 없는 것으로 보아 글루코키나제 mRNA의 발현에는 인슐린 이외의 다른 요소가 관여할 것으로 생각된다. The liver-specific hexokinase isoenzyme, referred to as glucokinase, is thought to play a key reglulatory role in hepatic glucose metabolism. The glucokinase gene is, therefore, of interest both because of its tissue-specific expression and because of the several regulatory processes that can be analyzed. The level of hepatic glucokinase activity appears to be determined essentially by regulation of the rate of enzyme synthesis, with insulin playing a leading role as an inducer. We investigated the role of insulin for the induction of glucokinase in the liver of diabetic rats. Experimental diabetes was induced by injection of streptozotocin 7 days before the experiment. Regular insulin was given by three days intraperitoneal injection at 8-h interval. The glucokinase mRNA in the liver was estimated by Nothern blot assay, as well as by fluorometric enzyme activity assay. Glucokinase activity was not reduced in the liver of normal fasting rats as compared to normal fed rats. And glucokinase activity was reduced in the liver of diabetic rats as compared to normal rats. In diabetic rats treated with insulin, glucokinase enzyme activity were increased. But glucokinase mRNA expression was only increased in normoglycemic diabetic rat with treated with insulin as compared to hyperglycemic rat. These data indicate that insulin stimulates hepatic glucokinase enzyme activity and mRNA expression. But other hormonal or metabolic factors may be contribute to regulation of glucokinase mRNA expression.

광궤환 알고리즘을 적용한 새로운 구조의 대용량 광 셀 압축기 및 역압축기 구현

김광복,안상호,엄진섭,박기오 강원대학교 정보통신연구소 1999 정보통신논문지 Vol.3 No.-

In this paper, we proposed a new type of the Optical Cell Compressor and Decompressor, which are essential functional modules in TDM and TDM/WDM Hybrid Optical ATM Switch structure. The proposed structure drastically lessens hardwares for realization, using applied optical feedback algorithm in the compressing and decompressing. Also, it is possible to compress and decompress the large capacity optical pulse stream under the situation of multi-stage connection. We specified the systematic application through 4-bit compressing experiment with the single module for the proposed optical cell compressor.