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GMM-Kalman 필터를 이용한 이동 로봇의 실내 위치 추정 정확도 향상 연구
박종호,유성구,설남오 한국기계기술학회 2023 한국기계기술학회지 Vol.25 No.2
In this study, we present an algorithm for indoor robot position estimation. Estimating the position of an indoor robot using a fixed imaging device obviates the need for complex sensors or hardware, enabling easy estimation of absolute position through marker recognition. However, location estimation becomes impossible when the device moves away from the surrounding obstacles or the screen, presenting a significant drawback. To solve this problem, we propose an algorithm that improves the precision of robot indoor location estimation using a Gaussian Mixture Model(GMM) and a Kalman filter estimation model. We conducted an actual robot operation experiment and confirmed accurate position estimation, even when the robot was out of the image.
박종호,백희종,Park, Jong-Ho,Baek, Hui-Jong 대한흉부심장혈관외과학회 1997 Journal of Chest Surgery (J Chest Surg) Vol.30 No.5
이 보고서에서는 최근에 저자 등이 5-100단백질을 함유하고 있는 아주 드문 폐 실질안의 신경종양을 경험하 였기에 보고하고자 한다. 이 환자는 47세 남자로 평소 증상은 없었으나, 신체검사에서 우연히 발견된 좌측 폐문의 종피를 주소로 내원한 자이다 이 종괴의 정확한 진단 및 치료를 위하여 수술을 시행하였으며, 병리 조직학적 검사에서 원발성 폐실질내 신경초종으로 판명되었다. 특수염색검사에서 종양안의 5-100단백질의 존재를 확인할 수 있었다. In this paper, we present an extremely rare case of a primary intrapulmonary neurogenic tumor, in which localization of S-100 protein was investigated using immunohistochemical staining. The patient, who was a 47 year old man, experienced no symptoms, however, a routine chest X-ray revealed a round tumor like shadow in the hilar area of left lung. To confirm and cure the mass, surgery was performed. Histopathological examination of the excised tumor revealed it to be a primary intrapulmonary neurilemmoma. Immunohistochemical staining demonstrated the presen e of S-100 protein in the tumor cells.
A*와 TEB 알고리즘 기반의 스마트 이동 로봇 경로 생성 시스템 설계
박종호,유성구,설남오 한국기계기술학회 2023 한국기계기술학회지 Vol.25 No.2
Path planning is necessary for mobile robots to perform precise and rapid tasks. A collision avoidance function must be included so that the robot can move safely during work, and it must be able to create an optimal path to reduce work execution time and save energy. In this paper, we propose a smart route generation algorithm that searches for global route with an algorithm that can speed up route search and integrates the TEB algorithm that can search for regional optimum routes in real time according to the situation. The performance of the proposed algorithm was verified through actual driving experiments of mobile robots.
박종호 대한흉부심장혈관외과학회 1993 Journal of Chest Surgery (J Chest Surg) Vol.26 No.3
Three hundred consecutive adult patients having cardioaortic surgery under the cardiopulmonary bypass for a variety of cardioaortic lesions were evaluated retrospectively for postoperative hyperbilirubinemia[above 5mg/100ml].We found twenty eight patients with postoperative hyperbilirubinemia and divided them into two groups according to the postoperative day of peak s-bilirubin .Group A was the patients with a peak s-bilirubin level within three days ,and group B above three days postoperatively.Group B was divided into group S[survive] and group D[death] . We had compaired the survival & death group and observed the correlation between the decreasing tendency of postoperative s-bilirubin & the nutrition per os in group B. The incidence of postoperative hyperbilirubinemia,as defined by a s-bilirubin concentration of 5.0mg/100ml or greater,was 9.3%.The mortality rates of group A & B were 0.0% and 35.7% respectively.Important contributing factors between group A & B were the age,duration of ICU,Max.DOAB[maximum dose of catecholamine used],amount of blood transfused during or shortly after surgery and preoperative pulmonary hypertension[main pulmonary artery pressure > 30mmHg] and backward heart failure. The risking factors of group D compared to group S were as follows the age,preoperative & postoperative SGOT[serum glutamic-oxaloacetic trasaminase],postoperative total & indirect bilirubin,cardiopulmonary bypass time,duration of ICU & mechanical ventilation ,Max.DOAB,preoperative pulmonary hypertension and backward heart failure.The six patients in group B showed good correlation between the decreasing point of s-bilirubin and the starting day of oral or tube feeding.
급속응고된 Al-Nb와 Al-Nb-Zr 합금의 조성 변화에 의한 상변태 거동
박민우,이광진,박종호 경성대학교 공학기술연구소 1999 공학기술연구지 Vol.6 No.-
Al-Nb and Al-Nb-Zr alloys were rapidly solidified by splat-quenching techniques to study phase evolution upon heating at 425℃ for 200hrs. The as-quenched and annealed microstructure of the Al-Nb and Al-Nb-Zr alloys were analyzed by x-ray diffraction and transmission Electron Microscopy. The alloys studied were the Al-1.5Nb and the ternary alloys of Al-1.95Nb-0.65Zr, Al-1.3Nb-1.3Zr, and Al-0.65Nb-1.95Zr. The composition of the alloys were calculated to yield exact lattice matching between the Al matrix and the coherent Al₃(Nb,Zr) precipitate by applying Vegard rule. The as-quenched phase of the alloys were all supersaturated phase of aluminum solid solution. Annealing at 425℃ for 200hrs results in the precipitation of coherent metastable Ll₂Al₃(??) and Ll₂Al₃(??) phase in Al-0.65Nb-1.95Zr and Al-1.3Nb-1.32Zr alloys, respectively. For the alloys with higher content of Nb addition in the Al-1.95Nb-0.65Zr, the equilibrium ?? Al₃(??) phase was precipitated. Thus, the formation of fine dispersoid metastable Al₃(Nb,Zr) phase would increase resistance to particle coarsening, which will improve the high temperature strength of the alloy.