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김윤구,이기동,Kim, Yoon-Gu,Lee, Ki-Dong 대한임베디드공학회 2008 대한임베디드공학회논문지 Vol.3 No.3
The development of an unmanned vehicle basically requires the robust and reliable performance of major functions which include global localization, lane detection, obstacle avoidance, path planning, etc. The implementation of major functional subsystems are possible by integrating and fusing data acquired from various sensory systems such as GPS, vision, ultrasonic sensor, encoder, and electric compass. This paper focuses on implementing the functional subsystems, which are designed and developed by a graphical programming tool, NI LabVIEW, and also verifying the autonomous navigation and remote control of the unmanned vehicle.
USB(Universal Serial Bus) 데이터 송수신 성능향상을 위한 적응성 통신방식
김윤구,이기동,Kim, Yoon-Gu,Lee, Ki-Dong 한국통신학회 2006 韓國通信學會論文誌 Vol.31 No.10A
USB(Universal Serial Bus)는 최근 컴퓨터시스템에서 가장 인기 있는 인터페이스 중의 하나인데 이를 보다 확대하여 사용 시 즉, 다수의 디바이스들이 서로 연결되는 댁내망을 구성할 때는 버스대역을 시분할 다중화(TDM, Time Division Multiplexing) 방식으로 사용하는 USB의 특징상 버스대역의 병목현상을 초래하게 되는 데 이러한 상황을 보다 효율적으로 대처할 수 있는 버스 대역 사용방안을 제안한다. USB(Universal Serial Bus) is one of the most popular communication interfaces. When USB is used in an extended range, especially configurating In-home network by connecting multiple digital devices each other, USB interface uses the bandwidth in the way of TDM (Time Division Multiplexing) so that the bottleneck of bus bandwidth can be brought. In this paper, the more effective usage of bus bandwidth to overcome this situation is introduced.
Autonomous Terrain Adaptation and User-Friendly Tele-Operation of Wheel-Track Hybrid Mobile Robot
김윤구,안진웅,곽정환,홍대한,In-Huck Kim,신동환 한국정밀공학회 2012 International Journal of Precision Engineering and Vol. No.
This paper presents a terrain-adaptive wheel-track hybrid robot that uses a pair of combined wheel and track systems. The hybrid mobile platform can change the shape of track to adapt to various terrains so that it is able to move fast on flat terrain and to show good performance in overcoming stairs or obstacles. The proposed platform consists of an ordinary wheel structure for fast navigation on flat floors and a transformable tracked structure for climbing stairs effectively. In detail, three track arms installed on each side of the platform are used for the navigation mode transition between flatland navigation and stair climbing. The mode transition is determined and implemented by the adaptive driving mode control of the mobile robot. This wheel-track hybrid mobile platform is evaluated through experiments that assess its navigation performance in real and test-bed environments. This hybrid mobile robot is embodied to perform given tasks in a hazardous environment for surveillance, reconnaissance, and search and rescue applications.
증례 : 소화기 ; 복막암종증으로 오인된 뱀 생식에 의한 스파르가눔증
김윤구 ( Yun Ku Kim ),김명환 ( Myung Hwan Kim ),박한승 ( Han Seoung Park ),장지웅 ( Ji Woong Jang ),현일식 ( Yil Sik Hyun ),김지훈 ( Ji Hun Kim ) 대한내과학회 2012 대한내과학회지 Vol.82 No.3
Sparganosis is a zoonosis caused by sparganum. Humans can be exposed to sparganum by ingesting undercooked snakes or drinking infected copepods harboring sparganum. Sparganosis commonly manifests as migrating subcutaneous masses and may involve multiple organ systems such as the musculoskeletal system, central nervous system, the eyes, and the genitourinary system. We report here a case of laparoscopically confirmed sparganosis caused by ingestion of undercooked snakes. The sparganosis involved the liver and peritoneum and was initially difficult to differentiate from peritoneal carcinomatosis. (Korean J Med 2012;82:331-336)
만성 신부전 환자와 신이식 환자에서 혈장 총 호모시스테인과 엽산의 농도
김범(Beom Kim),하경원(Kyoung Won Ha),이윤하(Yoon Ha Lee),김혜영(Hye Young Kim),허우성(Woo Seong Huh),김대중(Dae Joong Kim),김윤구(Yoon Goo Kim),오하영(Ha Young Oh) 대한내과학회 1998 대한내과학회지 Vol.55 No.1
N/A Background: A few articles reported that the plasma total homocysteine(tHcy) concentration of renal transplant recipients(RTR) was higher than that of normal controls, but lower than that of patients with chronic renal failure. But renal function of the RTR was variable, and plasma tHcy concentration of RTR with normal renal function was unknown. We compared plasma tHcy concentration of RTR with norrr1 renal function to normal controls and evaluated the relation between folate concentration, the independent factor of plasma tHcy concentration, and plasma tHcy in patients with chronic renal failure in predialysis, hemodialysis(HD) and continuous ambulatory peritoneal dialysis(CAPD), Methods We measured fasting plasma level of total homocysteine by high-performance liquid chromatography and folate concentration in 36 predialysis CRF patients(Ccr<25mlu'min), 37 HD patients, 28 CAPD patients, 41 RTR(serum creatinine≤1.4mg/dL) and % healthy controls. Results : 1)Mean(±SD) tHcy concentration in pre- dialysis CRF(21.93 ±14.33 μ mol/L), HD(18.24±8.73μmol /L) and CAPD(17.16±7.8μmol/L) patients was significantly higher than that in controls (8.91±4.11μmol/L, P<0.05) but tHcy concentration of RTR group(8.99±3.99 μmol/L)had no difference from that of normal controls 2)In predialysis patients, CAPD patients, and HD patients showed a significant negative correlation between serum folate and plasma tHcy concentrations (r=-0.18, p<0.05). 3)In predialysis, HD and CAPD patients, mean plasma folate concentratirin in patients with 1mg/ day-folate supplementation(20.41±15.65ng/ml.) was higher than patients without 1mg/day-folate supplementation (10.20±8.24ng/mL)(p<0.05) and mean plasma tHcy concentration in patients with 1mg/day-folate supplementation (17.87±7.94μmol/L) was lower than patients without 1mg/day-folate supplementation(21.87±13.35μmol/L)(p<0.05). Conclusion: Plasma tHcy concentration in RTR with normal renal function had no difference with that in normal controls. In predialysis, HD, and CAPD patients, plasma tHcy had negative correlation with plasma folate concentration and plasma tHcy in patients with 1mg folate supplementation, usual dose in chronic renal failure, was higher than that in patients without folate supplementation and lower than that in normal controls.
관측 강우와 침수모의를 이용한 부산 에코델타시티 수해저감에 관한 연구
김윤구(YoonKu Kim),김성률(SeongRyul Kim),전해성(HaeSeong Jeon),추연문(YeonMoon Choo) 한국습지학회 2020 한국습지학회지 Vol.22 No.3
최근 찾아지는 이상기후와 급격한 도시화에 따른 불투수 면적의 증가는 저류량 감소로 이어져 지표유출량의 증가를 가져오게 되었다. 증가한 지표유출량은 도시하천의 범람으로 인한 침식, 수중 생태계 파괴, 도심지 내 인적 및 재산상의 피해를유발하는 원인이 되고 있다. 최근 국내에서는 국지성 호우, 태풍, 홍수로 인해 이러한 피해가 증가하고 있다. 이에 대한 대책으로 부산광역시는 2012년부터 2023년까지 미래지향적인 수변도시 조성을 목표로 부산 에코델타시티 친수구역 조성을진행하게 되었다. 따라서 본 논문에서는 미환경보호국에서 개발한 SWMM(Storm Water Management Model)을 활용하여, 현 도시하천 상태와 강수량 자료를 분석수집하고 홍수 피해를 모의하기 위한 목표 유역을 선정하였다. 모의된 자료를사용하여 다양한 경우에 대한 수해저감 대책을 제시하였다. 수해저감 대책 방안에 대한 시나리오를 구축하여 각 케이스 별로 재해방지방안을 구축하는 방법이다. 30년 빈도 80분의 강우사상으로 침수모의 해석을 실시하여 구조적 방안과 비구조적방안을 고려하였을 때, 배수문 증설보다 배수펌프장의 증설 효과가 큰 것으로 판단되며 비구조적 재해방지방안인 사전배제방법과 결합하여 8개의 시나리오와 그에 대응하는 대안을 계획하였다. 각 대안에 대한 평가를 실시한 결과, 6안의 펌프장증설 100㎥/s와 사전배제 EL.(-)1.5m가 최적대안이라고 판단되었다. The increase in the area of impervious water due to the recent abnormal weather conditions and rapid urbanization led to a decrease in the amount of low current, resulting in an increase in the amount of surface runoff. Increased surface runoff is causing erosion, destruction of underwater ecosystems, human and property damage in urban areas due to flooding of urban river. The damage has been increasing in Korea recently due to localized heavy rains, typhoons and floods. As a countermeasure, the Busan Metropolitan Government will proceed with the creation of the Eco-Delta City waterfront zone in Busan with the aim of creating a future-oriented waterfront city from 2012 to 2023. Therefore, the current urban river conditions and precipitation data were collected by utilizing SWMM developed by the Environment Protection Agency, and the target basin was selected to simulate flood damage. Measures to reduce flood damage in various cases were proposed using simulated data. It is a method to establish a disaster prevention plan for each case by establishing scenario for measures to reduce flood damage. Considering structural and non-structural measures by performing an analysis of the drainage door with a 30-year frequency of 80 minutes duration, the expansion effect of the drainage pump station is considered to be greater than that of the expansion of the drainage door, and 8 scenarios and corresponding alternatives were planned in combination with the pre-excluding method, which is a non-structural disaster prevention measure. As a result of the evaluation of each alternative, it was determined that 100m3/s of the pump station expansion and the pre-excluding EL.(-)1.5m were the best alternatives.