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척수 손상 백서에서 MK801 투여가 체성감각 유발전위 및 척수 조직에 미치는 효과
노성우,김영수,윤도흠,임승철,공경엽,박성혜,이경희,Roh, Sung Woo,Kim, Young Soo,Yoon, Do Heum,Rhim, Seung Chul,Kong, Kyung Yup,Park, Sung Hye,Lee, Kyung Hee 대한신경외과학회 2000 Journal of Korean neurosurgical society Vol.29 No.9
Objectives : This study was undertaken to investigate the effect of noncompetitive NMDA receptor blocker, MK801 on motor recovery, SSEP and pathology in spinal cord injured rat. Methods : The effects of MK801 on neuronal function protection, SSEP, and pathology were measured on spinal cord injury rats which were divided into 6 groups according to dose, time of drug delivery and magnitude of injury. Spinal cord injury was made with the magnitude of 25gm-cm and 50gm-cm on 42 rats. BBB locomotor function test was performed to evaluate the motor power recovery in hindlimb for 2 weeks after injury. After motor function test was completed, SSEP was measured. Amplitude and latency of the P1, N1 peak was measured and compared between groups. Finally rats were sacrificed, and pathologic findings including measurement of area of necrotic cord were studied and compared between groups. Results : Motor recovery at 2 weeks was better in MK801 group comparing to saline control group. SSEP at 2 weeks showed no difference in N1, P1 latencies, but significantly greater amplitude in MK801 group, compared to saline control group. On light microscope, there was no specific histologic differences between experimental groups. The cystic necrotic area in coronal plane was measured and compared in each group. The necrotic area was significantly smaller in MK801 1mg/kg group(delivered after injury) than vehicle group. The necrotic area in MK801 5mg/kg group and MK801 1mg/kg group(delivered before injury) was smaller than vehicle group even though it was not statistically significant. Conclusion : From the above result, it is speculated that NMDA blocker, MK801 can improve impaired neuronal function in spinal cord injury.
노성우,고낙용,김광진 한국로봇학회 2010 로봇학회 논문지 Vol.5 No.1
This paper proposes a path planning method of a mobile robot in two-dimensional work space. The path planning method is based on a cell decomposition approach. To create a path which consists of a number of line segments, the Delaunay Triangulation algorithm is used. Using the cells produced by the Delaunay Triangulation algorithm, a mesh generation algorithm connects the starting position to the goal position. Dijkstra algorithm is used to find the shortest distance path. Greedy algorithm optimizes the path by deleting the path segments which detours without collision with obstacles.
공동주택단지 주택규모가 단지내 상가 업종구성에 미치는 영향에 관한 연구 - 지방중소도시 충주지역 사례를 중심으로 -
노성우,김기수 대한건축학회지회연합회 2007 대한건축학회연합논문집 Vol.9 No.1
The purpose of this study examines the correlation between the elements of the housing complex plan and the types of shop among the adjunct commercial facilities; then estimates the optimal business items and their volumes so as to offer a standard that could be applicable in the future housing planning. An example of Apartment Housing development in Chung-ju area is examined in details as a case study. The scope is limited to examine the correlation and produce the direction for planning the commercial facilities with focus on the case study. Based on the preliminary research, site visits, and the analysis of the condominium complex ledgers, the correlation between the housing development conditions and the adjunct business facilities were concretely analyzed, the demand and the manageable business items were estimated, which eventually leads to offering a guideline for planning specific items and their volumes for adjunct commercial facilities.
위치 추정, 충돌 회피, 동작 계획이 융합된 이동 로봇의 자율주행 기술 구현
노성우,고낙용,김태균,Noh, Sung-Woo,Ko, Nak-Yong,Kim, Tae-Gyun 한국전자통신학회 2011 한국전자통신학회 논문지 Vol.6 No.1
본 논문은 실내 이동로봇의 자율주행 방법을 적용한 결과를 기술한다. 구체적으로 지도생성, 위치추정, 장애물 회피, 경로계획에 대해서 설명한다. 기하학적 지도는 위치추정과 경로계획에 이용된다. 위치 추정을 위해서 지도 정보를 이용하여 센서 데이터를 계산하고 이를 실제 센서 데이터와 비교한다. 위치 추정에는 몬테 카를로 위치 추정 방법을 사용한다. 인공 전위계를 사용하여 장애물로부터의 척력과 목표 위치로의 인력을 구하여 장물을 피한다. 경로계획을 위해 다익스트라 알고리즘을 이용하여 로봇의 출발 위치에서 목표 위치까지의 최단거리 경로를 구한다. 이러한 방법들이 통합하여 자율 주행 방법을 실제로 구현하여 실험하였다. 실제 실험을 통하여 제안한 방법이 로봇을 안전하게 자율주행하게 함을 확인하였다. This paper presents an implementation of autonomous navigation of a mobile robot indoors. It explains methods for map building, localization, obstacle avoidance and path planning. Geometric map is used for localization and path planning. The localization method calculates sensor data based on the map for comparison with the real sensor data. Monte Carlo Localization(MCL) method is adopted for estimation of the robot position. For obstacle avoidance, an artificial potential field generates repulsive and attractive force to the robot. Dijkstra algorithm plans the shortest distance path from a start position to a goal point. The methods integrate into autonomous navigation method and implemented for indoor navigation. The experiments show that the proposed method works well for safe autonomous navigation.
이동로봇의 GPS위치 정보 보정을 위한 파티클 필터 방법
노성우,김태균,고낙용,배영철,Noh, Sung-Woo,Kim, Tae-Gyun,Ko, Nak-Yong,Bae, Young-Chul 한국전자통신학회 2012 한국전자통신학회 논문지 Vol.7 No.2
본 논문은 실외환경에서 이동하는 자율주행로봇의 위치추정 문제를 다룬다. 위성 GPS정보와 IMU센서 정보를 보정하여 로봇의 위치를 확률적으로 추정하는 MCL방법을 제안한다. MCL 방법은 로봇의 위치 예측 과정과 센서 정보에 의해 예측된 위치를 보정하는 과정으로 구성된다. 위치 예측을 위해 필요한 모션모델은 이동 로봇이 구동시의 직진 오차와 회전 오차를 포함한다. 보정은 신뢰도 값에 기반한 리샘플링에 의해 이루어진다. 신뢰도 값은 사용된 GPS와 IMU의 센서 모델에 의해 구해진다. 센서 모델을 구하기 위하여 GPS의 오차 범위를 반복 실험을 통해 구하였다. GPS는 로봇의 위치 추정을 위해 사용되며 IMU는 로봇의 이동 방향을 추정하기 위해 사용된다. 본 논문에서 제안한 방법을 실외환경에서의 이동로봇 위치 추정에 적용하였고, 실험결과를 분석하여 제안한 방법을 유효성을 보였다. This paper proposes a method which corrects location data of GPS for navigation of outdoor mobile robot. The method uses a Bayesian filter approach called the particle filter(PF). The method iterates two procedures: prediction and correction. The prediction procedure calculates robot location based on translational and rotational velocity data given by the robot command. It incorporates uncertainty into the predicted robot location by adding uncertainty to translational and rotational velocity command. Using the sensor characteristics of the GPS, the belief that a particle assumes true location of the robot is calculated. The resampling from the particles based on the belief constitutes the correction procedure. Since usual GPS data includes abrupt and random noise, the robot motion command based on the GPS data suffers from sudden and unexpected change, resulting in jerky robot motion. The PF reduces corruption on the GPS data and prevents unexpected location error. The proposed method is used for navigation of a mobile robot in the 2011 Robot Outdoor Navigation Competition, which was held at Gwangju on the 16-th August 2011. The method restricted the robot location error below 0.5m along the navigation of 300m length.
노성우,김영수,정현주 대한신경외과학회 1988 Journal of Korean neurosurgical society Vol.17 No.5
A rare case of spinal meningeal mesenchymal chondrosarcoma in 3 10/12 year old boy is reported. The tumor was located in lumbosacral region. Osteoplastic laminotomy was performed for total removal of tumor. The postoperative result was good and related literatures were reviewed.