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Least-square Matching for Mobile Robot SLAM Based on Line-segment Model
박상형,이수영 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.11
This study proposes an efficient simultaneous localization and mapping (SLAM) algorithm for a mobile robot. The proposed algorithm consists of line-segment feature extraction from a set of points measured by a LIDAR, association and matching between the line-segments and a map database for position estimation, and the registration of the line-segments into the map database for the incremental construction of the map database. The line-segment features help reduce the amount of data required for map representation. The matching algorithm for position estimation is efficient in computation owing to the use of a number of inliers as the weights in the leastsquares method. Experiments are conducted to demonstrate the performance of the proposed SLAM algorithm, and the results show that the proposed algorithm is effective in the map representation and the localization of a mobile robot.
박상형,박수정,박정빈,한소정,이승범,김동현,천재희,황성욱,예병덕,양석균 연세대학교의과대학 2024 Yonsei medical journal Vol.65 No.5
Purpose: Studies on intestinal Behçet’s disease (BD) complicated by myelodysplastic syndrome (MDS) are rare, and no established therapeutic guidelines exist. This study aimed to evaluate the clinical presentation and outcomes of patients with intestinal BD complicated by MDS (intestinal BD–MDS) and suggest a treatment strategy. Materials and Methods: Data from patients with intestinal BD–MDS from four referral centers in Korea who were diagnosed between December 2000 and December 2022 were retrospectively analyzed. Clinical features and prognosis of intestinal BD–MDS compared with age-, sex-matched intestinal BD without MDS were investigated. Results: Thirty-five patients with intestinal BD–MDS were included, and 24 (70.6%) had trisomy 8. Among the 35 patients, 23 (65.7%) were female, and the median age at diagnosis for intestinal BD was 46.0 years (range, 37.0–56.0 years). Medical treatments only benefited eight of the 32 patients, and half of the patients underwent surgery due to complications. Compared to 70 matched patients with intestinal BD alone, patients with intestinal BD–MDS underwent surgery more frequently (51.4% vs. 24.3%; p=0.010), showed a poorer response to medical and/or surgical treatment (75.0% vs. 11.4%; p<0.001), and had a higher mortality (28.6% vs. 0%; p<0.001). Seven out of 35 patients with intestinal BD–MDS underwent hematopoietic stem cell transplantation (HSCT), and four out of the seven patients had a poor response to medical treatment prior to HSCT, resulting in complete remission of both diseases. Conclusion: Patients with intestinal BD–MDS frequently have refractory diseases with high mortalities. HSCT can be an effective treatment modality for medically refractory patients with intestinal BD–MDS.
박상형,김가희,김민준,김규원,박정빈,백지은,배준화,홍승욱,황성욱,양동훈,예병덕,변정식,명승재,양석균 연세대학교의과대학 2024 Yonsei medical journal Vol.65 No.5
Purpose: This study aimed to evaluate the safety of biologics and small molecules for the treatment of inflammatory bowel diseases (IBD) in patients receiving antirejection therapies after organ transplants. Materials and Methods: We reviewed the medical records of patients with IBD who received organ transplants at the Asan Medical Center between January 1989 and December 2021. We compared the parameters of patients receiving biologics or small molecules to those of patients without those therapies. Results: This study included a total of 53 patients (ulcerative colitis, 41; Crohn’s disease, 6; and gastrointestinal Behçet’s disease, 6). Among them, 15 patients were receiving biologics or small molecules and 38 were not. During a mean follow-up of 119 months, the proportion of patients experiencing severe infections was significantly higher in those treated with biologics or small molecules than in those not treated. However, other safety outcomes (e.g., malignancies, adverse events, including organizing pneumonia or hepatic failure, and death) were not different between the two groups. Kaplan–Meier curve analysis revealed no significant difference in the safety outcome rate related to the use of biologics or small molecules. During follow-up, eight patients underwent bowel resections for IBD. The rate of bowel resection was not different between the two groups. Conclusion: The use of biologics or small molecules for patients with IBD who received organ transplants did not show a significant difference in safety outcomes. However, the possibility of severe infections must be considered.
박상형,이수영 제어로봇시스템학회 2016 제어로봇시스템학회 각 지부별 자료집 Vol.2016 No.01
Localization capability is essential for an autonomous mobile robot. The optical mouse is one of useful sensors for the mobile localization because it is cost-effective and it can overcome the slip problem and the modeling error in the motion equation of a mobile robot. Simple integration is a possible algorithm to localize a mobile robot using velocity data from the optical mouse sensor. However, the result of the localization is deteriorated by inevitable signal noise in the mouse sensor data. An effective localization algorithm based on Kalman filter theory is proposed in this paper for a mobile robot with the optical mouse sensors. The performance of the proposed algorithm over the simple integration of the mouse sensor data is shown by computer simulation.
Active Balancing Control for Unmanned Bicycle Using Scissored-Pair Control Moment Gyroscope
박상형,이수영 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.1
A control moment gyroscope (CMG) is capable of generating strong restoration torque with a relatively small-sized flywheel by changing the direction of flywheel momentum. Because the CMG is energy efficient, it has been used for active balancing of a bicycle that has an unstable equilibrium point in its dynamics. A single CMG generates not only the restoration torque component but also an additional unwanted torque component. In contrast, a scissored-pair CMG cancels out the unwanted torque and doubles the restoration torque. This study deals with active balancing to implement an unmanned bicycle by using a scissored-pair CMG. Based on the inverted pendulum dynamics model of a bicycle, a linear quadratic regulation algorithm is presented for balancing control. In order to investigate active balancing, a miniaturized bicycle system is developed, and its 3D solid model is created to obtain the parameter values of the dynamics model. Two kinds of disturbances exist that can cause the instability of a bicycle with an unstable equilibrium point: impulsive external disturbance and static constant disturbance. Experimental results show the performance of active balancing for a bicycle with a scissored-pair CMG against those disturbances.
AHP를 활용한 국내 냉동물류센터 입지경쟁력 결정요인에 관한 연구
박상형,차준헌,김시현 한국항해항만학회 2023 한국항해항만학회 학술대회논문집 Vol.2023 No.1
COVI-19 이후 콜드체인 시스템의 중요성이 증가함과 함께 냉동물류센터에 대한 중요성도 부각되고 있다. 향후 냉동물류센터의양적•질적 팽창은 불가피하며 그에 따른 위치선정의 중요성도 커지고 있다. 하지만, 대다수의 국내 냉동물류센터는 단순보관의 역할 위주에, 도심이나 주요도로와 멀리 떨어져 있고, 노후화의 문제를 가지고 있다. 또한 냉동물류센터는 에너지 소비가 많은 만큼 위치선정에 따른 비용문제도 큰 영향을 미친다. 따라서 본 연구는 AHP를 활용하여 부산 경남 냉동 물류 센터의 위치 경쟁력 결정 요인을 분석하고자 한다. 시설요인, 서비스 요인, 위치 요인, 그리고 비용 요인의 네 가지 영역과 이를 세부적으로 나누어 19개의 항목을 계층화하여 상대적 중요도를 평가하였다. 연구결과는 냉동물류센터의 입지결정요인과 기존에 냉동물류센터에 요구되던 기본적인 요소에 입지경쟁력 분석을 위한 우선 순위를계층화하였다. 비용요인이 국내 냉동물류센터 입지경쟁력의 결정요인 중 가장 높은 비중을 차지하였다. 실제 시설인프라와 물류연결성은 관련 업종 근무자들이 가장 민감하게 받아들이는 사항이기도 하며 새로운 냉동물류센터의 도입 시에도 필수적으로 참고가 되어야할 것으로 보인다. 본 연구는 냉동물류센터 종사자 및 관련업계 종사자들이 어떠한 요인을 냉동물류센터의 입지경쟁력 결정요인으로 비중 있게 고려하고있는지를 도출하였고, 향후 입지경쟁력 향상을 위한 전략적 시사점을 제공한다.