로봇 매니퓰레이터의 불확실성 보상을 위한 퍼지­-뉴로 제어

박세준,양승혁,황문구,양태규 한국정보통신학회 2003 한국정보통신학회논문지 Vol.7 No.8

본 논문에서는 로봇 매니퓰레이터의 궤적 추종 제어에 관한 연구를 위하여 뉴로­퍼지 제어기를 제안하였다. 궤적 추종 제어기를 설계할 경우, 주로 이용되는 효과적인 방법은 토크 계산 제어 방식이다. 그러나, 로봇 매니퓰레이터에 의한 불확실성 문제로 인하여 토크 계산 제어 방식만으로는 좋은 제적 추종 성능을 얻을 수가 없다. 그러므로, 본 논문에서는 로봇 매니퓰레이터에서 발생한 불확실성을 보상하기 위하여 제안된 뉴로­퍼지 제어기를 이용하였다. 뉴로­퍼지 제어기에서의 퍼지 규칙의 수를 49개로 설정하였으며, 2관절 로봇 매니퓰레이터를 이용한 컴퓨터 시뮬레이션을 통해 제어기의 효율성을 입증하였다. 그 결과. 제안된 뉴로­퍼지 제어기의 출력이 로봇 매니퓰레이터에서 발생한 불확실성을 효과적으로 감소시킬 수 있음을 확인할 수 있었다. This paper proposes a neuro­fuzzy controllers for trajectory tracking control of robot manipulators. The computed torque method is an effective means for trajectory tracking control. However, the tracking performance of this method is severely affected by the uncertainties of robot manipulators. Therefore, the proposed controller is used to compensate the uncertainties of robot manipulators. In the neuro­fuzzy controllers, the number of fuzzy rules used forty­nine. The effectiveness of the proposed controllers is demonstrated by computer simulations using two­link robot manipulator, As a result, it is confirmed that the output of the proposed neuro­fuzzy controllers can efficiently decrease the uncertainties of robot manipulator.

Si 함유 다이아몬드상 카본 필름의 환경변화에 따른 마찰거동 연구

박세준,이광렬,공호성,양승호 한국진공학회 2000 한국진공학회 학술발표회초록집 Vol.- No.-

남북경협사업 우선순위 분석에 관한 연구 : 제조업ㆍ업종별 중심으로

박세준 중앙대학교 민족발전연구원 2001 民族發展硏究 Vol.- No.5

Introduction of a New Radiographic Parameter to Predict Proximal Junctional Kyphosis in Adult Spinal Deformity: UIVPTA (Uppermost Instrumented Vertebra-Pelvic Tilt Angle)

박세준,이종서,박진성,신태수 대한척추신경외과학회 2023 Neurospine Vol.20 No.3

Objective: To introduce a new sagittal parameter, uppermost instrumented vertebra-pelvic tilt angle (UIVPTA), and to determine the effects on the proximal junctional kyphosis (PJK) development in adult spinal deformity (ASD) surgery. Methods: Patients ≥ 60 years with ASD who underwent low thoracic spine to pelvis fusion with a minimum of 2-years of follow-up were included in this study. Two groups were created according to PJK development. Various clinical and radiographic factors were compared between PJK and non-PJK groups to identify the risk factors for PJK. Cutoff value of UIVPTA for PJK development was calculated using receiver operating characteristic curve according to different pelvic incidence groups. Linear regression analysis was performed to identify factors to affect UIVPTA. Results: One hundred fifity-one patients were included in this study. There were 135 female patients (89.4%). Mean age was 70.5 years. PJK developed in 65 patients (43.0%). Multivariate analysis showed that overcorrection relative to age-adjusted pelvic incidence (PI) minus lumbar lordosis (LL) (PI–LL) target and lower UIVPTA were independent risk factors for PJK. The cutoff value of UIVPTA for PJK development was calculated as 4.0° in patients with PI less than 45°, 9.5° in patients with PI between 45° and 60°, and 13.0° in patients with PI greater than 60°. Linear regression analysis showed that UIVPTA was positively affected by postoperative values of LL (coefficient = 0.505), PI–LL (coefficient = 0.674), and pelvic tilt (coefficient = 0.286). Conclusion: Optimal correction within the age-adjusted PI–LL combined with keeping UIVPTA within optimal range is suggested for the prevention of PJK.

퇴행성 성인 척추 변형 교정에 대한 전측-후방 접근법과 후방 접근법의 비교

박세준,이종서,염태훈,남윤진,박진성 대한척추외과학회 2020 대한척추외과학회지 Vol.27 No.1

Study Design: A case-control study. Objectives: This study was conducted to demonstrate the reliability of mini-open anterior lumbar interbody fusion (ALIF) combined with lateral lumbar interbody fusion (LLIF) followed by 2-stage posterior fixation in patients with adult spinal deformity (ASD). Summary of Literature Review: Although the correction of ASD using LLIF has become more widespread, the amount of sagittal plane correction has been reported to be suboptimal. Materials and Method: Thirty ASD patients who underwent ALIF with LLIF followed by 2-stage posterior fixation (AP group) were compared to 60 patients who underwent posterior-only surgery (PO group) and were matched according to age, sex, diagnosis, fusion level, pelvic incidence, and follow-up duration. Spinopelvic parameters, hospitalization data, clinical outcomes, and complications were compared between the 2 groups. Results: Postoperative lumbar lordosis was greater in the AP group than in the PO group (p<0.001). The reduction in the sagittal vertical axis was also greater in the AP group than in the PO group (p=0.005). Postoperatively, 90.0% of the AP group had a pelvic incidence–lumbar lordosis value within 9°, whereas only 50.0% of the PO group met that criterion (p<0.001). The operation time of the AP group was longer than that of the PO group, while estimated blood loss and red cell transfusion were lower in the AP group. Postoperative medical complications and delayed surgical complications developed more frequently in the PO group. Conclusions: Mini-open ALIF with LLIF followed by 2-stage posterior fixation can restore sagittal balance more appropriately, with a lower rate of complications, than posterior-only surgery for the correction of ASD. 연구 계획: 환자 대조군 연구목적: 성인 척추 변형 환자에서 측방 추체간 유합술과 최소 절개 전방 추체간 유합술을 시행한 후 단계적으로 후방 고정술을 시행하는 것이 신뢰할만한술식 인지를 확인하고자 하였다. 선행 연구문헌의 요약: 성인 척추 변형 환자에서 측방 추체간 유합술을 이용한 교정 수술이 증가하고 있지만 시상 정렬의 교정 정도는 충분하지 못하다. 대상 및 방법: 측방 추제간 유합술과 함께 전방 추체간 유합술을 시행한 후 단계적으로 후방 고정술을 시행한 AP 그룹 30명의 환자와 나이, 성별, 진단명, 유합 분절 수, 골반 입사각, 추시 기간이 같은 PO 그룹 60명의 환자를 비교하였다. 척추골반지표, 입원기간, 임상 결과와 합병증 발생을 비교 분석하였다. 결과: 수술 후 요추 전만각은 AP 그룹이 PO 그룹보다 유의하게 더 컸다(p<0.001). 시상면 수직축 교정 정도는 AP 그룹에서 PO 그룹보다 더 많이 교정되었다(p=0.005). 수술 후 AP 그룹에서는 90.0%에서, PO 그룹은 50.0%에서 PI-LL이 9도 이내의 적절한 교정을 보였다(p<0.001). 총 수술 시간은 AP그룹이 PO 그룹보다 더 많은 시간이 소요되었지만 수술 중 출혈량과 수혈량은 AP 그룹에서 더 적었다. 수술 후 발생한 내과적 합병증과 수술과 관련된 합병증은 PO 그룹에서 더 많이 발생하였다. 결론: 성인 척추 변형 교정에 있어서 측방 추체간 유합술과 함께 최소 절개 전방 추체간 유합술 후 후방 고정 방법은 후방 접근만으로 수술을 시행하는 것과 비교하였을 때 적은 합병증으로 효과적인 시상 정렬 교정을 가능하게 해주었다. 약칭 제목: 성인 척추 변형 교정에 대한 전측-후방 접근

DLC 필름의 마찰 마모 특성의 습도 의존성에 대한 연구

박세준,이광렬,이승철,고대홍 한국진공학회 2004 한국진공학회 학술발표회초록집 Vol.- No.-

A Case of Secondary Hypertension Associated with the Nutcracker Phenomenon

박세준,김선미,원제환,임홍석 대한심장학회 2014 Korean Circulation Journal Vol.44 No.6

A 25-year-old Korean woman was referred for uncontrolled hypertension. Laboratory examination revealed increased plasma renin activityand microscopic hematuria. Computed tomography demonstrated compression of the left renal vein (LRV) between the aorta and superiormesenteric artery; however, both renal arteries were intact and there was no adrenal mass. Renal vein catheterization showed externalcompression with a pressure gradient of up to 8 mm Hg between the LRV and the inferior vena cava. Plasma renin activity in theLRV was almost five times higher than that in the right renal vein. In this patient, renin-dependent hypertension was caused by renalcongestion due to LRV obstruction.

벤젠과 헥산을 이용한 DLC필름의 특성 비교

박세준,이광렬 한국진공학회 2006 한국진공학회 학술발표회초록집 Vol.15 No.1

DLC 필름의 환경 변화에 따른 마찰 마모 특성 평가

박세준,이광렬,은광용,고대홍 한국진공학회 2002 한국진공학회 학술발표회초록집 Vol.- No.-

Accurate Measurement of THz Dielectric Constant Using Metamaterials on a Quartz Substrate

박세준,안영환 한국광학회 2017 Current Optics and Photonics Vol.1 No.6

We present dielectric constant measurements of thin films using THz metamaterials fabricated on a quartzsubstrate. The resonance shifts of the metamaterials exhibit saturation behavior with increasing filmthickness. The saturation frequency shift varies with the real part of the dielectric constant, from whichthe numerical expression for the particular metamaterial design was extracted. We first performedfinite-difference time-domain simulations to find an explicit relationship between the saturated frequencyshift and the dielectric constant of a thin film, which was confirmed by the experimental results fromconventional techniques. In particular, the quartz substrate enables us to determine their values moreaccurately, because of its low substrate index. As a result, we extracted the dielectric constants of variousfilms whose values have not been addressed previously without precise control of the film thickness.