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휴머노이드 로봇의 보행 안정성을 위한 이중 루프 강인 제어기의 2 자유도 설계
박해연(Hae Yeon Park),임동현(Donghyun Lim),김정훈(Jung Hoon Kim) 대한전자공학회 2024 대한전자공학회 학술대회 Vol.2024 No.6
This paper is concerned with a dual-loop robust control scheme for the biped walking stability of humanoid robots. We present that the dual-loop robust control scheme can coordinate the tracking performance from the initial condition and the robust performance from the disturbance, simultaneously. Furthermore, we present the detailed implementation of the robust control loop in state-space representation. Finally, we conclude with simulation results validating the effectiveness of the proposed scheme.
증례 / 제생 불량성 빈혈과 신증후군이 동반된 전신성 홍반성 낭창 환자에서 plasma filtration 과 synchronized cyclophosphamide 치료 1예
박해심(Hae Sim Park),김현수(Hyun Soo Kim),남동기(Dong Ki Nam),박지원(Jee Won Park),최소연(So Yeon Choi),김효철(Hugh Chul Kim),김희연(Hee Yeon Kim),남동호(Dong Ho Nahm) 대한내과학회 1999 대한내과학회지 Vol.56 No.1
Systemic lupus erythematosus(SLE) is a multisystemic autoimmune disease. In rare case, aplastic anemia can develop as a complication of SLE. We report a case of SLE patient with aplastic anemia and nephrotic syndrome. A 33-year-old woman was admitted because of gum bleeding. After laboratory work up including bone marrow biopsy study, she was diagnosed as SLE with aplastic anemia and nephrotic syndrome. The patient was initially treated with high dose steroid pulse therapy. However the patient did not responded to high dose steroid treatment. We treated the patient with plasma filtration and synchronized cyclophosphamide thrapy followed by monthly intravenous cyclophosphamide treatment. Complete clinical remission of hematologic and renal complications was achieved in this patient. We suggest that plasma filtration and synchronized cyclophosphamide therapy might be one of efffectie treatment modality in the management of severe SLE patient.
샘플링 사이의 거동을 고려한 아날로그 제어기의 H₂ 최적 디지털 재설계
박해연(Hae Yeon Park),김정훈(Jung Hoon Kim) 대한전기학회 2021 대한전기학회 학술대회 논문집 Vol.2021 No.10
본 논문은 사전에 설계된 아날로그 제어기에 대하여, 임의의 시각에 입력되는 계단형 연속시간 기준 및 외란 신호에 대한 최적성을 확보할 수 있는 디지털 재설계를 다룬다. 이를 위하여, 기존의 아날로그 제어기와 새롭게 재설계할 디지털 제어기 사이의 응답 차이를 샘플러와 홀더가 포함된 일반화된 샘플치 제어 시스템으로 모델링 하며, 임의의 시각에 부가되는 연속시간 신호의 영향을 정량적으로 고려하기 위한 H₂ norm을 제안한다. 아울러 이러한 H₂ norm을 최소화하는 디지털 제어기 설계 방법을 소개하며, 마지막으로 시뮬레이션을 통해 제안한 기법의 유효성을 확인한다.
환삼덩굴 화분증 : 천식유발시험상 확진된 환자들의 임상적 특징
박해심,최소연,남동호,김희연 (Hae Sim Park,So Yeon Coi,Dong Ho Nahm,Hee Yeon Kim) 대한천식알레르기학회 1998 천식 및 알레르기 Vol.18 No.1
Baekground: Hop Japanese (Hop J) pollens are abundant in the air of Korea during the autumn season. Their significances as a source of allergenic sensitization have been underestimated in this country. Msterial and Method; In other to observe clinical features of Hop J-sensitive asthmatic patients in this country, skin prick test with Hop J pollen was performed. The serum specific IgE antibodies to Hop J pollen antigen were detected by enzyme linked immunosorbent assay (ELISA) in positive responders (>2+ of A/H ratio) on skin prick test. To confirm the respiratory sensitization, bronchoprovocation test was performed in 17 asthmatic patients sensi- tive to this pollen. Result: Ten asthmatic subjects showed a significant bronchoconstriction following the inhalation of Hop J pollen extract (6 early and 4 dual astmatic responses) and all of them had high serum specific IgE bindings, with minimal bindings in negative responders. They have suffered from seasonal aggravation of asthmatic symptoms with or without rhinitis, and/or conjunctivitis symptoms. The skin reactivity to Hop J had more than 5+ of A/H ratio on skin prick test in nine positive responders, whlie negative responders showed from 1+ to 3+ response. Moreover, four (40%) asthmatic subjects showed a positive response to only the Hop J pollen on skin prick test and an isolated positive asthmatic response to the Hop J bronchoprovocation test. Conelusion'. We believe that the Hop J pollen should be considered as an allergen during the Autumn season, and thus included in skin test batteries in this area. Some labelled having intrinsic asthma or rhinitis might be sensitized to this pollen or other unknown allergens.