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소형 무인비행체에서의 충돌회피를 위한 비행경로 생성에 관한 연구
신새벽,김진배,김신덕,김정길 한국위성정보통신학회 2017 한국위성정보통신학회논문지 Vol.12 No.1
소형 무인기(UAV: Unmanned Aerial Vehicle)가 급속히 대중화됨에 따라 최근의 UAV 시스템은 각각의 목적에 따라 다양한 분야에 서 설계되고 활용되고 있다. 이는 UAV 조정과 관련하여 전자, 센서, 카메라, 소프트웨어 프로그램 등에 이르기까지 많은 새로운 기회를 열어 가고 있으며 저비용 및 혁신적 업무 수행 능력으로 UAV의 활용과 응용 영역의 확대는 새로운 기술 혁신을 주도하고 있다. 특히 소형 UAV는 저고도 상황에서 예측이 힘든 돌발 변화나 장애물 출현 발생 확률이 높은 환경에서 비행을 하여야 한다. 본 논문에서는 소형 UAV 시스템의 자율 비행 기술에 관한 최근의 연구를 소개하고 적대적인 환경에서 소형 UAV의 저비용 센서들 을 활용하여 경로 생성과 충돌 회피를 통해 안전하게 목표물에 도착을 유도하는 시험적 방안을 제안 한다. With the fast growing popularity of small UAVs (Unmanned Aerial Vehicles), recent UAV systems have been designed and utilized for the various field with their own specific purposes. UAVs are opening up many new opportunities in the fields of electronics, sensors, camera, and software for pilots. Increase in awareness and mission capabilities of UAVs are driving innovations and new applications driven with the help of low cost and its capability in undertaking high threat task. In particular, small unmanned aerial vehicles should fly in environments with high probability of unexpected sudden change or obstacle appearance in low altitude situations. In this paper, current researches regarding techniques of autonomous flight of smal UAV systems are introduced and we propose a draft idea for planning paths for small unmanned aerial vehicles in adversarial environments to arrive at the given target safely with low cost sensors.
김세미,신새벽,강현아,조혜영,이용복,Kim, Se-Mi,Shin, Sae-Byeok,Kang, Hyun-Ah,Cho, Hea-Young,Lee, Yong-Bok 대한약학회 2008 약학회지 Vol.52 No.4
Gabapentin, 1-(aminomethyl) cyclohexaneacetic acid, is a amino acid derivative, and is clinically effective in the treatment of neuropathic pain and partial seizures of epilepsy as a complementary therapy. The purpose of the present study was to evaluate the bioequivalence of two gabapentin tablets, $Neurontin^{R}$ tablet 800 mg (Pfizer Pharmaceuticals Co., Ltd.) and Gabapenin tablet 800 mg (Hanmi Pharm. Co., Ltd.), according to the guidelines of the Korea Food and Drug Administration (KFDA). The release of gabapentin from the two gabapentin formulations in vitro was tested using KP VIII Apparatus II method with 0.06 M HCI dissolution media. Twenty six healthy male subjects, $23.85{\pm}2.24$ years in age and $69.40{\pm}11.11$ kg in body weight, were divided into two groups and a randomized $2{\times}2$ crossover study was employed. After a single tablet containing 800 mg as gabapentin was orally administered, blood samples were taken at predetermined time intervals and the concentrations of gabapentin in serum were determined using HPLC with fluorescence detector. The dissolution profiles of two formulations were similar in the tested dissolution media. The pharmacokinetic parameters such as $AUC_{t}$, $C_{max}$ and $T_{max}$ were calculated, and ANOVA test was utilized for the statistical analysis of the parameters using logarithmically transformed $AUC_{t}$, $C_{max}$ and untransformed $T_{max}$. The results showed that the differences between two formulations based on the reference drug, $Neurontin^{R}$, were 1.28%, 0.63% and 0.62% for $AUC_{t}$, $C_{max}$ and $T_{max}$, respectively. There were no sequence effects between two formulations in these parameters. The 90% confidence intervals using logarithmically transformed data were within the acceptance range of log 0.8 to log 1.25 (e.g., $log0.9097{\sim}log1.1598$ and $log0.8919{\sim}log1.1262$ for $AUC_{t}$ and $C_{max}$, respectively). Thus, the criteria of the KFDA bioequivalence guideline were satisfied, indicating Gabapenin tablet 800 mg was bioequivalent to $Neurontin^{R}$ tablet 800 mg.
김세미,강현아,조혜영,신새벽,류희두,윤화,이용복,Kim, Se-Mi,Kang, Hyun-Ah,Cho, Hea-Young,Shin, Sae-Byeok,Yoo, Hee-Doo,Yoon, Hwa,Lee, Yong-Bok 대한약학회 2008 약학회지 Vol.52 No.3
Gabapentin, [1-(aminomethyl) cyclohexaneacetic acid], a structural analog of $\gamma$-aminobutyric acid (GABA), is being developed for the treatment of epilepsy. Unlike GABA, gabapentin crosses the blood-brain barrier after systemic administration. Gabapentin is an effective antiepileptic drug in patients with partial and secondarily generalized seizures who are uncontrolled with use of existing anticonvulsant drug therapy. The purpose of the present study was to evaluate the bioequivalence of two gabapentin 400 mg capsules, $Neurontin^{(R)}$ capsule 400 mg (Pfizer Inc.) and Gabatin capsule 400 mg (Korean Drug Co. Ltd), according to the guidelines of the Korea Food and Drug Administration (KFDA). The release of gabapentin from the two gabapentin formulations in vitro was tested using KP VIII Apparatus II method with various dissolution media (pH 1.2, 4.0, 6.8 buffer solution and water). Twenty six healthy male subjects, 23.58$\pm$1.50 years in age and 66.74$\pm$8.31 kg in body weight, were divided into two groups and a randomized 2$\times$2 cross-over study was employed. After one capsule containing 400 mg as gabapentin were orally administered, blood was taken at predetermined time intervals and the concentrations of gabapentin in serum were determined using HPLC with fluorescence detector. The dissolution profiles of two formulations were similar at all dissolution media. In addition, the pharmacokinetic parameters such as $AUC_t$, $C_{max}$ and $T_{max}$ were calculated and ANOVA test was utilized for the statistical analysis of the parameters using logarithmically transformed $AUC_t$, $C_{max}$ and untransformed $T_{max}$. The results showed that the differences between two formulations based on the reference drug, $Neurontin^{(R)}$ capsule 400 mg, were 2.04, -3.68 and 16.79% for $AUC_t$, $C_{max}$ and $T_{max}$, respectively. There were no sequence effects between two formulations in these parameters. The 90% confidence intervals using logarithmically transformed data were within the acceptance range of log 0.8 to log 1.25 (e.g., log 0.91$\sim$log 1.16 and log 0.87$\sim$log 1.11 for $AUC_t$ and $C_{max}$, respectively). Thus, the criteria of the KFDA bioequivalence guideline were satisfied, indicating Gabatin capsule 400 mg was bioequivalent to $Neurontin^{(R)}$ capsule 400 mg.
이용복,김윤균,조혜영,김세미,김환호,신새벽,강현아 한국약제학회 2007 Journal of Pharmaceutical Investigation Vol.37 No.5
The purpose of the present study was to evaluate the bioequivalence of two lercanidipine hydrochloride tablets, Zanidip tablet (LG Life Sciences Ltd., Korea, reference drug) and Samchundang Lercanidipine tablet 10 mg (Sam Chun Dang Pharm. Co. Ltd., Korea, test drug), according to the guidelines of Korea Food and Drug Administration (KFDA). After adding an internal standard (amlodipine maleate) to human serum, serum samples were extracted using hexan-isoamyl alcohol (100 : 1, v/v). Compounds were analyzed by liquid chromatography/tandem mass spectrometry. This method showed linear response over the concentration range of 0.05 - 20 ng/mL with correlation coefficient of 0.9999. The lower limit of quantitation using 0.5 mL of serum was 0.05 ng/mL which was sensitive enough for pharmacokinetic studies. Thirty healthy male Korean volunteers received each medicine at the lercanidipine hydrochloride dose of 20 mg in a 2 ´ 2 crossover study. There was a one-week washout period between the doses. Serum concentrations of lercanidipine were monitored by an LC/MS/MS for over a period of 24 hr after the administration. AUCt (the area under the serum concentration-time curve from time 0 to 24 hr) was calculated by the linear trapezoidal rule method. Cmax (the maximum serum drug concentration) and Tmax (the time to reach Cmax) were compiled from the serum concentration-time data. Analysis of variance was carried out using logarithmically transformed AUCt and Cmax. No significant sequence effect was found for all of the bioavailability parameters, indicating that the crossover design was properly performed. The 90% confidence intervals of the AUCt ratio and the Cmax ratio for Samchundang Lercanidipine/Zanidip were log 0.9505 - log 1.2258 and log 0.9987 - log 1.2013, respectively. These values were within the acceptable bioequivalence intervals of log 0.80 - log 1.25. Thus, the criteria of the KFDA guidelines for the bioequivalence was satisfied, indicating Samchundang Lercanidipine tablet 10 mg and Zanidip tablet are bioequivalent.
원보 : 염산레르카니디핀 체내동태 연구를 위한 혈청 중 레르카니디핀의 LC/MS/MS 정량법 검증
김세미 ( Se Mi Kim ),김환호 ( Hwan Ho Kim ),신새벽 ( Sae Byeok Shin ),강현아 ( Hyun Ah Kang ),윤화 ( Hwa Yoon ),조혜영 ( Hea Young Cho ),김윤균 ( Yoon Gyoon Kim ),양찬우 ( Chan Woo Yang ),용철순 ( Chul Soon Yong ),이용복 ( Yong B 한국약제학회 2007 Journal of Pharmaceutical Investigation Vol.37 No.4