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충돌 회피와 실시간으로 변하는 경로를 추종하는 무인비행기 제어 알고리즘
윤영훈(Young-Hun Yun),박진배(Jin-Bae Park),최윤호(Yoon-Ho Choi) 대한전기학회 2010 대한전기학회 학술대회 논문집 Vol.2010 No.7
본 논문에서는 무인 비행기의 충돌 회피를 위해 역장(force field) 기반 방법을 이용한 제어 방법을 제안한다. 제안된 방법에서는 장애물이 가까이에 없는 경우, 추종 경로 발생 모델의 각속도와 선속도를 추정하여 무인 비행기의 롤링 각(roll angle)을 구하여 이를 통해 요잉 각(yaw angle)을 제어한다. 무인비행기에 근접한 장애물이 감지되면 포텐셜 함수(Potential Function)를 이용하여 충돌 회피를 하도록 하는 요잉 각을 구한다. 이러한 시스템을 리아프노프 안정도 판별기법을 이용해 안정도를 증명한다. 마지막으로, 알고리즘 성능을 모의실험을 통해 검증하고자 한다.
공단밀집지역에 위치한 일개 응급의료센터에 내원한 급성산업중독환자에 대한 분석
신준현,문성우,백승원,임성익,윤영훈,이성우,홍윤식,Shin, Jun-Hyun,Moon, Sung-Woo,Baek, Seung-Won,Lim, Sung-Ik,Yoon, Young-Hun,Lee, Sung-Woo,Hong, Yun-Sik 대한임상독성학회 2008 대한임상독성학회지 Vol.6 No.2
Purpose: Surveys on poisoning usually involves intoxication rather than inhalation, skin contact, etc. Therefore, we examined the characteristics of patients who visited the emergency department in an industrial complex after acute industrial exposure to toxic materials. Methods: Medical records of patients exposed to toxic materials in the work places from April, 2006, to March, 2008, were analyzed retrospectively. Inhalation patients due to fire were excluded. Results: Subjects included 66 patients, with a mean age of $35.4{\pm}10.9$ years, mostly men (91%). Toxicity occurred in 51 patients (77%) by contact, 15 patients (23%) by inhalation, and none by oral ingestion. For toxic materials, 10 patients were exposed to hydrofluoric acid, 8 to hydrochloric acid, 7 to sodium hydroxide, 7 to metals, and others. The face and hands were the most frequent exposure site by contact. Most exposures were caused by accidents, with 29 cases (42%) exposed because of carelessness or not wearing protective equipment. Most complaints were pain on exposure site, but 7 of the inhalation patients complained of dyspnea. The majority of patients with contact exposure were discharged after wound care or observation. After inhalation exposure, 1 patient died and 5 patients were admitted to the intensive care unit. Conclusion: Major causes of workplace exposure were not wearing protective equipment or carelessness. Although contact exposures are usually benign, cautious observation and management are required in patients with inhalation exposure.
상지의 운동제한을 보이는 소아에서 방사선 검사의 필요성
이성우,문성우,윤영훈,이베안,정상헌,전정민,홍윤식 대한응급의학회 2002 대한응급의학회지 Vol.13 No.3
Purpose: The study was designed to identify the necessity of radiographs and to decrease overutilization of radiographs in uncommunicable children who do not move their arms. This study provides clinical guidelines on radiographic evaluation and treatment of children with limited motion in the upper extremity. Methods: The cases of one hundred thirteen pediatric patients under 36 months of age, who had visited the Emergency Center of Korea University Ansan Hospital from January 2000 to December 2001, were retrospectively reviewed. Pediatric patients with upper extremity injuries due to multiple trauma, laceration or motor vehicle accident were excluded. Parameters analyzed were age, sex, mechanism of injury, physical findings, radiographic finding, and injuried upper extremity region. We described focal tenderness and regional edema as physical finding. Each patient without regional edema was classified into an improved or a not-improved group depending on the outcomes after manual reduction. All statistical tests were conducted with two-tailed levels of 0.05. Results: Of the 113 patients, the mean age was 18.6±0.89 months. The most common injury mechanisms were unknown and traction. Minimal edema in the elbow joint was seen in 5 cases, and supracondylar fractures due to short falls were seen in 4 (80%) of those cases (p<0.05). The improved group was finally confined to radial head subluxation in 88 patients. Although all the not-improved-group patients had received radiographs, no abnormal findings were seen in the elbow. However, clavicle fracture due to fall above or from a level surface were seen in 4 cases (20%) of the not-improved group (p<0.05). No difference of injury mechanism existed between the improved and the not-improved groups. Conclusion: Recommand Radiographic evaluations in Children not-used arm with regional edema before manual reduction. But without regional edema, manual reduction of elbow is first. If children without regional edema do not improve after manual reduction of elbow and they are injuried due to fall, children should be assessed for fractures of clavicle.