• Title, Summary, Keyword: exception recovery

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Functionally Classified Framework based Navigation System for Indoor Service Robots (기능별로 분류된 프레임워크에 기반한 실내용 이동로봇의 주행시스템)

  • Park, Joong-Tae;Song, Jae-Bok
    • Journal of Institute of Control, Robotics and Systems
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    • v.15 no.7
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    • pp.720-727
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    • 2009
  • This paper proposes a new integrated navigation system for a mobile robot in indoor environments. This system consists of five frameworks which are classified by function. This architecture can make the navigation system scalable and flexible. The robot can recover from exceptional situations, such as environmental changes, failure of entering the narrow path, and path occupation by moving objects, using the exception recovery framework. The environmental change can be dealt with using the probabilistic approach, and the problems with the narrow path and path occupation are solved using the ray casting algorithm and the Bayesian update rule. The proposed navigation system was successfully applied to several robots and operated in various environments. Experimental results showed good performance in that the exception recovery framework significantly increased the success rate of navigation. The system architecture proposed in this paper can reduce the time for developing robot applications through its reusability and changeability.

Post-Surgical Recovery Patterns of the Elderly (노인환자의 수술후 회복패턴에 관한 연구)

  • Byun Young-Soon;Chung Eun-Joo
    • Journal of Korean Academy of Fundamentals of Nursing
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    • v.6 no.1
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    • pp.51-63
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    • 1999
  • This study examined two differences in physical and psychological recovery patterns after surgery in the elderly. The sample consisted of 40 patients with abdominal surgery In five large hospitals in Seoul. The data for this study were collected from Apr. 20 to Nov. 26 by structured questionnaire, chart review and call. Physical recovery was assessed by ADL, a Cantril Ladder Scale and a Visual Analogue Scale. Psychological recovery was measured by the Geriatric depression Scale and a Cantril Ladder Scale. The data were analyzed using frequency, percentage, Pearson Correlation Coefficient, and MANOVA by SPSS/WIN. The result are as follows : 1. Physical recovery indicated significant improvement over time with the exception of ADL(F=.812 p=.449). Perceived physical health were significantly improved(F=6.189 p=.004). Pain & discomfort was significantly decreased(F=3.927 p=.025). 2. Perceived psychological health was significantly improved over time(F=20.648 p=.000), but depression showed no statistical significance improvement over time(F=1.393 p=.256). 3. There were no significant effects of sex, age, complication and combined chronic diseases on physical and psychological recovery patterns. 4. There were significant correlations between operation time and pain(r=-.331 p=.020), recovery time and perceived psychological health(r=-.320 p=.024), recovery time and pain(r=.404 p=.005). There were significant correlations between admision period and ADL(r=-.418 p=.004), perceived physical health(r=-.354 p=.014), depression(r=.280 p=.042), and perceived psychological health(r=-.447 p=.002). BRAS showed significant correlation with ADL(r=-.458 p=.002). 5. With an increase in the degree of perceived health(physical and psychological), ADL was significantly increased. With an increased in the degree of depression and pain, ADL and perceived health(physical and psychological) were significantly decreased. In conclusion, the elderly patient recovered significantly over time with the exception of ADL and depression. It these we suggested to considered when planning care for elderly patients.

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A backward recovery method for web service driven business process management (웹 서비스 기반 비즈니스 프로세스 관리를 위한 Backward Recovery 방법)

  • 이순재;윤장혁;김광수
    • Proceedings of the CALSEC Conference
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    • pp.109-114
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    • 2003
  • WS-BPMS(web service driven business process management system)은 기업 내 또는 비즈니스 파트너들 간의 비즈니스 프로세스를 체계적으로 통합, 관리하여 프로세스를 개선하고 자동화한다. 이는 비즈니스 프로세스를 검색한 후 BPEL4WS, BPML 등의 프로세스 메타모델을 이용하여 새 프로세스를 디자인하고 BPMS위에 전개 실행하는 과정을 거치게 된다. 디자인된 프로세스는 복잡하여 그 실행에 있어 체계적이고 확고한 기반을 바탕으로 운영되어야 한다. 이를 위해 본 논문에서는 BPMS의 운영에 있어 pi-calculus를 기반으로 한 structured exception handling 방법론과 transaction 모니터링을 통한 backward recovery 방법을 제시한다.

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A computational analysis of the scarf angle on a composites repair

  • Kim, Yun-Hae;Jo, Young-Dae;Murakami, Ri-Ichi
    • International Journal of Ocean System Engineering
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    • v.1 no.1
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    • pp.9-15
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    • 2011
  • This study examined the relationship between the scarf angle and stress distribution, and estimated the strength recovery via a finite element analysis. The following conclusions were drawn from this study. Resin will fracture due to a tensile load with a high scarf angle, which is similar to the patch repair method. An applied stress can be loaded to a repaired laminate if the scarf angle is $5^{\circ}$. The Von-Mises stress increases with decreasing scarf angle, with the exception of a scarf angle of $30^{\circ}$, where the scarf angle can indicate the rates of shear and normal stresses. Strength recovery can be better if the scarf angle is decreased to a lower angle. However, scarf machining requires more time, a high skill level and considerable expense. Therefore, a scarf angle of $5^{\circ}$ is the most effective for a repair. These results may provide a guide for engineers wishing to formulate a standard for repair. The scarf angle needs to be carefully managed for a more efficient composite repair.

The Application of Geosynthetic Reinforced Soil Method in the Failed Slopes (붕괴사면 복구를 위한 보강토 공법의 적용)

  • Cho, Yong-Seong;Kim, You-Seong;Park, Inn-Joon
    • Proceedings of the Korean Geotechical Society Conference
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    • pp.171-178
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    • 2005
  • It is unavoidable to be formed slopes under special circumstance of Korea where 70% of the whole area are composed of mountains when civil engineering projects such as roads, site developments are increased with industrial development and horizontal expansions of urban area. Moreover, stability of the slopes become one of quite important issues under special meteorological characteristics that over two-thirds of annual average rainfall are concentrated in summer season and the localized torrential downpour are getting more frequent recently. Resulting in these circumstances, partial slope failures by debris flow of the high water content soils are occurred frequently in cutting soil slopes. In this case of debris flow slope failure, slope declination method are selected for their stable recovery because it is impossible to recover entirely by existing recovery methods. Seeding or special grass planting methods are followed separately without exception. The method by which entire recover with bigger stability ratio would be possible and grass planting work would be done simultaneously is developed. In this study, the results of the tests including a real construction history in a failed slope using developed method are described

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Sole Reconstruction Using Anterolateral Thigh Perforator Free Flaps (전외측 대퇴부 천공지 유리피판을 이용한 발바닥 재건)

  • Kim, Eun Key;Hong, Joon Pio
    • Archives of Plastic Surgery
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    • v.32 no.4
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    • pp.441-446
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    • 2005
  • Sole reconstruction should consider both functional and aesthetic aspects; durable weight bearing surface, adequate contour for normal footwear, protective sensation and solid anchoring to deep tissue to resist shearing. The anterolateral thigh perforator free flap has such favorable characteristics as long pedicle, reliable perforators and minimal donor site morbidity. This flap can be safely thinned to 3-4 mm. It can also be elevated with sufficient bulk with muscles like vastus lateralis for complex defect. Between June 2002 and December 2004, 48 cases of sole reconstruction were performed with anterolateral thigh perforator free flaps. Follow up period ranged from 4 to 34 months with a mean of 14.7 months and with exception of one case, all flaps survived. One case of total flap loss was noted due to infection in a patient who was administered lifetime immunosuppressant. Partial necroses developed in three cases but were treated conservatively. Satisfactory aesthetic and functional results were achieved and acceptable gait recovery was noted. Seventy-eight percent of the patients regained protective sensation by 6 months and earlier sensory recovery was noted in sensate flap group. The authors also present a standardized protocol for preoperative patient evaluation and postoperative management and rehabilitation.

Analysis of dietary insoluble and soluble fiber contents in school meal

  • Shin, Dong-Soon
    • Nutrition Research and Practice
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    • v.6 no.1
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    • pp.28-34
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    • 2012
  • The objective of this study was to estimate the contents of dietary insoluble and soluble fiber in school meal. Samples of the school meals were collected from May to June in 2008. Three elementary schools and three middle schools around Masan area were selected for analysis. Dietary soluble and insoluble fibers in the school meals were analyzed directly by the AOAC method. From the initial experiment phase, we used cellulose and pectin as a standard of dietary fiber, and average recovery rate of insoluble fiber and soluble fiber was calculated. The recovery rate was observed, the cellulose $109.7{\pm}11.7%$ (range 90~150%) and pectin $77.8{\pm}10.8%$ (range 64.7~96.7%), respectively. The amounts of insoluble fiber and soluble fiber were analyzed in the total of 66 dishes, which included 7 kinds of cooked rice (bab) made with some cereal products and vegetables, 19 kinds of soup (guk) made with meats or vegetables, 11 kinds of kimchi, 21 kinds of entr$\acute{e}$es or side dishes, and 8 special dishes. Conclusively the school meal, per serving size, would provide above 75% KDRI of total dietary fibers through mainly soups and special menu, with the exception to fruits. In addition, it might be expected that children could consume more soluble fiber from the meals with the special dishes than from the regular ones.

The Effect of Premorbid Demographic Factors on the Recovery of Neurocognitive Function in Traumatic Brain Injury Patients

  • Jeon, Ik-Chan;Kim, Oh-Lyong;Kim, Min-Su;Kim, Seong-Ho;Chang, Chul-Hoon;Bai, Dai-Seg
    • Journal of Korean Neurosurgical Society
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    • v.44 no.5
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    • pp.295-302
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    • 2008
  • Objective: Premorbid demographic backgrounds of injured individuals are likely to reflect more accurately the status of patients with traumatic brian injury (TBI) than clinical factors. However, the concrete study about the relationship between the demographic factors and neurocognitive function in TBI patients has not been reported. The object of this study was to evaluate the effect of premorbid demographic factors on the recovery of neurocognitive function following TBI. Methods: From July 1998 to February 2007, 293 patients (male: 228, female: 65) with a history of head injury, who had recovered from the acute phase, were selected from our hospital to include in this study. We analyzed the effect of premorbid demographic factors including age, sex, educational level and occupation on the recovery of neurocognitive function in each TBI subgroup as defined by Glasgow Coma Scale (GCS) score. Intelligence and memory are components of neurocognitive function, and the Korean Wechsler Intelligence Scale (K-WAIS) and the Korean memory assessment scale (K-MAS) were used in this study. The results were considered significant at p<0.05. Results: The higher level of education was a good prognostic factor for intelligence regardless of GCS score and younger age group showed a better result for memory with an exception of severe TBI group. In the severe TBI group, the meaningful effect of demographic factors was not noted by the cause of influence of severe brain injury. Conclusion: The demographic factors used in this study may be helpful for predicting the precise prognosis and developing an appropriate rehabilitation program for TBI patients.

Monitoring of Soil Bacterial Community and Some Inoculated Bacteria After Prescribed Fire in Microcosm

  • Song Hong-Gyu;Kim Ok-Sun;Yoo Jae-Jun;Jeon Sun-Ok;Hong Sun-Hee;Lee Dong-Hun;Ahn Tae-Seok
    • Journal of Microbiology
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    • v.42 no.4
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    • pp.285-291
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    • 2004
  • The soil bacterial community and some inoculated bacteria were monitored to assess the microbial responses to prescribed fire in their microcosm. An acridine orange direct count of the bacteria in the unburned control soil were maintained at a relatively stable level $(2.0\~2.7\times10^9\;cells/g^{-1}{\cdot}soil)$ during the 180 day study period. The number of bacteria in the surface soil was decreased by fire, but was restored after 3 months. Inoculation of some bacteria increased the number of inoculated bacteria sev­eral times and these elevated levels lasted several months. The ratios of eubacteria detected by a flu­orescent in situ hybridization (FISH) method to direct bacterial count were in the range of $60\~80\%$ during the study period, with the exception of some lower values at the beginning, but there were no definite differences between the burned and unburned soils or the inoculated and uninoculated soils. In the unburned control soil, the ratios of $\alpha-,\beta-\;and\;\gamma-subgroups$ of the proteobacteria, Cytophaga-Fla­vobacterium and other eubacteria groups to that of the entire eubacteria were 13.7, 31.7, 17.1, 16.8 and $20.8\%,$ respectively, at time 0. The overall change on the patterns of the ratios of the 5 subgroups of eubacteria in the uninoculated burned and inoculated soils were similar to those of the unburned con­trol soil, with the exception of some minor variations during the initial period. The proportions of each group of eubacteria became similar in the different microcosms after 6 months, which may indicate the recovery of the original soil microbial community structure after fire or the inoculation of some bac­teria. The populations of Azotobacter vinelandii, Bacillus megaterium and Pseudomonas fluorescens, which had been inoculated to enhance the microbial activities, and monitored by FISH method, showed similar changes in the microcosms, and maintained high levels for several months.

Recovery of $SF_6$ from Gas Mixtures with Low Concentration of $SF_6$ (저농도 $SF_6$ 기체혼합물로부터 $SF_6$의 회수)

  • Lee, Hyun-Jung;Lee, Hyun-Kyung;Choi, Ho-Sang;Lee, Sang-Hyup
    • Membrane Journal
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    • v.21 no.3
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    • pp.256-262
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    • 2011
  • This study describes the performance of PSF and PC membranes for separation and recovery of $SF_6$ from gas mixtures (10% $SF_6$/70% $N_2$/19% $O_2$/1% $CF_4$) containing low concentration of $SF_6$. The $SF_6$ concentration in retentate, recovery efficiency and selectivity of mixed gases were measured as a function of retentate flow rate and temperature. The concentration of $SF_6$ in the gas recovered from PSF and PC membrane respectively decreased with increase of retentate flow rate and increased with increase of temperature. The values of $SF_6$ concentration in retentate of PSF membrane were higher than those of PC membrane at constant experimental conditions. The maximum value of recovery efficiency of PSF and PC membranes are 95.9% and 67.8%, respectively, under 298.15 K and 150 cc/min of retentate flow rate. With the exception of $CF_4/SF_6$, the real selectivities of $N_2/SF_6$ and $O_2/SF_6$ at PSF membrane were higher than those of PC membrane.