• Journal of the Korean Society for Precision Engineering
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• v.30 no.2
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• pp.171-176
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• 2013

In this research a Self-Standable mobile Robot with standing arms based on an Wheeled Inverted Pendulum is developed. Almost existing mobile robots have wide planar shape that is statistically stable and it is sometimes hard for them to run or steer on a narrow road. A Wheeled Inverted Pendulum based mobile robot has vertical shape that is upright-running and easily steering on a narrow road. It, however, requires actively balancing control and never restores the shape once it falls down. This research develops a Self-Standable mobile robot which equips standing arms and is able to change its chassis' posture freely from planar to vertical shape or vice versa.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.5
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• pp.570-576
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• 2012

In this research a moving platform for a mobile robot which can run with upright posture is proposed. It is able to stand with standing arms and run uprightly based on an inverted pendulum mechanism. Conventional mobile robots generally may equip 4 wheels or 3 wheels including a caster and have good statistic stability. They need a steering mechanism to choose which way to go since they have a square or rectangular configuration with multiple wheels. When a mobile robot meets a sharply perpendicular and narrow crossroad, it may need a special steering scheme such as going forward and backward repeatedly or it sometimes cannot even pass through the crossroad because of its size. The proposed moving platform for a mobile robot changes to a upright posture which has a small planar area and is able to pass through the crossroad. We propose a moving platform for a mobile robot with a inverted pendulum mechanism and standing arms which can make the mobile robot upright.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.6
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• pp.578-584
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• 2015

In this study a moving platform for a mobile robot that can be traveling with a full automatic standing arm was developed. Conventional mobile robots generally may equip 4 wheels or 3 wheels with a caster wheel or independent driven wheels and have good statistic stability. When a mobile robot travels on a sharply perpendicular and narrow crossroad, it may need a special steering scheme such as going forward and backward repeatedly or it is sometimes physically impossible for the robot to go through the crossroad because of the size limit. The upright running mobile robot changes its posture to the upright posture which has a small planar area and is able to go through the crossroad. The upright control which was manually performed step by step before such as sequences of uprighting (returning), checking, and balancing, is now automated.

• 대한두경부종양학회:학술대회논문집
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• 1992.11a
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• pp.143.2-144
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• 1992

• The Korean Journal of Pain
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• v.1 no.2
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• pp.164-170
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• 1988

Neurolysis of the celiac plexus is performed to relieve intractable pain caused by carcinoma of the stomach, liver and pancreas, and upper abdominal metastasis of tumors having more distant origins. It is also occasionally effective in controlling the pain of chronic pancreatitis. Alcohol celiac plexus blocks were done in 22 patients of whom 18 had intractable upper abdominal pain from cancer and 4 had pain from chronic pancreatitis. In most cases, an initial diagnostic block with 0.2 percent bupivacaine was followed by the therapeuntic block performed by injecting 50ml of 60 percent ethyl alcohol. Good to excellent pain relief occurred in 86 percent of patients. Duration of pain relief was from 4 months to 7 months in 55 percent of patients. Complications and side effects were infrequently seen but did include a 16 percent decrease of mean systolic arterial pressure and 16 cases of facial flushing. This block is remarkably safe as well as effective for the relief of upper abdominal pain from cancer origin.

• Journal of Practical Agriculture & Fisheries Research
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• v.20 no.2
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• pp.117-123
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• 2018

The purpose of this report is to describe the diagnosed case of a large colonic impaction in an adult donkey. An adult female donkey (Equus africanus asinus; 6-years-old) was admitted to the Equine Hospital of Jeju Race Park with signs of anorexia, which had started 1 day previously. Clinical examination revealed: weak gut sounds, dehydration, and severe abdominal distension, but normal respiratory and heart rates and no signs of pain. Transrectal palpation identified an impaction in the colon. The patient was treated with nasogastric siphonage, fluid therapy, and nonsteroidal anti-inflammatory drugs. Over the course of a day, her condition worsened; she started trembling, could not stand, and 2 hours later she died. Upon necropsy, a vast amount of ingesta was found in the large colon, particularly in the left ventral colon. The cecum and small colon were normal. Eleven days prior to presentation, the stable management and diet of the donkey had changed. We suspect that the change of feed, reduced water consumption, and lack of exercise precipitated the illness. However, the exact cause of the sudden death of the donkey requires further investigation.

• Journal of Veterinary Clinics
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• v.27 no.4
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• pp.343-347
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• 2010

The purpose of this study was to determine the antagonistic effects of yohimbine on sedation induced in dogs with medetomidine. Six mixed breed dogs were repeatedly used at a 2 weeks withdrawal time in this study. The dogs received $40\;{\mu}g/kg$ of medetomidine followed 15 minutes later by 0.2 ml/kg saline solution (group M) or 0.11 mg/kg yohimbine (group MY). All the dogs were examined before and 5, 15, 30, 45, 60, 75, 90, 120 and 150 minutes after the injection of medetomidine, and the induction and recovery times, vital signs, blood biochemistry and anesthetic quality were recorded. There were significant differences in the recovery of anesthesia between the groups. In both groups the heart rate decreased rapidly down to five minutes after the administration of medetomidine. The activity of ALT, AST and the protein concentration did not change significantly in either group and there was no significant difference between them at any time. Response to noise, muscle tone and analgesic score in the MY group at 30 minutes were significantly lower than those of the M group. When recovering from anesthesia, the dogs treated with yohimbine took less time to achieve sternal recumbency and less time to be able to stand and walk. It was concluded that yohimbine reversed effectively medetomidine sedation in dogs.