• Journal of the Korean Institute of Intelligent Systems
• /
• v.27 no.2
• /
• pp.89-98
• /
• 2017

The control moment gyroscope(CMG) can be used for essential balancing control of a one-wheeled mobile robot. A single-gimbal CMG has a simple structure and can supply strong restoring torque against external disturbances. However, the CMG generates unwanted directional torque also besides the restoring torque; the unwanted directional torque causes instability in the one-wheeled robot control system that has high rotational degrees of freedom. This study proposes a control system for a one-wheeled mobile robot by using a CMG scissored pair to eliminate the unwanted directional torque. The well-known LQR control algorithm is designed for robustness against modeling error in the dynamic motion equations of a one-wheeled robot. Computer simulations for 3D nonlinear dynamic equations are carried out to verify the proposed control system with the CMG scissored pair and the LQR control algorithms.

• Progress in Medical Physics
• /
• v.17 no.1
• /
• pp.32-39
• /
• 2006

To assess the ability of an extravasation detection accessory (EDA) system to detect clinically important extravascular injection of iodinated contrast material delivered with an automated power injector. Fifty patients referred for contrast material enhanced body computed tomography studied in a prospective, observation study in which the EDA system was used to identify and interrupt any injection associated with clinically Important extravasation. The presence or absence of extravasation was definitively established with multi-detector CT at the injection site (injection rate, $2.0{\sim}2.5$ mL/sec). There were two true positive, extravasation volumes $22{\sim}25$ mL. The EDA system had sensitivity in the detection of clinically important extravasation. The EDA system is easy to use, safe, and accurate In the monitoring of intravenous injections for extravasation, which may prove especially useful in CT applications.

• Proceedings of the Korean Society for Bio-Environment Control Conference
• /
• 2001.04b
• /
• pp.88-89
• /
• 2001

꿀벌의 실내월동에 이용되는 월동용 저온양봉사의 내부환경에 영향을 주는 요소에는 외기온, 저장봉군수, 환기량 등이 있다. 이러한 환경요인을 고려하여 설계 제작된 국내 월동용 저온양봉사의 성능 및 저장봉군수와 양봉사 내부온도의 관계를 분석하고자 경상북도의 7개 지역에 설치된 월동용 저온양봉사(내부크기 폭4.5m×길이3m×높이3m)에 대하여 2000. 11. 25부터 2001, 2. 15까지 실내월동 실험을 수행하였다. 실험대상 지역은 포항, 문경, 상주, 칠곡, 성주, 영양, 안동이며, 지역별 저장봉군수는 각각 14, 74, 85, 110, 163, 170, 260군이다(Table 1). 꿀벌의 월동기간 중 안동과 성주지역을 제외한 5개 지역의 실내 월동성적은 폐사율이 10％미만으로 대체적으로 우수한 것으로 조사되었으나, 월동기간중 지역별 외기온을 분석한 결과, 평균외기온 및 최저외기온이 가장 낮은 지역은 안동이었으며, 그 값이 각각 -3.1℃와 -9.4℃일 때 양봉사 내부의 평균온도와 최저온도는 5.2℃와 3.8℃로 나타났다. 반면에 평균외기온 및 최저외기온이 가장 높은 지역은 포항이었으며 그 값이 각각 1.3℃와 -4.1℃일 때 양봉사 내부의 평균온도와 최저온도는 각각 3.1℃와 1.2℃로 나타나 저온양봉사 내부의 온도환경 조절성능이 모두 우수한 것으로 판단되었다(Table 1). 또한 월동기간중 주.야간으로 양봉사 내.외부의 온도변화를 분석한 결과, 저장봉군수의 증가에 따라 주야간 모두 양봉사 내.외부 온도편차가 증가하는 경향을 나타내었으며 양봉사 내부의 주.야간 평균온도는 모두 꿀벌의 월동에 적정한 범위인 2℃-9℃를 유지하는 것으로 분석되었다(Table 2). 그리고, 월동기간중 외기온이 가장 낮은 시기(1월 13-19일)의 평균 외기온이 -8℃--9℃로 유사한 문경, 상주, 영양, 안동지역의 월동용 저온양봉사의 평균 내부온도는 각각 -2.0℃, -1.0℃, 0.2℃, 4.2℃로 나타나 저장봉군수가 증가함에 따라 월동용 저온양봉사의 내부온도가 증가하여 꿀벌의 월동에 적합한 온도범위를 유지함을 알 수 있었다. 실험기간동안 대부분의 저온양봉사 내부온도는 꿀벌이 월동하기에 적정한 온도범위(2℃-9℃)로 유지하였다(Fig. 1).

• The Journal of the Acoustical Society of Korea
• /
• v.41 no.3
• /
• pp.367-374
• /
• 2022

In this paper, correlation analysis between speech characteristics and the dose of antipsychotic drugs was performed. To investigate the pattern of speech characteristics of ExtraPyramidal Symptoms (EPS) related to voice change, a common side effect of antipsychotic drugs, a Korean-based extrapyramidal symptom speech corpus was constructed through the sentence development. Through this, speech patterns of EPS and non-EPS groups were investigated, and in particular, a strong speech feature correlation was shown in the EPS group. In addition, it was confirmed that the type of speech sentence affects the speech feature pattern, and these results suggest the possibility of early detection of antipsychotics-induced EPS based on the speech features.

• 대학교육
• /
• s.149
• /
• pp.101-105
• /
• 2007

기회균등할당제 자체는 학력이나 계층의 대물림을 완화함으로써 배분적 정의를 실현할 수 있는 하나의 방법으로 그 취지는 매우 바람직하다. 그러나 '정원 외'로 운영될 경우 나타날 수 있는 문제점들은 제도 본연의 목적을 퇴색시켜 종국에는 제도 자체의 실패를 야기하지 않을지 우려된다. 여기서는 이러한 문제점들을 하나하나 짚어 봄으로써, '정원 외' 기회균등할당제의 타당성을 진단해 보기로 한다.

• Information and Communications Magazine
• /
• v.34 no.4
• /
• pp.39-46
• /
• 2017

본고에서는 실내공간정보와 관련하여 국토교통부 및 서울시 등 공공분야에서 추진한 실내공간정보 구축 현황에 대해 살펴보고, 실내공간정보 구축기술의 현주소와 향후 실내외를 연결한 통합서비스 구현에 필요한 실내외 공간정보 통합플랫폼 개발 사례 및 실내외 연계기준점 설치 방안에 대해 살펴보고자 한다.

• The Journal of the Korean bone and joint tumor society
• /
• v.19 no.2
• /
• pp.64-68
• /
• 2013

Extraskeletal chondroma is a benign soft tissue tumor which is composed of hyaline cartilage but arises from the fibrous stroma rather than from mature cartilaginous or osseous tissue. Extraskeletal chondroma is relatively rare and occurs most frequently in the soft tissue around the joints of hands and feet. We present one case of extraskeletal chondroma in a finger of a young woman.

• The Journal of the Korean bone and joint tumor society
• /
• v.15 no.1
• /
• pp.75-80
• /
• 2009

Extramedullary plasmacytoma is extremely rare, constitute 3 to 5 % of plasma cell malignancies and commonly occur in the upper aerodigestive tract. Several case studies of extramedullary plasmacytoma occurring in unusual location are reported; stomach, bladder, central nervous system, breast, thyroid, testis, salivary gland and skin. Here, we present a case of an extramedullary plasmacytoma of the right gluteus maximus muscle in a 49-year-old man.

• Journal of the Korean Society of Radiology
• /
• v.85 no.1
• /
• pp.217-221
• /
• 2024

Retroperitoneal ectopic pregnancy is a rare form of ectopic pregnancy. Owing to its rarity and nonspecific symptoms, diagnosing retroperitoneal ectopic pregnancy at the initial presentation poses a significant challenge. Typically, the diagnosis relies on non-radiation imaging modalities, such as ultrasonography and MRI, whereas CT is infrequently used. Herein, we report a rare case of a retroperitoneal ectopic pregnancy, which was diagnosed using CT.

• KSBB Journal
• /
• v.14 no.1
• /
• pp.66-70
• /
• 1999

Comparison of lead removal characteristics between two strains, Aureobasidium pullulans and Saccharomyces cerevisiae, and effects of extracellular polymeric substances(EPS) excreted by microorganisms on the removal of lead were investigated. The capacity of lead biosorption to A. pullulans which had EPS was increased as the storage time of the cells increased, due to the increased amounts of excreted EPS. When the EPS were removed from A. pullulans cells, the amounts of adsorbed lead were very small(10% of the cell with EPS). In the case of s. cerevisiae which had no EPS, the lead removal capacity was nearly constant with storage time except early stage, but the spending time to reach an equilibrium state decreased with increasing storage time because of lowering the function of cell membrane. Therefore, it seems that the phenomena of lead biosorption were remarkably affected by the presence of extracellular polymeric substances.