• Proceedings of the KIEE Conference
• /
• 1999.07g
• /
• pp.2824-2826
• /
• 1999

본 논문에서는 자율이동로봇의 동작 제어를 수행한다. 제어기로서는 블록기반 진화신경망을 이용하고, 진화 알고리즘을 사용하여 내부구조와 가중치를 동시에 진화시킨다. 진화에 의하여 최대 적합도를 가지는 제어기를 획득한 후 이를 이용하여 자율이동로봇의 동작 성능을 평가한다.

• Journal of Life Science
• /
• v.17 no.8 s.88
• /
• pp.1075-1081
• /
• 2007

We investigated whether 1) capsaicin ingestion (100 mg) enhances autonomic nervous system (ANS) activities associated with thermogenic sympathetic activity as energy metabolic modulator, 2) UCP1 and ${\beta}_{3}$-AR variants of each subjects influence with ANS activity. Eight healthy males (24.7 ${\pm}$ 1.8 yr) volunteered for this study. The cardiac autonomic nervous activities evaluated by means of heart rate variability of power spectral analysis and energy metabolism were continuously measured during 5-min rest for total 90-min resting condition with placebo or capsaicin oral administration chosen at random. The results indicated that there were no significant differences in heart rate during rest between both trials. Autonomic nervous activity increased in capsaicin tablet trial, but the difference did not reach the statistical significance. Capsaicin, however, induced significantly lower respiratory gas exchange ratio at Test3 (CAP: 0.80 ${\pm}$ 0.02 vs. 0.85 ${\pm}$ 0.02), means ${\pm}$ SE, p<0.05). In conclusion, it may be suggested the capsaicin consumption as a valuable supplement for the treatment of individual with hyperlipidemia and/or obesity by improving lipolysis. Further studies will also be considered genetic variants such as UCP1 and/or ${\beta}_{3}$-AR associated with obesity.

• Journal of the Korea Convergence Society
• /
• v.11 no.8
• /
• pp.331-340
• /
• 2020

Rheumatoid arthritis ("RA"), whose characteristics are chronic inflammation and chronic pain, accompanies autonomic nervous system(ANS) dysfunction. In particular, ANS dysfunction in patients with chronic musculoskeletal pain was found to have increased the local pain intensity while lowering the pain threshold, thereby negatively influencing pain. It is reported that thermo-spinal massage affects relief of chronic pain and recovery of ANS in patients with chronic musculoskeletal pain. Therefore, we report a case of rheumatoid patients with chronic pain and ANS dysfunction, who experienced recovery of ANS dysfunction and pain reduction by applying thermo-spinal massage treatment.

• Proceedings of the KIEE Conference
• /
• 2008.04a
• /
• pp.255-256
• /
• 2008

미래의 로봇 산업은 기존 자동화 산업 뿐만 아니라 안내, 보안 등의 가정, 공공기관 또는 우주, 심해 등에서 인간을 대신할 대안으로 활용되어질 전망이다. 이는 기존의 단순반복에서 벗어나 자율이동, 자기학습 등이 가능하도록 개발되어야 한다. 본 논문에서는 로봇을 공공기관에서의 안내, 보안 또는 위험현장, 군사용으로 적용하기 위해 필요한 기술인 자율이동시스템을 개발하였다. 로봇이 자율이동하기 위해서는 자기위치추적, 장애물 탐지 및 회피 기술이 필요하다. 이를 위해 초음파센서를 이용해 로봇을 탐지 시스템을 구성하였으며 LM신경회로망 제어기를 사용하여 로봇의 이동을 제어하였다. 또한 시뮬레이션을 통해 장애물 회피능력과 이동성능 결과를 검증하였다.

• Journal of Naturopathy
• /
• v.7 no.2
• /
• pp.39-46
• /
• 2018

Purpose: The purpose of this study was to evaluate the effect of the subjects after visiting the Gyorae forest on the activity of the autonomic nervous system. Methods: Before and after the forest bath, it was measured using a ubiquitous machine. Results: After the bath there was no significant difference in the sympathetic nerve activity (LF) of the control group, but the difference was significant in the experimental group by increasing (p<.038), and in the variance analysis, there was a significant difference between the groups (p<.014), between pre-and post-bath (p<.026), and also between the groups and pre-and post-bath (p<.018). The changes in parasympathetic activity (HF) were not significant in both the control and experimental. In the LF/HF ratio, the experimental group was significantly increased, and in the analysis of variance, there was also significant difference between group and before and after bath (p<.04). Mean pulse rate in the experimental group was a significant increase after bath (p<.026). In the change of pulse standard deviation, the value of the control and the experimental groups by variance analysis was a significant difference between the groups (p<.014). There was no difference between the mean values of the control and the experimental groups in the change of mean heart rate deviation. Conclusions: The autonomic nervous systems were activated after Gyorae forest bathing, where may be useful place for healing.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 2002.05a
• /
• pp.28-31
• /
• 2002

본 논문에서는 자율 이동 로봇의 학습을 위해 신경망과 진화 알고리즘을 이용한 방법을 제안한다. 이것은 자연계의 생물이 진화와 학습을 통해 환경에 적응해 나가는 방식과 유사하다. 또한 본 논문에서는 행동기반 제어 방법인 포섭구조를 이용해 로봇의 행동을 제어하는 방법을 제안한다 포섭 구조는 행동 규칙을 병렬적으로 모듈화 하여 낮은 레벨에서는 기본적인 행동을 담당하고, 높은 레벨에서는 좀 더 복잡한 행동을 담당하는 구조로 되어있다 따라서 각 행동 레벨이 협조를 함으로써 복잡한 임무를 수행할 수 있다. 포섭 구조에서 각 레벨의 제어기는 신경 망으로 구성하며 각 행동 레벨이 서로 영향을 주고받으며 진화함으로써 주어진 임무를 달성하도록 한다. 제안된 방법은 자율 이동 로봇인 Khepera 로봇을 이용해 실제 환경에서 구현함으로서 그 유효성을 입증한다.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 2002.12a
• /
• pp.235-238
• /
• 2002

본 논문에서는 자율 이동 로봇의 학습을 위해 신경망과 진화 알고리즘을 이용한 방법을 제안하고 또한 행동기반 제어 방법인 포섭구조를 이용해 로봇의 행동을 제어하는 방법을 제안한다. 포섭 구조는 기존의 Al방법과는 달리 행동 규칙을 병렬적으로 모듈화 하여 낮은 레벨에서는 기본적인 행동을 담당하고, 높은 레벨에서는 좀 더 복잡한 행동을 담당하는 구조로 되어있다. 따라서 각 행동 레벨이 협조를 함으로써 복잡한 임무를 수행할 수 있다 포섭 구조에서 각 레벨의 제어기는 신경망으로 구성하며 각 행동 레벨이 서로 영향을 주고받으며 진화함으로써 주어진 임무를 달성하도록 한다 제안된 방법은 자율 이동 로봇인 Khepera 로봇의 시뮬레이션을 통해 결과의 효율성을 입증한다.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.23 no.8
• /
• pp.936-942
• /
• 2019

Autonomous driving of drone indoor must move along a narrow path and overcome other factors such as lighting, topographic characteristics, obstacles. In addition, it is difficult to operate the drone in the hallway because of insufficient texture and the lack of its diversity comparing with the complicated environment. In this paper, we study an autonomous drone navigation using Convolution Neural Network(CNN) in indoor environment. The proposed method receives an image from the front camera of the drone and then steers the drone by predicting the next path based on the image. As a result of a total of 38 autonomous drone navigation tests, it was confirmed that a drone was successfully navigating in the indoor environment by the proposed method without hitting the walls or doors in the hallway.

• Clinical and Experimental Pediatrics
• /
• v.46 no.10
• /
• pp.996-1002
• /
• 2003

Purpose : In Rett syndrome patients, the incidence of sudden death is greater than that of the general population, and cardiac electrical instability including fatal cardiac arrhythmia is a main suspected cause. In this study, we are going to find out the possible cause of the higher risk of sudden death in Rett patients by the evaluation of heart rate variability, a marker of cardiac autonomic activity and corrected QT intervals. Methods : Diagnosis of Rett syndrome was made by molecular genetic study of Rett syndrome (MECP2 gene) or clinical diagnostic criteria of Rett syndrome. Heart rate variability and corrected QT intervals were measured by 24 h-Holter study in 12 Rett patients, and in 30 age-matched healthy children with chief complaints of chest pain or suspected heart murmurs. The were compared with the normal age-matched control. Results : Patients with total Rett syndrome, classic Rett syndrome, and Rett variants had significantly lower heart rate variability(especially rMSSD)(P<0.05) and longer corrected QT intervals than age-matched healthy children(P<0.05). Sympathovagal balance expressed by the ratio of high to low frequency(LF/HF ratio) also showed statistically significant differences between the three groups considered(P<0.05). Conclusion : A significant reduction of heart rate variability, a marker of autonomic disarray, suggests a possible explanation of cardiac dysfunction in sudden death associated with Rett syndrome.

• Journal of the Korean Applied Science and Technology
• /
• v.36 no.1
• /
• pp.142-152
• /
• 2019

This study aimed to explore the association between obesity index and heart rate variability (HRV) in college-aged male smokers. A total of 85 male college students (> 10 cigarettes per day for at least 3 years) were participated in this study. According to a standardized protocol, body mass index (BMI), percent body fat (%BF), waist circumference (WC), and waist-to-hip ratio (WHR) were taken as obesity indices. Resting r-r interval was monitored for HRV analysis as an indicator of cardiac autonomic regulation. Compared with low WHR subjects, high WHR subjects had significantly lower values of rMSSD, pNN50, HF, and SD1, suggesting decreased parasympathetic activity. No such differences in LF/HF ratio were found between the WHR-based subgroups. Bivariate correlation analysis showed that obesity indices of WC, WHR, and %BF were significantly associated with rMSSD, pNN50, HF, and SD1, with a tendency for correlation coefficient to be higher with WHR than with WC or %BF. No significant association was found between BMI and HRV parameters indicative of parasympathetic activity. This study suggest that central obesity is significantly associated with decrease in parasympathetic activation, independent of BMI as an indicator of obesity, in male college smokers.