• Journal of Chest Surgery
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• v.38 no.4 s.249
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• pp.271-276
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• 2005

We analysed differences in operative methods and postoperative outcome according to the severity of preoperative cyanosis in adult ToF (Tetralogy of Fallot) patients. Material and Method: From August 1989 to June 2001, thirty three adult patients, 18 females and 15 males, underwent total correction for ToF. Their age ranged from 15 years to 54 years (median: 34). Patients were divided into 2 groups by preoperative $SaO_2$ (arterial oxygen saturation): group I$(n=cyanotic,\;SaO_2\;\geq94\%)$ and group II $(acyanotic,\; SaO_2\geq95%)$. Preoperative median hemoglobin level was higher in group I compared to group II (17.5 g/dl vs 15 g/dl). Postoperative follow-up duration ranged from 1 to 94 months (670 patient-month, median: 14 months), and 63 two-dimensional echocardiographic examinations were done during this period. Result: There were no early or late mortality. With regard to RVOT (right ventricular outflow tract) reconstruction, trans-annular patch and RV-PA extracardiac conduit were used in 7 and 3 patients respectively, and all of them belonged to group I. In group I, cardiopulmonary bypass time, aortic cross-clamping time, ICU day, hospital day were significantly longer than in group II, and postoperative inotropic support was significantly greater than in group II. There was no ventricular arrhythmia in both groups, and one patient in group I suffered from atrial arrhythmia, which was resolved spontaneously after tricuspid and pulmonary valve replacement. During follow-up periods, functional class, residual RVOT stenosis and pulmonary regurgitation, tricuspid regurgitation, occurrence of ventricular and atrial arrhythmias were comparable between two groups. Conclusion: In adult ToF patients with severe preoperative cyanosis, more aggressive RVOT reconstruction and careful postoperative care are mandatory. However intermediate-term outcome of this group of patients is comparable to the patients with minimal or no preoperative cyanosis.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2000-2003
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• 2003

In recent years, robots have been used widely in industrial field and have been expanded as a result of continuous research and development for high-speed and miniaturization. The goal of this paper is to design the serial manipulator through kinematic analysis and to control the position and orientation of end-effector with respect to time. In general, a structure of industrial robot consists of several links connected in series by various types of joints, typically revolute and prismatic joints. The movement of these joints is determined in inverse kinematic analysis. Compared to the complicated structure of parallel and hybrid robot, open loop system retains the characteristic that each link is independent and is controlled easily. AC servo motor is used to place the robot end-effector toward the accurate point with the desired speed and power while it is operated by position control algorithm. The robot end-effector should trace the given trajectory within the appropriate time. The trajectory of end-effector can be displayed on the monitor of general personal computer through Opengl program.

• Journal of Ocean Engineering and Technology
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• v.17 no.6
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• pp.83-90
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• 2003

This paper presents an underwater hybrid navigation system for a semi-autonomous underwater vehicle (SAUV). The navigation system consists of an inertial measurement unit (IMU), and a Doppler velocity log (DVL), accompanied by a magnetic compass. The errors of inertial measurement units increase with time, due to the bias errors of gyros and accelerometers. A navigational system model is derived, to include the scale effect and bias errors of the DVL, of which the state equation composed of the navigation states and sensor parameters is 20. The conventional extended Kalman filter was used to propagate the error covariance, update the measurement errors, and correct the state equation when the measurements are available. Simulation was performed with the 6-d.o,f equations of motion of SAUV, using a lawn-mowing survey mode. The hybrid underwater navigation system shows good tracking performance, by updating the error covariance and correcting the system's states with the measurement errors from a DVL, a magnetic compass, and a depth sensor. The error of the estimated position still slowly drifts in the horizontal plane, about 3.5m for 500 seconds, which could be eliminated with the help of additional USBL information.

• The Proceedings of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.7 no.6
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• pp.42-50
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• 1993

In this paper the affect an inorganic filler and a f i n g up water absorption in epoxy composite material was represented. The results are summarized as follows ; 1. In the case of Sample 1, Sample 2 and a fillng up water absorption, the frequency depenence of E,' shows the straight characteristic underl4O0C. 2. Between lOOHz and 3kHz, the frequency dependency of tan8 is dominated by the loss of a dipole relaxation than the conductive loss for movement of a career. The effect of water absorption, is increased as the frequency is d e creased.

• Journal of Mechanical Science and Technology
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• v.19 no.3
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• pp.792-801
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• 2005

This paper discusses a dc motor equipped electric power steering (EPS) system and demonstrates its advantages over a typical hydraulic power steering (HPS) system. The tire-road interaction torque at the steering tires is calculated using the 2 d.o.f. bicycle model, in other words by using a single-track model, which was verified with the J-turn test of a real vehicle. Because the detail parameters of a steering system are not easily acquired, a simple system is modeled here. In previous EPS systems, the assisting torque for the measured driving torque is developed as a boost curve similar to that of the HPS system. To improve steering stiffness and return-ability of the steering system, a third-order polynomial as a torque map is introduced and modified within the preferred driving torques researched by Bertollini. Using the torque map modification sufficiently improves the EPS system.

• Journal of Institute of Control, Robotics and Systems
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• v.2 no.3
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• pp.181-187
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• 1996

A frictionless positioning device using cone-shaped active magnetic bearings(AMBs) is developed, which is driven by a brushless DC motor equipped with resolver. The cone-shaped AMB feature that the structure is simple and yet the five d.o.f. rotor motion is controlled by four magnet pairs. A linearized dynamic model, which accounts for the relationship between input voltage and output current in the cone-shaped magnet, is developed and the azimuth motion of the frictionless positioning device is modeled as the second order system. The feedback controller is designed by using linear quadratic regulator with integral action optimal control law so that the cone-shaped AMB system is stabilized and the frictionless positioning device gets the zero steady state. It is observed that the linearized dynamic model is adequate and the frictionless positioning device can achieve the tracking accuracy within the sensor resolution.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.9
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• pp.2854-2865
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• 1996

The concept of variable-geometry truss structure(VGTS) is introduced as a class of actively controlled adaptive structure. VGTS can purposefully vary its geometric configurations by changing the lengths of some members of the structure. General kinematics and inverse kinematics of a statically determinate VGTS(variable geometry truss structure) are studied. The solution technique is based on the Jacobian matrix obtained via joint equilibrium equations. Pseudoinverse control method is applied to resolve the redundancy of a large VGTS. two types of actuator layout of octahedral type VGTS, VG truss and Stewart platform, are compared. Introducing the concept of performance index, Stewart platform based layout was found to has less consumption energy and manipulation time. A functional VGTS model with 3 octahedral modules is designed and manufactured for the labaratory demonstration. Six vertically located length-variable members are used to create general 6 d.o.f. motions.

• Korean Journal of Pharmacognosy
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• v.14 no.4
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• pp.178-192
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• 1983

Polygalae Radix was used as diuretics, analgesics and expertorants in oriental medicine. The root of Polygala tenuifolia Willd. (Polygalaceae) is comprised saponin (Onjisaponin A,B,C,D,E,F and G) polygalitol, onsitin and sugars. The pharmacological action of crude Polygala-saponin (PS) obtained from the roots are studied. The following results were obtained; 1) The median lethal dose $(LD_{50})$ of PS in mice is presented 71.1mg/kg s.c. and 694. 5mg/kg p.o.. 2) PS demonstrated diuretic action of relatively long acting duration in mice. 3) The diuretic mechanism of PS was found due to inhibitory effect of renal tubular reabsorption of electrolytes and glomerular vascular dilatation. 4) The group, administered simultaneously PS and cefadroxil monobydrate was significantly increased with PS alone group on diuretic action. Synergistic effect cefadroxil monohydrate on the diuretic action of PS seems due to competitive inhibition of plasma protein binding with PS. 5) PS demonstrated analgesic action by the acetic acid stimulating method and Randall-Selitto test in mice. 6) PS presented antipyretic action against febrile treated with the typhoid vaccine. 7) PS was significantly prolonged against the hypnotic duration of pentobarbital in mice. 8) Onset time convulsion and death induced by picrotoxin and strychnine in mice were not delayed. According to the above results, the PS was identified as a pharmacological active component obtained from roots of Polygala tenuifolia Willd.

• Animal Systematics, Evolution and Diversity
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• v.18 no.1
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• pp.53-58
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• 2002

Some siphonophores and scyphomedusae were collected from the coasts of Hoopo(Sea of Japan) and Geojedo Island, Changson(Korea Strait) in Korea respectively. They identified into Porpita umbella O. F. Muller, 1776 of the order Siphonophora in the Hydrozoa and Dactylometra quinquecirrha L. Agassiz, 1862 of the Semaeostomeae in the Scyphozoa. P. umbella looks like a bule button. It's chitinous float is light brown and the other body protions are turquoise blue. D. quinquecirrha has four long curtain-like oral lobes which are highly flexible and ornamented with numerous nematocyst warts, and 32 radiating reddish brown stripes upon exumbrella. The Siphonophora is reported for the first time and three scyphomedusae are reported in Korea so far.

• Transactions of the Korean Society of Automotive Engineers
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• v.21 no.2
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• pp.81-86
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• 2013

This paper presents the lane change system for collision avoidance. The proposed algorithm for the collision avoidance consists of path generation and path following. Using a calculated TTC (Time to Collision), partial braking is operated and collision avoidance path is generated considering relative distance, velocity and acceleration. Based on the collision avoidance path, desired yaw angle and yaw rate are calculated for the automated path following. The lateral controller is designed by a Lyapunov function approach using 3 D.O.F vehicle model and vehicle parameters. The required steering angle is determined from wheel velocity, longitudinal and lateral velocity in order to follow the desired yaw angle and yaw rate. This system is developed MATLAB/Simulink and its performance is evaluated using the commercial software CarSim.