• 제목/요약/키워드: Compliant control

검색결과 146건 처리시간 0.022초

척수손상 백서에서 서방형 성장호르몬의 투여가 신경회복에 미치는 영향 (The Effects of Sustained Release Growth Hormone in the Repair of Neurological Deficits in Rats with the Spinal Cord Injury)

  • 김민수;허정;권용석;이근철;김석권
    • Archives of Plastic Surgery
    • /
    • 제35권3호
    • /
    • pp.235-242
    • /
    • 2008
  • Purpose: Due to increasing interest in the treatment of spinal cord injuries, many histopathological studies have been conducted to prove that many neurotrophic factors including growth hormone are important for regeneration of the injured spinal cord. Growth hormone has to be given everyday, however, and this negatively affects compliance in clinical trials. Recently, the invention of sustained release growth hormone (SRGH) that can be given just once a week may both help the regeneration of injured spinal cord and, at the same time, be more compliant and convenient for clinical patients. Methods: In this study, thirty 7-week-old female Spraque-Dawley rats were subjected to a weight-driven impact spinal cord injury. They were divided into 3 groups and Group I and II were injected with SRGH once a week for 4 weeks; Group I were injected into the injured spinal cord area, while Group II were injected into the peritoneal cavity. Meanwhile, Group III were injected with normal saline solution. The functional outcome was evaluated using the Basso-Beattie-Bresnahan motor rating score and the inclined plane test was done 4 weeks after the first injection. Histopathological examination was performed at the same time and the amount of residual white matter was measured in all groups. Results: After 4 weeks, Groups I and II showed greater improvement than Group III(the control group) in the functional test. In the control group, invasion of atypical phagocytes, axonal degeneration, edema and cavity formation in the posterior site of spinal cord gray matter was observed in histopatholgical examination. The rate of residual white matter in Group III was less than in the other groups. Conclusion: Data showed significant functional and histopathological improvement in the groups treated with SRGH into the spinal and peritoneal cavity compared with the control group. SRGH is therefore beneficial because it helps with regeneration of the injured spinal cord and improves the compliance and convenience of patients.

멀티 스케일 다중 전개형 협업 로봇을 위한 요소 기술 개발 (Development Fundamental Technologies for the Multi-Scale Mass-Deployable Cooperative Robots)

  • 주종남;김한;김정률;송성혁;고제성;허승주;하창수;김종원;안성훈;조규진;홍성수;이동준
    • 한국정밀공학회지
    • /
    • 제30권1호
    • /
    • pp.11-17
    • /
    • 2013
  • 'Multi-scale mass-deployable cooperative robots' is a next generation robotics paradigm where a large number of robots that vary in size cooperate in a hierarchical fashion to collect information in various environments. While this paradigm can exhibit the effective solution for exploration of the wide area consisting of various types of terrain, its technical maturity is still in its infant state and many technical hurdles should be resolved to realize this paradigm. In this paper, we propose to develop new design and manufacturing methodologies for the multi-scale mass-deployable cooperative robots. In doing so, we present various fundamental technologies in four different research fields. (1) Adaptable design methods consist of compliant mechanisms and hierarchical structures which provide robots with a unified way to overcome various and irregular terrains. (2) Soft composite materials realize the compliancy in these structures. (3) Multi-scale integrative manufacturing techniques are convergence of traditional methods for producing various sized robots assembled by such materials. Finally, (4) the control and communication techniques for the massive swarm robot systems enable multiple functionally simple robots to accomplish the complex job by effective job distribution.

말기 암 환자 보호자의 호스피스와 마약성 진통제에 대한 인식도 분석 (Analysis of the Perception of Hospice and Narcotic Analgesics by Family Caregivers of Terminal Cancer Patient)

  • 곽경숙;천성호;하정옥;이경희
    • Journal of Hospice and Palliative Care
    • /
    • 제9권2호
    • /
    • pp.106-111
    • /
    • 2006
  • 목적: 말기 암환자에서 마약성 진통제를 사용한 통증 조절과 호스피스를 통한 보존적 치료는 매우 유용한 치료 방법이다. 그러나 많은 환자들과 환자의 보호자들은 중독과 내성에 대한 두려움 때문에 마약성 진통제의 사용을 충분히 하지 못하고 있다. 그리고 또한 다수의 환자와 보호자들은 호스피스가 환자의 상태가 돌이킬 수 없는 지속적으로 악화되는 것과 같이 생각하기 때문에 호스피스를 받아들이는 것을 꺼려한다. 이 연구의 목적은 한국 문화에서 가족구성원이 건강관리에 결정적인 역할을 하기 때문에 말기 암 환자의 보호자들의 호스피스와 마약성 진통제의 사용에 대한 인식도를 분석하고 평가하였다. 방법: 이 연구에서는 총 54명의 말기 암환자의 보호자들이 참가했다. 설문지는 총 마약성 진통제와 호스피스에 관한 15문항으로 구성되었다. 결과: 연구는 다음과 같은 결과를 나타내었다. 1) 환자보호자의 반 이상(56.7%)이 호스피스에 대한 인식이 없었다. 2) 환자 보호자의 81.8%가 호스피스 치료가 말기 암환자에게 유익하다는 데 동의했다. 3) 보호자의 85.1%는 경제적 부담을 갖고 있었다. 4) 환자의 83.2%가 24시간 동안 통증의 호소했다. 5) 보호자의 85.8% 마약성 진통제가 통증을 조절할 수 있음을 믿고 있었으나 또한 79.1%와 79.6%보호자들은 마약성 진통제의 사용이 중독과 내성을 발생시킨다고 믿었다. 결론: 여전히 통증 조절을 위한 마약성 진통제 사용에 있어 보호자의 벽이 존재했다. 또한 말기 암 환자 보호자에게 호스피스에 대한 정보가 부족했다. 그러므로 약사와 의사 의한 마약성 진통제에 대한 교육이 통한 말기암환자에 있어 적절한 통증 조절을 위해 필요하다. 그리고 호스피스에 대한 좀 더 정확한 정보를 말기 암 환자에게 제공하여야 한다.가족간병인의 삶의 질에 많은 영향을 주는 교정 가능한 인자로 나타났다. 말기 암 환자 간병인의 간병 시간 및 경제적 부담을 감축하기 위한 사회적 지원이 필요하다. 봉사자와의 관계는 매우 좋다가 81.2%로 대부분을 차지하였고, 병원직원과의 관계는 매우 좋다가 69.7%였고, 다음은 대체로 좋다가 21.2%의 순이었다. 봉사활동에 대해 가족이나 친구의 지지는 어떠한가는 매우 좋다가 83.2%로 대부분을 차지하였다. 2. 대상자의 자원봉사활동 만족도는 평점 $3.09{\pm}0.49$(도구범위 $1{\sim}4$점)로 중간정도이었다. 영역별로 살펴보았을 때 만족도가 가장 높았던 영역은 사회적 접촉영역($3.48{\pm}0.61$)이었고, 다음은 성취영역($3.43{\pm}0.53$), 사회적 인정영역($3.35{\pm}0.70$)의 순이었다. 만족도가 가장 낮았던 영역은 사회적 교환영역($1.65{\pm}0.63$)이었다. 3. 대상자의 인구사회학적 특성에 따른 봉사활동 만족도를 분석한 결과 성별(t=2.038, P=0.044), 결혼상태(F=3.806, P=0.013)에 따라 유의한 차이를 보였다. 4. 대상자의 자원봉사활동 실태에 따른 봉사활동 만족도를 분석한 결과병원봉사활동기간(F=3.326, P=0.008), 봉사활동을 하는 주된 이유(F=2.707, P=0.035), 봉사활동을 위한 교육을 받은 여부(t=-1.982, P=0.050), 봉사활동의 평가 빈도(F=7.877, P=0.000), 봉사활동이 자신의 기술이나 능력에 적합도(F=2.712, P=0.049), 관리자와의 관계(t=-2.517, P=0.013), 다른 병원직원과의

  • PDF

관상동맥질환 여성의 성기능에 관한 연구 (A Study on Sexual Function of Women with Coronary Artery Disease)

  • 김춘심;소향숙
    • 성인간호학회지
    • /
    • 제12권1호
    • /
    • pp.99-111
    • /
    • 2000
  • The purpose of this study was to identify risk factors related to sexual function of women with coronary artery disease, and to determine the predictors of sexual function. The study design, a descriptive correlational study, was done through structural questionnaire and interview. A total of 50 subjects from C University Hospital at Kwang-ju city who have undergone coronary angiography at department of cardiology were observed and interviewed from Feb. 22, 1999 to March. 23, 1999. The number of affected vessels, the level of total serum cholesterol, and the ejection fraction of 2-D echo cardiography were analyzed to evaluate the severity of coronary artery disease. And also type A behavior pattern, health behavior, Brief Index of Sexual Functioning for Women (BISF-W) were measured. The data obtained were analyzed using percentage, mean and standard deviation, t-test, ANOVA, Pearson's correlation coefficient, and stepwise multiple regression analysis via SPSS PC+. The results of this study were as follows: 1. The mean age of the subjects were 58.1 and 72.0% of those have been married over 30 years. Seventy two percentage were unemployed and monthly family income of 56.6% was less than 1,000,000 won (approximately $ 840). Eighty percent were in their postmenopausal state, and the frequency of sexual intercourse of 84.0% were two to three times per month. 2. The scores of type A behavior pattern were from 16 to 38(mean 24.94) and health behavior ranged from 21 to 43(mean 31.2). Abstinence from smoking, alcohol, and caffeine were best compliant factors and weight control and exercise were least abided ones. The result of 2D-ECHO EF showed that the half of the subjects were abnormal, and 24% had more than 240mg/dl of total serum cholesterol. The coronary angiography showed that 64% of the subjects had more than one affected vessels. 3. The predictors to explain the factor score of 'orgasm' were number of health examination, the pre- or post-menopausal state, protestant, number of coronary vessel affected, level of serum total cholesterol, and comorbid group of hypertension and diabetes, and it's total variance accounted for 52.4%. The predictors to explain the factor score of 'sexual activity' were comorbid group of hypertension and diabetes and type A behavior pattern, which accounted for 22.4% of total variance. The predictors to explain the factor score of 'sexual satisfaction' were type A behavior pattern, no religion, exercise, level of serum total cholesterol, and pre or post menopausal state, which accounted for 52.1%. The predictors to explain the factor score of 'sexual desire' were the period of marriage, type A behavior, employment or unemployment, and weight control, which accounted for 43.2%. The predictors to explain the factor score of 'external force of sexual functioning' were physical overload and exercise, which accounted for 41.1%. The predictors to explain the factor score of 'sexual activity' were family monthly income, catholics, and exercise, and which accounted for 35.4%. Above results lead us to some consensus that sexual function of women with coronary artery disease is related to various factors including vasogenic factors such as total serum cholesterol level, number of coronary vessel affected, an endocrinal factor such as menopausal state, and type A behavior pattern as a sociopshychological factor. And also health behaviors such as fitness care, overwork, weight control, and emotional tension are contributed to sexual function.

  • PDF

결핵예방법의 격리명령의 실행과 한계에 관하여 (The Implementation and limits of Involuntary Detention of the Tuberculosis Prevention Act)

  • 김장한
    • 의료법학
    • /
    • 제16권2호
    • /
    • pp.55-84
    • /
    • 2015
  • 일반적으로 결핵은 기침, 대화, 노래 부르기와 같은 일상적인 생활에서 전파되는데, 전염성 결핵 환자는 1년 동안 10명 이상의 사람을 감염시킨다고 한다. 우리 사회로부터 결핵을 퇴치하기 위해서는 전염원이 되고 있는 결핵 환자에 대한 치료와 관리가 필수적이며, 의료진의 치료 지시에 불응하는 환자는 본인의 건강과 공중 보건 측면에서 큰 문제가 된다. 일차적으로는 결핵균을 외부로 배출하는 결핵 감염 환자가 문제이지만, 이차적으로는 치료에 의하여 감염성이 일시적으로 없어진 경우라도, 지속적인 치료를 받지 않으면, 예컨대 결핵 약을 복용하지 않으면 결핵이 재발할 가능성이 높은 결핵 환자라면, 치료 불응이 개인과 공중보건에 잠재적 위험이 될 수 있다. 결핵 환자가 의료진의 치료 지시 또는 권유에 불응한다면, 의료적 조치는 공적인 강제력과 결합하게 된다. 결핵은 환자 개인의 문제가 아니라 공중보건에 위해를 일으키는 감염병이기 때문에, 환자의 치료 거부권은 공공복리를 위한 기본권 제한 사유(헌법 제37조 제2항)가 되는 것이다. 다만 환자에 대하여 강제력을 부가하는 경우에도, 시행하고자 하는 강제의 방법에 따라 기본권의 제한의 정도가 다를 수 있다. 일반적으로 강제 구금과 같은 신체의 자유에 대한 강한 제한을 시행하기 이전에, 약한 정도의 제한이 가해지는 직접복약확인치료(Directly Observed Therapy, DOT)와 같이 환자가 자신이 약을 복용하는 것을 약속하고, 직접 의료진이 확인함으로써, 치료 순응도를 확인하고 환자의 자유를 좀 더 보장하는 것이 강제 구금과 같은 강한 기본권 제한 방법보다 좋을 것이라는 점은 일응 타당하다. DOT 치료에 대하여 순응하지 않거나, 기존에 환자가 보여 주었던 태도에 비추어 치료에 불순응할 것으로 강하게 예측되는 경우라면, 의료진은 환자를 강제 구금하고 치료하는 방법을 취하게 될 것이다. 우리나라의 결핵 예방법은 강제 구금과 관련하여, 두 단계의 명령 제도를 가지고 있는데, 첫째는 입원명령제도(결핵예방법 제15조)이고, 둘째는 격리명령제도(결핵명령법 제15조의2)이다. 본 논문에서는 강제 구금 명령에서 가장 기본권 제한의 정도가 심한 격리 명령을 분석하는 것인데, 이를 위하여 입원명령과 격리 명령의 차이점을 살펴보고, 이를 통하여 치료 불순응 결핵 환자에 대한 강제 조치로서 격리 명령 제도의 실행 방안과 실행에 있어서 법적 한계를 다루고자 하는 것이다.

  • PDF

도시철도 도면 관리에 관한 연구 -서울시 도시철도공사를 중심으로- (A study on the management of drawings of Metropolitan Rapid Transit)

  • 김미연
    • 기록학연구
    • /
    • 제11호
    • /
    • pp.181-214
    • /
    • 2005
  • Metropolitan rapid transit system plays an essential role in the public transportation system of any large city, and its managing agency is usually charged with the responsibility of storing and managing the design drawings of the system. The drawings are important and historically valuable documents that must be kept permanently because they contain comprehensive data that is used to manage and maintain the system. However, no study has been performed in Korea on how well agencies are preserving and managing these records. Seoul Metropolitan Rapid Transit Corporation(SMRT) is the managing agency established by the city of Seoul to operate subway lines 5, 6, 7, and 8 more efficiently to serve its citizens. By the Act on Records Management in Public Institutions(ARMPI), SMRT should establish a records center to manage its records. Furthermore, all drawings produced by SMRT and other third party entities should be in compliance with the Act. However, SMRT, as a form of local public corporation, can establish a records center by its own way. Accordingly, the National Archives & Records Service(NARS) has very little control over SMRT. Therefore, the purpose of this study is to research and analyze the present state of storage and management of the drawings of metropolitan rapid transit in SMRT and is to find a desirable method of preservation and management for drawings of metropolitan rapid transit. In the process of the study, it was found that a records center is being considered to manage only general official documents and not to manage the drawings as required by ARMPI. SMRT does not have a records center, and the environment of management on the drawings is very poor. Although there is a plan to develop a new management system for the drawings, it will be non-compliant of ARMPI. What's happening at SMRT does not reflect the state of all other cities' metropolitan rapid transit records management systems, but the state of creation of records center of local public corporation is the almost same state as SMRT. There should be continuous education and many studies conducted in order to manage the drawings of metropolitan rapid transit efficiently by records management system. This study proposes a records center based on both professional records centers and union records centers. Although metropolitan rapid transit is constructed and managed by each local public corporation, the overall characteristics and processes of metropolitan rapid transit projects are similar in nature. In consideration of huge quantity, complexity and specialty of drawings produced and used during construction and operation of metropolitan rapid transit, and overlap of each local public corporation's effort and cost of the storage and management of the drawings, they need to be managed in a professional and united way. As an example of professional records center, there is the National Personnel Records Center(NPRC) in St. Louis, Missouri. NPRC is one of the National Archives and Records Administration's largest operations and a central repository of personnel-related records on former and present federal employees and the military. It provides extensive information to government agencies, military veterans, former federal employees, family members, as well as researchers and historians. As an example of union records center, there is the Chinese Union Dangansil. It was established by several institutions and organizations, so united management of records can be performed and human efforts and facilities can be saved. We should establish a professional and united records center which manages drawings of metropolitan rapid transit and provides service to researchers and the public as well as members of the related institutions. This study can be an impetus to improve interest on management of not only drawings of metropolitan rapid transit but also drawings of various public facilities.