• Journal of Chest Surgery
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• 제19권2호
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• pp.225-231
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• 1986

Pericardial adhesions following open heart surgery pose a special problems, increasing the risk of cardiac reoperation because of the danger of damaging the heart, coronary artery and veins, or grafts and also the fibrous tissue may obliterate the pericardial space and eventually constrict the heart. This study was undertaken to evaluate the effect of intrapericardial urokinase and dextran 40 on the formation of pericardial adhesions in an animal model. latrogenic traumas on the pericardium were surgically induced in 30 rabbits, simulating injuries possible during actual surgery. In all rabbits, blood [1 ml] was obtained from an ear vessel and injected into the pericardium. Control group of ten rabbits did not receive any further medication, urokinase group of ten received 15, 000-20, 000 IU of urokinase, and remained ten received 1 ml of 10% dextran 40. All rabbits were sacrificed at 4 weeks. At autopsy, the development of adhesions were graded as none [Grade I], minimal [Grade II], moderate [Grade III], and severe [Grade IV]. Histological studies of the parietal pericardium and epicardium were performed. The results were as follows: 1. Group 1[Control group] showed minimal adhesion in 40%, moderate in 50%, and severe in 10% of the group. Sharp dissections were necessary in 60% of adhesions. 2. Group II [Dextran group] showed no adhesions in 20%, minimal in 60%, and moderate in 20% of the group. 3. Group III [Urokinase group] showed no adhesions in 40%, minimal in 40%, and moderate in 20% of the group. Considering in this group, the adhesion activity was significantly suppressed [60% adhesions] compared to the control group [100% adhesions] [P < 0.05]. 4. Histological findings revealed mild serosal fibrosis in none adherent group, loose fibrous connections between two layers of pericardium in minimal adhesion group, tight fibrous connections in moderate adhesion group, and marked fibrous thickening and close attachment of two surfaces were noted in severe adhesion group. These data have revealed the decreased incidence of pericardial adhesions with urokinase and dextran 40.

• 전기학회논문지
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• 제58권8호
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• pp.1605-1614
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• 2009

The technique of simultaneous localization and mapping is the most important research topic in mobile robotics. In the process of building a map in its available memory, the robot memorizes environmental information on the plane of grid or topology. Several approaches about this technique have been presented so far, but most of them use mapping technique as either grid-based map or topology-based map. In this paper we propose a frame of solving the SLAM problem of linking map covering, map building, localizing, path finding and obstacle avoiding in an automatic way. Some algorithms integrating grid and topology map are considered and this make the SLAM performance faster and more stable. The proposed scheme uses an occupancy grid map in representing the environment and then formulate topological information in path finding by A${\ast}$ algorithm. The mapping process is shown and the shortest path is decided on grid based map. Then topological information such as direction, distance is calculated on simulator program then transmitted to robot hardware devices. The localization process and the dynamic obstacle avoidance can be accomplished by topological information on grid map. While mapping and moving, pose of the robot is adjusted for correct localization by implementing additional pixel based image layer and tracking some features. A laser range finer and electronic compass systems are implemented on the mobile robot and DC geared motor wheels are individually controlled by the adaptive PD control method. Simulations and experimental results show its performance and efficiency of the proposed scheme are increased.

• Parasites, Hosts and Diseases
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• 제52권1호
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• pp.47-49
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• 2014

Turkey remains an intermediate area for prevalence of hepatitis B virus (HBV) surface antigenemia. The sheep-raising areas of Turkey also pose a high risk for cystic hydatid disease (CHD). Both HBV infection and CHD are major public health issues particularly in eastern parts of Turkey; however, there is no data regarding HBV infection in patients who have had CHD. The aims of this study were to evaluate the association between HBV infection and CHD and suggest ways to reduce HBV infection which is still widespread in Turkey. A retrospective study was conducted with 94 adult patients with active CHD referred to the hepatology department, Yuzuncuyil University School of Medicine from December 2010 to December 2012. All subjects came from rural areas of the region and underwent ultrasonography of abdomen which detected CHD of the liver. All the patients were serologically positive for Echinococcus granulosus. The control group consisted of 500 patients (300 men and 200 women) referred to the internal medicine clinics for other reasons. The patients with CHD and in the control group were tested for the existence of HBs antigen according to the standard procedures. The seroprevalence of HBs antigen was significantly higher in patients with active CHD than those in the control group (12.7% vs 5.2%; P=0.0017). Our data indicate that there is significant association between HBV infection and CHD. All patients with CHD should be screened for HBV infection.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제14권10호
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• pp.4136-4156
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• 2020

Recently, data can be safely shared or stored using the infrastructure of cloud computing in various fields. However, issues such as data security and privacy affect cloud environments. Thus, a variety of security technologies are required, one of them is security technology using CP-ABE. Research into the CP-ABE scheme is currently ongoing, but the existing CP-ABE schemes can pose security threats and are inefficient. In terms of security, the CP-ABE approach should be secure against user collusion attacks and masquerade attacks. In addition, in a dynamic cloud environment where users are frequently added or removed, they must eliminate user access when they leave, and so users will not be able to access the cloud after removal. A user who has left should not be able to access the cloud with the existing attributes, secret key that had been granted. In addition, the existing CP-ABE scheme increases the size of the ciphertext according to the number of attributes specified by the data owner. This leads to inefficient use of cloud storage space and increases the amount of operations carried out by the user, which becomes excessive when the number of attributes is large. In this paper, CP-ABE access control is proposed to block access of withdrawn users in dynamic cloud environments. This proposed scheme focuses on the revocation of the attributes of the withdrawn users and the output of a ciphertext of a constant-size, and improves the efficiency of the user decryption operation through outsourcing.

• 한국통신학회논문지
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• 제40권7호
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• pp.1276-1285
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• 2015

최근 들어, 자기 간섭 제어 기술의 발달로 인하여 PHY 계층에서는 full-duplex 통신이 가능한 수준에 도달하였다. 이러한 full-duplex 통신을 지원하기 위한 다양한 MAC 계층의 기술들이 활발히 연구 중이다. 본 논문에서는 무선랜 (WLAN) 시스템에서 full-duplex 통신의 특징과 이로 인하여 발생하는 문제점들을 알아보고, 이 문제를 해결하기 위하여 제안된 다양한 MAC 프로토콜을 살펴본다. 그리고 현재 초기 단계에 있는 무선랜 시스템에서의 full-duplex 통신과 관련된 MAC 계층의 향후 연구 과제를 논의한다.

• Advances in environmental research
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• 제5권3호
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• pp.179-187
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• 2016

This study evaluated some markers of oxidative stress in the organs of African Catfish, Clarias gariepinus from Eleyele River in Oyo State, Nigeria. Clarias gariepinus (250 g-400 g) were collected from Eleyele River (a suspected polluted River) and Clarias gariepinus from a clean fish farm (Durantee fisheries) were used as the control. Levels of Malondialdehyde (index of lipid peroxidation), Glutathione (GSH) and activities of antioxidant enzymes- Superoxide dismutase (SOD), Catalase and Glutathione-S-Transferase (GST) were evaluated in the liver, kidney and gills of the fish. From the results, there were significant (p<0.001) increases in malondialdehyde and GSH levels in the liver, kidney and gills of Clarias gariepinus from Eleyele River compared with control. The activity of GST increased significantly (p<0.05; p<0.001) in the liver and kidney of fish from Eleyele River compared with control. There was a significant decrease (p<0.05; p<0.001) in SOD activity in all the organs of Clarias gariepinus from Eleyele River compared with conrol and also a significant (p<0.001) decrease in catalase activity in the gills and kidney of the fish but catalase activity increased in the liver. Increase in lipid peroxidation and alterations in antioxidant status in Clarias gariepinus from Eleyele River show that the fish were under oxidative stress. These suggest that the River is polluted probably as a result of various wastes frequently discharged into the River. This could pose serious health risks to consumers of water and aquatic organisms from the River.

• 한국정보통신학회논문지
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• 제24권9호
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• pp.1187-1192
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• 2020

드론봇 전투체계는 4차산업혁명에서 미래 전장의 대표적인 모델이다. 드론봇에서 무인정찰 탱크로봇은 인간보다 더 높은 전투력으로 인명 피해를 최소화하며 비용을 절감할 수 있다. 그러나 전장 환경은 장애물, 적 상황 등 매우 복잡하므로 탱크로봇을 조종사가 제어 할 필요도 있다. 탱크로봇은 ICT 신기술의 로봇으로서 해킹 공격이 가능하며, 제어에 이상이 생기면 조종 및 통제에 위협을 줄 수 있다. 탱크로봇과 컨트롤러의 통신구간에 블루투스 Sniffing 공격을 하여, 블루투스에 대한 취약점을 소개하고, 보안대책으로 MAC주소 노출예방과 통신 구간 암호화를 이용한 대책을 제안하였다. 본 논문은 미래 군 작전에 운용될 탱크로봇에 대한 취약점을 최초로 제시하였으며, 국방 드론봇 부대에 활용될 수 있는 기초자료가 될 것이다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1048-1052
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• 2004

In this work, we have investigated a role of linking parameter in Pulse-Coupled Neural Network(PCNN) which is suggested to explain the synchronous activities among neurons in the cat cortex. Then we have found a method to determine the linking parameter for a satisfactory face detection performance in a given color image. Face detection algorithm which uses the color information is independent on pose, size and obstruction of a face. But the use of color information encounters some problems arising from skin-tone color in the background, intensity variation within faces, and presence of random noise and so on. Depending on these conditions, PCNN's linking parameters should be selected an appropriate values. First we obtained the mean and variance of the skin-tone colors by experiments. Then, we introduced a preprocess that the pixel with a mean value of skin-tone colors has the highest level value (255) and the other pixels have values between 0 and 255 according to normal distribution with a variance. This preprocessing leads to an easy decision of the linking parameter of the Pulse-Coupled Neural Network. Through experiments, it is verified that the proposed method can improve the face detection performance compared to the existing methods.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1448-1451
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• 2004

Position estimation is one of the most important functions for the mobile robot navigating in the unstructured environment. Most of previous localization schemes estimate current position and pose of mobile robot by applying various localization algorithms with the information obtained from sensors which are set on the mobile robot, or by recognizing an artificial landmark attached on the wall, or objects of the environment as natural landmark in the indoor environment. Several drawbacks about them have been brought up. To compensate the drawbacks, a new localization method that estimates the absolute position of the mobile robot by using a fixed camera on the ceiling in the corridor is proposed. And also, it can improve the success rate for position estimation using the proposed method, which calculates the real size of an object. This scheme is not a relative localization, which decreases the position error through algorithms with noisy sensor data, but a kind of absolute localization. The effectiveness of the proposed localization scheme is demonstrated through the experiments.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2737-2742
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• 2003

Kinematic calibration enhances absolute accuracy by compensating for the fabrication tolerances and installation errors. Effectiveness of calibration procedures depends greatly on the measurements performed. While the Cartesian postures are measured completely, all of the geometric parameters can be identified to their true values. With partial pose measurements, however, few geometric parameters may not be identifiable and effectiveness of the calibration results may vary significantly within the workspace. QR decomposition of the identification Jacobian matrix can reveal the non-identifiable parameters. Selecting postures for measurement is also an important issue for efficient calibration procedure. Typically, the condition number of the identification Jacobian is minimized to find optimum postures. This paper investigates identifiable parameters and optimum postures for four different calibration procedures - measuring postures completely with inverse kinematic residuals, measuring postures completely with forward kinematics residuals, measuring only the three position components, and restraining the mobility of the end-effector using a constraint link. The study is performed for a six degree-of-freedom fully parallel HexaSlide type paralle manipulator, HSM. Results verify that all parameters are identifiable with complete posture measurements. For the case of position measurements, one and for the case of constraint link, three parameters were found non-identifiable. Optimal postures showed the same trend of orienting themselves on the boundaries of the search space.