• 제목/요약/키워드: Guide dog

검색결과 26건 처리시간 0.024초

IMU 및 가속도 센서를 이용한 안내견 하네스 행동 알림 시스템 구현 (Implementation of Behavior Notification System for Guide Dog Harness Using IMU and Accelerometer Sensor)

  • 안병구;노윤홍;정도운
    • 융합신호처리학회논문지
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    • 제16권1호
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    • pp.15-21
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    • 2015
  • 본 논문에서는 시각장애인이 안내견과 함께 보행 중 환경적 요소와 상황에 따른 인지를 도와주기 위한 안내견 하네스 행동 알림 시스템을 구현하였다. 이를 위하여 안내견의 하네스 안장에 IMU(inertial measurement unit)모듈 및 가속도센서 다리벨트를 장착하였으며, 이로부터 출력되는 정보를 이용하여 안내견의 보폭추정과 자세판단을 수행하였다. 구현된 시스템의 성능을 평가하기 위하여 안내견이 인지하고 있는 자세를 오르막 계단 자세, 내리막 계단 자세, 오르막길, 내리막길 및 평지와 정지 상태로 나누웠으며 시각장애인의 안전을 위한 행동인 불복종명령 상태을 포함한 7가지의 행동에 대한 판별 실험을 수행하였다. 그 결과 안내견 행동 규칙 인식 성공률은 평균 92.78%로 나타났으며, 안내견 하네스 행동알림 시스템의 실제 적용 시 유용성을 확인하였다.

비전 센서를 이용한 AGV의 주행정보 획득에 관한 연구 (A Study for Detecting AGV Driving Information using Vision Sensor)

  • 이진우;손주한;최성욱;이영진;이권순
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2000년도 하계학술대회 논문집 D
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    • pp.2575-2577
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    • 2000
  • We experimented on AGV driving test with color CCD camera which is setup on it. This paper can be divided into two parts. One is image processing part to measure the condition of the guideline and AGV. The other is part that obtains the reference steering angle through using the image processing parts. First, 2 dimension image information derived from vision sensor is interpreted to the 3 dimension information by the angle and position of the CCD camera. Through these processes, AGV knows the driving conditions of AGV. After then using of those information, AGV calculates the reference steering angle changed by the speed of AGV. In the case of low speed, it focuses on the left/right error values of the guide line. As increasing of the speed of AGV, it focuses on the slop of guide line. Lastly, we are to model the above descriptions as the type of PID controller and regulate the coefficient value of it the speed of AGV.

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안내견으로 사용하고 있는 Labrador Retriever 고관절의 방사선학적 평가 (Radiographic Evaluation of Canine Hip Joint in Labrador Retrievers as Guide Dog)

  • 최윤주;정동희;김환;윤정희
    • 한국임상수의학회지
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    • 제22권3호
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    • pp.249-252
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    • 2005
  • This study was carried out to assess hip joint in Labrador retrievers. From 1999 to 2004, 131 Labrador retrievers were tested by British Veterinary Association(BVA)/Kennel club(KC) scoring scheme, 66 were tested by $PennHIP^{(R)}$ method. In this study the mean score by BVA/KC scoring scheme was $12.5{\pm}6.6$ and the mean DI was $0.53{\pm}0.14$. It was found that Labrador retrievers of Samsung Guide Dog school have better hip joint condition than that of Labrador retrievers registered in BVA, and have similar mean DI to PennHIP breed mean score. This study suggested that using both BVA/KC scoring scheme and $PennHIP^{(R)}$ method was a specific method which can make the most possible definitive diagnosis, could provide baseline hip information for the hip joint in Labrador retrievers as Guide Dog.

Use of intraoperative impression smear cytology to guide successful treatment of a large renal cyst in a dog: a case report

  • Balda, Ignacio Otero;Vagias, Michail;Cassidy, Joseph;O'Brien, Peter J.;Mullins, Ronan A.
    • Journal of Veterinary Science
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    • 제23권2호
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    • pp.34.1-34.7
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    • 2022
  • A 13-yr-old Shih tzu was referred for surgical management of right-sided cranial abdominal mass, which corresponded to large, cavitated renal mass on ultrasonography, and was suspected to represent neoplasia. Intraoperative impression smear cytology (ISC) of the renal mass wall was consistent with benign renal cyst (RC), without evidence of neoplasia or infection. Deroofing and omentalisation were performed and histopathology was consistent with benign RC. Chronic kidney disease was diagnosed 4 mon postoperatively, however, the dog was asymptomatic, without cyst reoccurrence. Intraoperative ISC is an expedient and inexpensive diagnostic technique that can guide most appropriate treatment in dogs with large RCs.

A Study on Morphology and Behavior of the Sapsaree : A Korean native dog (Canis familiaris)

  • Han, Kook-Il;Alam, Mahboob;Lee, Yun-Mi;Lee, Dong-Hoon;Ha, Ji-Hong;Kim, Jong-Joo
    • Journal of Animal Science and Technology
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    • 제52권6호
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    • pp.481-490
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    • 2010
  • This study was conducted to characterize the morphological and behavior patterns of Sapsaree dogs. The population (n=8,256) has been constructed since 1990 over 12 generations and managed at the Sapsaree Breeding Research Institute, Gyeongsan, Gyeongbuk province. Eighteen morphological and seven behavioral traits were investigated for 882 individuals. Linear models were applied for each trait by fitting sex, season of birth, hair color or test age. The averages of body weight, body length, body height, and depth of chest were $20.5{\pm}2.4\;kg$, $57.3{\pm}4.2\;cm$, $52.1{\pm}3.6\;cm$, and $21.1{\pm}2.4\;cm$, respectively. Males had greater estimated values than females for these body conformation traits. The chocolate Sapsarees had greater averages for body weight, body height and chest depth. The older animals (>2 years) had heavier body weight than younger animals. About 54, 69, 97, 39 and 83.3% of the Sapsarees had hairs with yellow color, straight, medium to long, untangled, and longer around eyes, respectively. Also, about 40% brown eye, 43% curly tail, 78% normal jaw, 86% no missing teeth, 90% no dewclaw, and >90% with black nose, pendent ear, tongue without spots were observed. About 95% males were normal in testicles state. The males performed significantly better than the females for majority of the behavioral traits. For nerve stability, affability, wariness, adaptability, sharpness, activity, and reaction during blood drawn about 79%, 73%, 76%, 61%, 70%, 48% and 81% of the Sapsarees performed at desired level. In general, the Sapsarees showed good characteristics for both morphological and behavioral traits, which can be exploited to use the Sapsaree breed as a companion or guide dog.

노령견의 하악골절 불유합 1례에서 골유도재생술의 임상적 효과 (Clinical Effect of Guide Bone Regeneration of Mandibular Nonunion in a Geriatric Dog)

  • 김세은;심경미;배춘식;최석화;정순정;강성수
    • 한국임상수의학회지
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    • 제30권2호
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    • pp.127-130
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    • 2013
  • 13년령의 4.2 kg 암컷 푸들이 하악의 병적 골절 후 지역병원에서 받은 양측성 하악 수술의 실패로 내원하였다. 수술은 2.0-mm miniplates/screws, 돼지해면질골 및 흡수성 막을 사용해 시행되었다. 수술 후 1일, 1, 4, 8, 12주에 예후를 평가하였다; 치아 부정교합, 골절 불유합, 또는 연부조직 감염의 징후는 보이지 않았다. 그러나 1년 후 장기간 검진에서 콜라겐 막을 사용하지 않았던 왼쪽 하악골절부위에 불유합이 관찰되었다. 따라서 노령견에서 하악골 불유합의 치유에 돼지해면골과 흡수성 막을 함께 사용하는 것은 효과적이라 생각된다.

정상견 무릎의 관절경 검사소견 (Arthroscopic Findings of the Canine Stifle Joint)

  • 정순욱;정월순
    • 한국임상수의학회지
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    • 제16권2호
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    • pp.300-308
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    • 1999
  • Arthroscopy is a valuable diagnostic and operative tool in equine and human orthopedics. The arthroscope is a difficult instrument to use and requires patience, practice, and persistence in order to obtain good results. This technique was found to be less traumatic than arthrotomy, invasiveness, rapid recovery and the feasibility of surgically correcting many arthropathies. The use of the arthroscope in the dog provides a new dimension in the study and diagnosis of joint derangements. The purpose of this report is to introduce the use of the arthroscope in the dog-more specifically, in the stifle of the dog. A diameter 2.7 mm fore-oblique viewing arthroscope, cold light source, video and video printer are used. With the fore-oblique viewing type it is possible to view directly as well as slightly to the side and the range of viewing can be increased by rotating the arthroscope around the object The scope is connected with a cold light source by means of a fiber-optic light guide. The stifle joint was flexed to 20~30$^{\circ}$. The joint were lavaged with lactated Ringer's solution during arthroscopic examination. Arthroscopy of the stifle was performed prior to arthrotomy in 1 dead dog and 4 healthy dogs, and other 3 dogs was performed only arthroscopic examination. In this study only the conventional approaches were used and in most cases it was possible to view all the intra-articular structures via the lateral infrapatellar approach. In the stifle joint, endoscopic observation was performed to find lateral femoral condyle, patella, medial femoral condyle, trochlear groove, tibia, fat, cranial cruciate ligament, caudal cruciate ligament lateral meniscus, tendon of long digital extensor muscle, medial meniscus, and medial collateral ligament Post-arthroscopic examination, the lameness had disappeared within 12~24 hours. Pain and swelling in the stifle joint had disappeared within 24~36 hours. Post-arthroscopic secondary infection was never encountered in the dogs. In conclusion, arthroscopic insertion technique in canine stifle joint using a diameter 2.7 mm 30$^{\circ}$ arthroscope was established and arthroscopical views of all anatomical structures in the normal stilfe joint were obtained through lateral infrapatellar portal.

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견마로봇의 전력제어 및 최적 운용에 대한 연구 (Study on Power Control and Optimal Management for Dog-Horse Robot)

  • 강태하;허진욱;김준;강신천
    • 한국군사과학기술학회지
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    • 제13권3호
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    • pp.343-348
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    • 2010
  • Recently, unmanned electric vehicles are increasingly interested among all of the world since they can provide low exhaust gas, high efficiency and high mobility. To exploit their silent maneuver and high mobility, unmanned electric vehicles have been developed since early 1980's for military. However, it is not easy to design and control a power system satisfying operating duration and mobility performance requirements based on various mission profiles for military use under the conditions of limited space and weight. Moreover it is also necessary to prevent over-charge, over-discharge and voltage unbalance between cells of battery to secure high voltage battery which is serially connected with muti-cells. In this paper, we presents power control and optimal management method for the dog-horse robot which adopts a electric power system and suggests a guide-line to manage and control to secure high voltage battery.

Popliteal Lymphography in a Dog with Chylothorax

  • Bang, Sohyun;Lee, Hanbin;Park, Daehwan;An, Taegeon;Kim, Hyunryung;Yu, Jin;Yoon, Hyunglok;An, Gayeon;Oh, Hyehong;Chang, Jinhwa;Kim, Gonhyung;Chang, Dongwoo
    • 한국임상수의학회지
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    • 제35권6호
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    • pp.290-293
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    • 2018
  • Signalment: A dog which had been hit by car a month prior and had been experiencing recurrent pleural chyle effusion was referred to Chung-buk National University Animal Medical Center. The clinical signs included tachypnea and salivation. Results: Ultrasound-guided popliteal lymphography was performed. The computed tomography imaging revealed that the thoracic duct was ruptured and the lymph was leaking into the cranial mediastinal region. After this discovery, thoracic duct ligation was performed. The ultrasound-guided popliteal lymphography was repeated after the surgery. The second computed tomography imaging revealed that the thoracic duct rupture was resolved. Clinical relevance: We identified the etiology of chylothorax through the computed tomographic lymphography and imaged specific leakage areas. After surgery, the computed tomography imgaing confirmed the lymphatic flow modification and the treatment was successful.

Surgical Resection of Cardiac Hemangiosarcoma Using Articulated Surgical Stapler in a Dog

  • Woo-Jin Kim;Kyung-Min Kim;Won-Jong Lee;Chang-Hwan Moon;Hae-Beom Lee;Seong-Mok Jeong;Dae-Hyun Kim
    • 한국임상수의학회지
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    • 제41권1호
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    • pp.37-42
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    • 2024
  • This case report discusses the successful surgical resection of cardiac hemangiosarcoma in a dog using an articulated surgical stapler. Cardiac tumors, particularly hemangiosarcomas, have a poor prognosis. Recommended treatment involves surgical removal of the primary tumor, along with chemotherapy. However, the use of staples for cardiac tumor resection has not yet been extensively documented in the veterinary literature. A 10-year-old dachshund with pericardial effusion underwent surgery to remove a right atrial mass. An articulated linear cutting stapler was used for tumor resection. The patient experienced chylothorax as a complication but recovered well. However, the patient later developed respiratory symptoms and died, most likely due to aspiration pneumonia. The surgical stapler provided stability, convenience, and a shorter surgical time during tumor resection. Surgical resection combined with chemotherapy improves the survival of dogs with cardiac hemangiosarcoma. The stability and adjustability of the stapling device make it advantageous for cardiac tumor resection. Although complications, such as chylothorax, can arise, appropriate management can lead to positive outcomes. This case report demonstrates the feasibility and safety of using an articulated surgical stapler for cardiac tumor resection in dogs. Insights from this case can guide future research and clinical practice.