• 제목/요약/키워드: IM position control

검색결과 80건 처리시간 0.027초

흰색 팽이버섯 신품종 '백운' 육성 (Breeding a new variety of the white winter mushroom, Flammulina velutipes 'Baekwoon')

  • 임지훈;오민지;김민식;오연이
    • 한국버섯학회지
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    • 제21권4호
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    • pp.241-246
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    • 2023
  • 본 연구는 농촌진흥청에서 육성한 백승과 국외 수집자원(KMCC02260)을 모본으로 하여 단핵균주를 분리 후 mon-mon교잡을 통해 '백운' 품종을 육성하였다. 균사배양 특성은 25℃에서 두 품종의 균사생장이 가장 좋았으며 15, 25℃에서 백운의 균사생장 속도가 대조품종보다 더 빨랐으며 배지별 시험에서도 모든 배지에서 백운의 균사생장이 우수하였다. 톱밥 병에 접종 후 균사 배양기간은 백운이 2일, 초발이일수도 1일 더 빨라 전체적인 생육기간을 단축시켰으며 수량은 228.0±10.9 g/병(850 ml)으로 대조품종 대비 8.3% 증수하였다. 백운의 형태적인 특성은 갓이 크고 대가 굵으며 갓이 순백색이었다. 대치배양과 유전적 다형성 검정 결과, 백운이 두 모본과 대조품종과 유전적으로 다르다는 것을 확인하였다.

NaI(Tl) 섬광결정과 위치민감형 광전자증배관을 이용한 소형 감마카메라의 신호 특성 고찰 (Investigation of the Signal Characteristics of a Small Gamma Camera System Using NaI(Tl)-Position Sensitive Photomultiplier Tube)

  • 최용;김종호;김준영;임기천;김상은;최연성;이경한;주관식;김병태
    • 대한핵의학회지
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    • 제34권1호
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    • pp.82-93
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    • 2000
  • 목적: 이 논문에서는 본 연구진이 개발한 소형 감마카메라 시스템에서 사용한 NaI(Tl)섬광결정-위치민감형 광전자증배관 검출기와 각 전자회로에서의 입 출력 신호특성을 조사하고, 시스템 개발을 위해 각 전자회로에서 결정한 변수들에 대하여 고찰하고자 한다. 대상 및 방법: 크기가 $60{\times}60{\times}6mm^3$인 NaI(Tl) 섬광결정을 위치민감형 광전자증배관에 접합하고, 저항 회로와 전치증폭기, 여러 가지 전자회로, 아날로그-디지털 변환기 그리고 개인용 컴퓨터를 이용하여 소형 감마카메라 시스템을 개발하였다. 섬광결정에서 검출된 신호들을 위치민감형 광전자증배관을 통하여 증폭한 후, 전하분할방법으로 34개의 교차된 양극채널 신호를 4개($X^+,\;X^-,\;Y^+,\;Y^-$) 위치신호로 출력시켰다. 출력된 신호를 전치증폭기와 층폭기를 사용하여 증폭 정형하였으며, 핵기기 모듈(nuclear instrument modules, NIMs)을 이용하여 위치신호와 트리거 신호를 처리하였고, 각 단계에서 신호특성을 분석 고찰하였다. 이 신호들을 아날로그-디지털 변환기와 앵거로직을 사용하여 처리한 후, 일반 개인용 컴퓨터에서 그래픽 프로그램을 이용하여 감마카메라 영상을 구현하였다. 결과: 연구에서 분석 고찰한 신호특성을 그림을 통하여 나타내었으며, 이러한 신호처리를 이용하여 개발한 감마카메라는 약 $8{\times}10^3$ counts/sec/${\mu}Ci$의 계수율을 보였다. 140 keV에 대하여 18% FWHM의 에너지 분해능과 X, Y 방향으로 각각 2.2, 2.3 mm FWHM의 내인성 위치 분해능을 나타내었다. 또한 평행구멍형 조준기를 장착한 상태에서 유방모형에 위치한 $2{\sim}7mm$ 직경의 방사능 분포를 정확하게 영상화할 수 있었다. 결론: 이 연구에서 개발한 소형 감마카메라 시스템을 구성하고 있는 각 전자회로에서 결정한 매개변수와 신호특성 고찰결과를 나타내었다. 이 신호처리 시스템 분석을 통하여 감마선 검출을 이용한 영상표현 기술을 확보할 수 있었으며, 소형 감마카메라 개발을 위한 간단한 신호처리 방법을 고안하여 제시하였다.

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A Study on Infra-Technology of RCP Mobility System

  • Kim, Seung-Woo;Choe, Jae-Il;Im, Chan-Young
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2004년도 ICCAS
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    • pp.1435-1439
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    • 2004
  • Most recently, CP(Cellular Phone) has been one of the most important technologies in the IT(Information Tech-nology) field, and it is situated in a position of great importance industrially and economically. To produce the best CP in the world, a new technological concept and its advanced implementation technique is required, due to the extreme level of competition in the world market. The RT(Robot Technology) has been developed as the next generation of a future technology. Current robots require advanced technology, such as soft computing, human-friendly interface, interaction technique, speech recognition, object recognition etc. unlike the industrial robots of the past. Therefore, this paper explains conceptual research for development of the RCP(Robotic Cellular Phone), a new technological concept, in which a synergy effect is generated by the merging of IT & RT. RCP infra consists of $RCP^{Mobility}$ $RCP^{Interaction}$, $RCP^{Integration}$ technologies. For $RCP^{Mobility}$, human-friendly motion automation and personal service with walking and arming ability are developed. $RCP^{Interaction}$ ability is achieved by modeling an emotion-generating engine and $RCP^{Integration}$ that recognizes environmental and self conditions is developed. By joining intelligent algorithms and CP communication network with the three base modules, a RCP system is constructed. Especially, the RCP mobility system is focused in this paper. $RCP^{Mobility}$ is to apply a mobility technology, which is popular robot technology, to CP and combine human-friendly motion and navigation function to CP. It develops a new technological application system of auto-charging and real-world entertainment function etc. This technology can make a CP companion pet robot. It is an automation of human-friendly motions such as opening and closing of CPs, rotation of antenna, manipulation and wheel-walking. It's target is the implementation of wheel and manipulator functions that can give service to humans with human-friendly motion. So, this paper presents the definition, the basic theory and experiment results of the RCP mobility system. We confirm a good performance of the RCP mobility system through the experiment results.

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A Development of Home Mess-Cleanup Robot

  • Cha, Hyun-Koo;Jang, Kyung-Jun;Im, Chan-Young;Kim, Seung-Woo
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2005년도 ICCAS
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    • pp.1612-1616
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    • 2005
  • In this paper, a Home Mess-Cleanup Robot(HMR), which has a practical function of the automatic mess-cleanup, is developed. The vacuum-cleaner had made the burden of house chore lighten but the operation labour of a vacuum-cleaner had been so severe. Recently, the cleaning robot was producted to perfectly solve the cleaning labour of a house but it also was not successful because it still had a problem of mess-cleaning, which was the clean-up of big trash and the arrangement of newspapers, clothes, etc. The cleaning robot is to just vacuum dust and small trash but has no function to arrange and take away before the automatic vacuum-cleaning. For this reason, the market for the cleaning robot is not yet built up. So, we need a design method and technological algorithm of new automatic machine to solve the problem of mess-cleanup in house. It needs functions of agile automatic navigation, novel manipulation system for mess-cleanup. The automatic navigation system has to be controlled for the full scanning of living room, to recognize the absolute position and orientation of the self, the precise tracking of the desired path, and to distinguish the mess object to clean-up from obstacle object to just avoid. The manipulator, which is not needed in the vacuum-cleaning robot, must have the functions, how to distinguish big trash to clean from mess objects to arrange, how to grasp in according to the form of mess objects, how to move to the destination in according to mess objects and arrange them. We use the RFID system to solve the problems in this paper and propose the reading algorithm of RFID tags installed in indoor objects and environments. Then, it should be an intelligent system so that the mess cleaning task can be autonomously performed in a wide variety of situations and environments. It needs to also has the entertainment functions for the good communication between the human and HMR. Finally, the good performance of the designed HMR is confirmed through the results of the mess clean-up and arrangement.

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구륜 이동 로보트의 동적 모델링과 관성측정장치를 이용한 경로추적 알고리즘에 관한 연구 (A Study on Dynamic Modeling and Path Tracking Algorithms of Wheeled Mobile Robot using Inertial Measurement Units)

  • 김기열;임호;박종국
    • 전자공학회논문지S
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    • 제35S권10호
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    • pp.64-76
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    • 1998
  • 본 논문에서 4-구륜 2-자유도 이동 로보트의 체계적인 동적 모델링과 경로설계 및 추적 알고리즘을 제안한다. 실시간에서 이동 로보트의 위치 측정을 위해 관성측정장치중의 3가지 요소를 이용한다. 이러한 장치들은 지구의 회전속도 및 중력가속도 등의 여러 요인으로 인해 초기 오차를 가진다. 그래서 초기오차 모델을 유도하고, 실제 데이터와 유도된 모델의 추정 데이터의 확률적 특성을 분석 ${\cdot}$ 비교하여 적합도를 판정하여 사용한다. 관성측정장치의 동작특성은 오차모델과 칼만 필터와 연계된 경우와 배제된 일반적인 경우와 비교한다. 모의실험 결과들은 제안된 경로설계 및 추적 알고리즘이 기존의 방식과 비교하여 보다 유용함을 입증한다.

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핵의학과 Video Display Terminals Syndrome 유해 요인 조사 및 개선에 관한 연구 (The Study on Risk Factors Analysis and Improvement of VDT Syndrome in Nuclear Medicine)

  • 김정수;김승정;이홍재;김진의;김현주;한인임;주영수
    • 핵의학기술
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    • 제14권1호
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    • pp.61-66
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    • 2010
  • VDT는 Video Display Terminals의 약어로 시각 표시 단말기를 뜻한다. 최근 핵의학과에 VDT가 대량 보급되면서 점차적으로 사용자들이 늘어남과 동시에 사용 기간이 급증함에 따라 VDT 증후군에 관심이 높아지고 있다. 본 연구는 서울대학교병원 핵의학과를 대상으로 VDT 유해 요인 평가 도구를 적용하여 그 실태를 조사하고 문제점을 발견하여 향후 개선에 관한 방안을 도출함으로써 VDT 증후군에 관한 의식을 정립하고 궁극적으로 예방하는 데 목적이 있다. 서울대학교병원 핵의학과를 본원 핵의학과, 소아 핵의학과, PET 센터의 3개 파트로 분류하고, 2009년 4월 한 달 동안 현재 근무 중인 방사선사 23명을 대상으로 근무 부서를 직접 방문하여 유해 요인을 평가하였다. 평가에 사용한 도구는 원진 노동환경건강연구소의 "VDT작업에 관한 체크리스트"를 적용하였고 VDT 작업 조건, 업무 책상의 조건, 의자의 조건, 키보드의 조건, 모니터의 조건, 작업 자세, 보건 관리 특성, 기타 작업 환경의 8개 부문, 총 55개 항목을 통하여 현장 조사 및 평가하였으며 이에 대한 분석 결과는 한림대학교 성심병원 산업의학과에서 검증하였다. 서울대학교병원 핵의학과의 VDT 작업 조건은 비교적 양호한 수준이었다. 책상의 경우 최근 도입한 경우에는 인체공학적 설계로 사용자에게 적합하였으나 기존 책상의 15%는 기준치에 미달하였다. 의자의 경우는 기준에 적합하였지만 노후화로 인하여 적정 기능을 상실한 것이 5%였다. 키보드는 98%가 기준에 적합하였고 모니터는 화면의 각도 조절은 모두 가능하였지만 위치 조절이 불가능한 것이 38%로 조사되었다. 작업 자세의 경우 부적절한 자세로 장시간 노출되는 경우가 10%였으며 일부 항목에서 기준에 적합하지 않은 것으로 조사되었다. 보건 관리 측면에서도 개선의 여지가 있는 것으로 나타났다. 또한 조명과 온도, 소음, 환기 등 기타 작업 환경은 일부 항목에서 문제점이 발견되었지만 권고치를 충족하였다. 핵의학과 업무는 과거에 비하여 육체적인 업무는 줄었으나, 장시간 정적인 자세로 고도의 정밀도와 집중력을 요구하게 되었으며 이는 필연적으로 VDT 증후군을 유발하는 계기가 되었다. VDT 증후군은 앞으로도 지속적으로 발생할 가능성이 높으며 개선에 대한 경제적 비용이 상당하다는 점과 다양한 발병 요인을 내재하며 본인도 모르는 사이에 발생한다는 점에서 보다 구체적이며 효율적인 관리 체계가 필요할 것으로 판단된다. 핵의학과의 VDT 증후군은 인체공학적 사무 환경의 개선, 업무 절차(procedure)의 개선과 업무의 효율화, 직원간의 협동작업(teamwork) 그리고 규칙적인 운동, 꾸준한 스트레칭 체조와 같은 사용자 스스로의 노력, 지속적인 관심과 작은 노력으로 충분히 개선될 수 있으며 적극적으로 예방할 수 있을 것으로 사료된다. 이것은 쾌적한 업무 환경속에서 사용자의 육체적, 정신적 상태를 최상으로 이끌고 업무 효율성의 증대와 함께 내부 고객 만족도 상승으로 이어질수 있을 것으로 판단된다.

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자궁경부암 검진 수검률의 불평등 추이 (Trend of Socioeconomic Inequality in Participation in Cervical Cancer Screening among Korean Women)

  • 장숙랑;조성일;황승식;정최경희;임소영;이지애;강민아
    • Journal of Preventive Medicine and Public Health
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    • 제40권6호
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    • pp.505-511
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    • 2007
  • Objectives : While cervical cancer is one of the leading cancers among women worldwide, there are a number of effective early detection tests available. However, the participation rates in cervical cancer screening among Korean women remain low. After the nationwide efforts in 1988 and thereafter to encourage participation in cervical cancer screening, few studies have investigated the effects of socioeconomic inequality on participation in cervical cancer screening. The purpose of this study was to investigate 1) the level of socioeconomic disparities in receiving cervical cancer screening by age group and 2) if there was an improvement in reducing these disparities between 1995 and 2001. Methods : Using data from the Korean National Health Status, Health Behavior and Belief Survey in 1995, the Korean National Health and Nutrition Examination Surveys from 1998 and 2001 (sample sizes of 2,297, 3,738, and 3,283), age-standardized participation rates were calculated according to education level, equivalized household income, and job status. Odds ratios and the relative inequality index (RII) were also calculated after controlling for age. Results : Women with lower education levels were less likely to attend the screening test, and the disparities by education level were most pronounced among women aged 60 years and older. The RIIs among women 60 years and older were 3.64, 4.46, and 8.64 in 1995, 1998, and 2001, respectively. Higher rates of participation were reported among those in the highest income category, which was more notable among the middle aged women (40s and 50s). An inconsistent trend in the rate of participation in cervical cancer screening by occupational level was found. Conclusions : Indicators of socioeconomic position seem to have varying impacts on the inequalities in the rates of participation in cervical cancer screening according to age group. These results demonstrate the need for more aggressive and age-based interventions and policy programs to eliminate the remaining inequalities.

새로운 짧은 경로로의 dl-Muscone 합성(Ⅰ) (A Newer Short Synthesis of dl-Muscone(Ⅰ))

  • 임대식;신대희;박대규
    • 대한화학회지
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    • 제40권4호
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    • pp.243-248
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    • 1996
  • Cyclopentadecanone(2)으로부터 2-cyclopentadecen-1-one(4)까지의 일반적인 합성경로는 여러가지가 있을 수 있다. 본 실험에서는 우선 $C_2$-위치의 선택적인 브롬화반응을 위하여 $AlCl_3$를 써서 엔올산 염화하여 위치선택성을 증가시켰으며, 브롬화 수소 이탈반응에서의 시약 $Li_2CO_3$-LiBr-DMF 조건을 적절히 조절함으로써 화합물(4)를 쉽게 얻을 수 있었다. 이 과정에서 생기는 트랜스형 및 시스형 화합물(4)를 E.Ether 용매속에서 $CH_3MgI-Cu_2Cl_2$ 복합체에 적하하여 반응시킬 경우, 모두 1,4-첨가반응되어 dl-Muscone(1)를 생성함을 결과로 얻었다. 본 실험에서 Cyclopentadecanone(2)으로부터 dl-Muscone(1)까지의 3단계 과정을 통해 순수한 dl-Muscone(1)을 총 85%의 높은 수율로 얻었으며, 별다른 화학적 분리단계를 거치지 않아, 합성단가를 기존의 어느 방법보다 현격히 낮출수 있었다.

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본태성 고혈압환자를 위한 자기조절 프로그램 관련요인 연구 (A Study on the Factors Affecting Self-Regulation Program for Hypertensives)

  • 박영임
    • 지역사회간호학회지
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    • 제6권2호
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    • pp.234-249
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    • 1995
  • Essential hypertension, one of the leading primary cause of death in Korea, is a typical chronic disease requiring adequate and continuous management. Though these hypertensives need to maintain desirable health practice by themselves for their life time, many previous studies indicated that most of the essential hypertensives have no specific symptoms and thus, reluctant to follow appropriate medical regimens causing the condition further aggravated and complicated. Thus the comprehensive self-regulation program was conducted as a nursing intervention on the promotion self-care 'performance and improvement in physical parameters of hypertensives. For this purpose, a one group quasi -experimental research with pre and post test design was used. And the whole program was carried out from October, 1993 to February, 1994. Self-regulation program was consisted with group education on hypertension and self-care, self-regulation including the blood pressure self-monitoring and recording, recording of daily self-care activities, and encouraging and reinforcing self-efficacy through verbal persuation and enactive attainment. The subjects were asked to measure their own blood pressure by themselves twice per day and to record blood pressure and the daily self-care performance according to the instructions provided during the whole period of 9 weeks. The data was analyzed by experimental stages: the first week, the fifth week, and the ninth week since the experimental imput began. Data were analyzed by the SPSS PC+ program with paired t -test and F-test, and multiple correlation to determine the variables affecting the effect of program. The results were as follows : 1) Subjects in J company were significantly lower diastolic blood pressure than K company after the program (t=2.39, p=.024). Level of cholesterol was significant difference according to position(t=2.23, p=.034), family history (t=-2.66, p=.013), diagnosis duration, and career(t=2.88, p=.055). Perceived self-efficacy was more significantly increased among the group with family history(t=-3.00, p=.013). 2) Before the program, there were significant positive correlation among the variables: internal-LOC and self-efficacy(r=.3952, p=.015), external-LOC and barriers (r=.6515, p=.000), chance-LOC and Barriers(r=.4133, p=.012). However there were significant negative correlation between internal-LOC and barriers (r=-.3236, p=.041, external-LOC and self -efficacy(r=-.3517, p=.028), self-efficacy and barriers(r=-.6654, p=.000). 3) There were significant relationships between changes in self - care performance and self-efficacy at 5th week (r=.5313, p=.001) and changes in self-efficacy at 9th week(r=.4586, p=.005). 4) After the program, internal health locus of control and perceived benefits showed significant correlation(r=.5673, p=.001, but perceived barriers was negative correlation with perceived self-efficacy (t=-4242, p=.01). From the above results, it can be concluded that the self-regulation program is an effective nursing strategy through the change of variables to promote self-care performance of hypertensives and to increase the self-efficacy. Thus this program can be recommended in the management of the hypertensives in workplaces and community settings.

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직장인의 직무만족도 관련요인 분석 - NIOSH의 직무스트레스 모형을 적용하여 - (Factors Related with Job Satisfaction in Workers - Through the Application of NIOSH Job Stress Model -)

  • 김순례;이복임;이종은;이경용;정혜선
    • 지역사회간호학회지
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    • 제14권2호
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    • pp.190-199
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    • 2003
  • This study was conducted to determine the factors affecting job satisfaction in workers by using the Job Stress Model proposed by the National Institute for Occupational Safety and Health (NIOSH). Data were collected from December 1 to December 30, 1999. The subjects were 2,133 workers employed at 155 work sites, who were examined using NIOSH Job Stress questionnaire translated by the Korea Occupational Safety ${\pounds}|$ Health Academy and Occupational Safety ${\pounds}|$ Health Research Institute. SAS/PC program was used for statistical analysis using descriptive analysis. Pearson's correlation coefficient, ANOVA, and Stepwise multiple regression analysis. The results of this study were as follows. 1. According to general characteristics of the subjects, job satisfaction was high in those with less number of children. 2. By work condition, job satisfaction was higher in those who were working in a permanent job position, were working with regular time basis than with shift basis, were working in regular shift hours than in changing shift hours, were working for a short period, and were working less hours and overtime works per week. 3. In terms of physical work environment, job satisfaction was significantly related to 10 physical environmental factors. In other words, job satisfaction was high in workers who were working in an environment with no noise, bright light, temperature adjusted to an appropriate level during summer and winter, humidity adjusted to an appropriate level. well ventilation, clean air, no exposure to hazardous substance during work hour, overall pleasant work environment and not crowded work space. 4. By work-related factors, job satisfaction was high in those with less ambiguity about future job and role, high job control/autonomy, and less workload. On the other hand, job satisfaction was low in those with little utilization of competencies, and much role conflict at work and workload. 5. As for the relationships between job satisfaction and the non-work related factors, job satisfaction was high in workers who were volunteering at different organizations or active in religious activities for 5-10 hours per week. 6. In the relationships between job satisfaction and buffering factors, significantly positive correlations were found between job satisfaction and factors such as support by direct superior, support by peers, and support by spouse, friend and family. 7. There were nine factors that affected job satisfaction in the workers: age, number of children, work hours per week, noise, temperature at the work site during summer, uncomfortable physical environment, role ambiguity, role conflict, ambiguity in job future, work load, no utilization of competencies and social support from direct supervisor. These nine factors accounted for 26% of the total variance in the multiple regression analysis. In conclusion. the following are proposed based on the results of this study. 1. The most important physical environmental factors affecting job satisfaction in workers were noise, role ambiguity, and work load, suggesting a need to develop strategies or programs to manage these factors at work sites. 2. A support system that could promote job satisfaction is needed by emphasizing the roles of occupational health nurses who may be stationed at work sites and manage the factors that could generate job stress. 3. Job satisfaction is one of the three acute responses to stress proposed in NIOSH job stress model (job satisfaction. physical discomfort and industrial accidents). Therefore, further studies need to be conducted on the other two issues.

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