• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1444-1447
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• 2004

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 is the clean-up of big trash and the arrangement of newspapers, clothes, etc. The cleaning robot is to just vacuum dust and small trash and 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. In this paper, a Home Mess-Cleanup Robot(HMR), which has a practical function of the automatic mess-cleanup, is developed. It need 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 manipulation system, 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. 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 need to also has the entertainment functions for the good communication between the human and HMR. Therefore, the Home Mess-cleanup Robot with Entertainmental Human Interface is developed in this paper. Finally, the good performance of the designed machine, HMR'4, is confirmed through the results of the mess clean-up and arrangement.

• 제어로봇시스템학회논문지
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• 제11권12호
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• pp.1011-1019
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• 2005

In this paper, Ubiquitous Home Mess-Cleanup Robot(UHMR), 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 tile self, the precise tracking of the desired path, and to distinguish the mess object to clean-up from obstacle object to just avoid. The manipulate,, 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 UHMR. Finally, the good performance of the designed UHMR is confirmed through the results of the mess clean-up and arrangement.

• 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.

• 한국시뮬레이션학회논문지
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• 제19권4호
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• pp.31-41
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• 2010

지금까지의 함정과 관련된 연구들은 전술 체계 및 함정 개발 위주로 진행되어 왔으며 승조원의 거주 생활 환경 개선에 대한 연구는 부족했다. 본 연구 대상인 함정 crew mess room은 승조원 불특정 다수가 이용하는 함정 내 대표적인 복지 시설물로 기존의 전술 전략 중심의 모델링 및 시뮬레이션 방법론의 적용은 어려움이 있다. 이에 시설물의 혼잡도 평가 및 운용 시나리오 검증을 위한 3차원 이산 사건 시뮬레이션 기반의 시뮬레이션 모델링 프레임워크를 제안하고 구체적인 사례를 통해 대기시간 이동시간, 이동거리 등의 결과 분석을 통해 이를 검증하였다. 제안한 혼잡도 평가 시뮬레이션 프레임워크는 함정 crew mess room과 같은 복지성격의 시설물의 모델링 및 시뮬레이션을 적용하기 위한 절차 및 시스템 구성 요소를 포함하고 있으며 이는 향후 시뮬레이션 연구 수행에 가이드 역할을 수행할 수 있다.

• 한국조리학회지
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• 제13권1호
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• pp.87-98
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• 2007

The purpose of this study was to understand purchasing behavior on sauce products and the credibility of advertisement in Busan. For the study, 240 of samples taking cooking courses at welfare centers and private institutes were selected. The questionnaire consisted of demographic characteristics, the practical situation of purchasing sauce products, and the credibility of mess media advertisements. 260 questionnaires were distributed, among which 240 were returned and 233 were used for statistical analysis. The result of the study was as followed. Considering the practical situation of purchasing, the samples took information about sauce products from discount markets, and TV advertisements. Purchasing sauce products was done by themselves, and the main reason that they didn't purchase was health. Seeing the credibility of mess media advertisements, they trusted "The recommendation of a familiar person" most, department stores were the second highest, and TV advertisement was the third. The statistical differences partly existed depending on demographic characteristics: job, and material status. Identifying the decision making factors on sauce products was needed as further study.

• Ecology and Resilient Infrastructure
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• 제9권4호
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• pp.269-281
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• 2022

기후변화에 따라서 식생과 식물종의 분포 변화를 예측하는 것이 생태계 관리에서 중요하다. 본 연구에서는 동아시아의 난대 목본식물종의 한반도 분포 가능성을 체계적으로 평가할 수 있는 방안을 개발하고자 하였다. 먼저 중국과 일본에서는 분포하지만 한국에는 분포하지 않은 난대 목본식물종의 목록을 수집하고 그들의 전지구적 분포와 생물기후 자료를 수집하였다. 또한 한국의 난대식생대를 한랭지수를 이용하여 구분하고 이 지역의 기후 정보를 수집하였다. 기후 변수들 사이의 상관분석으로 다중공선성을 배제하고 분포에 영향을 미치는 기후변수로서 최한사분기 평균기온, 평균온도일교차 및 연강수량이 선택되었다. 동아시아 난대 목본식물종의 분포지와 한국 난대식생대의 3가지 기후 변수 사이의 유사도를 산출하기 위하여 다변량 환경 유사도 표면 (MESS) 분석을 실시하였다. 최종적으로 단계적 변수선택 회귀로 MESS 유사도 지수에 영향을 미치는 주요 기후변수로서 최한사분기 평균기온과 연강수량을 선별하였다. 선택된 2 변수로 구성된 다변량 일차회귀에서 최한사분기 평균기온이 전체 변이의 88%를 차지하였다. 총 319 동아시아 난대 목본식물종에 대하여 MESS 유사도 지수를 산출하는 구축된 다변량 회귀식을 적용하여 이들이 한국에 잠재분포 할 가능성을 평가할 수 있었다.

• Journal of Chest Surgery
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• 제53권5호
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• pp.291-296
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• 2020

Background: We report our 10-year experience with traumatic peripheral arterial injury repair at an urban level I trauma center. Methods: Between January 2007 and December 2016, 28 adult trauma patients presented with traumatic peripheral arterial injuries. Data were retrospectively collected on demographic characteristics, the mechanism of injury, the type of vascular injury, and physiological status on initial assessment. The analysis also included the Mangled Extremity Severity Score (MESS), Injury Severity Score, surgical procedures, and outcome variables including limb salvage, hospital stay, intensive care unit stay, and postoperative vascular complications. Results: Four (14.3%) patients required amputation due to failed revascularization. MESS significantly differed between patients with blunt and penetrating trauma (8.2±2.2 vs. 5.8±1.3, respectively; p=0.005). The amputation rate was not significantly different between patients with blunt and penetrating trauma (20% vs. 0%, respectively; p=0.295). The overall mortality rate was 3.6% (1 patient). Conclusion: Blunt trauma was associated with higher MESS than penetrating trauma, and amputation was more frequent. In particular, patients with blunt trauma had significantly higher MESS than patients with penetrating trauma (8.2±2.2 vs. 5.8±1.3, respectively; p=0.005), and amputation was performed when revascularization failed in cases of blunt trauma of the lower extremity. Therefore, particular care is needed in making treatment decisions for patients with peripheral arterial injuries caused by blunt trauma.

• 제어로봇시스템학회논문지
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• 제18권5호
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• pp.487-495
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• 2012

In this paper, a Smart Home Service Robot, McBot II, which performs mess-cleanup function etc. in house, is designed much more optimally than other service robots. It is newly developed in much more practical system than McBot I which we had developed two years ago. One characteristic attribute of mobile platforms equipped with a set of dependent wheels is their omni- directionality and the ability to realize complex translational and rotational trajectories for agile navigation in door. An accurate coordination of steering angle and spinning rate of each wheel is necessary for a consistent motion. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A specialized anthropomorphic robot manipulator which can be attached to the housemaid robot McBot II, is developed in this paper. This built-in type manipulator consists of both arms with 4 DOF (Degree of Freedom) each and both hands with 3 DOF each. The robotic arm is optimally designed to satisfy both the minimum mechanical size and the maximum workspace. Minimum mass and length are required for the built-in cooperated-arms system. But that makes the workspace so small. This paper proposes optimal design method to overcome the problem by using neck joint to move the arms horizontally forward/backward and waist joint to move them vertically up/down. The robotic hand, which has two fingers and a thumb, is also optimally designed in task-based concept. Finally, the good performance of the developed McBot II is confirmed through live tests of the mess-cleanup task.

• 한국산학기술학회논문지
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• 제11권2호
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• pp.508-516
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• 2010

본 논문에서는 자율적이며 자동화된 정리정돈 기능을 갖는 홈 메스클린업 로봇(McBot)을 개발한다. 그 동안 진공청소기가 보급되어 집안 청소에 편리성 향상이 이루어졌지만 진공청소기를 운영하는 노동은 인간의 몫이었다. 그것을 해결하기 위하여 최근에 로봇청소기들이 개발되었으나, 진공 청소하기 이전에 해결해야 하는 신문, 옷가지 등을 정돈하거나 진공흡입하기 어려운 크기의 쓰레기들을 정리하는 것은 여전히 사람이 처리해야 하는 심각한 노동으로 남아 있다. 이러한 이유로 본격적인 청소로봇 시장이 아직 형성되지 못하고 있다. 그래서 본 논문에서는 가정에서의 정리정돈 문제를 해결할 수 있는 소위 홈 메스클린업 로봇을 개발하고 새로운 디자인 방법과 제어 기법 그리고 자기 위치 인식 알고리즘을 제안한다. 홈 메스클린업 로봇은 정리정돈을 위하여 쾌속 네비게이션과 정교한 매니퓰레이션 기능을 필요로 한다. 본 논문에서는 자율적인 네비게이션 기능으로 장애물을 회피하여 원하는 목적지까지 고속으로 이동할 수 있는 휠 기반의 이동로봇을 개발한다. 또한 정리정돈 작업을 위한 정교한 매니플레이션 기능으로 6 자유도를 갖는 로봇 팔과 리프트 등의 보조장치들을 개발하며, 그것들이 정밀 제어될 수 있는 새로운 알고리즘을 제시한다. 특히 홈 메스클린업 로봇의 탐색 시스템은 지금까지의 청소로봇들과는 달리 일정한 패턴이나 벽면을 따라 움직이는 방식이 아닌 실질적인 실내 구조의 파악과 잡은 물체를 원래의 위치로 이동시키거나 정돈 장소까지 이동하기 위한 절대 좌표 형태의 자기 위치 인식 기능이 필요하다. 그러므로 본 논문에서는 자신의 절대좌표 인식 및 물체인식을 위하여 RFID 태그들을 이용한 자기위치 인식 시스템을 개발한다. 마지막으로 본 논문에서 설계된 홈 메스클린업 로봇이 RFID 환경에서 정리정돈작업을 수행하는 실제 실험을 통하여 좋은 성능을 검증한다.

• Archives of Reconstructive Microsurgery
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• 제17권1호
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• pp.7-13
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• 2008

Popliteal artery injury in blunt trauma of knee joint is not common but poses high rate of amputation due to anatomical characteristics or delayed diagnosis and treatment. The aim of the present study is to review the authors' experiences with this condition and identify factors contributing to disability. We reviewed 7 cases of popliteal artery injury in trauma around knee. Injury mechanism, type of vessel damage, associated injuries, mangled extremity severity scores (MESS), ischemic time and additional treatments were analyzed. Tibial fracture, distal femoral fracture and serious soft tissue defect were combined. Mean MESS was 9.9 point and mean time of revascularization was 7.1 hours. Transfemoral amputation was performed in 2 cases due to vascular insufficiency and devastating infection, and 4 patients were able to walk without any support at the last follow up. Age, the severity of soft tissue injury, ischemic time and MESS are thought to be related to prognosis, and young patients with short ischemic time show best results, but authors experienced one exceptional case. We have to consider multiple factors related to the prognosis in popliteal artery injury with fractures around knee, and careful decision is needed regarding to early amputation.