• The Korean Journal of Physiology and Pharmacology
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• 제3권1호
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• pp.101-117
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• 1999

Amyotrophic lateral sclerosis (ALS) is a degenerative neuromuscular disease of unknown etiology in which the upper and lower motor neurons are progressively destroyed. Recent evidences support the role of autoimmune mechanisms in the pathogenesis of ALS. This study investigated the effects of sera from ALS patients on neuromuscular transmission in phrenic nerve-hemidiaphragm preparations and on calcium currents of single isolated dorsal root ganglion (DRG) cells in mice. Mice were injected with either control sera from healthy adults or ALS sera from 18 patients with ALS of sporadic form, for three days. Miniature end plate potential (MEPP) and nerve-evoked end plate potential (EPP) were measured using intracellular recording technique and the quantal content was determined. Single isolated DRG cells were voltage-clamped with the whole-cell configuration and membrane currents were recorded. Sera from 14 of 18 ALS patients caused a significant increase in MEPP frequency in normal Ringer's solution $(4.62{\pm}0.14\;Hz)$ compared with the control $(2.18{\pm}0.15\;Hz).$ In a high $Mg^{2+}/low\;Ca^{2+}$ solution, sera from 13 of 18 ALS patients caused a significant increase in MEPP frequency, from $2.18{\pm}0.31$ Hz to $6.09{\pm}0.38$ Hz. Sera from 11 of 18 patients produced a significant increase of nerve-evoked EPP amplitude, from $0.92{\pm}0.05$ mV to $1.30{\pm}0.04$ mV, while the other seven ALS sera did not alter EPP amplitude. In the ALS group, EPP quantal content was also elevated by the sera of 14 patients (from $1.49{\pm}0.07$ to $2.35{\pm}0.07).$ MEPP frequency and amplitude in wobbler mouse were $4.03{\pm}0.53$ Hz and $1.37{\pm}0.18$ mV, respectively, which were significantly higher than those of wobbler controls (wobblers without the symptoms of wobbler). Sera from ALS patients significantly reduced HVA calcium currents of DRG cells to 42.7% at -10 mV. Furthermore, the inactivation curve shifted to more negative potentials with its half-inactivation potential changed by 6.98 mV. There were, however, significant changes neither in the reversal potential of $I_{Ca}$ nor in the I-V curve. From these results it was concluded that: 1) The serum factors of sporadic ALS patients increase neuromuscular transmission and can alter motor nerve terminal presynaptic function. This suggests that ALS serum factors may play an important role in the early stage of ALS, and 2) Calcium currents in DRG cells were reduced and rapidly inactivated by ALS sera, suggesting that in these cells, ALS serum factors may exert interaction with the calcium channel.

• 한국항행학회논문지
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• 제16권6호
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• pp.927-934
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• 2012

본 논문은 저가의 GPS 수신기와 MEMS급 IMU, B-CDMA 무선 통신 모듈을 이용한 다수 차량의 상대위치 추정에 관한 연구이다. 차량의 상대위치를 추정함에 있어서, 각 차량의 가시 위성 조합이 불일치 할 경우 오차가 급증하는 현상이 발생한다. 본 논문에서는, 이를 개선하기 위하여 측정치 기반으로 상대위치를 계산하는 RGPS 알고리즘을 제안한다. 동시에 GPS/INS 통합 항법 알고리즘을 적용하여 각 차량의 방향각과 속도를 추정한다. 최종적으로 RGPS 알고리즘과 각 차량의 GPS/INS 통합항법 알고리즘 결과를 사용한 Position Integration Filter 알고리즘으로부터 최종적인 상대위치와 상대속도를 추정한다. 이와 같은 연구 결과를 증명하기 위하여 실제 실험을 통하여 추정 결과를 확인하였다. 실시간 프로그램과 실험용 모형 차량을 제작하여 상대위치, 상대속도 추정 실험을 실시, 실제 환경에서의 알고리즘의 성능을 검증하였다.