• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2325-2330
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• 2005

A potential field method for solving the problem of path planning based on global and local information for a mobile robot moving among a set of stationary obstacles is described. The concept of various method used path planning is used design a planning strategy. A real human living area is constructed by many moving and imminence obstacles. Home service mobile robot must avoid many obstacles instantly. A path that safe and attraction towards the goal is chosen. The potential function depends on distance from the goal and heuristic function relies on surrounding environments. Three additional combined methods are proposed to apply to human living area, calibration robots position by measured surrounding environment and adapted home service robots. In this work, we proposed the application of various path planning theory to real area, human living. First, we consider potential field method. Potential field method is attractive method, but that method has great problem called local minimum. So we proposed intermediate point in real area. Intermediate point was set in doorframe and between walls there is connect other room or other area. Intermediate point is very efficiency in computing path. That point is able to smaller area, area divided by intermediate point line. The important idea is intermediate point is permanent point until destruction house or apartment house. Second step is move robot with sensing on front of mobile robot. With sensing, mobile robot recognize obstacle and judge moving obstacle. If mobile robot is reach the intermediate point, robot sensing the surround of point. Mobile robot has data about intermediate point, so mobile robot is able to calibration robots position and direction. Third, we gave uncertainty to robot and obstacles. Because, mobile robot was motion and sensing ability is not enough to control. Robot and obstacle have uncertainty. So, mobile robot planed safe path planning to collision free. Finally, escape local minimum, that has possibility occur robot do not work. Local minimum problem solved by virtual obstacle method. Next is some supposition in real living area.

• 대한족부족관절학회지
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• 제17권2호
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• pp.93-99
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• 2013

Purpose: Proximal metatarsal chevron osteotomy for hallux valgus is followed by significant amount of postoperative pain. Periarticular multimodal drug local injection can be an option for pain control. This study was attempted to evaluate the efficacy of the morphine as multimodal drug and to confirm the effect of periarticular multimodal drug local injection on controlling early postoperative pain. Materials and Methods: Between March 2012 and June 2012, 22 patients received proximal metatarsal chevron osteotomy for the correction of hallux valgus deformity. 10 patients (Group A) received periarticular injection of the test solution made with morphine, ropivacaine, ephinephrine and ketorolac. 12 patients (Group B) received periarticular injection of the test solution without morphine. The visual analog scale (VAS) was checked at 2, 4, 6, 8 hours, 1 day and 2 days each after surgery. Results: The VAS score at postoperative 2 hours to 1 day between two groups showed no significant difference, but the VAS score at postoperative 2 days was significantly higher in Group A compared to the VAS score of group B. The amount of additional pain control (tramadol HCL) between two groups showed no significant difference for 3 days after surgery. Conclusion: Periarticular multimodal drug local injection was effective in reducing pain after hallux valgus surgery regardless of mixing with morphine.

• Asian Pacific Journal of Cancer Prevention
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• 제13권8호
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• pp.4163-4167
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• 2012

Aims: To prospectively assess the efficacy and safety of moderately hypofractionated conformal radiotherapy in patients with thoracic esophageal cancer. Methods and Materials: From Sept. 2002 to Oct, 2005, 150 eligible patients with T2-4N0-1M0 stage thoracic esophageal squamous cell cancers were enrolled to receive either conventional fractionated radiation (CFR) or moderately hypofractionated radiation (MHR) with a three-dimensional conformal radiation technique. Of the total, 74 received moderately hypofractionated radiation with total dose of 54-60Gy/18-20fractions for 3.5-4 weeks in the MHR arm, and 76 received conventional radiation with total dose of 60Gy/30 fractions for 6 weeks in the CFR arm. Concurrent chemotherapy comprised of paclitaxel and cisplatin. Safety was evaluated, and local control and overall survival rates were calculated. Results: Statistically significant differences between the CFR versus MHR arms were observed in local/regional failure rate (47.3% v 27.0%, P=0.034) and the percentage of patients with persistent local disease (26.3% v 10.8%, P=0.012). But 3 and 5-year overall survival rates (43.2%, 38.8% v 38.2%, 28.0%, respectively) were not different between the two arms (P=0.268). There were no significant differences in the incidences of grade 3 or higher acute toxicities (66.3% v 50.0%) and late complications rates (27.0% v 22.4%) between the MHR and CFR arms. Conclusions: Moderately hypofractionated, three-dimensional radiation treatment could improve the local control rate of esophageal cancer and potentially increase patients' survival.

• 대한기계학회논문집B
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• 제25권5호
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• pp.722-730
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• 2001

The local heat transfer of an axisymmetric submerged air jet impinging on a heated flat plate is investigated experimentally with the variation of mesh-screen solidity. The screen installed in front of the nozzle exit modifies the flow structure and local heat transfer characteristics. The mean velocity and turbulence intensity profiles of streamwise velocity component are measured using a hot-wire anemometry. The temperature distribution on the heated flat surface is measured with thermocouples. The smoke-wire flow visualization technique was employed to understand the near-field flow structure qualitatively for different mesh screens. Large-scale toroidal vortices and high turbulence intensity enhance the heat transfer rate in the stagnation region. For a higher solidity, turbulence intensity become higher which increases the local heat transfer at small nozzle-to-plate spacings such as L/D<6. The local and average Nusselt numbers of impinging jet from the $\sigma$(sub)s=0.83 screen at L/D=2 are about 5.6∼7.5% and 7.1% larger than those for the case of no screen, respectively. For the nozzle-to-plate spacings larger than 6, however, the turbulence intensities for all tested screens approach to an asymptotic curve and the mean velocity along the jet centerline decreases monotonically. As the nozzle-to-plat spacing increases for high solidity screens, the heat transfer rate decreases due to the reduction in turbulence intensity and jet momentum.

• 환경위생공학
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• 제23권3호
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• pp.59-71
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• 2008

In this study, we intend to present the uncontrolled landfill maintenance plans by diversely reviewing the operating conditions of landfill and environmental effects and economical issues resulted from the operation of landfill for the purpose of suggesting the optimal maintenance plans applicable to the uncontrolled landfill and unused landfill located in Korea. We perform the basic and precise surveys against three landfill sites showing the biggest problem out of 8 unsanitary landfills sites located in Y County. We compare and review the treatment plans prepared and operated by the N Landfill. The compared and reviewed results show that the local stabilization plan is more effective than the excavation and transfer treatment plan when considering the economic efficiency only. However, the excavation and transfer treatment plan is valid when considering the diverse elements. The G Landfill is operated with separated into living waste landfill section and construction waste landfill section. However, some landfill gas collection bores or holes are installed in its living waste landfill section, which has not been used for about 20 years, as a part of follow-up control. The element causing the environmental damage is considerably reduced in its living waste landfill section. However, the effort to keep the follow-up control through the local stabilization work is required. The landfill is under processing in the construction waste landfill section. However, most of buried wastes are the inorganic wastes such as waste materials and concrete, so the maintenance plan focused on the use of top land by installing the local stabilization facilities is considered as an effective plan. The landfill is under processing in the K Landfill. It seems to be difficult to maintain this landfill through the local stabilization. The excavation and transfer treatment plan to completely remove the potential environmental pollution source is considered as the valid plan.

• 대한치과마취과학회지
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• 제8권1호
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• pp.1-9
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• 2008

Common dental procedures (local anesthesia and dental treatment) are potentially stress-inducing in many patients, especially medically compromised patients. The body response to dental stress involves the cardiovascular system (an increase in cardiovascular workload), the respiratory organ and the endocrine system (change in metabolism). To minimize the stress to the medical risk patient, the stress reduction protocol was established. The obtained contents were as follows: (1) Recognize the patient's degree of medical risk (2) Complete medical consultation before dental therapy (3) Schedule the patient's appointment in the morning (4) Monitor and record preoperative, perioperative and postoperative vital signs (5) Use psychosedation during therapy (6) Use adequate pain control during therapy (7) Short length of appointment: do not exceed the patient's limits of tolerance (8) Follow up with postoperative pain/anxiety control (9) Telephone the higher medical risk patient later on the same day that treatment was given. This protocol is predicated on the belief that the prevention of or reduction of stress ought to begin before the start of an appointment, continue throughout treatment, and, if indicated, into the postoperative period. The authors used the stress reduction protocol in the care of local anesthesia infected teeth in medically compromised patients. The final prognosis was comfortable without any complications.

• Journal of Preventive Medicine and Public Health
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• 제52권6호
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• pp.427-432
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• 2019

Objectives: In Indonesia, 61 million adults smoked in 2018, and 59 million were exposed to secondhand smoke at offices or restaurants in 2011. The Presidential Decree 109/2012 encouraged local governments to implement a smoke-free policy (SFP), and the city of Jayapura enacted a local bill (1/2015) to that effect in 2015. This study aimed to evaluate compliance with this bill and to explore challenges in implementing it. Methods: We conducted a mixed-methods study. Quantitatively, we assessed compliance of facilities with 6 criteria (per the bill): the presence of signage, the lack of smoking activity, the lack of sale of tobacco, the lack of tobacco advertisements, the lack of cigarette smoke, and the lack of ashtrays. We surveyed 192 facilities, including health facilities, educational facilities, places of worship, government offices, and indoor and outdoor public facilities. Qualitatively, we explored challenges in implementation by interviewing 19 informants (government officers, students, and community members). Results: The rate of compliance with all 6 criteria was 17% overall, ranging from 0% at outdoor public facilities to 50% at health facilities. Spatial patterning was absent, as shown by similar compliance rates for SFP facilities within a 1-km boundary around the provincial and city health offices compared to those outside the boundary. Implementation challenges included (1) a limited budget for enforcement, (2) a lack of support from local non-governmental organizations and universities, (3) a lack of public awareness at the facilities themselves, and (4) a lack of examples set by local leaders. Conclusions: Overall compliance was low in Jayapura due to many challenges. This information provides lessons regarding tobacco control policy in underdeveloped areas far from the central government.

• 분석과 대안
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• 제7권3호
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• pp.61-84
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• 2023

본 논문에서는 최상층 권력 기구인 정치국의 지방 부문 구성에 대한 후진타오와 시진핑 시기의 비교 고찰을 통해 시진핑 시기 중앙-지방 관계에서 중앙 집권(集權) 강화의 배경을 엘리트 정치의 제도 기구 측면에서 밝혀보고자 하였다. 후진타오 시기와 비교했을 때 시진핑 시기 중앙 집권의 강화는 제도화된 형식적 구성 규범의 무력화를 통해서가 아니라 규범 안에서의 통제력 확대를 통해서 구현되고 있다고 판단된다. 즉 정치국의 지방 부문 구성에서 제도화된 틀 자체는 깨지 않고, 인사통제권을 더욱 강력하게 발휘함으로써 총서기를 중심으로 하는 중앙에 대한 지방의 순응도를 높였다고 보고 있다. 정치국 구성에 부문별 안배를 두는 것이 특정 부문이 특히 총서기와 연합하여 전횡을 휘두르는 것을 방지하고 집단지도가 유지될 수 있도록 하기 위함이라고 한다면, 중국 엘리트 정치에서 비공식 정치가 여전히 유효한 작동 기제라는 점을 감안할 때, 시진핑 시기의 정치국은 그러한 기능이 제대로 발휘되지 못할 것이다. 그리고 이는 정치국(중앙)에서 지방의 대표성이 실질적으로 상실되는 결과를 가져올 것이기 때문에 중앙의 집권 강화는 지속될 것으로 본다.

• Radiation Oncology Journal
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• 제10권2호
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• pp.213-217
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• 1992

국소적으로 진행된 자궁경부암(종괴크기가 5 cm이상혹은 FIGO병기 III, IV) 환자에 있어 방사선 치료 단독으로 근치적치료를 시행한 경우 골반내에서 약 50$\%$까지의 높은 재발율이 보고되고 있다. 따라서 이들 환자에 있어서 국소관해율 및 생존율을 증가 시키기 위하여 본 연구에서는 방사선 민감제로서 가장 효과적인 약제로 알려진 cisplatin을 방사선치료와 동시에 투여하는 방사선-화학요법을 시행하였다. 1988년 5월부터 1991년 9월까지 인제대학교 부속 서울백병원치료방사선과에서 자궁경부암으로 진단된 환자중 국소적으로 진행된(FIGO병기 III, IV, 종괴크기가 5 cm이상의 IIb) 환자로서 방사선치료와 cispiatin의 동시병행요법이 시행되었던 12명을 대 상으로 후향적 임상분석을 하였다. 12명의 환자에 대한 치료는 골반부위에 5000 cGy이상 (4980-6480 cGy)의 외부방사선치료및 1회이상의 강내치료가 시행되었고 동시에 cisplatin 50 mg을 1주 간격으로 반복투여하였다. 총 투여횟수는 $3\~7$회로 평균 5회였다. 추적기간은 $3\~53$개월 (중앙값 34개월) 이며, 연령 분포는 $26\~69$세(중앙값 54세) 였다. 병기별 분포는 IIb, III, IV가 각각 5, 3, 4명 이었다. 조직학적 분류상 편평상피세포암이 11명 이었다. 11명의 관찰대상중 완전관해는 7명 ($64\%$), 부분관해는 4명 ($35\%$)에서 이루어졌다. 7명의 완전관해중 6명이 무병상태였다. 관찰종로시의 전체국소관해율은 $73\%$로서 완전관해군은 $100\%$, 부분관해군은 $25\%$,에서 국소관해를 보였다. 병기별 생존분포를 보면 FIGO병기 IIb, III, IV에서 각각 4/4, 2/3, l/3 이었으며 5년생존율은 $61\%$이었다. 사망자는 4명으로 이중 3명은 일차적인 질병으로, 1명은 패혈증으로 사망하였다. 재발환자는 3명으로 국소재발이 1명, 원격전이가 1명, 국소재발과 원격전이가 1명 이었다. 병합치료에 의한 독성을 살펴보면 오심증상이 3명, 식욕부진이 4명, 백혈구감소증이 4명, 그리고 혈소판감소증이 1명에서 관찰되었다. 다른 1명은 치료종료후 패혈증으로 사망하였다. 그 외의 혈액적독성, 신독성의 증상을 나타낸 경우는 없어 cisplatin 추가에 의한 독성은 경미한 것으로 나타났다. 국소적으로 진행된 자궁경부암 환자에서 방사선-화학요법을 동시 병행할 경우 국소관해율이 $100\%$(완전관해율이 $64\%$)이었고 골반내 재발율은 $27\%$, 이었으며 cisplatin추가로 인한 독성은 경미하였다. 이는 대조군과 비교할때 보다 나은 성적으로 예비결과이기는 하나 국소적으로 진행된 자궁경부암환자에서 방사선치료와 cisplatin 동시 병행요법이 국소관해율을 향상시킬 수 있을 것으로 기대된다.

• 한국콘텐츠학회논문지
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• 제14권4호
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• pp.180-188
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• 2014

본 연구는 지역아동센터에서 아동들에게 직접 서비스를 제공하는 핵심인력인 사회복지사의 사회적 지지가 직무만족에 미치는 영향을 분석하고자 하였다. 연구대상은 전라남도 소재의 지역아동센터에서 근무하는 사회복지사를 대상으로 설문조사를 실시하였으며, 240부를 분석자료로 활용하였다. 사회복지사의 인구통계학적 특성을 통제변수로 설정하여 사회적 지지가 직무만족에 미치는 영향을 분석한 결과 사회적 지지가 직무만족에 가장 큰 영향을 미치는 것으로 분석되었다. 이는 사회복지사의 사회적 지지가 높을수록 사회복지사의 직무만족이 높다는 것을 의미한다. 분석결과를 바탕으로 사회복지사의 사회적 지지 향상 방안으로 첫째, 지역아동센터 사회복지사들의 업무 표준화와 전문교육의 지지 강화, 둘째, 우수지역아동센터의 가산점 부여, 셋째, 동료 및 지역사회간 네트워크 협력 체계 구축을 제언으로 한다.