• Proceedings of the Korean Society of Precision Engineering Conference
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• 2008.06a
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• pp.495-496
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• 2008

• The Journal of Korea Robotics Society
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• v.16 no.3
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• pp.283-290
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• 2021

We propose a task and motion planning algorithm for clearing obstacles and wiping surfaces, which is essential for surface disinfection during the pathogen disinfection process. The proposed task and motion planning algorithm determines task parameters such as grasping pose and placement location during the planning process without using pre-specified or discretized values. Furthermore, to quickly inspect many unit motions, we propose a motion feasibility prediction algorithm consisting of collision checking and an SVM model for inverse mechanics and self-collision prediction. Planning time analysis shows that the feasibility prediction algorithm can significantly increase the planning speed and success rates in situations with multiple obstacles. Finally, we implemented a hierarchical control scheme to enable wiping motion while following a planner-generated joint trajectory. We verified our planning and control framework by conducted an obstacle-clearing and surface wiping experiment in a simulated disinfection environment.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2000.04a
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• pp.123-127
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• 2000

This paper deals with the ways how the AUV can detect and treat possible emergency situations during the mission. The emergency situations can be divided into two parts according to the zones where the situations take place-inner zone, and outer zone. This paper explains how each element of emergency situation is detected and treated, and as a result, introduce the algorithm of this procedure for the autonomous cruising.

• Journal of the Korea Institute of Building Construction
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• v.20 no.4
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• pp.375-382
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• 2020

Rock drop obstacles on major roads in the border area in South Korea has been installed and operated to prevent and block the movement of enemy units. However, the increase in traffic volume due to the development of the border region causes many problems such as road traffic congestion due to rock drop, traffic safety, and impaired urban aesthetics. Therefore, this study aimed to provide guidelines for demolition and replacement facility installation for rock drop obstacles, which are differently applied to each unit, and to suggest the direction of the Ministry of National Defense's policy regarding maintenance cost for necessary rock drop obstacles required for operation. In this study, as part of a guideline study on the removal of rock drop obstacles and the installation of alternative facilities, a standard unit price was suggested for essential rock drop obstacles, so as to be used as judgment data when deciding whether to remove rock drop obstacles.

• Journal of Microbiology and Biotechnology
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• v.27 no.1
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• pp.84-91
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• 2017

The concern over the use of melittin in honey bee venom due to its adverse reaction caused by allergens such as phospholipase A2 ($PLA_2$) and hyaluronidase (HYA) has been an obstacle towards its usage. We developed a novel single-step method for melittin purification and the removal of $PLA_2$ and HYA. This study explores the influence of pH, buffer compositions, salt concentration, and types of cation-exchange chromatography resins on the recovery of melittin and the removal of both HYA and $PLA_2$. Melittin was readily purified with a strong cation-exchange resin at pH 6.0 with sodium phosphate buffer. It resulted in a recovery yield of melittin up to 93% (5.87 mg from a total of 6.32 mg of initial melittin in crude bee venom), which is higher than any previously reported studies on melittin purification. $PLA_2$ (99%) and HYA (96%) were also successfully removed. Our study generates a single-step purification method for melittin with a high removal rate of $PLA_2$ and HYA, enabling melittin to be fully utilized for its therapeutic purposes.

• Journal of IKEEE
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• v.25 no.4
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• pp.584-590
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• 2021

This paper proposes a removal method of signal interference between ultrasound sensors where ghost signals due to interference are excluded and correct signal is recognized in distance mensurement using ultrasound sensors. The proposed method detects and excludes ghost signals when previous measured distance is compared to current measured distance and the distance difference exceeds a threshold. The threshold is fixed in conventional methods, so ghost signals cannot be correctly excluded when ultrasound sensor or target object move rapidly. On the contrary, to improve accuracy, the threshold is not fixed in the proposed method, and the threshold is adpatively determined based on the relative velocity when ultrasound sensor or target object move. Experiments of distance measurement with ultrasound signal interference are carried out where multiple ultrasound sensors of same type are exploited with maximum interference, and the results show that the proposed method efficiently exclude ghost signals.

• Journal of the Korean Professional Engineers Association
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• v.39 no.1
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• pp.54-57
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• 2006

The snow brings affluence if it is dealt with appropriately. but causes huge damages if it is dealt with improperly when it snows heavily. Following with the development of road transportation, tile snow causes damages by becoming a serious obstacle for traffic, increasing traffic accidents, causing damages to the road, and requiring a lot of snow removal expense. As farming in the winter becomes flourishing, damages to agricultural facilities and farm produces caused by the snow become bigger and bigger. Now in our country, heavy snow or heavy rain is likely to fall at anywhere and at any time without restricted to a particular area. Safety first is one way of practicing human respect. Disasters will disappear from our neighborhood if we adopt prevention measures and follow them thoroughly. And also this is the shortcut to achieve a welfare society.

• Journal of the korean academy of Pediatric Dentistry
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• v.32 no.2
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• pp.278-283
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• 2005

Impaction of mandibular canine is not common, and transmigration of mandibular canine is rare. Treatment of impacted canine can be removal of physical obstacle and periodic observation, surgical exposure of impacted tooth and orthodontic traction, autotransplantation, surgical extraction. Management of impacted canine depends on existence of physical obstacle, position and direction of impacted tooth, space available for canine eruption, stage of root development. Of the two case in this report, one case involved impaction of lower canine with odontoma and dentigerous cyst that is treated by surgical exposure and orthodontic traction. The other case involved transmigration of lower canine with supernumerary teeth. It was thought difficult to treat only by orthodontic treatment, so the impacted canine was transplanted to its normal position and orthodontic treatment was conducted.

• Current Optics and Photonics
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• v.3 no.3
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• pp.256-262
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• 2019

Extensive tumor resection accompanied by radiotherapy and chemotherapy is the standard of care for malignant gliomas. However, there is a significant obstacle to the complete resection of the tumor due to the difficulty of distinguishing tumor and normal brain tissue with a conventional surgical microscope. Recently, multiple studies have shown the possibility of fluorescence-guided surgery in malignant gliomas. The most used fluorescence dyes for brain tumor surgery are 5-aminolevulinic acid (5-ALA) and indocyanine green (ICG). In this paper, a new fluorescence guided operation system, which can detect both 5-ALA and ICG fluorescent images simultaneously, is presented. This operation system consists of light emitting diodes (LEDs) which emits 410 nm and 740 nm wavelengths. We have performed experiments on rats in order to verify the operation of the newly developed operation system. Oral administration and imaging were performed to observe the fluorescence of 5-ALA and ICG fluorescence in rats. When LEDs at wavelengths of 410 nm and 740 nm were irradiated on rats, 628 nm wavelength with a violet fluorescence color and 825 nm wavelength with a red fluorescence color were expressed in 5-ALA and ICG fluorescent material, respectively, thus we were able to distinguish the tumor tissues easily. Previously, due to the poor resolution of the conventional surgical microscope and the fact that the color of the vein is similar to that of the tumor, the tumor resection margin was not easy to observe, thus increasing the likelihood for cancer recurrence. However, when the tumor is observed through the fluorescence guided operation system, it is possible to easily distinguish the color with the naked eye and it can be completely removed. Therefore, it is expected that surgical removal of cancerous tumors will be possible and surgical applications and surgical microscopes for cancer tumor removal surgery will be promising in the future.

• Journal of Chest Surgery
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• v.35 no.5
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• pp.402-406
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• 2002

The conventional surgery method of thrombectomy of venous thrombi from the deep veins of the lower extremity was the use of Forgarty balloon catheter. The catheter is inconvenient due to the presence of the balloon and prohibiting venous valves within the venous trees. With the use of a stone-forceps(Fig. 1), thrombi within iliofemoral vein could be easily removed without the obstacle of the valves because the instrument keeps valves open. This instrument is also useful in monitoring the back-flow from the iliac vein. Thrombi within the veins below the level of inguinal incision are removed successfully only by effective manual compression of the calf and thigh muscles. 1 recommend operating on the iliac vein first rather than the lower venous tree.