• 한국산업융합학회 논문집
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• 제21권3호
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• pp.125-131
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• 2018

In this paper, we propose a homogeneous multisensor-based navigation algorithm for a mobile robot, which is intelligently searching the goal location in unknown dynamic environments with moving obstacles using multi-ultrasonic sensor. Instead of using "sensor fusion" method which generates the trajectory of a robot based upon the environment model and sensory data, "command fusion" method by fuzzy inference is used to govern the robot motions. The major factors for robot navigation are represented as a cost function. Using the data of the robot states and the environment, the weight value of each factor using fuzzy inference is determined for an optimal trajectory in dynamic environments. For the evaluation of the proposed algorithm, we performed simulations in PC as well as real experiments with mobile robot, AmigoBot. The results show that the proposed algorithm is apt to identify obstacles in unknown environments to guide the robot to the goal location safely.

• 태양에너지
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• 제4권2호
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• pp.43-49
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• 1984

Experiments were performed to study freezing on a finned vertical tube when either conduction in the solid or natural convection in a liquid controls the heat transfer. Conduction is the controlling mode when the liquid is at its fusion temperature, whereas natural convection controls when the liquid temperature is above the fusion value. The liquid was housed in a cylinderical containment vessel whose surface was maintained at a uniform, time-invariment temperature during a data run, and the freezing occurred on a finned vertical tube positioned along the axis of the vessel. The phase change medium was n-octacosan, a paraffin which freezes at about $61^{\circ}C$. For conduction-controlled freezing, the enhancement of the frozen mass due to finning is greatest when the frozen layer is thin and decrease as the layer grows thicker. The degree of enhancement is generally less than the surface area ratio of the finned and unfinned tube.

• 디지털융복합연구
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• 제12권12호
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• pp.227-232
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• 2014

전 세계적으로 기술의 융합은 과학기술 분야에서 메가트렌드를 형성하고 있으며 선진국에서는 자국이 보유한 강점 기술을 기반으로 하는 새로운 융합기술의 도출에 주력하고 있다. 융복합과제의 융합지수를 도출함에 있어서 임의로 융합지수를 올리기 위한 조작이 가능하고, 사업계획서의 내용과 다소 차이가 있는 항목들이 추가되어 융합지수가 산출되는 등의 문제점이 예상되지만 평가 시에 이를 검증하기가 쉽지 않다. 따라서 본 논문에서는 융복합과제에 대한 융합지수 도출 시 연계되는 항목을 정하여 일관성을 유지할 수 있도록 하고, 평가 시 에도 이를 쉽게 확인할 수 있도록 하는 방안에 대해 제시하였다.

• 방송공학회논문지
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• 제9권3호
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• pp.185-195
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• 2004

본 논문에서는 정확한 3차원 장면복원을 위한 다중깊이맵 융합기법을 제안한다. 제안한 기법은 수동적 3차원 정보획득 방법인 스테레오 정합기법과 능동적 3차원 정보획득 방법인 깊이정보 카메라로부터 얻어진 다중깊이맵을 융합한다. 전통적인 두 개의 스테레오 영상 간에 변이정보를 추정하는 전통적 스테레오 정합기법은 차폐 영역과 텍스쳐가 적은 영역에서 변이 오차를 많이 발생한다. 또한 깊이정보 카메라를 이용한 깊이맵은 비교적 정확한 깊이정보를 얻을 수 있으나, 잡음이 많이 포함되며, 측정 가능한 깊이의 범위가 제한되어 있다. 따라서 본 논문에서는 이러한 두 기법의 단점을 극복하고, 상호 보완하기 위하여 이 두 기법에 의해 얻어진다. 중깊이맵의 변이 또는 깊이값을 적절하게 선택하기 위한 깊이맵 융합기법을 제안한다. 3-시점 영상으로부터 가운데 시점을 기준으로 좌우 영상에 대해 두 개의 변이맵들을 각각 얻으며, 가운데 시점 카메라에 설치된 깊이정보 카메라로부터 얻어진 깊이맵들 간에 위치와 깊이값을 일치시키기 위한 전처리를 행한 다음. 각 화소 위치의 텍스쳐 정보, 깊이맵 분포 등에 기반하여 적절한 깊이값을 선택한다. 제안한 기법의 컴퓨터 모의실험 결과. 일부 배경 영역에서 깊이맵의 정확도가 개선됨을 볼 수 있었다.

• KSBB Journal
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• 제26권3호
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• pp.199-205
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• 2011

Using tetrameric ${\beta}$-galactosidase as a model protein, anchoring motives were screened in Bacillus subtilis spore display system. Eleven spore coat proteins were selected considering their expression levels and the location in the spore coat layer. After chromosomal single-copy homologous integration in the amyE site of Bacillus subtilis chromosome, cotE and cotG were chosen as possible spore surface anchoring motives with their higher whole cell ${\beta}$-galactosidase activity. PAGE and Wester blot of extracted fraction of outer layer of purified spore, which express CotE-LacZ or CotG-LacZ fusion verified the existence of exact size of fusion protein and its location in outer coat layer of purified spore. ${\beta}$-galactosidase activity of spore with CotE-LacZ or CotG-LacZ fusion reached its highest value around 16~20 h of culture time in terms of whole cell and purified spore. After intensive spore purification with lysozyme treatment and renografin treatment, spore of BJH135, which expresses CotE-LacZ, retained only 1~2% of its whole cell ${\beta}$-galactosidase activity. Whereas spore of BJH136, which has cotG-lacZ cassette in the chromosome, retained 10~15% of its whole cell ${\beta}$-galactosidase activity, proving minor perturbation of CotG-LacZ, when incorporated in the spore coat layer of Bacillus subtilis compared to CotE-LacZ. Usage of Bacillus subtilis WB700, of which 7 proteases are knocked-out and thereby resulting in 99.7% decrease in protease activity of the host, did not prevent the proteolytic degradation of spore surface expressed CotG-LacZ fusion protein.

• Journal of Korean Neurosurgical Society
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• 제44권4호
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• pp.217-221
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• 2008

Objective : Although anterior cervical discectomy and fusion (ACDF) is the standard treatment for degenerative cervical disc disease, concerns regarding adjacent level degeneration and loss of motion have suggested that arthroplasty may be a better alternative. We have compared clinical and radiological results in patients with cervical disc herniations treated with arthroplasty and ACDF. Methods : We evaluated 53 patients treated for cervical disc herniations with radiculopathy, 21 of whom underwent arthroplasty and 32 of whom underwent ACDF. Clinical results included the Visual Analogue Scale (VAS) score for upper extremity radiculopathy, neck disability index (NDI), duration of hospital stay and convalescence time. All patients were assessed radiologically by measuring cervical lordosis, segmental lordosis and segmental range-of-movement (ROM) of operated and adjacent disc levels. Results : Mean hospital stay (5.62 vs. 6.26 days, p<0.05) and interval between surgery and return to work (1.10 vs 2.92 weeks, p<0.05) were significantly shorter in the arthroplasty than in the fusion group. Mean NDI and extremity VAS score improved after 12 months in both groups. Although it was not significant, segmental ROM of adjacent levels was higher in the fusion group than in the arthroplasty group. And, segmental motion of operated levels in arthroplasty group maintained more than preoperative value at last follow up. Conclusion : Although clinical results were similar in the two groups, postoperative recovery was significantly shorter in the arthroplasty group. Although it was not significant, ROM of adjacent segments was less in the arthroplasty group. Motion of operated levels in arthroplasty group was preserved at last follow up.

• Journal of Korean Neurosurgical Society
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• 제59권6호
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• pp.615-621
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• 2016

Objectives : To review surgical results of post-fusion lumbar flatback treated with pedicle subtraction osteotomy (PSO) or Smith-Petersen osteotomies (SPOs). Methods : Twenty-eight patients underwent osteotomies. Radiological outcomes by sagittal vertical axis (SVA), and pelvic tilt (PT), T1 pelvic angle (T1PA), and pelvic incidence (PI)-lumbar lordosis (LL) at preoperative, postoperative 1 month, and final were evaluated. Oswestry Disability Index (ODI), visual analog scale (VAS) score of back pain/leg pain, and Scoliosis Research Society-22 score (SRS-22r) were analyzed and compared. Patients were divided into 2 groups (SVA ${\leq}5cm$ : normal, SVA >5 cm : positive) at final and compared outcomes. Results : Nineteen patients (68%) had PSO and the other 9 patients had SPOs with anterior lumbar interbody fusions (ALIFs) (Mean age : 65 years, follow-up : 31 months). The PT, PI-LL, SVA, T1PA were significantly improved at 1 month and at final (p<0.01). VAS score, ODI, and SRS-22r were also significantly improved at the final (p<0.01). 23 patients were restored with normal SVA and the rest 5 patients demonstrated to positive SVA. SVA and T1PA at 1 month and SVA, PI-LL, and T1PA at final were significantly different (p<0.05) while the ODI, VAS, and SRS-22r did not differ significantly between the groups (p>0.05). Common reoperations were early 4 proximal junctional failures (14%) and late four rod fractures. Conclusion : Our results demonstrate that PSO and SPOs with ALIFs at the lower lumbar are significantly improves sagittal balance. For maintenance of normal SVA, PI-LL might be made negative value and T1PA might be less than $11^{\circ}$ even though positive SVA group was also significantly improved clinical outcomes.

• 한국멀티미디어학회논문지
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• 제13권2호
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• pp.308-315
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• 2010

Web2.0 시대가 도래함에 따라 웹 상에는 사용자에 의해 제작된 미디어간의 상호교환이 활발히 이루어지고 있다. 뿐만 아니라 콘텐츠 공유 사이트의 비약적인 성장을 바탕으로 미디어 콘텐츠 공유의 장이 활성화되었고, 이러한 환경 속에 비전문가에 의해 제작된 콘텐츠의 수가 증가하였다. 비전문가에 의해 제작된 콘텐츠는 촬영된 그대로의 영상만을 담고 있는 단순미디어에 그치기 때문에 단순미디어에 효과와 액션과 같은 실감을 부여하기 위한 방안으로 융합 미디어 미들웨어를 제안하며 이를 통해 제작자와 사용자의 만족감을 증대시킬 수 있으며, 영상은 한층 더 인상적인 콘텐츠로 발전할 수 있다. 실감 서비스를 제공하기 위한 융합 미디어 미들웨어는 MPEG-7을 기반으로 입력 받은 영상을 씬(scene) 단위로 분류하며, 세분화된 영상 사이에 이미지, 텍스트, 사운드 등과 같은 효과를 삽입함으로써 기존의 단순미디어를 실감효과가 부여한다. 입력영상과 실감효과를 연계시키기 위하여 MPEG-21에서 제공하는 BSD 코드를 이용하며 이를 통해 미디어간의 동기화(intra synchronization)를 제어한다. 본 논문에서 제안한 융합 미디어 미들웨어를 통하여 비전문가에 의한 콘텐츠는 다중미디어로서의 가치를 지니게 되며, 새로운 유통의 흐름을 창출할 수 있는 효과를 얻을 수 있다.

• Journal of Korean Neurosurgical Society
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• 제38권4호
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• pp.255-258
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• 2005

Objective : Lumbar lordotic curve on L4 to S1 level is important in maintaining spinal sagittal alignment. Although there has been no definite report in lordotic value, loss of lumbar lordotic curve may lead to pathologic change especially in degenerative lumbar disease. This study examines the changes of lumbar lordotic curve after posterior lumbar interbody fusion with wedge shape cage. Methods : We studied 45patients who had undergone posterior lumbar interbody fusion with wedge shape cage and screw fixation due to degenerative lumbar disease. Preoperative and postoperative lateral radiographs were taken and one independent observer measured the change of lordotic curve and height of intervertebral space where cages were placed. Segmental lordotic curve angle was measured by Cobb method. Height of intervertebral space was measured by averaging the sum of anterior, posterior, and midpoint interbody distance. Clinical outcome was assessed on Prolo scale at 1month of postoperative period. Results : Nineteen paired wedge shape cages were placed on L4-5 level and 6 paired same cages were inserted on L5-S1 level. Among them, 18patients showed increased segmental lordotic curve angle. Mean increased segmental lordotic curve angle after placing the wedge shape cages was $1.96^{\circ}$. Mean increased disc height was 3.21mm. No cases showed retropulsion of cage. The clinical success rate on Prolo's scale was 92.0%. Conclusion : Posterior lumbar interbody fusion with wedge shape cage provides increased lordotic curve, increased height of intervertebral space, and satisfactory clinical outcome in a short-term period.

• Journal of Korean Neurosurgical Society
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• 제60권5호
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• pp.567-576
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• 2017

Objective : Preoperative parameters including the T1 slope (T1S) and C2-C7 sagittal vertical axis (SVA) have been recognized as predictors of kyphosis after laminoplasty, which is accompanied by posterior neck muscle damage. The importance of preoperative parameters has been under-estimated in anterior cervical discectomy and fusion (ACDF) because there is no posterior neck muscle damage. We aimed to determine whether postoperative subsidence and pseudarthrosis could be predicted according to specific parameters on preoperative plain radiographs. Methods : We retrospectively analyzed 41 consecutive patients (male : female, 22 : 19; mean age, $51.15{\pm}9.25years$) who underwent ACDF with a stand-alone polyether-ether-ketone (PEEK) cage (>1 year follow-up). Parameters including SVA, T1S, segmental angle and range of motion (ROM), C2-C7 cervical angle and ROM, and segmental inter-spinous distance were measured on preoperative plain radiographs. Risk factors of subsidence and pseudarthrosis were determined using multivariate logistic regression. Results : Fifty-five segments (27 single-segment and 14 two-segment fusions) were included. The subsidence and pseudarthrosis rates based on the number of segments were 36.4% and 29.1%, respectively. Demographic data and fusion level were unrelated to subsidence. A greater T1S was associated with a lower risk of subsidence (p=0.017, odds ratio=0.206). A cutoff value of T1S<$28^{\circ}$ significantly predicted subsidence (sensitivity : 70%, specificity : 68.6%). There were no preoperative predictors of pseudarthrosis except old age. Conclusion : A lower T1S (T1S<$28^{\circ}$) could be a risk factor of subsidence following ACDF. Surgeons need to be aware of this risk factor and should consider various supportive procedures to reduce the subsidence rates for such cases.