• Journal of information and communication convergence engineering
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• 제8권6호
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• pp.709-715
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• 2010

This paper represents a map building and localization system for mobile robot. Map building and navigation is a complex problem because map integrity cannot be sustained by odometry alone due to errors introduced by wheel slippage, distortion and simple linealized odometry equation. For accurate localization, we propose sensor fusion system using encoder sensor and indoor GPS module as relative sensor and absolute sensor, respectively. To build a map, we developed a sensor based navigation algorithm and grid based map building algorithm based on Embedded Linux O.S. A wall following decision engine like an expert system was proposed for map building navigation. We proved this system's validity through field test.

• Earthquakes and Structures
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• 제24권1호
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• pp.65-79
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• 2023

A simplified analytical solution for seismic response of tunnel cross section in horizontally layered ground subjected to oblique incidence of SH wave is deduced in this paper. The proposed analytical solution consists of two main steps: free-field response in layered field and tunnel response. The free field responses of the layered ground are obtained by one-dimensional finite element method in time domain. The tunnel lining is treated as a thick-wall cylinder to calculate the tunnel response, which subject to free field stress. The analytical solutions are verified by comparing with the dynamic numerical results of two-dimensional ground-lining interaction analysis under earthquake in some common situations, which have a good agreement. Then, the appropriate range of the proposed analytical solution is analyzed, considering the height of the layered ground, the wavelength and incident angle of SH wave. Finally, by using the analytical solutions, the effects of the ground material, burial depth of the tunnel, and lining thickness and the slippage effect at the ground-lining interface on the seismic response of tunnels are investigated. The proposed solution could serve as a useful tool for seismic analysis and design of tunnels in layered ground.

• Journal of Korean Neurosurgical Society
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• 제61권2호
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• pp.212-218
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• 2018

Objective : Surgical clipping of the cerebral aenurysm is considered as a standard therapy with endovascular coil embolization. The surgical clipping is known to be superior to the endovascular coil embolization in terms of recurrent rate. However, a recurrent aneurysm which is initially treated by surgical clipping is difficult to handle. The purpose of this study was to research the management of the recurrent cerebral aneurysm after a surgical clipping and how to overcome them. Methods : From January 1996 to December 2015, medical records and radiologic findings of 14 patients with recurrent aneurysm after surgical clipping were reviewed retrospectively. Detailed case-by-case analysis was performed based on preoperative, postoperative and follow-up radiologic examinations and operative findings. All clinical variables including age, sex, aneurysm size and location, type and number of applied clips, prognosis, and time to recurrence are evaluated. All patients are classified by causes of the recurrence. Possible risk factors that could contribute to those causes and overcoming ways are comprehensively discussed. Results : All recurrent aneurysms after surgical clipping were 14 of 2364 (0.5%). Three cases were males and 11 cases were females. Mean age was 52.3. At first treatment, nine cases were ruptured aneurysms, four cases were unruptured aneurysms, and one case was unknown. Locations of recurrent aneurysm were determined; anterior communicating artery (A-com) (n=7), posterior communicating artery (P-com) (n=3), middle cerebral artery (n=2), anterior cerebral artery (n=1) and basilar artery (n=1). As treatment of the recurrence, 11 cases were treated by surgical clipping and three cases were treated by endovascular coil embolization. Three cases of all 14 cases occurred in a month after the initial treatment. Eleven cases occurred after a longer interval, and three of them occurred after 15 years. By analyzing radiographs and operative findings, several main causes of the recurrent cerebral aneurysm were found. One case was incomplete clipping, five cases were clip slippage, and eight cases were fragility of vessel wall near the clip edge. Conclusion : This study revealed main causes of the recurrent aneurysm and contributing risk factors to be controlled. To manage those risk factors and ultimately prevent the recurrent aneurysm, neurosurgeons have to be careful in the technical aspect during surgery for a complete clipping without a slippage. Even in a perfect surgery, an aneurysm may recur at the clip site due to a hemodynamic change over years. Therefore, all patients must be followed up by imaging for a long period of time.

• 한국실내디자인학회논문집
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• 제18권3호
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• pp.114-121
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• 2009

The number of the disabled is increasing every year. Growing interest in social welfare, but still the disabled person in places is restricted on the activities are due to obstacles. This study proposes an improvement direction through an research and analysis of installation status of convenient facilities in social welfare halls was planned after that the law of increase of convenience for the disabled person is enforced in 1998. This study analyzed nine social welfare halls of seoul including Yongsan-gu(GW), Guro-gu(GD, HW), Yeongdeungpo-gu(SG), Seodaemun-gu(SD), Dobong-gu(DB), Nowon-gu(NS), Seongbuk-gu(WG) and Dongdaemun-gu(JG). The evaluation criteria for the installation of convenient facilities for the disabled person in each social welfare hall based on the law of increase of convenience for the disabled person, and referred to other data. Also, review the criteria for the installation of convenient facilities, and grasp the present situation through the survey of convenient facilities in social welfare halls, and provides the installation standards of convenient facilities. The result are as followings. There were many problems to be improved in approach of the intermediate space, parking lot, entrance of the inside space and corridor that must be installed for the convenience of the disabled. In the intermediate space, the slope of the ramp, curb, induction handle etc. for a safety must be installed. Parking spaces for the disabled must be located closest to the main entrance, an induction marker or the handle, and the attachment of a directional sign etc. must be improved. In the inside space, it is convenient for the disabled person use to install an automatic door and swing door simultaneously at the main entrance. And, the height of the door handle, an induction block, a braille display panels of the appropriate height in the entrance, a braille display in start and end of the stairs handle, the handle of the side wall, the stairs to prevent slippage etc. must be improved in the corridors. The case of the sanitation which is a recommendation item is equipped formally with disabled toilets are difficult to use. Information and other convenience facilities for the disabled person in all the social welfare halls were not considered.