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Parasitic Robot System for Waypoint Navigation of Turtle

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Journal of Bionic Engineering 2017年第2期14卷 327-335页

作者： Dae-Gun kim Serin Lee cheol-Hu kim Sungho Jo Phill-Seung Lee Department of Mechanical Engineering Korea Advanced Institute of Science and Technology (KAIST) 373-1 Guseong-dong Yuseong-gu Daejeon 34141 Republic of Korea Institute for Infocomm Research 1 Fusionopolis Way #21-01 Connexis Singapore Department of Computer Science Korea Advanced Institute of Science and Technology (KAIST) 373-1 Guseong-dong Yuseong-gu Daejeon 34141 Republic of Korea

In research on small mobile robots and biomimetic robots, locomotion ability remains a major issue despite many advances in technology. However, evolution has led to there being many real animals capable of exceUent locomotion. This paper presents a ＂parasitic robot system＂ whereby locomotion abilities of an animal are applied to a robot task. We chose a turtle as our first host animal and designed a parasitic robot that can perform ＂operant conditioning＂. The parasitic robot, which is attached to the turtle, can induce object-tracking behavior of the turtle toward a Light Emitting Diode （LED） and positively reinforce the behavior through repeated stimulus-response interaction. After training sessions over five weeks, the robot could successfully control the direction of movement of the trained turtles in the waypoint navigation task. This hybrid animal-robot interaction system could provide an alternative solution to some of the limitations of conventional mobile robot systems in various fields, and could also act as a useful interaction system for the behavioral sciences.

关键词： parasitic robot operant conditioning waypoint navigation red-eared slider trachemys scripta elegans

Correlation of fatty liver and abdominal fat distribution using a simple fat computed tomography protocol

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World Journal of Gastroenterology 2011年第28期17卷 3335-3341页

作者： Seonah Jang Chang Hee Lee Kyung Mook Choi Jongmee Lee Jae Woong Choi Kyeong Ah kim cheol min Park Department of Radiology Korea University Guro HospitalKorea University College of Medicine Department of Internal Medicine (Division of Endocrinology and Metabolism) Korea University Guro HospitalKorea University College of Medicine

AIM: To evaluate the relationship between hepatic fat infiltration and abdominal fat volume by using computed tomography (CT).METHODS: Three hundred and six patients who visited our obesity clinic between November 2007 and April 2008 underwent fat protocol CT *** age range of the patients was 19 to 79 years and the mean age was 49 *** male to female ratio was 116:*** and spleen attenuation measurements were taken with three regions of interests (ROIs) from the liver and two ROIs from the *** attenuation indices (HAIs) were measured as follows: (1) hepatic parenchymal attenuation (CTLP);(2) liver to spleen attenuation ratio (LS ratio);and (3) difference between hepatic and splenic attenuation (LSdif).Abdominal fat volume was measured using a 3 mm slice CT scan starting at the level of the umbilicus and was automatically calculated by a *** fat was classified into total fat (TF),visceral fat (VF),and subcutaneous fat (SF).We used a bivariate correlation method to assess the relationship between the three HAIs and TF,VF,and ***: There were significant negative correlations between CTLP,LS ratio,and LSdif with TF,VF,and SF,*** CTLP showed a strong negative correlation with TF and VF (r = -0.415 and -0.434,respectively,P minal fat and VF was more strongly associated with fatty liver than SF.

关键词： Steatosis Computed tomography Abdominal fat Visceral fat Subcutaneous fat

Ligamentum flavum hematoma following a traffic accident:A case report

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World Journal of Clinical Cases 2021年第21期9卷 6125-6129页

作者： Dongwoo Yu Wonho Lee min cheol Chang Department of Neurosurgery College of MedicineYeungnam UniversityTaegu 705-717South Korea Department of Radiology Topspine HospitalTaegu 41931South Korea Department of Physical Medicine and Rehabilitation Spine CenterCollege of MedicineYeungnam UniversityTaegu 705-717South Korea

BACKGROUND Ligamentum flavum hematoma(LFH)can cause compression of the spinal cord or nerve root,which results in neurological *** report a case of lumbar radicular pain due to LFH following a traffic *** SUMMARY A 59-year-old man complained of left buttock and lateral thigh pain that was dull in nature after a traffic accident 18 d prior to *** resonance imaging(MRI),taken 17 d after the traffic accident,revealed a mass lesion at the L4-5 *** MRI findings suggested subacute *** patient’s pain was not alleviated with conservative treatment,including oral medication and epidural steroid *** a partial-hemilaminectomy and removal of LFH,the patient’s pain completely *** Because early operation for decompression is important for a good outcome,clinicians should be able to determine LFH from MRI results and be aware of the possibility of LFH,especially in patients with a history of trauma.

关键词： Liga-mentum flavum hematoma Traffic accident Radicular pain Laminectomy Magnetic resonance imaging Case report

Stable Vertical Takeoff of an Insect-Mimicking Flapping-Wing System Without Guide Implementing Inherent Pitching Stability

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Journal of Bionic Engineering 2012年第4期9卷 391-401页

作者： Hoang Vu Phan Quoc Viet Nguyen Quang Tri Truong Tien Van Truong Hoon cheol Park Nam Seo Goo Doyoung Byun min Jun kim Department of Advanced Technology Fusion Konkuk University Seoul 143-701 Korea Department of Aerospace Engineering Konkuk University Seoul 143-701 Korea Department of Mechanical Engineering Sungkyunkwan University Seoul 143-701 Korea Department of Mechanical Engineering and Mechanics Drexel University Philadelphia USA

We briefly summarized how to design and fabricate an insect-mimicking flapping-wing system and demonstrate how to implement inherent pitching stability for stable vertical takeoff. The effect of relative locations of the Center of Gravity （CG） and the mean Aerodynamic Center （AC） on vertical flight was theoretically examined through static force balance considera- tion. We conducted a series of vertical takeoff tests in which the location of the mean AC was determined using an unsteady Blade Element Theory （BET） previously developed by the authors. Sequential images were captured during the takeoff tests using a high-speed camera. The results demonstrated that inherent pitching stability for vertical takeoff can be achieved by controlling the relative position between the CG and the mean AC of the flapping system.

关键词： beetle flapping-wing system insect-mimicking insect flight inherent pitching stability vertical takeoff

Injury of the arcuate fasciculus in a patient with progressive bulbar palsy

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Neural Regeneration Research 2016年第12期11卷 2031-2032页

作者： min cheol Chang Han Do Lee Sung Ho Jang Department of Physical Medicine and Rehabilitation College of MedicineYeungnam University

The arcuate fasciculus is the neural tract connecting the two major speech centers（Broca’s and Wernicke’s areas）and plays a critical role in language function（Catani and Mesulam,2008）.Injury of this tract can lead to several types of language impairment,including conduction aphasia,Broca’s aphasia,anomic aphasia,and apraxia of speech（Anderson et al.,1999;Bartha and Benke,2003;Catani and Mesulam,2008;Bernal and Ardila,2009;kim et al.,2011）.

关键词： arcuate patient progressive

Comparison of Aerodynamic Forces and Moments Calculated by Three-dimensional Unsteady Blade Element Theory and Computational Fluid Dynamics

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Journal of Bionic Engineering 2017年第4期14卷 746-758页

作者： Loan Thi kim Au Hoang Vu Phan Hoon cheol Park Department of Advanced Technology Fusion and Artificial Muscle Research Center Konkuk University Seoul Korea

In previous work, we modified blade element theory by implementing three-dimensional wing kinematics and modeled the unsteady aerodynamic effects by adding the added mass and rotational forces. This method is referred to as Unsteady Blade Element Theory （UBET）. A comparison between UBET and Computational Fluid Dynamics （CFD） for flapping wings with high flapping frequencies （〉30 Hz） could not be found in literature survey. In this paper, UBET that considers the movement of pressure center in pitching-moment estimation was validated using the CFD method. We investigated three three-dimensional （3D） wing kinematics that produce negative, zero, and positive aerodynamic pitching moments. For all cases, the instantaneous aerodynamic forces and pitching moments estimated via UBET and CFD showed similar trends. The differences in average vertical forces and pitching moments about the center of gravity were about 10% and 12%, respectively. Therefore, UBET is proven to reasonably estimate the aerodynamic forces and pitching moment for flight dynamic study of FW-MAV. However, the differences in average wing drags and pitching moments about the feather axis were more than 20%. Since study of aerodynamic power requires reasonable estimation of wing drag and pitching moment about the feather axis, UBET needs further im- provement for hilzher accuracy.

关键词： blade element theory unsteady computational fluid dynamics flapping wings biomimetic

Spilled gallstones mimicking a retroperitoneal sarcoma following laparoscopic cholecystectomy

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World Journal of Gastroenterology 2016年第17期22卷 4421-4426页

作者： Bum-Soo kim Sun-Hyung Joo Hyun-cheol kim Division of hepatobiliary surgery Department of Surgery Kyung Hee University Hospital at Gandong Kyung Hee University School of Medicine Seoul 134-727 South Korea

Laparoscopic cholecystectomy has become a standard treatment of symptomatic gallstone disease. Although spilled gallstones are considered harmless, unretrieved gallstones can result in intra-abdominal abscess. We report a case of abscess formation due to spilled gallstones after laparoscopic cholecystectomy mimicking a retroperitoneal sarcoma on radiologic imaging. A 59-year-old male with a surgical history of a laparoscopic cholecystectomy complicated by gallstones spillage presented with a 1 mo history of constant right-sided abdominal pain and tenderness. Computed tomography and magnetic resonance imaging demonstrated a retroperitoneal sarcoma at the sub-hepatic space. On open exploration a 5 cm × 5 cm retroperitoneal mass was excised. The mass contained purulent material and gallstones. Final pathology revealed abscess formation and foreign body granuloma. Vigilance concerning the possibility of lost gallstones during laparoscopic cholecystectomy is important. If possible, every spilled gallstone during surgery should be retrieved to prevent this rare complication.

关键词： Intra-abdominal abscess Spilled gallstone Laparoscopic cholecystectomy

Double layered self-expanding metal stents for malignant esophageal obstruction, especially across the gastroesophageal junction

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World Journal of Gastroenterology 2012年第28期18卷 3732-3737页

作者： min Dae kim Su Bum Park Dae Hwan Kang Jae Hyung Lee cheol Woong Choi Hyung Wook kim Chung Uk Chung Young Il Jeong Department of Internal Medicine Bongseng Memorial Hospital Busan 601-723 South Korea Department of Internal Medicine Pusan National University School of Medicine and Research Institute for Convergence of Biomedical Science and Technology Pusan National University Yangsan Hospital Yangsan 626-770 South Korea

AIM: To evaluate the clinical outcomes of double-layered self-expanding metal stents (SEMS) for treatment of malignant esophageal obstruction according to whether SEMS crosses the gastroesophageal junction (GEJ). METHODS: Forty eight patients who underwent the SEMS insertion for malignant esophageal obstruction were enrolled. Patients were classified as GEJ group (SEMS across GEJ, 18 patients) and non-GEJ group (SEMS above GEJ, 30 patients) according to SEMS position. Double layered (outer uncovered and inner covered stent) esophageal stents were placed. RESULTS: The SEMS insertion and the clinical improvement were achieved in all patients in both groups. Stent malfunction occurred in seven patients in the GEJ group and nine patients in the non-GEJ group. Tumor overgrowth occurred in five and eight patients, respectively, food impaction occurred in one patient in each group, and stent migration occurred in one and no patient, respectively. There were no significant differences between the two groups. Reflux esophagitis occurred more frequently in the GEJ group (eight vs five patients, P = 0.036) and was controlled by proton pump inhibitor. Aspiration pneumonia occurred in zero and five patients, respectively, and tracheoesophageal fistula occurred in zero and two patients, respectively. CONCLUSION: Double-layered SEMS are a feasible and effective treatment when placed across the GEJ for malignant esophageal obstruction. Double-layered SEMS provide acceptable complications, especially migration, although reflux esophagitis is more common in the GEJ group.

关键词： Metal stent Gastroesophageal junction Malignant esophageal obstruction

Longitudinal Flight Dynamic Analysis on Vertical Takeoff of a Tailless Flapping-Wing Micro Air Vehicle

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Journal of Bionic Engineering 2018年第2期15卷 283-297页

作者： Loan Thi kim Au Vu Hoang Phan Hoon cheol Park Department of Advanced Technology Fusion and Artificial Muscle Research Center Konkuk University Seou105029 Korea

This paper first analyzed the longitudinal dynamic behavior during vertical takeoff without control of a Flapping-Wing Micro Air Vehicle （FW-MAV）. The standard linear flight dynamics based on small disturbances from trim condition was not applicable for our analysis because the initial flight condition, which was at rest on the ground, could be such a large disturbance from the trim condition that the linearization is invalid. Therefore, we derived linearized Equations of Motion （EoM） which can treat an untrimmed flight condition as a reference for disturbances. The Computational Fluid Dynamic （CFD） software ANSYS Fluent was used to compute the aerodynamic forces and pitching moments. Three flight modes were found： a fast subsidence mode, a slow subsidence mode and a divergence oscil- latory mode. Due to divergence oscillatory mode, the deviation from the reference flight grew with time; the FW-MAV tumbled without control. The simulation showed for the first 0.5 second after leaving the ground （the time that is long enough for delay of feedback control）, the FW-MAV flew up to a height of 6 cm with small horizontal and pitching motion, which is close to a vertical flight.

关键词： bioinspired FW-MAV flight dynamics vertical takeoff CFD linear theory