9 research outputs found
์ท๊ด๋ด์ ๋์์ ์ก์ข ์ ์ฅ๊ธฐ ์ถ์ ๊ด์ฐฐ์ ํตํ ์์ฐ๊ฒฝ๊ณผ์ ๊ณ ์ฐฐ
ํ์๋
ผ๋ฌธ (์์ฌ)-- ์์ธ๋ํ๊ต ๋ณด๊ฑด๋ํ์ ๋ณด๊ฑดํ๊ณผ, 2017. 8. ๊นํธ.Background: To evaluate the natural history of branch-duct intraductal papillary mucinous neoplasms (BD-IPMN) of the pancreas under surveillance and to recommend optimal follow up intervals and duration.
Methods: We included only patients whose imaging studies showed classical features of BD-IPMN, and conducted follow-up periods of at least 3 years. We reviewed radiologic and pathologic findings, and performed linear and binary logistic regressions to estimate cyst growth.
Results: We identified 1,369 patients diagnosed with BD-IPMN. The median annual growth rate of the cyst was 0.6 mm over a median follow-up time of 61 months. During surveillance, 46 patients (3.4%) underwent surgery due to disease progression after a median follow-up time (in this group) of 62 months. Worrisome features were observed in 171 patients (12.5%) during surveillance, including cyst size >3 cm (n=47, 3.4%), cyst wall thickening (n=51, 3.7%), main pancreatic duct (MPD) dilatation (n=78, 5.7%) and mural nodule (n=43, 3.1%). Along with annual cyst growth rate, incidences of MPD dilatation, cyst wall thickening and mural nodules were related to initial sizes of cysts at detection (P<0.001).
Conclusion: Most BD-IPMN appear indolent, but some exhibit rapid growth and progression. Therefore, surveillance protocols should be individualized with regards to the natural history of BD-IPMNs focusing on initial cyst size and growth rate.1. Introduction --------------------------- 1
2. Materials & Methods ------------------ 2
3. Results --------------------------- 6
4. Discussion --------------------------- 15
5. References --------------------------- 22Maste
์ฐจ๋ ๊ฐ GPS ๊ณตํต ๊ฐ์์์ฑ ๊ฒ์์ ํตํ ์๋์์น ์ถ์ ์ ํ๋ ํฅ์์ ๋ํ ์ฐ๊ตฌ
๋ณธ ๋
ผ๋ฌธ์ ์ ๊ฐ์ GPS ์์ ๊ธฐ์ MEMS๊ธ IMU, B-CDMA ๋ฌด์ ํต์ ๋ชจ๋์ ์ด์ฉํ ๋ค์ ์ฐจ๋์ ์๋์์น ์ถ
์ ์ ๊ดํ ์ฐ๊ตฌ์ด๋ค. ์ฐจ๋์ ์๋์์น๋ฅผ ์ถ์ ํจ์ ์์ด์, ๊ฐ ์ฐจ๋์ ๊ฐ์ ์์ฑ ์กฐํฉ์ด ๋ถ์ผ์น ํ ๊ฒฝ์ฐ ์ค์ฐจ๊ฐ
๊ธ์ฆํ๋ ํ์์ด ๋ฐ์ํ๋ค. ๋ณธ ๋
ผ๋ฌธ์์๋, ์ด๋ฅผ ๊ฐ์ ํ๊ธฐ ์ํ์ฌ ์ธก์ ์น ๊ธฐ๋ฐ์ผ๋ก ์๋์์น๋ฅผ ๊ณ์ฐํ๋ RGPS
์๊ณ ๋ฆฌ์ฆ์ ์ ์ํ๋ค. ๋์์ GPS/INS ํตํฉ ํญ๋ฒ ์๊ณ ๋ฆฌ์ฆ์ ์ ์ฉํ์ฌ ๊ฐ ์ฐจ๋์ ๋ฐฉํฅ๊ฐ๊ณผ ์๋๋ฅผ ์ถ์ ํ๋ค.
์ต์ข
์ ์ผ๋ก RGPS ์๊ณ ๋ฆฌ์ฆ๊ณผ ๊ฐ ์ฐจ๋์ GPS/INS ํตํฉํญ๋ฒ ์๊ณ ๋ฆฌ์ฆ ๊ฒฐ๊ณผ๋ฅผ ์ฌ์ฉํ Position Integration Filter
์๊ณ ๋ฆฌ์ฆ์ผ๋ก๋ถํฐ ์ต์ข
์ ์ธ ์๋์์น์ ์๋์๋๋ฅผ ์ถ์ ํ๋ค. ์ด์ ๊ฐ์ ์ฐ๊ตฌ ๊ฒฐ๊ณผ๋ฅผ ์ฆ๋ช
ํ๊ธฐ ์ํ์ฌ ์ค์ ์ค
ํ์ ํตํ์ฌ ์ถ์ ๊ฒฐ๊ณผ๋ฅผ ํ์ธํ์๋ค. ์ค์๊ฐ ํ๋ก๊ทธ๋จ๊ณผ ์คํ์ฉ ๋ชจํ ์ฐจ๋์ ์ ์ํ์ฌ ์๋์์น, ์๋์๋ ์ถ
์ ์คํ์ ์ค์, ์ค์ ํ๊ฒฝ์์์ ์๊ณ ๋ฆฌ์ฆ์ ์ฑ๋ฅ์ ๊ฒ์ฆํ์๋ค.In this paper, we present relative positioning algorithm for moving land vehicle using GPS, MEMS IMU
and B-CDMA module. This algorithm does not calculate precise absolute position but calculates relative
position directly, so additional infrastructure and I2V communication device are not required. Proposed
algorithm has several steps. Firstly, unbiased relative position is calculated using pseudorange difference
between two vehicles. Simultaneously, the algorithm estimates position of each vehicle using GPS/INS
integration. Secondly, proposed algorithm performs filtering and finally estimates relative position and relative
velocity. Using proposed algorithm, we can obtain more precise relative position for moving land vehicles with
short time interval as IMU sensor has. The simulation is performed to evaluate this algorithm and the several
field tests are performed with real time program and miniature vehicles for verifying performance of proposed
algorithm.OAIID:oai:osos.snu.ac.kr:snu2012-01/102/0000003405/9SEQ:9PERF_CD:SNU2012-01EVAL_ITEM_CD:102USER_ID:0000003405ADJUST_YN:NEMP_ID:A000360DEPT_CD:446CITE_RATE:0FILENAME:05 ํ์๋ฏผ(927~934).pdfDEPT_NM:๊ธฐ๊ณํญ๊ณต๊ณตํ๋ถEMAIL:[email protected]_YN:NCONFIRM:
์ท๊ด๋ด์ ๋์์ ์ก์ข ์ ์์ฐ๊ฒฝ๊ณผ์ ๋ฐ๋ฅธ ์ ์ฑ๋ณํ์ ์ต์ ์ ์น๋ฃ์ ๋ต
ํ์๋
ผ๋ฌธ(๋ฐ์ฌ)--์์ธ๋ํ๊ต ๋ํ์ :์๊ณผ๋ํ ์์์๊ณผํ๊ณผ,2020. 2. ์ฅ์ง์.Background: With increasing detection of intraductal papillary mucinous neoplasms (IPMN) of the pancreas, a tailored approach is needed based on natural history. We explored the natural history of IPMN and suggest optimal treatment based on malignancy risk using nomogram and Markov decision model.
Methods: The patients were included whose imaging studies showed classical features of IPMN, and conducted follow-up periods of at least 2 years or underwent surgery. The radiologic and pathologic findings were reviewed, and performed linear and binary logistic regressions to estimate change of worrisome features. Using IPMN cohort data and review of publication data over the past 10 years, we calculated transitional probabilities and life expectancy to build a Markov model to suggest optimal treatment strategy based on natural history.
Results: The 2,006 patients diagnosed as IPMN with mean age of 63.8 years and male to female ratio of 1:.0.89. Of a total of 2,006 patient, 1773 (88.4%) were branch duct type, 81 (4.0%) were main duct type and 152 (7.6%) were mixed type IPMN at initial diagnosis. The median follow-up duration was 50 months, and malignancy rate was 9.7% (n=193). In the surveillance group, a total of 370 new worrisome features were detected during follow-up. At the end of surveillance, 147 (9.5%) cysts > 3 cm, 60 (3.9%) thickened cyst walls, 67 (4.3%) MPD over 5mm, 55 (3.5%) newly developed mural nodules, 79 (5.1%) elevated CA 19-9, and 112 (7.2%) rapid growth of cyst were found. The cumulative risk of developing worrisome feature was 19.0% at 5 years follow-up and 35.0% at 10 years follow-up. The progression of malignancy rate for main and mixed type IPMN was 79.9% at 10 year follow-up and 5.9% of BD-IPMN. Decision model recommended surgical resection was the dominant strategy to maximize overall survival and quality adjusted life year for patients under 75 years old with over 10% of malignancy rate. Once age exceed 75 years, surveillance was recommended.
Conclusion: Although most IPMNs are indolent and dormant, cysts with worrisome features show unusually higher rate of development of malignant signs (27.8% at 10 year follow-up). The decision model based on nomogram suggests operation rather than surveillance for patients less than age 75 years especially with high malignancy risk. However, optimal treatment strategy between operation and surveillance should be carefully considered based on patients health status and initial cyst feature.๋ฐฐ๊ฒฝ: ์ท๊ด๋ด์ ๋์์ ์ก์ข
์ ์ ๋ณ๋ฅ ์ฆ๊ฐ๋ก ์์ฐ๊ฒฝ๊ณผ์ ๋ฐ๋ฅธ ํ์๋ณ ์น๋ฃ๋ฒ์ ๋ํ ํ์์ฑ์ด ๋๋๋๊ณ ์๋ค. ์ด์ ์ท๊ด๋ด์ ๋์์ ์ก์ข
์ ์์ฐ๊ฒฝ๊ณผ๋ฅผ ๊ด์ฐฐํ๊ณ , ์
์ฑ๋ ์งํํ๋ฅ ์ ๋ฐํ์ผ๋ก ์ต์ ์ ์น๋ฃ๋ฒ์ ์ ์ํ๊ณ ์ํ๋ค.
๋ฐฉ๋ฒ: 2001๋
๋ถํฐ 2017๋
๊น์ง ์์ธ๋ํ๊ต๋ณ์์์ ์ท๊ด๋ด์ ๋์์ ์ก์ข
์ผ๋ก ์ง๋จ๋ฐ๊ณ ์ถ์ ๊ด์ฐฐ ๊ธฐ๊ฐ์ด 2๋
์ด์์ด๊ฑฐ๋ ์์ ๋ฐ์ ํ์๋ฅผ ๋์์ผ๋ก ํ์๋ค. ์ง๋จ ์์ ์ถ์ ๊ด์ฐฐ ํ ์ดฌ์ํ ๋ชจ๋ ์์๊ณผ ์์ ํ ๋ณ๋ฆฌ๊ฒฐ๊ณผ๋ฅผ ํ์ธํ์ฌ worrisome feature์ high risk stigmata์ ๋ณํ์ ์
์ฑ๋ณํ๋ฅ ์ ๋ถ์์ ์ด์ฉํ์์ผ๋ฉฐ, ์
์ฑํ์์ธก ๋
ธ๋ชจ๊ทธ๋จ์ ์ ์ฉํ์ฌ ๋์ ์
์ฑํ์ํ๋๋ฅผ ๊ณ์ฐํ์๋ค. ๋ณธ ๊ธฐ๊ด์ ์ท๊ด๋ด์ ๋์์ ์ก์ข
ํ์์ ์์ฐ๊ฒฝ๊ณผ ๋ถ์๊ฒฐ๊ณผ์ 10๋
๋ด ๋ฐํ๋ ๋
ผ๋ฌธ ๋ฐ์ดํฐ๋ฅผ ์ฌ์ฉํ์ฌ ์ ์ดํ๋ฅ ๊ณผ ๊ธฐ๋์ฌ๋ช
, ์ง๋ณด์ ์๋ช
์ ๊ตฌํ์์ผ๋ฉฐ, ์ด๋ฅผ ์ด์ฉํ์ฌ Markov model์ ๊ตฌ์ถํด ์ท๊ด๋ด์ ๋์์ ์ก์ข
์ ๋ํ ์ต์ ์ ์น๋ฃ๋ฐฉ์นจ์ ์ ์ํ์๋ค.
๊ฒฐ๊ณผ: 10,614๋ช
์ ์ท๊ด๋ด์ ๋์์ ์ก์ข
์์ฌ ํ์ ์ค, ์กฐ์งํ์ ์ผ๋ก ํ์ง ๋๊ฑฐ๋ ์์ํ์ ์ผ๋ก ์ ํ์ ์ธ ํํ๋ฅผ ๋ณด์ฌ ๋ถ์์ ์ฌ์ฉํ ๋์์๋ 2,006๋ช
์ด์๋ค. ์ ์ฒด ํ์์ ํ๊ท ๋์ด๋ 63.8์ธ์ด๋ฉฐ ๋จ๋
๋น์จ์ 1:0.89์๋ค. ์ ์ฒด ํ์ ์ค 1,773(88.4%)์ด ๋ถ์ท๊ดํ์ด์์ผ๋ฉฐ, 81(4.0%)๋ช
์ ์ฃผ์ท๊ดํ, 152(7.6%)๋ช
์ ํผํฉํ์ด์๋ค. ๊ฒฝ๊ณผ๊ด์ฐฐ ๊ธฐ๊ฐ์ ์ค์๊ฐ์ 50๊ฐ์, ์
์ฑ๋๋ 9.7% (n=194)์๋ค. ์ํ์ธ์์ฆ๊ฐ์ ๋์ ์ํ์ 5๋
๊ด์ฐฐ์์ ์์ 19.0%, 10๋
๊ด์ฐฐ์์ ์์ 35.0%์๋ค. ์ท๊ดํํ์ ๋ฐ๋ฅธ ์
์ฑ๋๋ ์ฃผ์ท๊ดํ๊ณผ ํผํฉํ์์ 10๋
๊ด์ฐฐ์์ ์์ 79.9%, ๋ถ์ท๊ดํ์ ๊ฒฝ์ฐ 5.9%๋ก ์ ์ํ ์ฐจ์ด๊ฐ ์์๋ค. ๋
ธ๋ชจ๊ทธ๋จ์ ์ ์ฉํ ์
์ฑํ ์ํ๋๋ ์กฐ์งํ์ ์ง๋จ์ ๋ฐ๋ฅธ ์
์ฑ๋์ ์๊ด๊ด๊ณ๊ฐ ์์์ผ๋ฉฐ, ์ด๋ ์
์ฑํ ์ํ๋ ๊ทธ๋ฃน๋ณ ์์กด์จ์ ์ ๊ตฌ๋ถ ์ง์๋ค. ์์ฌ๊ฒฐ์ ๋ชจ๋ธ์์ ์ฐ๋ น์ด 75์ธ ๋ฏธ๋ง, 35%์ด์์ ์
์ฑ์ํ์ฑ์ด ์์ ๊ฒฝ์ฐ ์์ ์ ํ์์ ๋ ๊ธฐ๋์๋ช
๊ณผ ์ง๋ณด์ ์ฌ๋ช
์ด ๊ฐ์ฅ ๊ธธ์๋ค(65์ธ๋ฏธ๋ง 35%์ด์ ์
์ฑ๋๊ตฐ- ๊ธฐ๋์ฌ๋ช
: ์์ ๋ ๊ฒฝ๊ณผ๊ด์ฐฐ(12.61๋
๋ 5.79๋
), ์ง๋ณด์ ์ฌ๋ช
: ์์ ๋ ๊ฒฝ๊ณผ๊ด์ฐฐ(11.10๋
๋ 5.31๋
), 75์ธ๋ฏธ๋ง 35%์ด์ ์
์ฑ๋๊ตฐ- ๊ธฐ๋์ฌ๋ช
: ์์ ๋ ๊ฒฝ๊ณผ๊ด์ฐฐ(8.65๋
๋ 6.96๋
), ์ง๋ณด์ ์ฌ๋ช
: ์์ ๋ ๊ฒฝ๊ณผ๊ด์ฐฐ(8.14๋
๋ 6.84๋
)).
๊ฒฐ๋ก : ์ฃผ์ท๊ดํ๊ณผ ํผํฉํ ์ท๊ด๋ด์ ๋์์ ์ก์ข
์ด ์
์ฑํ ์ฆ๊ฐ์จ์ด ๋์ ๋ฐ๋ฉด (79.9%), ๋๋ถ๋ถ์ ๋ถ์งํ ์ท๊ด๋ด์ ๋์์ ์ก์ข
์ด ๋ฌด์ฆ์์ด๋ฉฐ ์
์ฑํ์จ๋ ๋ฎ์๋ค(5.9%). ๋
ธ๋ชจ๊ทธ๋จ์ ๊ทผ๊ฑฐํ ์์ฌ๊ฒฐ์ ๋ชจ๋ธ์ด 75์ธ ์ดํ์ ๋์ ์
์ฑ๋(35%์ด์)๋ฅผ ๊ฐ์ง๊ณ ์๋ ํ์ ๊ทธ๋ฃน์์ ์์ ์ ๊ถ์ฅํ์ง๋ง, ํ์์ ๊ฐ๋ณ ํน์ฑ๊ณผ ๋ฐ๊ฒฌ์์ ๋ญ์ข
ํฌ๊ธฐ ๋ฐ ์ํ์ธ์ ๋ฐํ์ ๋ฐ๋ผ ์ ์ ํ ์น๋ฃ๋ฅผ ์ ํํ์ฌ์ผํ๋ค.I.Introduction 1
II.Materials&Methods 2
III.Results 5
IV.Discussion 9
V.References 16Docto
Relative Position Estimation of Miniature Vehicles using GPS/MEMS IMU
ํ์๋
ผ๋ฌธ (์์ฌ)-- ์์ธ๋ํ๊ต ๋ํ์ : ๊ธฐ๊ณํญ๊ณต๊ณตํ๋ถ, 2012. 2. ๊ธฐ์ฐฝ๋.๋ณธ ๋
ผ๋ฌธ์ ์ ๊ฐ์ GPS ์์ ๊ธฐ์ MEMS๊ธ IMU, B-CDMA ๋ฌด์ ํต์ ๋ชจ๋์ ์ด์ฉํ ๋ค์ ์ฐจ๋์ ์๋์์น ์ถ์ ์ ๊ดํ ์ฐ๊ตฌ์ด๋ค. ์ฐจ๋์ ์๋์์น๋ฅผ ์ถ์ ํจ์ ์์ด์, ๊ฐ ์ฐจ๋์ ๊ฐ์ ์์ฑ ์กฐํฉ์ด ๋ถ์ด์น ํ ๊ฒฝ์ฐ ์ค์ฐจ๊ฐ ๊ธ์ฆํ๋ ํ์์ด ๋ฐ์ํ๋ค. ๋ณธ ๋
ผ๋ฌธ์์๋, ์ด๋ฅผ ๊ฐ์ ํ๊ธฐ ์ํ์ฌ ์ธก์ ์น ๊ธฐ๋ฐ์ผ๋ก ์๋์์น๋ฅผ ๊ณ์ฐํ๋ RGPS ์๊ณ ๋ฆฌ์ฆ์ ์ ์ํ๋ค. ๋์์ GPS/INS ํตํฉํญ๋ฒ ์๊ณ ๋ฆฌ์ฆ์ ์ ์ฉํ์ฌ ๊ฐ ์ฐจ๋์ ๋ฐฉํฅ๊ฐ๊ณผ ์๋๋ฅผ ์ถ์ ํ๋ค. ์ต์ข
์ ์ผ๋ก RGPS ์๊ณ ๋ฆฌ์ฆ๊ณผ ๊ฐ ์ฐจ๋์ GPS/INS ํตํฉํญ๋ฒ ์๊ณ ๋ฆฌ์ฆ ๊ฒฐ๊ณผ๋ฅผ ์ฌ์ฉํ Position Integration Filter ์๊ณ ๋ฆฌ์ฆ์ผ๋ก๋ถํฐ ์ต์ข
์ ์ธ ์๋์์น์ ์๋์๋๋ฅผ ์ถ์ ํ๋ค.
์ด์ ๊ฐ์ ์ฐ๊ตฌ ๊ฒฐ๊ณผ๋ฅผ ์ฆ๋ช
ํ๊ธฐ ์ํ์ฌ, ์๋ฎฌ๋ ์ด์
์ ํตํ์ฌ ์ถ์ ๊ฒฐ๊ณผ๋ฅผ ํ์ธํ์๋ค. ๋ํ ์ค์๊ฐ ํ๋ก๊ทธ๋จ๊ณผ ์คํ์ฉ ๋ชจํ ์ฐจ๋์ ์ ์ํ์ฌ ์๋์์น, ์๋์๋ ์ถ์ ์คํ์ ์ค์, ์ค์ ํ๊ฒฝ์์์ ์๊ณ ๋ฆฌ์ฆ์ ์ฑ๋ฅ์ ๊ฒ์ฆํ์๋ค.
๋ณธ ๋
ผ๋ฌธ์ ์๊ณ ๋ฆฌ์ฆ์ ๊ฒฐ๊ณผ ๊ฐ ์ฐจ๋์ ๋จ์ผํญ๋ฒํด๋ฅผ ์ฐจ๋ถํ์ฌ ์ป์ ์๋์์น์ ๋นํ์ฌ ์ ์๋ ์๊ณ ๋ฆฌ์ฆ์ ์๋์์น์ ์ค์ฐจ ์์ค์ด ์ฝ 80% ๊ฐ๋ ๊ฐ์๋์์ผ๋ฉฐ, ์ถ๋ ฅ์ฃผ๊ธฐ๊ฐ 10๋ฐฐ ํฅ์ ๋์๋ค.
๋ณธ ๋
ผ๋ฌธ์ ๋ด์ฉ์ ์ฐจ๋์ ์์ ์ฑ์ ํ๋ณดํ๋ ์ถฉ๋ ํํผ ์์คํ
(CAS)์ผ๋ก ๋ฐ์ ๊ฐ๋ฅํ๋ฉฐ, ๋ ๋์๊ฐ ๋ค์ ์ฐจ๋์ ํธ๋ ์ฃผํ ์ ์ด ์์คํ
์ ๊ตฌ์ถํ๋๋ฐ ๊ธฐ์ฌํ ๊ฒ์ผ๋ก ๊ธฐ๋ํ๋ค.Recently, there are many studies and projects on relative positioning using GPS for collision avoidance system or collision warning system.
One approach for obtain precise relative position is using precise absolute position of each vehicle such as DGPS, GPS-RTK. However, applying DGPS(or GPS-RTK) based on moving land vehicle needs additional infrastructure, infrastructure-to-vehicle (I2V) communication device for calculating and broadcasting error correction data. So implementation is difficult and occasions great expense
In this paper, we present relative positioning algorithm for moving land vehicle using GPS, MEMS IMU and B-CDMA module. This algorithm does not calculate precise absolute position but calculates relative position directly, so additional infrastructure and I2V communication device are not required. Proposed algorithm has several steps. Firstly, unbiased relative position is calculated using pseudorange difference between two vehicles. Simultaneously, the algorithm estimates position of each vehicle using GPS/INS integration. Secondly, proposed algorithm performs filtering and finally estimates relative position and relative velocity
Using proposed algorithm, we can obtain more precise relative position for moving land vehicles with short time interval as IMU sensor has.
The simulation is performed to evaluate this algorithm and the several field tests are performed with real time program and miniature vehicles for verifying performance of proposed algorithm.Maste
Family migration decisions : the effects of family factors on migration and the effects of migration on married women
Thesis(masters) --์์ธ๋ํ๊ต ๋ํ์ :๊ฒฝ์ ํ๋ถ(๊ฒฝ์ ํ์ ๊ณต),2009.8.Maste
An Experimental study on the atomization characteristics and the droplet-flow interaction of dual-orifice fuel injector in a gas turbien combustor
ํ์๋
ผ๋ฌธ(๋ฐ์ฌ)--์์ธ๋ํ๊ต ๋ํ์ :ํญ๊ณต์ฐ์ฃผ๊ณตํ๊ณผ,1997.Docto