• Journal of the Korean Institute of Intelligent Systems
• /
• v.21 no.3
• /
• pp.283-289
• /
• 2011

In this research a controller based on velocity estimator for a Wheeled Inverted Pendulum (WIP) is designed and various numerical simulation studies are carried out. The WIP has stable and unstable equivalent points. To Keep the unstable equilibrium point, a controller should control carefully the wheels persistently. There are angle, angular velocity, displacement, and velocity of the WIP for controller inputs. The velocity is obtained by differentiating the encoder signals from the motor and is subject to the resolution of the encoder. An improved velocity detection method is proposed based on low resolution encoder and velocity estimator. Various numerical simulations are carried out for showing the validation of the velocity estimator in case of the inclined road condition.

• Investigative Magnetic Resonance Imaging
• /
• v.1 no.1
• /
• pp.66-74
• /
• 1997

fMRI, functional MRI introduced receently appears based on the gradient echo technique which is sensitive to the field inhomogeneity developed due to the local susceptibility changes of blood oxygenation and deoxygenation. There has been many variants of the basic gradient echo sequence which is sensitive to the local inhomogeniety, among others such as GRASS or SSFP to EPISTAR are the most commonly used gradient echo techniques. Common to all these gradient echo techniques is that the signal due to the susceptibility effects is generally decreased with increasing inhomogeneity due to the $T2^{*}$ effect or conventionally konwn as blood oxygenation level dependent(BOLD) effect. It is, also found that the BOLD sensitivity is also dependent on the imaging modes, namely whether the imaging is in axial, or coronal or sagittal mode as well as the directions of the vessels against the main magnetic field. We have, therefore, launched a systematic study of imaging mode dependent signal change or BOLD sensitivity as well as the signal changes due tothe tilting angle of the imaging planes. Study has been made for both TRFGE sequence and CGE sequence to compare the distinctions of the each mode since each technique has different sensitivity againsst susceptibility effect. Method of computation and both the computer simulations and their corresponding experimental results are presented.

• Investigative Magnetic Resonance Imaging
• /
• v.12 no.2
• /
• pp.178-187
• /
• 2008

Purpose : To evaluate and compare the diagnostic accuracy of MRI and ultrasound(US) for estimation of invasion depth of gastric carcinoma by correlation with histopathologic findings in vitro and to find out the best MR pulse sequence for detection and accurate delineation of tumor. Materials and Methods : Resected specimen of total or subtotal gastrectomy from 53 patients with gastric carcinoma were done of imaging studies of MRI and US. And US was examined by using high frequency linear transducer for tumor invasion depth by a radiologist. In each case, both imaging findings of MRI and US were evaluated independently for tumor detection and invasion depth by consensus of two radiologists and were compared the diagnostic accuracy between two imaging modalities according to the histopathologic findings. MR imaging with five MR pulse sequences, spin echo T1 and in- and out-of phase gradient echo T1 weighted images, FSE and SSFSE T2 weighted images, were performed. Five MR pulse sequences were evaluated and compared on the point of detection and accurate distinction of tumor from surrounding normal tissue. Results : In EGC, diagnostic accuracy of US(77%) was superior than that of MRI(59%) but no statistically significant difference was noted between two imaging modalities(p=0.096). In AGC, both imaging modalities of MRI and US showed relatively high diagnostic accuracy as 97% and 84% respectively. Diagnostic accuracy of MRI was statistically better than that of US at the significant level(p<0.001). The best MR pulse sequence among five in each specimen was FSE T2WI(75.5%, 40/53) in both EGC and AGC. In AGC, FSE T2WI showed excellent imaging quality by showing very high ratio (93.5%, 29/31) of accurate delineation of tumor. Conclusion : MRI and US show relatively high diagnostic accuracy in the evaluation of tumor invasion depth of resected specimen in AGC. The most excellent pulse sequence of MRI for the evaluation of tumor invasion depth is FSE T2WI on the point of detection and accurate delineation of tumor in both EGC and AGC.

• Journal of radiological science and technology
• /
• v.26 no.1
• /
• pp.83-89
• /
• 2003

The accurate measurement of the femoral anteversion is very important to the practice of orthopedic and osteotomy. It is measured by means of the axis of head and neck of the femur and the knee axis. At the present time, widely used computed tomography method of measuring anteversion on femoral necks of patients. Measurement by the manual method and image viewer of computed tomography to determine the anteversion of femoral head were carried out on both femurs. In September and October 2002, 5 patients 28 to 36 years of age were randomly selected from Seoul National University Hospital. The purpose of this paper was to introduce a new method to measure femoral anteversion angle utilizing PACS image viewer program in the MR imaging. Significant difference was observed between the right and left side the image viewer measurement of femoral anteversion. In conclusion, MR imaging very usefulness in the measured the angle of the femoral anteversion.

• Investigative Magnetic Resonance Imaging
• /
• v.14 no.1
• /
• pp.31-40
• /
• 2010

Purpose : To compare the relative values of various fast breath-hold imaging sequences for superparamagnetic iron-oxide (SPIO)-enhanced hepatic MRI for the assessment of solid focal lesions with a 3T MRI unit. Materials and Methods : 102 consecutive patients with one or more solid malignant hepatic lesions were evaluated by spoiled gradient echo (GRE) sequences with three different echo times (2.4 msec [GRE_2.4], 5.8 msec [GRE_5.8], and 10 msec [GRE_10]) for $T2^*$-weighted imaging in addition to T2-weighted turbo spin echo (TSE) sequence following intravenous SPIO injection. Image qualities of the hepatic contour, vascular landmarks and artifacts were rated by two independent readers using a four-point scale. For quantitative analysis, contrast-to-noise ratio (CNR) was measured in 170 solid focal lesions larger than 1 cm (107 hepatocellular carcinomas, nine cholangiocarcinomas and 54 metastases). Results : GRE_5.8 showed the highest mean points for hepatic contour, vascular anatomy and imaging artifact presence among all of the subjected sequences (p<0.001) and was comparable (p=0.414) with GRE_10 with regard to lesion conspicuity. The mean CNRs were significantly higher (p<0.001) in the following order: GRE_10 ($24.4{\pm}14.5$), GRE_5.8 ($14.8{\pm}9.4$), TSE ($9.7{\pm}6.3$), and GRE_2.4 ($7.9{\pm}6.4$). The mean CNRs of CCCs and metastases were higher than those of HCCs for all imaging sequences (p<0.05). Conclusion : Regarding overall performances, GRE using a moderate echo time of 5.8 msec can provide the most reliable data among the various fast breath-hold SPIO-enhanced hepatic MRI sequences at 3T unit despite the lower CNR of GRE_5.8 compared to that of GRE_10.

• Investigative Magnetic Resonance Imaging
• /
• v.10 no.2
• /
• pp.108-116
• /
• 2006

Purpose : High-resolution spiral-scan imaging is performed at 3 Tesla MRI system. Since the gradient waveforms for the spiral-scan imaging have lower slopes than those for the Echo Planar Imaging (EPI), they can be implemented with the gradient systems having lower slew rates. The spiral-scan imaging also involves less eddy currents due to the smooth gradient waveforms. The spiral-scan imaging method does not suffer from high specific absorption rate (SAR), which is one of the main obstacles in high field imaging for rf echo-based fast imaging methods such as fast spin echo techniques. Thus, the spiral-scan imaging has a great potential for the high-speed imaging in high magnetic fields. In this paper, we presented various high-resolution images obtained by the spiral-scan methods at 3T MRI system for various applications. Materials and Methods : High-resolution spiral-scan imaging technique is implemented at 3T whole body MRI system. An efficient and fast higher-order shimming technique is developed to reduce the inhomogeneity, and the single-shot and interleaved spiral-scan imaging methods are developed. Spin-echo and gradient-echo based spiral-scan imaging methods are implemented, and image contrast and signal-tonoise ratio are controlled by the echo time, repetition time, and the rf flip angles. Results : Spiral-scan images having various resolutions are obtained at 3T MRI system. Since the absolute magnitude of the inhomogeneity is increasing in higher magnetic fields, higher order shimming to reduce the inhomogeneity becomes more important. A fast shimming technique in which axial, sagittal, and coronal sectional inhomogeneity maps are obtained in one scan is developed, and the shimming method based on the analysis of spherical harmonics of the inhomogeneity map is applied. For phantom and invivo head imaging, image matrix size of about $100{\times}100$ is obtained by a single-shot spiral-scan imaging, and a matrix size of $256{\times}256$ is obtained by the interleaved spiral-scan imaging with the number of interleaves of from 6 to 12. Conclusion : High field imaging becomes increasingly important due to the improved signal-to-noise ratio, larger spectral separation, and the higher BOLD-based contrast. The increasing SAR is, however, a limiting factor in high field imaging. Since the spiral-scan imaging has a very low SAR, and lower hardware requirements for the implementation of the technique compared to EPI, it is suitable for a rapid imaging in high fields. In this paper, the spiral-scan imaging with various resolutions from $100{\times}100$ to $256{\times}256$ by controlling the number of interleaves are developed for the high-speed imaging in high magnetic fields.

• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.40 no.5
• /
• pp.341-349
• /
• 2003

A real time interactive controller (spectrometer) for magnetic resonance imaging (MRI) system has been developed using high speed digital signal processors (DSP). The controller generates radio frequency (rf) waveforms and audio frequency gradient waveforms and controls multiple receivers for data acquisition. By employing DSPs having high computational power (e.g., TMS320C670l) real time generation of complicated gradient waveforms and interactive control of selection planes are possible, which are important features in real-time imaging of moving organs, e.g., cardiac imaging. The spectrometer was successfully implemented at a 1.5 Tesla whole body MRI system for clinical application. Performance of the spectrometer is verified by various experiments including high- speed imaging such as fast spin echo (FSE) and echo planar imaging (EPI). These high-speed imaging techniques reduce measurement time, however, usually intensify artifact if there is any systematic phase error or jitter in the synchronization between the transmitter, receiver, and gradients.

• Investigative Magnetic Resonance Imaging
• /
• v.17 no.2
• /
• pp.133-143
• /
• 2013

Purpose : To evaluate and compare the accuracy of magnetic resonance imaging (MRI) and ultrasound (US) for detection and estimation of invasion depth of colorectal carcinoma (CRC) by correlation with histopathologic findings in vitro, and to find out the best MR pulse sequence for accurate delineation of tumor from surrounding normal tissue. Materials and Methods: Resected specimens of CRC from 45 patients were examined about tumor detectability and invasion depth of US using high frequency (5-17 MHz) linear transducer in a tube filled with normal saline and MRI in a 8-channel quadrate head coil. The institutional review board approved this study and informed consent was waived. MRI with seven pulse sequences of in- and out-of-phases gradient echo T1 weighted images, fast spin echo T2 weighted image and its fat suppression image, fast imaging employing steady-state acquisition (FIESTA) and its fat suppression image, and diffusion weighted image (DWI) were performed. In each case, both imaging findings of MRI and US were evaluated independently for detection and estimation of invasion depth of tumor by consensus of two radiologists and were compared about diagnostic accuracy according to the histopathologic findings as reference standard. Seven MR pulse sequences were evaluated on the point of accurate delineation of tumor from surrounding normal tissue in each specimen. Results: In specimens of CRC, both imaging modalities of MRI (91.1%) and US (86.7%) showed relatively high diagnostic accuracy to detect tumor and evaluate invasion depth of tumor. In early CRC, diagnostic accuracy of US was 87.5% and that of MRI was 75.0%. There was no statistically significant difference between two imaging modalities (p > 0.05). The best pulse sequence among seven MR sequences for accurate delineation of tumor from surrounding normal tissue in each specimen of CRC was fast spin echo T2 weighted image. Conclusion: MRI and US show relatively high diagnostic accuracy to detect tumor and evaluate invasion depth of resected specimen of CRC. The most excellent pulse sequence of MRI for accurate delineation of tumor from surrounding normal tissue in CRC is fast spin echo T2 weighted image.

• Journal of the Korean Society of Radiology
• /
• v.9 no.5
• /
• pp.307-314
• /
• 2015

This study was conducted in reducing the involuntary motion artifacts because of lungs and heart movements as well as the aliasing artifacts generated during the use of the reduced-FOV EPI technique while performing breast MRI. Performed on a total of 38 obesity female subjects who visited the clinic for pre-examination before surgery within the period from August 1 to November 30, 2014. The 3.0T MRI scanner equipped with a breast scanning coil. Qualitative and quantitative analyses were each used for the evaluation of the acquired images while an Paired T-test and Wilcoxon rank test were performed to check the statistical significance. The variation ratio rose by 15.69% with the additional application of a pre-saturation pulse in the lesion, by 13.72% near the lesion, and 20.63% in the fat and the contrast-to-noise ratio rose by 10.58% in and near the lesion and by 12.03% in the lesion and fat, respectively. there were increases of 22.05% and 21.42% at 0 and 1000 respectively in qulitative evaluation and growth of 16.10% in apparent diffusion coefficient. it showed a statistically significant result(p<0.05) in signal to noise ratio, contrast to noise ratio, diffusion slope coefficient and apparent diffusion coefficient. The involuntary movements artifacts that occur in the phase encoding direction and the aliasing artifacts are considered to be reduced to obtain the best image in the additional use of the pre-saturation pulse as DWI is acquired.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.12 no.1
• /
• pp.19-25
• /
• 2011

A vehicle fuel economy is very important issue in view of fuel cost and environmental regulation. The technology development for the fuel economy improvement improved the engine, power train and many components of vehicle. So, the fuel economy is much improved, but up to now the measurement of it tests the given mode(LA-4, FTP-75, etc) within computer simulation program and engine dynamo. In this paper, to deduct the method of its improvement of real road, the test vehicle ran 213Km Youngdong real highway using 3 different algorithms in computer simulation. For this, I extracted the distance and altitude data from received GPS data and calculated the grade angle, road load and accomplished the velocity profiles according to algorithms in all 213Km distance. The vehicle runs in computer with AVL Cruise simulation program using velocity profile. I calculate the fuel economy using AVL Cruise simulation result and propose the Eco-driving method of them.