• Journal of Multimedia Information System
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• 제6권4호
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• pp.245-250
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• 2019

In this paper, we propose an ellipsoid modeling method for coding of a face depth picture. The ellipsoid modeling is firstly based on a point of a nose tip which is defined as the lowest value of the depth in the picture. The proposed ellipsoid representation is simplified through a difference of depth values between in the nose tip and in left or right boundary point of the face. Parameters of the ellipsoid are calculated through coordinates and depth values to minimize differences from the actual depth pixels. A picture is predicted by the modeled ellipsoid for coding of the face depth picture. In simulation results, an average MSEs between the face depth picture and the predicted picture is measured as 20.3.

• 한국측량학회:학술대회논문집
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• 한국측량학회 2004년도 추계학술발표회 논문집
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• pp.3-7
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• 2004

Many countries have changed her geodetic reference system from local system to global system because of the global network's necessity. And, also Korean geodetic reference system changed from Tokyo datum to Global geodetic reference system since 2003 as the revision of Survey Law and Korean reference ellipsoid changed from Bessel 1841 ellipsoid to GRS80. The purpose of this paper is evaluation of ellipsoid agreement before and after change due to the introduction of global geodetic reference system in Korea. For the evaluation ellipsoid agreement was analyzed using two Korean geoid model -KOGD2003 and KOBGDM33- on both ellipsoid and area variation caused by change of reference ellipsoid was calculated.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.726-729
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• 1996

A weighted impact ellipsoid normalized by maximum allowable angular velocity changes is defined and compared with conventional impact ellipsoids and impact polytopes. The results shows that the conventional impact ellipsoid may give false solution as far as the optimal direction of motion is concerned.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2003년도 하계종합학술대회 논문집 V
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• pp.2717-2720
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• 2003

A mathematical framework for deriving acceleration bounds from given joint torque limits of two cooperating robots are described in this paper. Especially when the torque limits are given in 2-norm, the resultant geometrical configuration is ellipsoid(the ellipsoid is often called manipulability ellipsoid in many works). At first, the mathematical derivation starts from the dynamics of both object and robots as well as the kinematics of the robots, and is finally arranged in a form of equation relating joint torques to object acceleration through a complete constraint contact(or “very-soft contact”). To show the usefulness of the proposed method, two examples are included, and especially the case where friction effects the ellipsoid shape is also considered In the example.

• Radiation Oncology Journal
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• 제30권2호
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• pp.70-77
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• 2012

Purpose: To evaluate the patterns of tumor shape and to compare tumor volume derived from simple diameter-based ellipsoid measurement with that derived from tracing the entire tumor contour using region of interest (ROI)-based 3D volumetry with respect to the prediction outcome in cervical cancer patients treated with concurrent chemotherapy and radiotherapy. Materials and Methods: Magnetic resonance imaging was performed in 98 patients with cervical cancer (stage IB-IIIB). The tumor shape was classified into two categories: ellipsoid and non-ellipsoid shape. ROI-based volumetry was derived from each magnetic resonance slice on the work station. For the diameter-based surrogate "ellipsoid volume," the three orthogonal diameters were measured to calculate volume as an ellipsoid. Results: The more than half of tumor (55.1%) had a non-ellipsoid configuration. The predictions for outcome were consistent between two volume groups, with overall survival of 93.6% and 87.7% for small tumor (<20 mL), 62.9% and 69.1% for intermediate-size tumor (20-39 mL), and 14.5% and 16.7% for large tumors (${\geq}$40 mL) using ROI and diameter based measurement, respectively. Disease-free survival was 93.8% and 90.6% for small tumor, 54.3% and 62.7% for intermediate-size tumor, and 13.7% and 10.3% for large tumor using ROI and diameter based method, respectively. Differences in outcome between size groups were statistically significant, and the differences in outcome predicted by the tumor volume by two different methods. Conclusion: Our data suggested that large numbers of cervical cancers are not ellipsoid. However, simple diameter-based tumor volume measurement appears to be useful in comparison with ROI-based volumetry for predicting outcome in cervical cancer patients.

• Journal of Korean Neurosurgical Society
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• 제64권4호
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• pp.514-523
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• 2021

Objective : Aneurysm volume quantification (AVQ) using the equation of ellipsoid volume is widely used although it is inaccurate. Furthermore, AVQ with 3-dimensional (3D) rendered data has limitations in general use. A novel universal method for AVQ is introduced for any diagnostic modality and application to any shape of aneurysms. Methods : Relevant AVQ studies published from January 1997 to June 2019 were identified to determine common methods of AVQ. The basic idea is to eliminate the normal artery volume from 3D model with the aneurysm. After Digital Imaging and Communications in Medicine (DICOM) data is converted and exported to stereolithography (STL) file format, the 3D STL model is modified to remove the aneurysm and the volume difference between the 3D model with/without the aneurysm is defined as the aneurysm volume. Fifty randomly selected aneurysms from DICOM database were used to validate the different AVQ methods. Results : We reviewed and categorized AVQ methods in 121 studies. Approximately 60% used the ellipsoid method, while 24% used the 3D model. For 50 randomly selected aneurysms, volumes were measured using 3D Slicer, RadiAnt, and ellipsoid method. Using 3D Slicer as the reference, the ratios of mean difference to mean volume obtained by RadiAnt and ellipsoid method were -1.21±7.46% and 4.04±30.54%, respectively. The deviations between RadiAnt and 3D Slicer were small despite of aneurysm shapes, but those of ellipsoid method and 3D Slicer were large. Conclusion : In spite of inaccuracy, ellipsoid method is still mostly used. We propose a novel universal method for AVQ that is valid, low cost, and easy to use.

• 한국측량학회지
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• 제17권2호
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• pp.137-143
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• 1999

GPS 관측에 의해서 획득된 경사거리나. WGS84 타원체상에서의 거리를 현행측량 성과로 사용하기 위해서 는 이 거리를 지오이드면으로 보정해 주어야 하며, 보정에 고려되는 요인으로는 지오이드고와 타원체의 평균 곡률반경이 있다. 본 연구에서는 이 요인들이 거리에 미치는 영향을 분석하였으며 기준타원체상에서의 거리를 현행측량 성과로 보정하기 위하여 단위거리당 평균지오이드고의 $1.6\times{10}^{-7}$배의 거리보정의 필요성을 보여주었다. 동일한 거리를 베셀타원체에 투영하였을 때와 지오이드면에 투영하였을 때, 우리나라에서 베셀타원체의 지오이드고가 남동부에서 -45 m, 중서부에서 -75 m임을 고려하면 km당 약 7-12 mm 정도의 차이를 보였다.

• 한국정밀공학회지
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• 제32권7호
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• pp.643-651
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• 2015

Multi-axis magnetic and accelerometer sensor are widely used in consumer product such as smart phones. The vector output of multi-axis sensors have errors on each axis such as offset error, scale error, non-orthogonality. These errors cause many problems on the performance of the applications. In this paper, we designed the effective inline compensation algorithm for calibrating of 3 axis sensors using ellipsoid for mass production of multi-axis sensors. The outputs with those kinds of errors can be modeled by ellipsoid, and the proposed algorithm makes sequential mappings of the virtual ellipsoid to perfect sphere which is calibrated function of the sensor on three-dimensional space. The proposed calibrating process composed of four main stages and is very straightforward and effective. In addition, another imperfection of the sensor such as the drift from temperature can be easily inserted in each mapping stage. Numerical simulation and experimental results shows great performance of the proposed compensation algorithm.

• 센서학회지
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• 제26권4호
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• pp.259-265
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• 2017

Magnetometer calibration must be performed before the use of three-axis magnetometers to ensure the accuracy of orientation estimation. Recently, one of the most popular calibration approaches is the ellipsoid fitting technique due to its high performance in calibration. To date, in fact, performances of the existing ellipsoid fitting methods have been evaluated with full range rotation data. However, in case of the calibration of magnetometers attached to vehicles, ships, and planes, it is very difficult to collect the full range rotation data since their allowable ranges in terms of roll and pitch are limited to small. This constraint may result in serious performance degradation of some ellipsoid fitting algorithms. Therefore, to be practical, this paper proposes a weighted least square-based magnetometer calibration method that is robust in roll-pitch limited conditions. Furthermore, the proposed method is a linear approach and thus is free from the well-known initial value issue in nonlinear approaches. Experimental results show the superiority of the proposed method to other ellipsoid-fitting calibration methods.

• 제어로봇시스템학회논문지
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• 제11권8호
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• pp.688-695
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• 2005

This paper describes dynamic manipulability analysis of robotic arms moving in viscous fluid. The manipulability is a functionality of manipulator system in a given configuration under the limits of joint ability with respect to the task required to be performed. To investigate the manipulability of underwater robotic arms, a modeling and analysis method is presented. The dynamic equation of motion of underwater manipulator is derived based on the Lagrange-Euler equation considering with the hydrodynamic forces caused by added mass, buoyancy and hydraulic drag. The hydrodynamic drag term in the equation is established as analytical form using Denavit-Hartenberg (D-H) link coordination of manipulator. Two analytical approaches based oil manipulability ellipsoid are presented to visualize the manipulability of robotic arm moving in viscous fluid. The one is scaled ellipsoid which transforms the boundary of joint torque to acceleration boundary of end-effector by normalizing the torques in joint space, while the other is shifted ellipsoid which depicts total acceleration boundary of end-effector by shifting the ellipsoid as much as gravity and velocity dependent forces in work space. An analysis example of 2-link manipulator with proposed analysis scheme is presented to validate the method.