• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1729-1734
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• 2005

The use of gantry crane systems for transporting payload is very common in industrial application. However, moving the payload using the crane is not an easy task especially when strict specifications on the swing angle and on the transfer time need to be satisfied. To overcome this problem, this paper describes development of an intelligent gantry crane system based on the mechatronic design. A lab-scale gantry crane is designed and then its intelligent controllers are developed. Fuzzy logic controllers are adopted, designed and implemented for controlling payload position as well as the swing angle of the gantry crane. The performance of the intelligent gantry crane system is evaluated on a hardware-in-the-loop simulation (HILS) environment. Moreover robustness of the proposed system is also evaluated. The result shows that the intelligent gantry crane system designed based on the mechatronic design approach has better performance compared with the automatic gantry crane system controlled by classical PID controllers. Moreover simulation result shows that the intelligent gantry crane system is more robust to parameter variation than the automatic gantry crane system.

• Radiation Oncology Journal
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• v.33 no.1
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• pp.42-49
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• 2015

Purpose: In order to keep the acceptable level of the radiation oncology linear accelerators, it is necessary to apply a reliable quality assurance (QA) program. Materials and Methods: The QA protocols, published by authoritative organizations, such as the American Association of Physicists in Medicine (AAPM), determine the quality control (QC) tests which should be performed on the medical linear accelerators and the threshold levels for each test. The purpose of this study is to increase the accuracy and precision of the selected QC tests in order to increase the quality of treatment and also increase the speed of the tests to convince the crowded centers to start a reliable QA program. A new method has been developed for two of the QC tests; optical distance indicator (ODI) QC test as a daily test and gantry angle QC test as a monthly test. This method uses an image processing approach utilizing the snapshots taken by the CCD camera to measure the source to surface distance (SSD) and gantry angle. Results: The new method of ODI QC test has an accuracy of 99.95% with a standard deviation of 0.061 cm and the new method for gantry angle QC has a precision of $0.43^{\circ}$. The automated proposed method which is used for both ODI and gantry angle QC tests, contains highly accurate and precise results which are objective and the human-caused errors have no effect on the results. Conclusion: The results show that they are in the acceptable range for both of the QC tests, according to AAPM task group 142.

• Journal of Drive and Control
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• v.16 no.2
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• pp.8-14
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• 2019

A typical gantry crane is generally used to lift and transport objects in various workplaces. Most of the supporting structures in a gantry crane are fixed on the ground while the moving hoist is running overhead along the girder. There are some disadvantages to its long installation time and high installation cost. Therefore, a hydraulic based gantry crane was studied to solve the issues of typical gantry cranes. The supporting structure of the proposed gantry crane consisted of a hydraulic cylinder and telescopic boom. The dimension of the proposed gantry crane can be decreased due to its simplified structure. The analytical and theoretical methods were used to verify the structural stability of the proposed crane. The most severe load condition was considered for the analysis, and the stress and deflection of the structure are analyzed. The simulation results were as expected from the theoretical analysis. Finally, the structural and dynamic safety of the proposed hydraulic based gantry crane was validated. The obtained results can be used as guidelines in the design process of the hydraulic based gantry crane.

• Imaging Science in Dentistry
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• v.32 no.1
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• pp.35-39
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• 2002

Purpose: The altered gantry angle during scanning for some multiplanar reconstruction CT program (CT/MPR) may cause distortion of the image. The aim of this study was to ascertain whether there is a image distortion in a reformatted image when the gantry and the object are equally inclined using ToothPix and DentaScan program. Materials and Methods: A resin block model with four cylindrical holes and a human dry mandible were used. Two MPR software packages, ToothPix and DentaScan program, were used for reformatted panoramic images. The block and the gantry were equally inclined at 0°, 15°, and 30°. Results: With ToothPix program, a resin block model with empty holes and a dry mandible showed inclined images in the reformatted panoramic image. Increasing the gantry angle, the depth and inclination of the holes were increased in the reformatted central panoramic images. However, a resin block model with gutta perch a in its holes and a dry mandible with a wire in its mandibular canal didn't show image distortion. With DentaScan program, image distortion was not seen in any situation. Conclusion: ToothPix program may distort the reformatted image when the gantry angle is not at zero degrees. However, with DentaScan program, the patient may be positioned comfortably and the gantry can be adjusted to the patient positioning.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.703-707
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• 2000

This paper studied on the lateral motion of the gantry crane which is used for the automated container terminal. Though several problems are occurred in driving of gantry crane, they are solved by the motion by the operator. But, if the gantry crane is unmanned, it is automatically controlled without any human operation. Especially, the collision between wheel-flange and rail is a very critical problem in driving of unmanned gantry crane. To bring a solution to these problems, the lateral and yaw dynamic equations of the driving mechanism of gantry crane are derived. And this study used PD(Proportional-Derivative) Controller to control the lateral displacement and the yaw angle. The simulation result of the driving mechanism using the Runge-Kutta method is presented in this paper.

• The Journal of Korean Society for Radiation Therapy
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• v.29 no.2
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• pp.83-91
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• 2017

Objectives: The purpose of this study was to evaluate the error of the leaf position accuracy of the MLC due to the gravity effect according to the gantry angle by using picket fence test using EPID and GafChromic EBT3 film. Materials and Methods: A 5 cm solid phantom was placed on the table and the SAD was set to 100 cm. The EBT3 film was placed exactly over the solid phantom and covered a 1.5 cm solid phantom and the picket fence test was performed. The EPID was measured under the same conditions as the EBT3 film at SID 100 cm. The gantry angles were measured at $0^{\circ}$, $90^{\circ}$, $180^{\circ}$ and $270^{\circ}$ in order to evaluate the position of the MLC according to the gantry angle. For the geometric evaluation of the MLC, the leaf position accuracy of the MLC was analyzed using the analysis program. Results: In case of EPID, when the gantry angle was changed to $0^{\circ}$, $90^{\circ}$, $180^{\circ}$, $270^{\circ}$, the difference of the position errors of the leaves was 0.18 mm, 0.31 mm, 0.20 mm, 0.26 mm on the average and the maximum values of the errors were respectively 0.44 mm, 0.54 mm, 0.34 mm, 0.44 mm. In case of EBT3 film, when the gantry angle was changed to $0^{\circ}$, $90^{\circ}$, $180^{\circ}$, $270^{\circ}$, the difference of the position errors of the leaves was 0.19 mm, 0.21 mm, 0.19 mm, 0.31 mm on the average and the maximum values of the errors were respectively 0.35 mm, 0.45 mm, 0.36 mm, 0.48 mm. Conclusion: In this study, we analyzed the position error of the leaf of the MLC according to the gantry angle, and confirmed the position error of the leaf by gravity effect. As a result of comparing the leaf position accuracy using EPID and EBT3 film according to the variation of gantry angle, a larger error occurred in the error analysis method using EPID than that of EBT3 film. Therefore, in the case of IMRT based on MLC, as well as verification of accurate dosimetry should be conducted, it is considered that the quality control and verification for the precise operation of the MLC will be needed. and it is necessary to compare and verify the method of analysis.

• Journal of Korean Academy of Oral and Maxillofacial Radiology
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• v.28 no.1
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• pp.225-234
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• 1998

We used five adult dog mandibles embedded in resin block and six different cross-sectional planes for each mandible were choosen. According to the angle of mandibular occulsal plane to vertical plane(mandibular angle) and gantry angle of CT machine, we classified 4 experimental groups and 1 control group. The control group images were taken at the mandibular angel 0° and gantry angle 0°. The experimental images were taken at the mandibular angle 15° and gantry angle 0°(group 1); 30° and 0°(group 2); 15° and 15°(group 3) ;30° and 30°(group 4), respectively. Using the reformatted cross-sectional images, the distance from the mandibular canal to the alveolar crest and the distance from the mandibular canal to the buccal cortex and to the lingual cortex was measured and compared. The obtained results were as follows: 1. The distance from the mandibular canal to the alveolar crest of group 1 and 2 was larger than control group, but the distance of group 3 and 4 was smaller. The distance from the mandibular canal to the buccal cortex and to the lingual cortex of all experimental groups was smaller than control group. 2. The distance from the mandibular canal to the alveolar crest showed the largest difference from control group in all experimental groups, especially in group 2 and 4(p<0.05). 3. In the distance from the mandibular canal to the alveolar crest, the number of deviation value under 1 mm was 20 in group 3 and was 11 in group 2 and 4, respectively. 4. The deviation value of the distance from the mandibular canal to the buccal cortex and to the lingual cortex was under 1 mm in most cases.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2000.11a
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• pp.185-195
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• 2000

This pacer studied on the lateral motion and yaw motion of the gantry crane which is used for the automated container terminal with two driving wheel types. Though several problems are occcurred in driving of gantry crane, they are solved by the motion by the operators. But, if the gantry crane is unmanned, it is automatically controlled without any operation. There are two types, cone and flat t y pin driving wheel shape. In cone type, lateral vibration and yaw motion of crane are issued. In flat type, the collision between wheel-flange and rail or the fitting between wheel-flanges and rail is issued. Especially, the collision between wheel-flange and rail is a very critical problem in driving of unmanned gantry crane. To bring a solution to the problems, the lateral and yaw dynamic equations of the driving mechanism of gantry crane with two driving wheel types are derived. Then, we investigate the driving characteristics of gantry crane. And this study used PD(Proportional-Derivative) Controller to control the lateral displacement and yaw angle of the gantry crane. The simulation result of the driving mechanism using the Runge-Kutta Method is presented in this paper.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.545-550
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• 2001

This paper studied on the lateral motion and yaw motion of the gantry crane that is used for the automated container terminal. Though several problems are occurred in driving of the gantry crane, they are solved by the motion by the operators. But, if the gantry crane is unmanned, it is automatically controlled without any operator. There are two types, cone and flat type in driving wheel shape. In cone type, the lateral vibration and yaw motion of crane are issued. In flat type, the collision between wheel-flange and rail or the fitting between wheel-flanges and rail is issued. Especially, the collision between wheel-flange and rail is a very critical problem in driving of unmanned gantry crane. To bring a solution to the problems, the lateral and yaw dynamic equations of the driving mechanism of two driving wheels are derived. Then, we investigate the driving characteristics of gantry crane. In this study, the proposed controller, based on Model Based Controller, is used to control the lateral displacement and yaw angle of the gantry crane. And the availability of the proposed controller is showed through the comparison with the result of the proposed controller and PD controller. The simulation results of the driving mechanism, using the Runge-Kutta Method that is one of the numerical analysis methods, are presented in this paper.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.12
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• pp.8479-8486
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• 2015

This study aim is occur in brain CT cause of beam hardening effect and reducing method, We will scan Bone opaque bead phantom on variation of image on the influence factor with equipment called 'Samatom Senation 16' with following listed herein : tube voltage, tube current, slice thickness, gantry angle, base line which affect beam-hardening effect. After that we are going to start Quantitative Analysis resulted in previous scanning and Qualitative Assessment with CT image sheet evaluation. result of quantitative analysis 140kVp $31.56{\pm}2.89HU$ on tube voltage, 150mA $-3.87{\pm}0.12HU$ on tube current, 3mm on slice thickness, and $13.31{\pm}1.03HU$ IOML on gantry angle which was the least beam-hardening effect. Like Qualitative Analysis, we went through Qualitative Assessment and most of valuers got a result of 140kVp on tube voltage, 150mA on tube current, 3mm on slice thickness. As before valuers evaluated gantry angle that scanned image from IOML or OML was the least beam-hardening effect occured. There are meaningful differences when we compare all theses factors statistically(P<0.05). therefore We consider that Minimizing artifact that caused by beam-hardening effect can provide better quality of image to deciphers and patients. if we rise tube voltage in permissible dose limit, set tube current in a limit that does not effect to image quality, use slice thickness too thin enough to harm resolution, use IOML or OML on gantry angle.