• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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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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• 제33권1호
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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.

• 드라이브 ㆍ 컨트롤
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• 제16권2호
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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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• 제32권1호
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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.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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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.

• 대한방사선치료학회지
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• 제29권2호
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• pp.83-91
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• 2017

목 적: 본 연구에서는 EPID와 GafChromic EBT3 film을 이용하여 picket fence test를 시행하여 갠트리 각도에 따른 중력 효과로 인한 다엽콜리메이터의 엽의 위치 오차를 분석하여 정확성을 평가하고자 하였다. 대상 및 방법: 테이블에 5 cm의 고체 팬텀을 놓고 SAD를 100 cm이 되도록 설정하였다. EBT3 film을 고체 팬텀 위에 정확하게 놓이게 한 후 1.5 cm의 고체 팬텀을 놓고 picket fence test를 시행하였다. EPID는 선원 검출기간 거리 100 cm에서 EBT3 film과 같은 조건으로 측정했다. 갠트리 각도에 따른 다엽콜리메이터 이동 위치를 알아보기 위해 갠트리 각도 $0^{\circ}$, $90^{\circ}$, $180^{\circ}$, $270^{\circ}$에서 각각 측정하였다. 다엽콜리메이터의 기하학적 평가를 위해 분석 프로그램을 이용하여 다엽콜리메이터의 엽의 위치 정확성을 분석하였다. 결 과: EPID의 경우 갠트리 각도 $0^{\circ}$, $90^{\circ}$, $180^{\circ}$, $270^{\circ}$로 갠트리 각도를 변경했을 때 엽의 위치 오차는 각각 평균 0.18 mm, 0.31 mm, 0.20 mm, 0.26 mm였고, 오차의 최댓값은 각각 0.44 mm, 0.54 mm, 0.34 mm, 0.44 mm였다. EBT3 film은 갠트리 각도 $0^{\circ}$, $90^{\circ}$, $180^{\circ}$, $270^{\circ}$로 갠트리 각도를 변경했을 때 엽의 위치 오차는 각각 평균 0.19 mm, 0.21 mm, 0.19 mm, 0.31 mm였고, 오차의 최댓값은 각각 0.35 mm, 0.45 mm, 0.36 mm, 0.48 mm였다. 결 론: 본 연구는 갠트리 각도에 따른 다엽콜리메이터의 엽의 위치 오류를 분석해본 결과 중력효과에 의한 엽의 위치 오류를 확인하였고, EPID와 EBT3 film을 이용하여 갠트리 각도 변화에 따른 엽의 정확성을 비교한 결과 EPID을 이용한 오차 분석방법에서 EBT3 film보다 더 큰 오차가 발생했다. 따라서 다엽콜리메이터를 기반으로 하는 세기조절방사선치료의 경우 정확한 선량 조사에 대한 검증뿐만 아니라 다엽콜리메이터의 정확하고 정밀한 작동에 대한 정도관리와 분석방법에 대한 비교 및 검증이 필요할 것으로 사료된다.

• 치과방사선
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• 제28권1호
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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.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2000년도 추계학술대회논문집
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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.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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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.

• 한국산학기술학회논문지
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• 제16권12호
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• pp.8479-8486
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• 2015

본 연구는 Brain CT검사 시 영상에서 발생하는 선속경화현상의 원인과 감소방법을 알아보기 위하여 선속경화현상에 영향을 미치는 관전압, 관전류, 단면두께, 갠트리 각도, 기준선에 변화를 주었다. 사용한 장비로는 Somatom Sensation 16장비로 Bone opaque head phantom을 이용 영상영향인자에 변화를 주어 스캔하였고 획득한 영상 데이터를 이용하여, CT값 분석을 이용한 정량적 분석과 CT영상평가표를 이용한 정성적 평가를 시행하였다. 정량적 분석결과 관전압은 140kVp일 때 $31.56{\pm}2.89HU$로 측정되었고, 관전류의 경우 150mA에서 $-3.87{\pm}0.12HU$, 절편두께는 3mm에서 $2.29{\pm}0.78HU$로 측정되었으며 갠트리 각도에서 IOML이 $13.31{\pm}1.03HU$로 선속경화현상이 가장 적었다. 정성적 분석결과 대부분의 평가자들이 140kVp, 150mA, 3mm, IOML 또는 OML에서 스캔한 영상을 선속경화현상이 적게 발생한 영상으로 평가하였으며 모든 조건에서 변화 인자와 비교 시 통계학적으로 유의한 차이가 있었다.(P<0.05) 따라서, 임상적용 시 허용선량한도 범위 내에서 관전압은 높여주고 관전류는 영상 화질 저하에 영향을 미치지 않는 범위 내에서 낮게 설정하며, 절편두께는 해상도 저하를 고려하여 얇은 절편두께를 사용하고, 갠트리 각도는 IOML 또는 OML을 이용한다면 선속경화현상에 의해 발생되어지는 인공물을 최소화시켜 영상 판독자와 환자에게 보다 정확한 양질의 영상을 제공할 수 있을 것으로 사료된다.