• Radiation Oncology Journal
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• v.30 no.3
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• pp.146-151
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• 2012

Purpose: This treatment planning study was undertaken to evaluate the impact of beam angle configuration of intensity-modulated radiotherapy (IMRT) on the dose of the normal liver in hepatocellular carcinoma (HCC). Materials and Methods: The computed tomography datasets of 25 patients treated with IMRT for HCC were selected. Two IMRT plans using five beams were made in each patient; beams with equidistance of $72^{\circ}$ (Plan I), and beams with a $30^{\circ}$ angle of separation entering the body near the tumor (Plan II). Both plans were generated using the same constraints in each patient. Conformity index (CI), homogeneity index (HI), gamma index, mean dose of the normal liver (Dmean_NL), Dmean_NL difference between the two plans, and percentage normal liver volumes receiving at least 10, 20, and 30 Gy (V10, V20, and V30) were evaluated and compared. Results: Dmean_NL, V10, and V20 were significantly better for Plan II. The Dmean_NL was significantly lower for peripheral (p = 0.001) and central tumors (p = 0.034). Dmean_NL differences between the two plans increased in proportion to gross tumor volume to normal liver volume ratios (p = 0.002). CI, HI, and gamma indices were not significantly different for the two plans. Conclusion: The IMRT plan based on beams with narrow separations reduced the irradiated dose of the normal liver, which would allow radiation dose escalation for HCC.

• Journal of Mechanical Science and Technology
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• v.14 no.6
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• pp.605-621
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• 2000

A mobile manipulator-a serial connection of a mobile platform and a task robot-is redundant by itself. Using its redundant freedom, a mobile manipulator can move in various modes, i. e., can perform dexterous tasks. In this paper, to improve task execution efficiency utilizing redundancy, optimal configurations of the mobile manipulator are maintained while it is moving to a new task point. Assuming that a task robot can perform the new task by itself, a desired configuration for the task robot can be pre-determined. Therefore, a cost function for optimality can be defined as a combination of the square errors of the desired and actual configurations of the mobile platform and of the task robot. In the combination of the two square errors, a newly defined mobility of a mobile platform is utilized as a weighting index. With the aid of the gradient method, the cost function is minimized, so the tasle that the mobile manipulator performs is optimized. The proposed algorithm is experimentally verified and discussed with a mobile manipulator, PURL-II.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.3
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• pp.317-328
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• 2000

This paper presents an effective approach to collision-free motion planning of a robot in the work-space including time-varying obstacles. The free arc is defined as a set composed of the configuration points of the robot satisfying collision-free motion constraint at each sampling time. We represent this free arc with respect to the new coordinate frame centered at the goal configuration and there for the collision-free path satisfying motion constraint is obtained by connecting the configuration points of the free arc at each sampling mined from the sequence of free arcs the optimality is determined by the performance index. Therefore the complicated collision-free motion planning problem of a robot is transformed to a simplified SUB_Optimal Collision Avoidance Problem(SOCAP). We analyze the completeness of the proposed approach and show that it is partly guaranteed using the backward motion. Computational complexity of our approach is analyzed theoretically and practical computation time is compared with that of the other method. Simulation results for two cally and practical computation time is compared with that of the other method. Simulation results for two SCARA robot manipulators are presented to verify the efficacy of the proposed method.

• Earthquakes and Structures
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• v.9 no.6
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• pp.1221-1232
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• 2015

In recent decades, wavelet transforms as a strong signal processing tool have attracted attention of researchers for damage identification. Apart from the wide application of wavelet transforms for damage identification, influence of higher order modes on the quality of damage detection has been a challenging matter for researchers. In this study, influence of higher order modes and different mass configurations on the quality of damage detection through Discrete Wavelet Transform (DWT) was studied. Nine different damage scenarios were imposed to four cantilever structures having different mass configurations. The first four mode shapes of the cantilever structures were measured experimentally and analyzed by DWT. A damage index was defined in order to study the influence of higher order modes. Results of this study showed that change in the mass configuration had a great impact on the quality of damage detection even when the changes altered natural frequencies slightly. It was observed that for successful damage detection all available mode shapes should be taken into account and measured mode shapes had no significant priority for damage detection over each other.

• Journal of the Korean Society for Precision Engineering
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• v.5 no.3
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• pp.20-30
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• 1988

Using the design parameters of multi-joint manipulator, worspace of the manipulator were evaluated analytically, and the relation between such design parameters and nonlinearity of the manipulator were presented dynamically. The ratio of the volumes of a manipulator's workspace to the cube of its total link length presents a kinematic performance index [NVI] for the manipullator. It is possible to geometrically represent the manipulator dynamics with the generalized inertia ellipsoid (GIE). The relation between the GIE configuration and the characteristics of manipulator dynamics was analysed in terms of inertia and nonlinear forces (Coliolis and centrifugal forces). The nonlinearity caused by the change of the GIE configuration were affected by the difference between the major and minor axes length of the GIE. The results of this investigationare applied to the optimal design of the manipulator.

• Journal of Institute of Control, Robotics and Systems
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• v.2 no.4
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• pp.248-256
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• 1996

This paper presents an anti-reset windup (ARW) compensation method for saturating control systems with multiple controllers and/or multiloop configuration. The proposed ARW method is motivated by the concept of equilibrium point. The design parameters of the ARW scheme is derive explicitly by minimizing a reasonable performance index. In the event of saturation, the resulting dynamics of the compensated controller reflects the dynamics of the linear closed-loop system. The proposed method guarantees the total stability o fthe resulting control systems under a certain condition. An illustrative example is given to show the effectiveness of the proposed method. The paper is an extension of the results in Park and Choi[10].

• Korean Institute of Interior Design Journal
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• v.24 no.2
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• pp.108-116
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• 2015

The probability of visual perception occurrence varies in case the expectation of using each unit space of which the whole space consists because the size of space subject to analysis is very large or the organization is complicated in the analysis of spatial visual configuration. Therefore, it is necessary to compensate space analysis and index measurement by applying weight to the point of view for the probability of experiencing space. This study proposed a method of analyzing visibility ratio by applying the integration of space syntax theory as weight, and grasped the effect in comparison with the visibility ratio when weight was not applied.

• Journal of Biomedical Engineering Research
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• v.34 no.2
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• pp.47-54
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• 2013

Electrical stimulation is delivered to auditory nerve (AN) through the electrodes in cochlear implant system. Neurogram is a spectrogram that includes information of neural response to electrical stimulation. We hypothesized that the similarity between a neurogram and an input-sound spectrogram could show how well a cochlear implant system works. In this study, we evaluated electrical stimulus configuration of CIS strategy using the computational model. The computational model includes stochastic property and anatomical features of cat auditory nerve fiber. To evaluate similarity between a neurogram and an input-sound spectrogram, we calculated Structural Similarity Index (SSIM). The results show that the dynamic range and the stimulation rate per channel influenced SSIM. Finally, we suggested the optimal configuration within the given stimulus CIS. We expect that the results and the evaluating procedure could be employed to improve the performance of a cochlear implant system.

• Journal of Environmental Science International
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• v.25 no.4
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• pp.483-490
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• 2016

On the basis of conducting a comprehensive investigation to agricultural sightseeing garden landscape resources, we established a evaluation index system of agricultural sightseeing garden landscape resources. From the perspective of experts, comparing the importance of all levels indicators, we obtained the weights of landscape resources evaluation index through using the Analytic Hierarchy Process. The result showed that the descending order of the weights of influence of agricultural sightseeing garden nineteen evaluation index is: reach ability (0.128), safety (0.083), location (0.078), participatory (0.076), cultural value (0.058), ecological conditions (0.057), scenic beauty (0.0505), environmental quality (0.051), featured properties (0.0501), environmental tolerance (0.048), reputation (0.047), environmental capacity (0.045), humanize (0.041), spots configuration (0.034), applicable travel period (0.033), scientific value (0.032), art value (0.031), holistic (0.03), suitability (0.027), it can provide a framework and basis for the planning, management, protection and exploitation of agricultural sightseeing garden landscape resources.

• Journal of Power System Engineering
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• v.11 no.3
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• pp.66-72
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• 2007

This study proposed new method to decide the reference model necessary for design PID controller. In generally, control design problems using the reference model have the following two factors. One factor is that numerical model of the controlled system can be obtained extremely, and the other is that specification for the closed-loop dynamic performance is pure moderate. Therefore, the control design procedure is essentially based on the partial reference model matching which offers a reasonable method to simplify the design and the controller configuration under the controlled system uncertainty. ITAE(Integral of time-multiplied absolute error) performance index and Kitamori method etc. which were used a reference model method had a limit to settling time and rising time of reference model that it arrived to steady state response according to the controlled system. On this study, if it only knew peak time of overshoot and settling time by measurement signal of the controlled system, it can be made the reference model easily. We proposed new method to improve performance index of the reference model superior to existing reference model index and illustrate the numerical simulation results to show the effectiveness of proposed control method design.