• Journal of Institute of Control, Robotics and Systems
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• v.16 no.5
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• pp.463-468
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• 2010

An obstacle avoidance method for a mobile robot is proposed in this paper. Our research was focused on the obstacles that can be found indoors since a robot is usually used within a building. It is necessary that the robot maintain the desired direction after successfully avoiding the obstacles to achieve a good autonomous navigation performance for the specified project mission. Sensors such as laser, ultrasound, and PSD (Position Sensitive Detector) can be used to detect and analyze the obstacles. A PSD sensor was used to detect and measure the height and width of the obstacles on the floor. The PSD sensor was carefully calibrated before measuring the obstacles to achieve better accuracy. Data obtained from the repeated experiments were used to plot an error graph which was fitted to a polynomial curve. The polynomial equation was used to navigate the robot. We also obtained a direction-error model of the robot after avoiding the obstacles. The prototypes for the obstacle and direction-error were modeled using a neural network whose inputs are the obstacle height, robot speed, direction of the wheels, and the error in direction. A mobile robot operated by a notebook computer was setup and the proposed algorithm was used to navigate the robot and avoid the obstacles. The results showed that our algorithm performed very well during the experiments.

• Journal of the Institute of Convergence Signal Processing
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• v.21 no.4
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• pp.183-194
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• 2020

Recently, the number of hip dysplasia (DDH) that occurs during infant and child growth has been increasing. DDH should be detected and treated as early as possible because it hinders infant growth and causes many other side effects In this study, two modelling techniques were used for multiple training techniques. Based on the results after the first transformation, the training was designed to be possible even with a small amount of data. The vertical flip, rotation, width and height shift functions were used to improve the efficiency of the model. Adam optimization was applied for parameter learning with the learning parameter initially set at 2.0 x 10e-4. Training was stopped when the validation loss was at the minimum. respectively A novel image overlay system using 3D laser scanner and a non-rigid registration method is implemented and its accuracy is evaluated. By using the proposed system, we successfully related the preoperative images with an open organ in the operating room

• Medical Lasers
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• v.8 no.2
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• pp.64-73
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• 2019

Background and Objectives The effectiveness of many physiotherapy modalities in reducing subcutaneous fat has been investigated in numerous previous studies. However, to the best of our knowledge, there have been no attempts to determine the effectiveness of physiotherapy modalities in body contouring. The present report determined the effect of 448-kHz capacitive resistive monopolar radiofrequency (CRMRF) in a porcine model. Materials and Methods This study investigated the effect of selective destruction of the subcutaneous fat layer in abdominal fat tissue using CRMRF. The effects of two types of CRMRF (capacitive electric transfer (CET) and resistive electric transfer (RET)) treatment were evaluated using regular digital photography in addition to thermal imaging evaluation, ultrasound measurement, hematological evaluation, and histologic analyses (H&E (hematoxylin and eosin), Oil red O, and immunohistochemistry staining). Results Preclinical evaluation was performed to obtain the data for comparison of the safety and efficacy of the subcutaneous fat reduction after applying CRMRF using CET and RET. After treatment, the thermal transmission was effective, and a 42-47℃ temperature change was observed in the fat layer while an approximately temperature of 42℃ was confirmed on the skin surface. Moreover, after the application of both types of CRMRF treatment, fibrotic septa were observed in the adipose tissue induced by heat at the treatment sites. TUNEL staining was also performed to confirm the process of apoptosis in the adipocytes. Conclusion These results suggest that both CET and RET for CRMRF treatment are safe and effective for subcutaneous fat reduction in a porcine model.

• Applied Chemistry for Engineering
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• v.35 no.4
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• pp.267-272
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• 2024

This review explores recent advancements in microfluidic crystallization techniques utilizing energy from external sources on a small scale. We focus on four representative types of external sources: ultrasound, laser, microwave, and electric field, emphasizing their impact on crystal formation. This highlights the benefits of using external sources in crystallization, such as improved crystal quality, structure formation, and changes in physical properties. Providing a comprehensive overview of crystallization techniques employing external sources, the paper discusses the potential developments in the field of crystallization through the application of these external energy sources.

• Journal of the korean academy of Pediatric Dentistry
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• v.36 no.1
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• pp.114-118
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• 2009

Sialolithiasis is the formation of calcific concretions within the ductal system of major or minor salivary glands. The submandibular gland is most involved because of its high viscosity of the saliva and the long, curved duct. It may occur at any age but, it is most common in middle-aged adults and rare in childhood. Clinical symptoms in sialolithiasis are variable but, swelling is the most common, followed by the pain. Clinical examination and radiographic examination(panoramic and mandibular occlusal radiographs, sialography, intraoral-, extraoral- ultrasound, CT scan, MRI and sialoendoscopy) can help to confirm a diagnosis and localize a stone. The treatment is surgical intervention, either removal of the sialolith or sialoadenectomy. However, non-invasive techniques including shock-wave lithotripsy, $CO_2$ laser and endoscopic treatment used in selected cases. A 5-Year-old girl referred from private practice for evaluation of a yellowish mass on the floor of the mouth. She complained that it had became three times bigger than four months ago when it was found for the first time and she had some pain on submandibular gland area occasionally. On physical examination, a firm and yellowish mass could be seen at the orifice of the submandibular duct. Diagnosis is the submandibular sialolithiasis in the anterior Wharton`s duct. Under local anesthesia, stone was removed.

• Journal of Embryo Transfer
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• v.22 no.2
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• pp.89-95
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• 2007

The present study was conducted to examine some factors affecting in vitro development and fecundity of embryos recloned with somatic cell nuclear transfer (SCNT). Fibroblast cells retrieved from the ear of a 3-week-old, cloned Korean goat (Jinsoonny) were used as karyoplast donors and serum-starvation was conducted in tissue culture medium (TCM)-199 supplemented with 0.5% FBS. Recipient oocytes were surgically collected by flushing the oviducts 35 h after hCG injection following FSH priming. The zonae pellucidae of the oocytes were partially perforated with a laser drill and a donor cell was transferred into an enucleated oocyte. The couplets were electrically fused and activated by ionomycin (5 min) and 6-DMAP (4 h). The reconstructed embryos were cultured in mSOF medium containing 0.8% BSA at $39^{\circ}C$ in an atmosphere of 5% $CO_2$, 5% $%O_2$, 90% $N_2$ for 12 to 15 h. Re-cloned embryos (2- to 4-cell stages) were surgically transferred into the oviducts of the recipients and pregnancy was subsequently diagnosed by progesterone assay and ultrasound on Days 21 and 63 of pregnancy. The fusion rate following 1st fusion pulse was higher (p<0.05) in 2nd cloning (65.9%) compared to 1st cloning (51.0%), but it was not different in the other groups. The rate of cleavage after fusion was significantly higher (p<0.05) in 1st (77.7%) than in 2nd cloning (56.0%). A total of 175 re-cloned embryos were transferred into 28 recipients. On day 21 and 60 after transfer, 11 (39.3%) and 4 recipients (17.4%) were pregnancy, respectively. In comparison of pregnancy rate by estrous synchronization, a total of 66 and 109 re-cloned embryos were transferred into 11 recipients in natural estrus and 17 recipients in induced estrus, respectively. Five (45.4%) and 2 recipients (18.2%) in natural estrus were pregnant on days 21 and 63 while 6 (35.3%) and 2 (11.8%) recipients in induced estrus were pregnant, respectively. These results show that recloning of goat can be achieved by SCNT and estrous synchronization between donor and recipient animals may be one of the major factors affecting success rate.