• The Journal of Korea Robotics Society
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• v.17 no.4
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• pp.397-406
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• 2022

This paper presents an autonomous mobile robot (AMR) system and operation algorithms for logistic and factory facilities without magnet-lines installation. Unlike widely used AMR systems, we propose an EKF-based loosely coupled fusion of LiDAR measurements and visual markers. Our method first constructs occupancy grid and visual marker map in the mapping process and utilizes prebuilt maps for precise localization. Also, we developed a waypoint-based navigation pipeline for robust autonomous operation in unconstrained environments. The proposed system estimates the robot pose using by updating the state with the fusion of visual marker and LiDAR measurements. Finally, we tested the proposed method in indoor environments and existing factory facilities for evaluation. In experimental results, this paper represents the performance of our system compared to the well-known LiDAR-based localization and navigation system.

• Journal of Sensor Science and Technology
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• v.29 no.5
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• pp.348-353
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• 2020

This paper presents an adaptive method to avoid obstacles in various environmental settings, using a two-dimensional (2D) LiDAR sensor for mobile robots. While the conventional reaction based smooth nearness diagram (SND) algorithms use a fixed safety distance criterion, the proposed algorithm autonomously changes the safety criterion considering the obstacle density around a robot. The fixed safety criterion for the whole SND obstacle avoidance process can induce inefficient motion controls in terms of the travel distance and action smoothness. We applied a multinomial logistic regression algorithm, softmax regression, to classify 2D LiDAR point clouds into seven obstacle structure classes. The trained model was used to recognize a current obstacle density situation using newly obtained 2D LiDAR data. Through the classification, the robot adaptively modifies the safety distance criterion according to the change in its environment. We experimentally verified that the motion controls generated by the proposed adaptive algorithm were smoother and more efficient compared to those of the conventional SND algorithms.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.1
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• pp.221-229
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• 2011

Recently, intermodal transportation systems are significantly considered as enhanced technique or future railroad logistics. These are aimed for particularly reducing complicated job process in the railroad based transportation and relevant logistic cost in economic viewpoint. In this paper we suggest a horizontal transfer system using hydro-motor and hydro-cylinder for intermodal transportation system. This system can assist to transfer the containers horizontally for train logistics automations.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.17 no.2
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• pp.141-146
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• 2017

New infectious diseases such as MERS have been in need of many measures such as initial discovery, isolation, and crisis response. In addition, the culture of hospitals is changing, such as the general public 's visiting and Nursing Care Integration Services. However, as the qualifications and regulations of medical personnel in hospitals become rigid, overseas such as linens, wastes movements are replacing possible works with robots. we have developed a hospital logistics robot that can carry out various goods delivery within a hospital, and can move various kinds of objects safely to a desired location. In this thesis, we have studied a hospital logistics robot that can carry out various kinds of goods delivery within the hospital, and can move various kinds of objects such as waste, and linen safely to a desired location. The movement of a robot in a hospital may cause a collision between a person and an object, so that the collision must be prevented. In order to prevent collision, it is necessary to recognize whether or not an object exists in the movement path of the robot. And if there is an object, it should recognize whether it moves or not. In order to recognize human beings and objects, we recognize the person with face/body recognition technology and generate the context awareness of the object using 3D Vision image segmentation technology. We use the generated information to create a map that considers objects and person in the robot moving range. Thus, the robot can be operated safely and efficiently.

• Journal of Yeungnam Medical Science
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• v.40 no.4
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• pp.412-418
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• 2023

Background: The aim of this study was to evaluate the risk factors for prostate-specific antigen (PSA) persistence in pathological stage T3aN0 prostate cancer (PCa) after robot-assisted laparoscopic radical prostatectomy (RALP). Methods: A retrospective study was performed on 326 patients with pT3aN0 PCa who underwent RALP between March 2020 and February 2022. PSA persistence was defined as nadir PSA of >0.1 ng/mL after RALP, and the risk factors for PSA persistence were evaluated using logistic regression analysis. Results: Among 326 patients, 61 (18.71%) had PSA persistence and 265 (81.29%) had PSA of <0.1 ng/mL after RALP (successful radical prostatectomy [RP] group). In the PSA persistence group, 51 patients (83.61%) received adjuvant treatment. Biochemical recurrence occurred in 27 patients (10.19%) in the successful RP group during the mean follow-up period of 15.22 months. Multivariate analysis showed that the risk factors for PSA persistence were large prostate volume (hazard ratio [HR], 1.017; 95% confidence interval [CI], 1.002-1.036; p=0.046), lymphovascular invasion (LVI) (HR, 2.605; 95% CI, 1.022-6.643; p=0.045), and surgical margin involvement (HR, 2.220; 95% CI, 1.110-4.438; p=0.024). Conclusion: Adjuvant treatment may be needed for improved prognosis in patients with pT3aN0 PCa after RALP with a large prostate size, LVI, or surgical margin involvement.

• Journal of Yeungnam Medical Science
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• v.40 no.3
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• pp.252-258
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• 2023

Background: The purpose of this study was to investigate whether postoperative cystography findings can predict early and longterm recovery from incontinence after radical prostatectomy (RP), compared with the other cystography parameters. Methods: I retrospectively reviewed 118 patients who underwent robot-assisted RP (RARP) for localized prostate cancer at single institution between January 2016 and April 2021. One hundred and seven patients were included in the study. Postoperative cystography was routinely performed 7 days after surgery. The bladder neck to pubic symphysis ratio, vesicourethral angle, and bladder neck anteroposterior length (BNAP) ratio (the bladder neck-posterior margin distances divided by the anteroposterior lengths) were evaluated. Continence was defined as cessation of pad use. The association between these variables and urinary incontinence was also analyzed. Results: The urinary incontinence recovery rates 1, 3, 6, and 12 months after RARP were 43.92%, 66.35%, 87.85%, and 97.19%, respectively. Multivariate logistic regression analysis demonstrated that a lower BNAP ratio and wider vesicourethral angle were significantly associated with continence restoration at 1, 3, and 6 months after surgery. In addition, in terms of days of pad usage, lower BNAP ratio, wider vesicourethral angle, and bladder neck preservation were significantly associated with recovery from urinary incontinence within 12 months as assessed by Cox proportional hazard analysis. Conclusion: This study demonstrated that vesicourethral angle and BNAP ratio were independent predictors of early recovery from post-prostatectomy incontinence. I suggest that both the sagittal and coronal views of postoperative cystography help anticipate early continence restoration after RARP.

• The Journal of Korea Robotics Society
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• v.18 no.1
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• pp.93-98
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• 2023

In this paper, the development of an autonomous electric vehicle for logistics with a robotic arm is introduced. The manual driving electric vehicle was converted into an electric vehicle platform capable of autonomous driving. For autonomous driving, an encoder is installed on the driving wheels, and an electronic power steering system is applied for automatic steering. The electric vehicle is equipped with a lidar sensor, a depth camera, and an ultrasonic sensor to recognize the surrounding environment, create a map, and recognize the vehicle location. The odometry was calculated using the bicycle motion model, and the map was created using the SLAM algorithm. To estimate the location of the platform based on the generated map, AMCL algorithm using Lidar was applied. A user interface was developed to create and modify a waypoint in order to move a predetermined place according to the logistics process. An A-star-based global path was generated to move to the destination, and a DWA-based local path was generated to trace the global path. The autonomous electric vehicle developed in this paper was tested and its utility was verified in a warehouse.

• Journal of the Korea Society for Simulation
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• v.19 no.4
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• pp.77-87
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• 2010

Currently, our society has been changed from the industrial society to the information society. As the war progresses to Information Warfare, Network-Centric Warfare, Long-Range Precision Engagement and Robot Warfare, the military should advance to High-tech Scientific force. For this creation of the war potential, it is regarded as the warfighting experiment is a critical method. Surely it is rational that LVC(Live Virtual Constructive simulation) is desirable to make the warfighting experiment. But because it is limited by the cost, the time, the place and the resource, the constructive simulation(M&S : Modeling&Simulation) is a good tool to solve those problems. There are some studies about the evaluation process for developing the model, but it is unsatisfying in the process of the constructive simulations' operation. This study focuses on the way of constructive simulation operation, which is supplied with the evaluation process(VV&A : Verification Validation & Accreditation). We introduce the example of the rear area operation simulation for "appropriateness evaluation to the organization of logistic corps" by the AWAM(Army Weapon Analysis Model). This study presents the effective methods of the constructive simulations, which is based on the reliable evaluation process, so it will contribute to the warfighting experiments.