• 제어로봇시스템학회논문지
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• 제10권3호
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• pp.239-248
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• 2004

Optical coherence tomography(OCT) is high resolution imaging system which can see the cross section of microscopic organs in the living tissue. In this paper, we analyze the relation between the light source and the resolution of modulated signal in Michelson interferometer. We construct 1-D OCT signal processing hardware such as amplifiers, filters, and demodulate electronic signals from the photo detector. In order to get 2-D OCT image, the synchronization among optical delay line, sample stage and A/D converter is dealt with. In experiments, we verify analog and digital signal processing blocks which apply to the stacks of glasses. Finally we aquire high resolution 2-D OCT image with respect to the onion tissue. We expect that this result can be applied to the medical instrument through performance improvement.

• 제어로봇시스템학회논문지
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• 제12권4호
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• pp.364-370
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• 2006

Optical coherence tomography (OCT) is high resolution medical imaging system which is obtaining image inside biological objects with non-destructive method. OCT system is based on Michelson interferometer with a reciprocating mirror in the reference arm and a biological object in the sample arm. The obtained OCT image suffers from a granular or mottled image, called speckle. Speckle is caused by random interferences between reflected coherence waves. In this paper, we propose effective speckle reduction method that uses wavelet transform. With wavelet domain image, sub-windowing and thresholding are performed. Finally, speckle reduction experiments for Misgurnus mizolepis skin and rat eye images are shown.

• 제어로봇시스템학회논문지
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• 제17권7호
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• pp.641-646
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• 2011

A low cost gait analysis system, which can measure stride length, walking speed, and ground reaction force, is proposed. A gait analysis system is used for medical evaluation of patients and rehabilitation assistance. Low cost cameras are attached to a shoe and movement of a shoe is estimated using infrared LED landmarks. Ground reaction force is measured from pressure sensors, which are installed inside a shoe. Through experiments, it is shown that the proposed system can be used to obtain stride length, walking speed, and ground reaction force.

• 제어로봇시스템학회논문지
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• 제16권9호
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• pp.852-859
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• 2010

Robotic techniques can be one of the promised solutions to address the prostate cancer which is one of the most important public health problems in medical fields. Despite several past and on-going dedicated researches, the systematic techniques and completed theories have not been established well. Therefore we review the state-of-the-art literature on the applications of engineering technologies with particular focus on diagnosis and treatment of prostate cancer. The current status of the elastography and systematic DRE are presented as novel diagnostic tools, and an overview of the applied technologies to address the limits of the treatment (radical prostectomy and brachytherapy) is reviewed.

• 전기학회논문지
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• 제63권7호
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• pp.924-928
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• 2014

LLC resonant converter is used to control laser power density in ruby laser power supply. Zero voltage switching(ZVS) is implemented to minimize the switching loss by the LLC resonant converter. Laser output power is investigated and experimented by changing the output current. That current is controled by the charging voltage of capacitor. From those results, we obtained the maximum laser output of 1.94J at the discharge current of 860A and the pulse repetition rate of 1Hz.

• 제어로봇시스템학회논문지
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• 제20권8호
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• pp.789-794
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• 2014

This paper presents some real performance of two typical bilateral teleoperation benchmark tasks: peg-in-hole and surface tracking tasks. The tasks are performed by an energy-bounding algorithm in the master control and position-based impedance algorithm in the slave control. Performance is analyzed for the position-force tracking capabilities from free space motion to surface contacting motion. In addition, preliminary user performance is evaluated by measuring the completion time and maximum/average contact forces. The quality of the measured performance is also compared with that of other existing approaches.

• 제어로봇시스템학회논문지
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• 제14권4호
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• pp.399-405
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• 2008

Recently, robot technology is actively going on progress to the field of various services such as home care, medical care, entertainment, and etc. Because these service robots are in use nearby person, they need to be operated safely even though hardware and software faults occur. This paper proposes a Fault-Tolerant middleware for a robot system, which has following two characteristics: supporting of heterogeneous network interface and processing of software components and network faults. The Fault-Tolerant middleware consists of a Service Layer(SL), a Network Adaptation Layer(NAL), a Network Interface Layer(NIL), a Operating System ion Layer(OSAL), and a Fault-Tolerant Manager(FTM). Especially, the Fault-Tolerant Manager consists of 4 components: Monitor, Fault Detector, Fault Notifier, and Fault Recover to detect and recover the faults effectively. This paper implements and tests the proposed middleware. Some experiment results show that the proposed Fault-Tolerant middleware is working well.

• 제어로봇시스템학회논문지
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• 제20권3호
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• pp.364-371
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• 2014

The purpose of this paper is to review recent developments in lower limb exoskeletons. The exoskeleton system is a human-robot cooperation system that enhances the performance of the wearer in various environments while the human operator is in charge of the position control, contextual perception, and motion signal generation through the robot's artificial intelligence. This system is in the form of a mechanical structure that is combined to the exterior of a human body to improve the muscular power of the wearer. This paper is followed by an overview of the development history of exoskeleton systems and their three main applications in military/industrial field, medical/rehabilitation field and social welfare field. Besides the key technologies in exoskeleton systems, the research is presented from several viewpoints of the exoskeleton mechanism, human-robot interface and human-robot cooperation control.

• 제어로봇시스템학회논문지
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• 제12권10호
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• pp.1022-1028
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• 2006

A portable ECG sensor module and monitoring system which has the powerline noise reduction and the baseline wander removal is proposed. A small-szie ECG sensor H/W module with the 8-bits microprocessor is implemented. The ECG waveform can be inspected anytime with PDA in real time, and transmitted to the PC through wireless LAN. Portable ECG system can offer the environment that give the lasting medical service to the elderly and the long-time hospitalized patients at the wanted place, and the system can be attached to the chair, wheel chair, treadmill, elderly walker and used to monitor the health condition of man

• 제어로봇시스템학회논문지
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• 제12궈1호
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• pp.23-27
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• 2006

As a pervasive healthcare application to help medication of elderly patients, the smart compliance monitors have been recently proposed. In this paper, we present a new smart drug/medicine pack (SDP) for ubiquitous medication monitoring, for which the packaging is either paper packet or blister pack. This ubiquitous compliance monitor is composed of several SDPs and a Bluetooth equipped PDA phone. The SDP is a wireless module that monitors the medication consumption unobtrusively by transmitting the sensed data of 'drug removal' events to the medical center and by reminding patients when they take a dose on their mobile phone. The communication between SDP modules and PDA is realized via Bluetooth. The PDA is basically embedded to indicate the medication record and to alert every prescribed medication time during treatment. Experimental results show that the proposed system works exactly when the SDPs are far within about 2 [m] from PDA.