• 대한의용생체공학회:의공학회지
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• 제21권3호
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• pp.261-271
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• 2000

벽면운동(wall motion)과 임피던스 페이즈앵글(impedance phase angle; 압력파와 유랑파 기아의 위상차)을 고려하여 맥동유동하에 있는 복부대동맥 분기관모델에서 2차원 전산유체해석을 수행하였다. 해석결과 분기광 근처에서응 전단응력의 크기가 매우 급격한 변화를 보임을 관찰하였고 벽면운동은 전단응력의 진폭을 감소시키는 효과를 가져왔다. 임피던스 페이즈 앵글이 음의 값을 향해 갈수록 시간 평균된 벽면 전단응력(mean wall shear stress)의 값은 감소하였으나 진폭(amplitude of wall shear stress)은 오히려 증가하였다. 페이즈앵글의 영향은 평균 벽면전단응력이 영에 근접하는 외벽(outer wall or lateral wall)의 바같쪽으로 휘어지는 부분(curvature site)에서 상대적으로 크게 나타났는데 $-90^{\circ}$ 페이즈앵글(혈류파가 혈압파를 1/4주기 앞서는 경우)일 경우에 $0^{\circ}$의 경우에 비해 평균은 $50\%$정도 감소하였고 진폭은 $15\%$정도의 상승를 나타내었다. 그러므로 고혈압 환자와 같이 큰 음의 페이즈앵글을 갖는 경우, 벽면전단응력의 평균은 낮아지고 시간에 따라 변화량(진폭)은 증가하므로 low and oscillatory wall shear stress 이론에 의하면 동맥경화에 더 민감하게 된다. 비뉴턴유체로 모델링한 경우에는 뉴턴유체의 경우에 비해 벽면전단응력의 평균값이 증가하므로서 동맥경화에 덜 민감하게 된다.

• 한국정보통신학회논문지
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• 제22권5호
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• pp.709-714
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• 2018

가상현실(Visual Reality) 기술은 사람들의 흥미를 유발하며 그 관심으로 점점 발전하고 있다. VR 기술은 게임, 애니메이션, 교육 등 다양한 시장에서 활용되고 있다. 하지만 VR영상을 체험한 후 영상을 보내는 기기와 영상을 재생하는 HMD 등의 하드웨어 간의 지연시간 때문에 어지러움, 두통 등 멀미현상을 겪는 사람들이 많았다. 본 논문에서 제안하는 시스템은 어트랙션의 이동보다는 환경에 주목하여 경로에 존재하는 구분선을 근접센서로 검출하여 사용자의 운동에 따른 경로 위의 위치를 정확히 계산한다. VR 영상과 사용자의 위치를 동기화하므로 사용자의 위치오차가 0.2%로 개선되었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1983-1989
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• 2005

Industrial robots are powerful, extremely accurate multi-jointed systems, but they are heavy and highly rigid because of their mechanical structure and motorization. Therefore, sharing the robot working space with its environment is problematic. A novel pneumatic artificial muscle actuator (PAM actuator) has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators. Its main advantages are high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks. The PAM is undoubtedly the most promising artificial muscle for the actuation of new types of industrial robots such as Rubber Actuator and PAM manipulators. However, some limitations still exist, such as the air compressibility and the lack of damping ability of the actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. In addition, the nonlinearities in the PAM manipulator still limit the controllability. Therefore, it is not easy to realize motion with high accuracy and high speed and with respect to various external inertia loads in order to realize a human-friendly therapy robot To overcome these problems a novel controller, which harmonizes a phase plane switching control method with conventional PID controller and the adaptabilities of neural network, is newly proposed. In order to realize satisfactory control performance a variable damper - Magneto-Rheological Brake (MRB) is equipped to the joint of the manipulator. Superb mixture of conventional PID controller and a phase plane switching control using neural network brings us a novel controller. This proposed controller is appropriate for a kind of plants with nonlinearity uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with phase plane switching control using neural network and without regard for the changes of external inertia loads.

• 한국통신학회논문지
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• 제35권2C호
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• pp.172-181
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• 2010

본 논문은 분산 비디오 코딩을 위한 적응적 블록 양자화 기법을 제안한다. 제안하는 방법에서는 분산 비디오 복호기에서 보조정보 프레임을 생성하면서 예측된 움직임 벡터를 부호기에 보내줌으로써, 부호기는 큰 복잡도의 증가 없이 보조정보 프레임을 완벽하게 복원한다. 또한, 이렇게 복원된 보조정보 프레임과 원본 프레임의 차이를 적응적으로 블록별 양자화를 수행한다. 제안한 방법은 오류 발생 비율을 이용하여, 교차 확률에 따라 적응적으로 부호화함으로써 부호화 비트를 감소시킬 수 있는 특징이 있다. 제안한 방법은 부호기에서 교차 확률 및 교차된 비트의 위치를 알 수 있기 때문에, 채널 복호기의 오류 수정 능력에 맞추어 패리티 비트를 전송하여 낭비되는 비트의 양을 감소시킬 수 있다. 컴퓨터 시뮬레이션을 통하여 제안한 방법이 기존의 방법 대비 66% 비트율 감소를 얻었으며, 기존의 DVC 피드백 채널에 따른 지연을 대폭 감소시켰다.

• 한국항공우주학회지
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• 제31권5호
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• pp.63-71
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• 2003

본 논문에서는 몸체진동형 링레이저 자이로에서 몸체진동을 검출하기 위한 각속도 센서 출력을 V-F 변환하여 링레이저 출력에서 몸체진동에 의한 출력을 제거하는 dither-stripping 방법에 대하여 논의하였다. Dither-stripping에서는 V-F 출력펄스와 링레이저 출력펄스간의 환산계수를 산출하는 방법과 V-F 출력펄스의 offset를 보정해주는 방법이 중요하다. 각속도 센서의 출력을 V-F 변환하여 dither-stripping하는 경우에는 offset을 보정하는 과정에서 몸체진동의 진폭잡음에 의한 자이로 출력의 오차가 크게 발생한다. 우리는 V-F 출력펄스를 미분하여 offset을 제거하는 방법을 고안하였다. 이를 위해서는 각속도 센서의 출력을 90deg 위상 이동시켜서 각도신호를 만들고 V-F 변환해야 하며 링레이저 출력의 위상도 샘플링의 반주기만큼 이동시켜야 한다. 그리고 두 펄스간의 환산계수는 분산을 이용하여 산출하였다. 이러한 각도신호 미분방식의 dither-stripping에 의하여 개선된 결과를 얻을 수 있었다.

• Clinics in Shoulder and Elbow
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• 제17권2호
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• pp.57-63
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• 2014

Background: To compare the effect of different starting periods of rehabilitative exercise (early or delayed passive exercise) on the rate of retear and other clinical outcomes after the arthroscopic repair of the rotator cuff. Methods: In total, 103 patients who underwent arthroscopic repair of the rotator cuff were included in the study. Determined at 2 weeks post-operation, patients who were incapable of passive forward elevation greater than $90^{\circ}$ were allotted to the early exercise group (group I: 79 patients; 42 males, 37 females), whilst those capable were allotted to the delayed exercise group (group II: 24 patients; 14 males, 10 females). The group I started passive exercise, i.e. stretching, within 2 weeks of operation, whilst group II started within 6 weeks. The results were compared on average 15.8 months (11-49 months) post-operation using the passive range of motion, the Visual Analog Scale (VAS) pain score, and the University of California at Los Angeles (UCLA) and Constant scores. Stiffness was defined as passive forward elevation or external rotation of less than $30^{\circ}C$ compared to the contralateral side. Follow-up magnetic resonance imaging (MRI) was carried out on average 1 year post-operation and the rate of retear was compared with Sugaya's criteria. Results: There were no differences between the two groups in gender, age, smoking, presence of diabetes, arm dominance, period of tear unattended, pre-operative range of motion, shape and size of tear, degree of tendon retraction, and tendon quality. There were no significant differences in clinical outcomes. Whilst stiffness was more frequent in group II (p-value 0.03), retear was more frequent in group I (p-value 0.028) according to the MRI follow-up. Conclusions: During rehabilitation after the arthroscopic repair of the rotator cuff, the delay of passive exercise seems to decrease the rate of retear but increase the risk of stiffness.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.346-349
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• 2004

The teleoperation system applies all of the industrial fields due to the development of the network infrastructure. It is one of the indispensable elements for controlling the robot at a remote sight and monitoring the limit or unknown environment. The common teleoperation robot system is what has the visual module to supply the network system and realistic UI to the existed robot system. Therefore, remarked that the fusion between modules and transmission of visual data the remarked the important element to improve the robot application in the various environments. Delay of development time by robot platform and noneffective communication among developers are also problem to approach. In this paper we propose the independent teleoperation system. The main application language is JAVA in this system, which is applied JAVA API like JNI and JMF to construct the effective teleoperation system. The system has the both side communication system between sever and client as a basic structure. The visual data that is attached the robot at a remote sight is captured by JMF API and then is transmitted to the web browser called client by RTR protocol. JNI is used to connect between JAVA and the lower part application (sensor fusion, motion control.) of the robot programmed by various Native languages. The proposed system is the application that can perform the elements, for instance transmission of visual data, the fusion of various native application modules and the effective network communication, with any platform.

• 한국음향학회:학술대회논문집
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• 한국음향학회 1999년도 학술발표대회 논문집 제18권 2호
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• pp.161-164
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• 1999

본 논문에서는 표적 추적 시스템에서 센서 어레이에 입사되는 표적신호에 대한 센서 출력 신호간의 지연시간 추정(TDE:Time Delay Estimation)을 위해 백색상호 상관법(CSP:Cross-Power Spectrum Phase Analysis)을 이용한다. 그러나 음파의 다중경로 전달특성 및 배경잡음의 영향으로 인해 CSP계수는 많은 클러터(Clutter)를 포함하게 되고 결국 방위 추정 오차의 요인이 된다. 따라서 센서 어레이 중심좌표를 기준으로 대칭 배열된 센서쌍(Pair)에 대한 CSP계수를 동기가산 하여 실제 표적 방향 이외의 방향정보를 제거하는 방법을 제안한다. 시간에 따라 각도를 변침하는 표적에 대한 표적기동분석 (BOTMA:Bearings Only Target Motion Analysis)을 위해 매 관측시간마다 동기가산을 행한 CSP결과를 누적하여 방위각 궤적을 형성하였을 때 시간 Window에 따라 약간의 차이는 있지만 약 10dB의 궤적 추적 성능을 확인하였다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제14권2호
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• pp.826-840
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• 2020

Vertigo is one of the most common complaints encountered by physicians and the patients are steadily increasing. These patients are exposed to the risk of secondary accidents such as falls due to vertigo. There are two ways to improve this symptom: medication and rehabilitation. Although temporary symptomatic improvement may be expected in patients treated with medication, vertigo may recur and medication can delay central compensation. In contrast vestibular rehabilitation exploits central mechanisms of neuroplasticity to increase postural stability and enhance visual-vestibular interactions in situations that generate conflicting sensory information. However, vestibular rehabilitation may be compromised by incorrect performance of exercises, and there is a need for active effort and interest from the patient during rehabilitation. To solve these problems, we decided to apply FOVE HMD for eye-tracking and Unity3D to create virtual reality. The proposed eye-tracking based algorithm calculates the concentration of users with eye tracking data and calculates the motion width of the patient with nystagmus, thus the severity of the patient according to the score can be determined. According to our experimental test against healty group and patients group, this result showed the meaningful data to use define the contents result.

• 대한족부족관절학회지
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• 제4권2호
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• pp.83-86
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• 2000

A vascular necrosis of the talus has frequently been reported following trauma because talus has no muscle insertions, sixty percent of the surface of the talus is covered by hyaline cartilage, takes only a small area for entrance of a blood supply. Osteonecrosis is also associated with a variety of nontraumatic disorders. There are many indications for steroid usage, patient with rheumatoid arthritis, systemic lupus erythematosus, chronic obstructive pulmonary disease, and status- post renal or cardiac transplantation may be on long- term steroid usage, osteonecrosis may develop. A vascular necrosis of the talus secondary to chronic steroid usage is an unusual case. Delay in detection of osteonecrosis may lead to fragmentation and collapse of the talar body. When pain on range of motion is present and conservative treatment have been exhausted, surgical treatment is indicated, that is, fusion of the ankle joint. However it is important that conservative treatment may prevent its various sequelae with early diagnosis because steroid - treated patients have a more operative risk and increased risk for postoperative infection. We report a rare case of corticosteroid induced avascular necrosis of talus after cardiac transplantation.