• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1587-1592
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• 2003

There are three kinds of singularity in controlling redundant manipulators. Kinematic, algorithmic and representation singularities are those. If manipulators fall into any singularity without proper action to avoid it, the control system must go away from our desire, and we can meet a dangerous situation. Hence, we have to deal the singularities very carefully. In this paper, we describe an on-line solution for avoiding the occurrence of both algorithmic and kinematic singularities in task-priority based kinematic controllers of robotic manipulators. Representation singularity can be easily avoided by using proper representation algorithm, so, in this paper, we only consider kinematic and algorithmic singularities. The proposed approach uses a desired task reconstruction and a successive task projection in order to maintain the measure for singularity over a user defined minimum value. It shows a gain in performance and a better task error especially when working in proximity of singular configurations. It is particularly suitable for autonomous systems where an off-line trajectory control scheme is often not applicable. The advantage and performance of the proposed controller is verified by simulation works. And, the experiment with real manipulator is remaining for the future works.

• Maxillofacial Plastic and Reconstructive Surgery
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• v.38
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• pp.37.1-37.5
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• 2016

Background: The dimensions and shape of the forehead determine the esthetics of the upper third of the face. Korean young people consider a broad and smooth, rounded forehead more attractive. As a result, frontal augmentation becomes more popular in patients with dentofacial deformities. Various surgical procedures and materials have been used in frontal augmentation surgery, with associated advantages and disadvantages. Silicone is a good candidate for frontal augmentation. The author presents two cases of esthetic frontal augmentation with a prefabricated silicone implant in female patients with dentofacial deformities. Case presentation: In case 1, a 24-year-old female patient underwent frontal augmentation surgery with simultaneous maxillomandibular and zygomatic osteotomies to correct facial asymmetry. A silicone implant was fabricated preoperatively using a positive template stone mold of her forehead. In case 2, a 23-year-old female patient underwent total facial contouring surgery including frontal augmentation for improved facial esthetics. A computed tomography (CT)-guided rapid prototype (RP) model was used to make the silicone implants. The operative procedure was safe and simple, and the silicone implants were reliable for a larger degree of frontal augmentation. Six months later, both patients had recovered from the surgery and were satisfied with their frontal shape and projection. Conclusions: Frontal augmentation with silicone implants can be an effective adjuvant strategy to improve facial esthetics in patients with a flat and narrow forehead who undergo orthognathic reconstruction or total facial contouring surgery.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.11
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• pp.1080-1087
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• 2009

This paper presents an algorithm to acquire 3D geometric information using a virtual plane method. The method to measure 3D information on the plane is easy, because it's not concerning value on the z-axis. A plane can be made by arbitrary three points in the 3D space, so the algorithm is able to make a number of virtual planes from feature points on the target object. In this case, these geometric relations between the origin of each virtual plane and the origin of the target object coordinates should be expressed as known homogeneous matrices. To include this idea, the algorithm could induce simple matrix formula which is only concerning unknown geometric relation between the origin of target object and the origin of camera coordinates. Therefore, it's more fast and simple than other methods. For achieving the proposed method, a regular pin-hole camera model and a perspective projection matrix which is defined by a geometric relation between each coordinate system is used. In the final part of this paper, we demonstrate the techniques for a variety of applications, including measurements in industrial parts and known patches images.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2013.06a
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• pp.274-277
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• 2013

CT(Computed Tomography)영상에서 선량과 화질은 중요한 요소이다. 선량은 환자에게 직접적으로 악영향을 끼치는 요소이며, 화질은 환자의 병변을 판단하는데 매우 중요하게 작용한다. 반복적 재구성 알고리즘을 이용하면 저선량 영상에서도 고화질의 영상을 얻을 수 있는지 FBP와 정량적, 정성적으로 비교하였다. 촬영 프로토콜은 관전압 80, 100, 120kVp에서 관전류를 동일하게 200mA로 촬영하여 획득하였으며, 정량적 평가를 위해 SD(Standard Deviation), SNR(Signal to Noise Ratio), MTF(Modulation Transfer Function)를 측정하여 분석하였다. 선량은 80kVp일 때 가장 낮았으며, 120kVp일 때 가장 높았다. 80kVp의 영상을 Toshiba 사(社)의 AIDR 3D(Adaptive Iterative Reduction integrated into $^{SURE}Exposure$)로 재구성하고, 120kVp의 영상에 FBP로 재구성한 다음 정량적 비교를 한 결과 AIDR 3D를 적용한 영상의 SD가 낮게 나왔으며, SNR이 높게 나타났고, MTF 곡선은 유사하게 나타났다. 그리고 FWHM(Full Width at Half Maximum) 값의 오차가 거의 없었다. 결론적으로 AIDR 3D는 저선량에서도 높은 화질을 나타냄을 확인하였다.

• Journal of Korean Neurosurgical Society
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• v.51 no.2
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• pp.120-123
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• 2012

Objective : Percutaneous vertebroplasty (PVP) is usually carried out under three-dimensional (2D) fluoroscopic guidance. However, operative complications or bone cement distribution might be difficult to assess on the basis of only 2D radiographic projection images. We evaluated the feasibility of performing an intraoperative and postoperative examination in patients undergoing PVP by using three-dimensional (3D) reconstructive C-arm. Methods : Standard PVP procedures were performed on 14 consecutive patients by using a Siremobil Iso-$C^{3D}$ and a multidetector computed tomography machine. Post-processing of acquired volumetric datasets included multiplanar reconstruction (MPR) and surface shaded display (SSD). We analyzed intraoperative and immediate postoperative evaluation of the needle trajectory and bone cement distribution. Results : The male : female ratio was 2 : 12; mean age of patients, 70 (range, 77-54) years; and mean T score, -3.4. The mean operation time was 52.14 min, but the time required to perform and post-process the rotational acquisitions was 7.76 min. The detection of bone cement distribution and leakage after PVP by using MPR and SSD was possible in all patients. However, detection of the safe trajectory for needle insertion was not possible. Conclusion : 3D rotational image acquisition can enable intra- or post-procedural assessment of vertebroplasty procedures for the detection of bone cement distribution and leakage. However, it is difficult to assess the safe trajectory for needle insertion.

• International Journal of Automotive Technology
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• v.2 no.1
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• pp.17-23
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• 2001

Measurements of the initial values lead to an inverse and mathematically unprecisely formulated problem. A precise definition of an inverse problem is possible. It is to state a mathematical model of a physical process with clearly defined initial and exit values for the system behind the process. One can grasp the idea of an inverse problem by considering the tire as a copy of the objects of nature in a room with observations. Interpretation of nature is generally a result of an inverse problem. On one hand, the tire may be represented through the sensory organs and the nervous system as well as the experiences of the developer's existing apparatus of the projection of reality. On the other hand, it may be represented by a physical law or a model that can be confirmed or is to be refuted with the help of suitable measurements. During reconstruction of a measuring signal and the identification of a black box that can be assumed to be linear and causal, the tire becomes a first type Volterra integral equation of the convolution type. But measurements of the initial values are always fuzzy, the errors grow and the system behavior can no longer be forecasted. Thus, we have to deal with a chaotic system. This chaos produces fractals in a natural way. These are self-similar geometric structures. This self-similarity is clearly visible in the design.

• IEIE Transactions on Smart Processing and Computing
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• v.4 no.6
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• pp.384-390
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• 2015

There are two main artifacts in reconstructed images from in-beam positron emission tomography (PET). Unlike generic PET, in-beam PET uses the annihilation photons that occur during heavy ion therapy. Therefore, the geometry of in-beam PET is not a full ring, but a partial ring that has one or two openings around the rings in order for the hadrons to arrive at the tumor without prevention of detector blocks. This causes truncation in the projection data due to an absence of detector modules in the openings. The other is a ring artifact caused by the gaps between detector modules also found in generic PET. To sum up, in-beam PET has two kinds of gap: openings for hadrons, and gaps between the modules. We acquired three types of simulation results from a PET system: full-ring, C-ring and dual head. In this study, we aim to compensate for the artifacts that come from the two types of gap. In the case of truncation, we propose a method that uses prior knowledge of the location where annihilations occur, and we applied the discrete-cosine transform (DCT) gap-filling method proposed by Tuna et al. for inter-detector gap.

• Proceedings of the KIEE Conference
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• 1996.07b
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• pp.1248-1250
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• 1996

The objective of camera calibration is to obtain the correlation between camera image coordinate and 3-D real world coordinate. Most calibration methods are based on the camera model which consists of physical parameters of the camera like position, orientation, focal length, etc and in this case camera calibration means the process of computing those parameters. In this research, we suggest a new approach which must be very efficient because the artificial neural network(ANN) model implicitly contains all the physical parameters, some of which are very difficult to be estimated by the existing calibration methods. Implicit camera calibration which means the process of calibrating a camera without explicitly computing its physical parameters can be used for both 3-D measurement and generation of image coordinates. As training each calibration points having different height, we can find the perspective projection point. The point can be used for reconstruction 3-D real world coordinate having arbitrary height and image coordinate of arbitrary 3-D real world coordinate. Experimental comparison of our method with well-known Tsai's 2 stage method is made to verify the effectiveness of the proposed method.

• Nuclear Engineering and Technology
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• v.53 no.3
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• pp.888-893
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• 2021

The International Atomic Energy Agency has developed a tomographic imaging system for accomplishing the total fuel rod-by-rod verification time of fuel assemblies within the order of 1-2 h, however, there are still limitations for some fuel types. The aim of this study is to develop a deep learning-based denoising process resulting in increasing the tomographic image acquisition speed of fuel assembly compared to the conventional techniques. Convolutional AutoEncoder (CAE) was employed for denoising the low-quality images reconstructed by filtered back-projection (FBP) algorithm. The image data set was constructed by the Monte Carlo method with the FBP and ground truth (GT) images for 511 patterns of missing fuel rods. The de-noising performance of the CAE model was evaluated by comparing the pixel-by-pixel subtracted images between the GT and FBP images and the GT and CAE images; the average differences of the pixel values for the sample image 1, 2, and 3 were 7.7%, 28.0% and 44.7% for the FBP images, and 0.5%, 1.4% and 1.9% for the predicted image, respectively. Even for the FBP images not discriminable the source patterns, the CAE model could successfully estimate the patterns similarly with the GT image.

• Journal of the HCI Society of Korea
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• v.1 no.1
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• pp.53-61
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• 2006

In this paper, we propose a novel method for 3D reconstruction of an indoor scene using a multi-view camera. Until now, numerous disparity estimation algorithms have been developed with their own pros and cons. Thus, we may be given various sorts of depth images. In this paper, we deal with the generation of a 3D surface using several 3D point clouds acquired from a generic multi-view camera. Firstly, a 3D point cloud is estimated based on spatio-temporal property of several 3D point clouds. Secondly, the evaluated 3D point clouds, acquired from two viewpoints, are projected onto the same image plane to find correspondences, and registration is conducted through minimizing errors. Finally, a surface is created by fine-tuning 3D coordinates of point clouds, acquired from several viewpoints. The proposed method reduces the computational complexity by searching for corresponding points in 2D image plane, and is carried out effectively even if the precision of 3D point cloud is relatively low by exploiting the correlation with the neighborhood. Furthermore, it is possible to reconstruct an indoor environment by depth and color images on several position by using the multi-view camera. The reconstructed model can be adopted for interaction with as well as navigation in a virtual environment, and Mediated Reality (MR) applications.