• 대한전자공학회논문지SP
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• 제43권1호
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• pp.85-90
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• 2006

본 논문에서는 빠르고 안정적이면서도 높은 검색 성공률을 보장하는 내용기반 음악 정보 검색 시스템을 구축하였다. 시스템 질의 구간이나 질의 길이에 따른 시스템 불안정성 문제를 해결할 수 있는 DB 구축 방법인 MFC기법과 각 Superclass별로 특징 벡터의 차수를 차등 적용하여 시스템의 검색 속도를 향상시킬 수 있는 기법을 적용하였다. Superclass를 적용한 시스템은 SuperClass를 적용하지 않은 시스템과의 검색 성공률, 검색 속도 그리고 검색 Precision 비교 실험에서 대등한 성능을 유지하면서 검색 속도를 $20\%\~40\%$ 향상시켰다.

• International Journal of Control, Automation, and Systems
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• 제1권4호
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• pp.474-483
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• 2003

Belt drives provide freedom to position the motor relative to the load and this phenomenon enables reduction of the robot arm inertia. It also facilitates quick response when employed in robotics. Unfortunately, the flexible dynamics deteriorates the positioning accuracy. Therefore, there exists a trade-off between the simplicity of the control strategy to reject time varying disturbance caused by flexibility of the belt and precision in performance. Resonance of the system further leads to vibrations and poor accuracy in positioning. In this paper, accurate positioning of a belt driven mechanism using a feed-forward compensator under maximum acceleration and velocity constraints is proposed. The proposed method plans the desired trajectory and modifies it to compensate delay dynamics and vibration. Being an offline method, the proposed method could be easily and effectively adopted to the existing systems without any modification of the hardware setup. The effectiveness of the proposed method was proven by experiments carried out with an actual belt driven system. The accuracy of the simulation study based on numerical methods was also verified with the analytical solutions derived.

• 디지털융복합연구
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• 제11권10호
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• pp.577-584
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• 2013

토모테라피의 영상유도방사선치료는 환자의 자세재현성을 증가시켜 방사선치료의 정확성을 향상 시킬 수 있으나 그 정확성이 검증되어야 하며, MVCT 촬영에 의한 환자피폭이 발생할 수 있다. 본 연구에서 토모테라피의 영상유도 정확성은 1.0mm 이내로 매우 양호하게 측정되었으며, 선량은 각각 Fine(2mm) 3cGy, Normal(4mm) 1.5cGy, Corse(6mm) 1cGy로, 해상력은 Normal에서 비교적 양호하게 나타났다. 따라서 환자 피폭을 줄이기 위해서 Fine 보다 Normal을 선택하고 MVCT 촬영범위를 최소화하여 실시하는 것이 바람직하다.

• Radiation Oncology Journal
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• 제28권3호
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• pp.155-165
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• 2010

목 적: 4-dimensional computed tomography (4DCT) 영상과 on board imaging (OBI) 및 real time position management (RPM) 장치로 매 회 치료 시마다 얻은 호흡연동 직각 kilovolt (KV) 준비 영상(gated orthogonal kilovolt setup image)을 이용해 간암 환자를 치료하는 동안 발생하는 종양 위치의 불확실성을 평가하고자 했다. 대상 및 방법: 3차원입체조형치료가 예정된 20명의 간암 환자를 대상으로 RPM과 전산화단층촬영모의치료기를 이용해 치료계획용 4DCT를 시행했다. 표적 근처에 위치한 간동맥화학색전술 후 집적된 리피오돌(lipiodol) 혹은 횡격막을 종양의 위치 변이를 측정하는 표지자로 선택했다. 표지자의 위치 차이를 이용해 온라인 분할간 및 분할중 내부 장기 변이와 움직임 진폭을 측정했다. 측정된 자료의 정량적 평가를 위해 통계 분석을 실시했다. 결 과: 20명 환자로부터 측정된 표지자의 분할간변이의 중앙값은 X (transaxial), Y (superior-inferior), Z (anterior-posterior) 축에서 각각 0.00 cm (범위, -0.50~0.90 cm), 0.00 cm (범위, -2.4~1.60 cm), 0.00 cm (범위, -1.10~0.50 cm) 였다. 4명의 환자에서 X, Y, Z축 중 하나 이상에서 0.5 cm를 초과하는 변이가 관찰되었다. 4DCT와 호흡연동 직각 준비 영상으로부터 얻은 표적의 움직임 진폭의 차이는 X, Y, Z 축에서 각각 중앙값이 -0.05 cm (범위, -0.83~0.60 cm), -0.15 cm (범위, -2.58~1.18 cm), -0.02 cm (범위, -1.37~0.59 cm) 였다. 두 영상간 표적의 움직임 진폭 차이가 1 cm를 초과하는 환자가 Y축 방향으로 3명 관찰되었으며, 0.5 cm 초과 1 cm 미만의 차이를 보이는 환자도 Y축과 Z축 방향을 합쳐 5명 관찰되었다. 분할중 표지자 위치 변이의 중앙값은 X, Y, Z축에서 각각 0.00 cm (범위, -0.30~0.40 cm), -0.03 cm (범위, -1.14~0.50 cm), 0.05 cm (범위, -0.30~0.50 cm)였으며 2명의 환자에서 1 cm를 초과하는 변이가 Y축 방향으로 관찰되었다. 결 론: 4DCT와 호흡연동 직각 KV 준비 영상으로 얻은 표지자의 분할간, 분할중 및 움직임 진폭에서 큰 변이가 관찰되었다.

• 인터넷정보학회논문지
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• 제11권1호
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• pp.27-33
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• 2010

본 논문은 실내 위치 인식을 위하여 ZigBee 이동 장치의 위치를 측정하였으며 Bayesian Markov 위치 추론 기법을 적용하였다. 정확도 분석을 위해 기존의 지도 기반의 위치 인식 기법과 비교하였는데 이 기법은 이미 지정된 위치에서의 RSSI 데이터를 데이터베이스화하여 참조하도록 하는 반면 Bayesian Markov 추론 방법은 시간, 방향, 거리의 변화에 영향을 받았다. 이 두가지 방법에 따른 측정은 지그비 모듈을 사용하여 RSSI를 측정한 결과를 토대로 이루어졌으며 그 결과 실내에서의 RSSI와 거리와의 관계로 접근하는 것이 바람직하며 Bayesian Markov에 의한 분석결과 기존의 지도 기반 위치 인식 기법에 비하여 높은 정확도를 보여주었다. 결과적으로 기존의 지도 기반 위치 인식 기법은 사전에 환경 요인에 대한 설정을 해주어야 하고, 보다 낮은 정확도를 가지고 있으므로 환경 변화가 잦은 실내에서는 부적합하다고 생각된다.

• 한국정밀공학회지
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• 제30권6호
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• pp.615-621
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• 2013

The robot calibration has greatly improved the absolute accuracy of the industrial robot. However, the accuracy of the relative positions of robotic tool-tip at work-points on a work-piece is only slightly corrected by the robot calibration since there has been no practical method to eliminate the elements of the setup position errors at a robotic workplace. A robotic workplace calibration is demonstrated in this paper to minimize the relative position errors between a robot tool-tip and the work-point on a work-piece. The existing teaching and playback method has been developed for the robotic workplace calibration. This paper uses the work-piece fixed in a robotic work-place as measurement equipment instead of a special robot measurement equipment for the robotic workplace calibration. The positive effect of the robotic workplace calibration is supported by the results of computer simulation on an ideal robotic workplace model and an experiment at the actual robotic workplace.

• Journal of electromagnetic engineering and science
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• 제12권4호
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• pp.290-292
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• 2012

This paper proposes a setup for a best multisine design method that uses a time-domain optimization. The method is based on minimization of the time-domain error, so its resulting multisine has a very accurate ACLR estimation. This is because its probability distribution and sample-to-sample correlation are close to those of the original signal, which are crucial for the testing of nonlinear power amplifiers. In addition, a hyperbolic-tangent function is introduced to control the ripple of tone magnitudes within signal bandwidth. For the verification, multisines were generated and compared for many aspects such as normalized error, in-band ripple, and ACLR estimation. Test results with different numbers of tones provide supporting evidence that the suggested multisine design has better ripple suppression, by up to 7 dB, and better accuracy, by up to 0.2 dB, when compared to the conventional method. The accuracy of the ACLR was improved by about 5 dB when the number of tones was 4. The suggested method improves the ACLR estimation performance of multisine testing due to its closer resemblance to the target modulation signal.

• 로봇학회논문지
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• 제6권4호
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• pp.334-343
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• 2011

This paper presents a new approach for mobile robot heading detection using MEMS Gyro north finding method in the indoor environment. Based on this, the robot heading angle measurement scheme is proposed; improved north finding theory and algorithm are also explained. Several approaches are applied to confirm system's precision and effectiveness. In order to find out the heading angle, a single axis MEMS gyroscope to sense the angle between the robot heading direction and the north is used. To reach enough estimation accuracy and reduce detection time, the least square method (LSM) for the signal fitting and parameter estimation is applied. Through a turn-table, we setup a carouseling system to decrease the substantial bias effect on gyroscope's heading angle. For the evaluation of the proposed method, this system is implemented to the Pioneer robot platform. The performance and heading error are analyzed after the test. From the simulation and experimental results, system's accuracy, usefulness and adaptability are shown.

• 대한기계학회논문집A
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• 제20권7호
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• pp.2257-2265
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• 1996

In the cold rolling mill, it is very important that a constrained static flow stress of rolled strip and rolling force calculation model be exactly considered to improve an prediction accuracy for rolling forces. Therefore, in this study, the values of the constrained static flow stress are used by deriving the regression equation which is a function of rolling conditions(FDT, CT) and chemical compositions(C, Si, Mn), previously applied by making the tables of yield strength for hot coils with size. And with the consideration that an elastic deformation part of an rolled strip appears at the entry and delivery side of the contacting area between the work roll and rolled strip is calculated. By applying these methods, the more accurate prediction for rolling force is obtained. As a results, the deviation of thickness is significantly reduced in the rolling direction.

• 한국CDE학회논문집
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• 제17권3호
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• pp.156-163
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• 2012

Real-time three-dimensional shape measurement is becoming increasingly important in various fields, including medical sciences, high-technology industry, and microscale measurements. However, there are not so many 3D profile tools specially designed for specifically narrow space, for example, to scan the tooth shape of a human jaw. In this paper, a real-time 3D intraoral scanner is proposed for the measurement of tooth profile in the mouth cavity. The proposed system comprises a laser diode beam, a micro charge-coupled device, a graticule, a piezoelectric transducer, a set of optical lenses, and a polhemus device sensor. The phase-shifting technique is used along with an accurate calibration method for the measurement of the tooth profile. Experimental and theoretical inspection of the phase-to-coordinate relation is presented. In addition, a nonlinear system model is developed for collimating illumination that gives the more accurate mathematical representation of the system, thus improves the shape measurement accuracy. Experiment results are presented to verify the feasibility and performance of the developed system. The experimental results indicate that overall measurement error accuracy can be controlled within 0.4 mm with a variability of ${\pm}0.01$.