• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.599-606
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• 1992

A manipulator system that needs significantly large workspace volume and high payload capacity has greater link flexibility than typical industrial robots and teleoperators. If link flexibility is significant, position control of the manipulator's end-effector exhibits the nonminimum phase, noncollocated, and flexible structure system control problems. This paper addresses inverse dynamic trajectory planning issues of a flexible manipulator. The inverse dynamic equation of a flexible manipulator was solved in the time domain. By dividing the inverse system equation into the causal part and the anticausal part, the inverse dynamic method calculates the feedforward torque and the trajectories of all state variables that do not excite structural vibrations for a given end-point trajectory. Through simulation and experiment with a single-Unk flexible manipulator, the effectiveness of the inverse dynamic method has been demonstrated.

• Journal of the Korea Computer Graphics Society
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• v.9 no.1
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• pp.1-2
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• 2003

본 논문에서는 액체와 기체가 상호작용 하는 현상들에 대한 새로운 유체 애니메이션 기법을 액체 속 공기방울의 예를 사용하여 제시한다. 기존의 자유표면 시뮬레이션 기법들과는 달리 액체와 기체를 함께 시뮬레이션 할 경우에는 기체의 유동과 액체의 유동을 동시에 다루어야 하며 비중 차에 의한 부력과 경계면에서의 표면장력 등을 추가적으로 고려해야 한다. 유체의 토폴로지 변화를 쉽게 다루면서도 수치적 분산을 막기 위하여 유체 역학 분야의 VOF (Volume of Fluid) 기법과 프론트 추적 (Front-tracking) 기법을 혼합하여 사용하였다. 액체와 기체의 경계면은 마칭 큐브즈 알고리즘을 사용하여 폴리곤으로 복원된 후 버텍스 쉐이더 기술들을 사용하여 액체-기체 경계면의 광학적인 특성을 표현할 수 있었다.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.10
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• pp.1432-1439
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• 2015

The solar array regulator supplies the electric power to the battery and the other units of a satellite by controlling the operating point of a solar array. In this paper, the solar array regulator composed with analog circuits is proposed. The solar array regulator has three modes. The first is a maximum power point tracking mode for harvesting the maximum photovoltaic power generation. The second is a power limitation mode which is designed for optimizing the volume and weight of the solar array regulator by preventing the excessive power conversion. The last constant voltage mode is proposed to keep the Li-Ion battery is not over-charge. The small signal model of the solar array regulator which has the reversed input and output variables in comparison with conventional converter is established and the stability is analysed. Finally, the proposed design of the solar array regulator is verified by experiments.

• Proceedings of the Korean Information Science Society Conference
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• 2002.10c
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• pp.310-312
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• 2002

볼륨 렌더링은 물체의 겉면만이 아니라 내부에 있는 모든 3차원 데이터를 이용해서 렌더링 하는 기법이다. 따라서 기존의 폴리곤 렌더링에선 불가능했던 물체 내부에 대한 표현이 가능하기 때문에 과학, 의료 분야 등 물체 전체에 대한 데이터 처리가 필요한 곳에서 많이 쓰이고 있다. 하지만 이러한 볼륨데이터의 크기는 일반적으로 1024$^3$Bytes 이상이기 때문에 기존의 단일 그래픽 가속기로는 메모리 크기나 연산 능력면에서 처리하기에 한계가 있다. 따라서 본 논문에서는 이런 기가급 볼륨데이터를 처리하기 위한 병렬 볼륨 렌더링 구조를 제시하고, 전송된 부분 이미지 합성을 위한 블렌딩 순서를 결정하는 시점 추적 (point-tracking)기법과 네트웍에 의한 성능저하를 최소화 할 수 있는 ‘프레임간 유사성(frame-to-frame coherency)을 이용한 RGBA데이터 압축기법’을 제안한다.

• Journal of the Korean Society of Visualization
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• v.20 no.2
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• pp.63-69
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• 2022

In this study, we numerically simulate the condensational growth of micron-sized particles traveling through a pipe filled with humidified air. Using the finite volume method and Lagrangian particle tracking technique, the mixture of particle-laden flow with moist air in a T-juction pipe is simulated. The condensational growth of particles is calculated by considering the mass transfer of vapor in the air onto the particle surface. The results indicate that the growth rate of the particles increases as the relative humidity of air is higher. Furthermore, the placement of a porous media with low permeability in the pipe could enhance the degree of condensational growth.

• Radiation Oncology Journal
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• v.26 no.4
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• pp.263-270
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• 2008

Purpose: This study aimed to quantitatively measure the movement of tumors in real-time and evaluate the treatment accuracy, during the treatment of a liver tumor patient, who underwent radiosurgery with a Synchrony Respiratory motion tracking system of a robot CyberKnife. Materials and Methods: The study subjects included 24 liver tumor patients who underwent CyberKnife treatment, which included 64 times of treatment with the Synchrony Respiratory motion tracking system ($Synchrony^{TM}$). The treatment involved inserting 4 to 6 acupuncture needles into the vicinity of the liver tumor in all the patients using ultrasonography as a guide. A treatment plan was set up using the CT images for treatment planning uses. The position of the acupuncture needle was identified for every treatment time by Digitally Reconstructed Radiography (DRR) prepared at the time of treatment planning and X-ray images photographed in real-time. Subsequent results were stored through a Motion Tracking System (MTS) using the Mtsmain.log treatment file. In this way, movement of the tumor was measured. Besides, the accuracy of radiosurgery using CyberKnife was evaluated by the correlation errors between the real-time positions of the acupuncture needles and the predicted coordinates. Results: The maximum and the average translational movement of the liver tumor were measured 23.5 mm and $13.9{\pm}5.5\;mm$, respectively from the superior to the inferior direction, 3.9 mm and $1.9{\pm}0.9mm$, respectively from left to right, and 8.3 mm and $4.9{\pm}1.9\;mm$, respectively from the anterior to the posterior direction. The maximum and the average rotational movement of the liver tumor were measured to be $3.3^{\circ}$ and $2.6{\pm}1.3^{\circ}$, respectively for X (Left-Right) axis rotation, $4.8^{\circ}$ and $2.3{\pm}1.0^{\circ}$, respectively for Y (Crania-Caudal) axis rotation, $3.9^{\circ}$ and $2.8{\pm}1.1^{\circ}$, respectively for Z (Anterior-Posterior) axis rotation. In addition, the average correlation error, which represents the treatment's accuracy was $1.1{\pm}0.7\;mm$. Conclusion: In this study real-time movement of a liver tumor during the radiosurgery could be verified quantitatively and the accuracy of the radiosurgery with the Synchrony Respiratory motion tracking system of robot could be evaluated. On this basis, the decision of treatment volume in radiosurgery or conventional radiotherapy and useful information on the movement of liver tumor are supposed to be provided.

• The Journal of Korean Society for Radiation Therapy
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• v.30 no.1_2
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• pp.177-183
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• 2018

Purpose : Volumetric Modulated Arc Therapy(VMAT) has the advantage of uniformly and precisely irradiating the tumor to the shape of the tumor while reducing the risk of radiation damage to normal tissues. such as brain cancer, head and neck cancer and prostate cancer, It is being used for treatment. The purpose of this study is to evaluate the usefulness of the Jaw-Tracking technique(JTT) in VMAT for brain and head and neck cancer. Materials and Methods : We selected eight patients with brain and head and neck cancer(4 Brain, 4 head and neck) who were treated with the VMAT treatment technique. Contouring information of the patient's tumor and normal organ was fused to the Rando phantom using the deformable registration of Velocity(Varian, USA). A treatment plan was developed using the Varian Eclipse(ver 15.5, Varian, USA) with the same patient actual beam parameters except for the use of jaw-tracking. As the evaluation index, the maximum dose and mean dose of target and OAR were compared and a portal dosimetry was performed for the treatment plan verification. Results : When using JTT, the relative dose of OAR decreased by 5.24 % and the maximum dose by 7.05 %, respectively, compared with the Static-Jaw technique(SJT). In the various OARs, the mean dose and maximum dose reduction ranges ranged from 0.01 to 3.16 Gy and from 0.12 to 6.27 Gy, respectively. In the case of the target, the maximum dose of GTV, CTV, PTV decreased by 0.17 %, 0.43 %, and 0.37 % in JTT, and the mean dose decreased by 0.24 %, 0.47 % and 0.47 %, respectively. Gamma analysis The JTT and SJT passing rates were $98{\pm}1.73%$ and $97{\pm}1.83%$ on the basis of 3 % / 3 mm, respectively. Comparing the doses of all OARs applied to the experiment, it was found that the use of JTT resulted in a significant decrease in dose due to additional jaw shielding besides MLC than SJT. Conclusion : In radiation therapy using VMAT treatment plan, we can apply JTT in the case of adjacent tumor and normal organs such as brain cancer and head and neck cancer, and in radiotherapy required large field and high energy caused increase leakage dose through MLC. It is considered that the target dose of PTV can be increased by lowering the dose of normal tissue surrounding the tumor.

• The Journal of Industrial Distribution & Business
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• v.11 no.2
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• pp.25-31
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• 2020

Purpose: The AEO (Authorized Economic Operator) program, created in 2001 in the United States due to 9.11 terrorist's attack, fundamentally changed the trade environment. Korea, which introduced AEO program in 2009, has become one of the world's top countries in the program by ranking 6th in the number of AEO certified companies and the world's No. 1 in MRA (Mutual Recognition Agreement) conclusions. In this paper, we examined what trade-economic and non-economic effects the AEO program and its MRA have in Korea. Research design, data and methodology: In this study we developed a model to verify the impact between utilization of AEO and trade-economic effects of the AEO and its MRA. After analyzing the validity and reliability of the model through Structural Equation Model we conducted a survey to request AEO companies to respond their experience on the effects of AEO program and MRA. As a result, 196 responses were received from 176 AEO companies and utilized in the analysis. Results: With regard to economic effects, the AEO program and the MRA have not been directly linked to financial performance, such as increased sales, increased export and import volumes, reduced management costs, and increased operating profit margins. However, it was analyzed that the positive effects of supply chain management were evident, such as strengthening self-security, monitoring and evaluating risks regularly, strengthening cooperation with trading companies, enhancing cargo tracking capabilities, and reducing the time required for export and import. Conclusions: When it comes to the trade-economic effects of AEO program and its MRA, AEO companies did not satisfy with direct effects, such as increased sales and volume of imports and exports, reduced logistics costs. However, non-economic effects, such as reduced time in customs clearance, freight tracking capability, enhanced security in supply chain are still appears to be big for them. In a rapidly changing trade environment the AEO and MRA are still useful. Therefore the government needs to encourage non-AEO companies to join the AEO program, expand MRA conclusion with AEO adopted countries especially developing ones and help AEO companies make good use of AEO and MRA.

• The KIPS Transactions:PartB
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• v.16B no.5
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• pp.347-358
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• 2009

In this thesis, we develop a vision based hand motion recognition system using a camera with two rotational motors. Existing systems were implemented using a range camera or multiple cameras and have a limited working area. In contrast, we use an uncalibrated camera and get more wide working area by pan-tilt motion. Given an image sequence provided by the pan-tilt camera, color and pattern information are integrated into a tracking system in order to find the 2D position and direction of the hand. With these pose information, we estimate 3D motion plane on which the gesture motion trajectory from approximately forms. The 3D trajectory of the moving finger tip is projected into the motion plane, so that the resolving power of the linear gesture patterns is enhanced. We have tested the proposed approach in terms of the accuracy of trace angle and the dimension of the working volume.

• Journal of Digital Contents Society
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• v.3 no.1
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• pp.1-9
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• 2002

This paper is proposed to algorithm for measuring traffic information automatically, for example, volume count, speed and occupancy rate, from CCTV camera images installed on highway, add to function of image detectors which can be collected the traffic information. Recently the method of traffic informations are counted in lane one by one, but this manner is occurred critical errors by occlusion frequently in case of passing larger vehicles(bus, truck etc.) and is impossible to measure in the 8 lanes of highway. In this paper, installed the detection area include with all lanes, traffic informations are collected using tracking algorithm with passing vehicles individually in this detection area, thus possible to detect all of 8 lanes. The experiment have been conducted two different real road scenes for 20 minutes. For the experiments, the images are provided with CCTV camera which was installed at Kiheung Interchange upstream of Kyongbu highway, and video recording images at Chungkye Tunnel. For image processing, images captured by frame-grabber board 30 frames per second, $640{\times}480$ pixels resolution and 256 gray-levels to reduce the total amount of data to be interpreted.