• Title/Summary/Keyword: process synchronization

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Development of a Real-time OS Based Control System for Laparoscopic Surgery Robot (복강경 수술로봇을 위한 실시간 운영체제 기반 제어 시스템의 개발)

  • Song, Seung-Joon;Park, Jun-Woo;Shin, Jung-Wook;Kim, Yun-Ho;Lee, Duk-Hee;Jo, Yung-Ho;Choi, Jae-Seoon;Sun, Kyung
    • Journal of Biomedical Engineering Research
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    • v.29 no.1
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    • pp.32-39
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    • 2008
  • This paper reports on a realtime OS based master-slave configuration robot control system for laparoscopic surgery robot which enables telesurgery and overcomes shortcomings with conventional laparoscopic surgery. Surgery robot system requires control system that can process large volume information such as medical image data and video signal from endoscope in real-time manner, as well as precisely control the robot with high reliability. To meet the complex requirements, the use of high-level real-time OS (Operating System) in surgery robot controller is a must, which is as common as in many of modem robot controllers that adopt real-time OS as a base system software on which specific functional modules are implemened for more reliable and stable system. The control system consists of joint controllers, host controllers, and user interface units. The robot features a compact slave robot with 5 DOF (Degree-Of-Freedom) expanding the workspace of each tool and increasing the number of tools operating simultaneously. Each master, slave and Gill (Graphical User Interface) host runs a dedicated RTOS (Real-time OS), RTLinux-Pro (FSMLabs Inc., U.S.A.) on which functional modules such as motion control, communication, video signal integration and etc, are implemented, and all the hosts are in a gigabit Ethernet network for inter-host communication. Each master and slave controller set has a dedicated CAN (Controller Area Network) channel for control and monitoring signal communication with the joint controllers. Total 4 pairs of the master/slave manipulators as current are controlled by one host controller. The system showed satisfactory performance in both position control precision and master-slave motion synchronization in both bench test and animal experiment, and is now under further development for better safety and control fidelity for clinically applicable prototype.

A Technical Guide to Operational Regional Ocean Forecasting Systems in the Korea Hydrographic and Oceanographic Agency (I): Continuous Operation Strategy, Downloading External Data, and Error Notification (국립해양조사원 해양예측시스템 소개 (I): 현업 운영 전략, 외부 해양·기상 자료 내려 받기 및 오류 알림 기능)

  • BYUN, DO-SEONG;SEO, GWANG-HO;PARK, SE-YOUNG;JEONG, KWANG-YEONG;LEE, JOO YOUNG;CHOI, WON-JIN;SHIN, JAE-AM;CHOI, BYOUNG-JU
    • The Sea:JOURNAL OF THE KOREAN SOCIETY OF OCEANOGRAPHY
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    • v.22 no.3
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    • pp.103-117
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    • 2017
  • This note provides technical guide on three issues associated with establishing and automatically running regional ocean forecasting systems: (1) a strategy for continuous production of hourly-interval three-day ocean forecast data, (2) the daily download of ocean and atmospheric forecasting data (i.e., HYCOM and NOAA/NCEP GFS data), which are provided by outside institutions and used as initial condition, surface forcing, and boundary data for regional ocean models, and (3) error notifications to numerical model managers through the Short Message Service (SMS). Guidance on dealing with these three issues is illustrated via solutions implemented by the Korea Hydrographic and Oceanographic Agency, since in embarking on this project we found that this procedural information was not readily available elsewhere. This technical guide is based on our experiences and lessons learned during the process of establishing and operating regional ocean forecasting systems for the East Sea and the Yellow and East China Seas over the 5 year period of 2012-2016. The fundamental approach and techniques outlined in this guide are of use to anyone wanting to establish an automatic regional and coastal ocean forecasting system.

SAAnnot-C3Pap: Ground Truth Collection Technique of Playing Posture Using Semi Automatic Annotation Method (SAAnnot-C3Pap: 반자동 주석화 방법을 적용한 연주 자세의 그라운드 트루스 수집 기법)

  • Park, So-Hyun;Kim, Seo-Yeon;Park, Young-Ho
    • KIPS Transactions on Software and Data Engineering
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    • v.11 no.10
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    • pp.409-418
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    • 2022
  • In this paper, we propose SAAnnot-C3Pap, a semi-automatic annotation method for obtaining ground truth of a player's posture. In order to obtain ground truth about the two-dimensional joint position in the existing music domain, openpose, a two-dimensional posture estimation method, was used or manually labeled. However, automatic annotation methods such as the existing openpose have the disadvantages of showing inaccurate results even though they are fast. Therefore, this paper proposes SAAnnot-C3Pap, a semi-automated annotation method that is a compromise between the two. The proposed approach consists of three main steps: extracting postures using openpose, correcting the parts with errors among the extracted parts using supervisely, and then analyzing the results of openpose and supervisely. Perform the synchronization process. Through the proposed method, it was possible to correct the incorrect 2D joint position detection result that occurred in the openpose, solve the problem of detecting two or more people, and obtain the ground truth in the playing posture. In the experiment, we compare and analyze the results of the semi-automated annotation method openpose and the SAAnnot-C3Pap proposed in this paper. As a result of comparison, the proposed method showed improvement of posture information incorrectly collected through openpose.

A Study on The Metaverse Content Production Pipeline using ZEPETO World (제페토 월드를 활용한 메타버스 콘텐츠 제작 공정에 관한 연구)

  • Park, MyeongSeok;Cho, Yunsik;Cho, Dasom;Na, Giri;Lee, Jamin;Cho, Sae-Hong;Kim, Jinmo
    • Journal of the Korea Computer Graphics Society
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    • v.28 no.3
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    • pp.91-100
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    • 2022
  • This study proposes the metaverse content production pipeline using ZEPETO World, one of the representative metaverse platforms in Korea. Based on the Unity 3D engine, the ZEPETO world is configured using the ZEPETO template, and the core functions of the metaverse content that enable multi-user participation such as logic, interaction, and property control are implemented through the ZEPETO script. This study utilizes the basic functions such as properties, events, and components of the ZEPETO script as well as the ZEPETO player which includes avatar loading, character movement, and camera control functions. In addition, based on ZEPETO's properties such as World Multiplayer and Client Starter, it summarizes the core synchronization process required for multiplay metaverse content production, such as object transformation, dynamic object creation, property addition, and real-time property control. Based on this, we check the proposed production pipeline by directly producing multiplay metaverse content using ZEPETO World.

Design of a Low-Power 8-bit 1-MS/s CMOS Asynchronous SAR ADC for Sensor Node Applications (센서 노드 응용을 위한 저전력 8비트 1MS/s CMOS 비동기 축차근사형 ADC 설계)

  • Jihun Son;Minseok Kim;Jimin Cheon
    • The Journal of Korea Institute of Information, Electronics, and Communication Technology
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    • v.16 no.6
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    • pp.454-464
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    • 2023
  • This paper proposes a low-power 8-bit asynchronous SAR ADC with a sampling rate of 1 MS/s for sensor node applications. The ADC uses bootstrapped switches to improve linearity and applies a VCM-based CDAC switching technique to reduce the power consumption and area of the DAC. Conventional synchronous SAR ADCs that operate in synchronization with an external clock suffer from high power consumption due to the use of a clock faster than the sampling rate, which can be overcome by using an asynchronous SAR ADC structure that handles internal comparisons in an asynchronous manner. In addition, the SAR logic is designed using dynamic logic circuits to reduce the large digital power consumption that occurs in low resolution ADC designs. The proposed ADC was simulated in a 180-nm CMOS process, and at a 1.8 V supply voltage and a sampling rate of 1 MS/s, it consumed 46.06 𝜇W of power, achieved an SNDR of 49.76 dB and an ENOB of 7.9738 bits, and obtained a FoM of 183.2 fJ/conv-step. The simulated DNL and INL are +0.186/-0.157 LSB and +0.111/-0.169 LSB.

An accuracy analysis of Cyberknife tumor tracking radiotherapy according to unpredictable change of respiration (예측 불가능한 호흡 변화에 따른 사이버나이프 종양 추적 방사선 치료의 정확도 분석)

  • Seo, jung min;Lee, chang yeol;Huh, hyun do;Kim, wan sun
    • The Journal of Korean Society for Radiation Therapy
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    • v.27 no.2
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    • pp.157-166
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    • 2015
  • Purpose : Cyber-Knife tumor tracking system, based on the correlation relationship between the position of a tumor which moves in response to the real time respiratory cycle signal and respiration was obtained by the LED marker attached to the outside of the patient, the location of the tumor to predict in advance, the movement of the tumor in synchronization with the therapeutic device to track real-time tumor, is a system for treating. The purpose of this study, in the cyber knife tumor tracking radiation therapy, trying to evaluate the accuracy of tumor tracking radiation therapy system due to the change in the form of unpredictable sudden breathing due to cough and sleep. Materials and Methods : Breathing Log files that were used in the study, based on the Respiratory gating radiotherapy and Cyber-knife tracking radiosurgery breathing Log files of patients who received herein, measured using the Log files in the form of a Sinusoidal pattern and Sudden change pattern. it has been reconstituted as possible. Enter the reconstructed respiratory Log file cyber knife dynamic chest Phantom, so that it is possible to implement a motion due to respiration, add manufacturing the driving apparatus of the existing dynamic chest Phantom, Phantom the form of respiration we have developed a program that can be applied to. Movement of the phantom inside the target (Ball cube target) was driven by the displacement of three sizes of according to the size of the respiratory vertical (Superior-Inferior) direction to the 5 mm, 10 mm, 20 mm. Insert crosses two EBT3 films in phantom inside the target in response to changes in the target movement, the End-to-End (E2E) test provided in Cyber-Knife manufacturer depending on the form of the breathing five times each. It was determined by carrying. Accuracy of tumor tracking system is indicated by the target error by analyzing the inserted film, additional E2E test is analyzed by measuring the correlation error while being advanced. Results : If the target error is a sine curve breathing form, the size of the target of the movement is in response to the 5 mm, 10 mm, 20 mm, respectively, of the average $1.14{\pm}0.13mm$, $1.05{\pm}0.20mm$, with $2.37{\pm}0.17mm$, suddenly for it is variations in breathing, respective average $1.87{\pm}0.19mm$, $2.15{\pm}0.21mm$, and analyzed with $2.44{\pm}0.26mm$. If the correlation error can be defined by the length of the displacement vector in the target track is a sinusoidal breathing mode, the size of the target of the movement in response to 5 mm, 10 mm, 20 mm, respective average $0.84{\pm}0.01mm$, $0.70{\pm}0.13mm$, with $1.63{\pm}0.10mm$, if it is a variant of sudden breathing respective average $0.97{\pm}0.06mm$, $1.44{\pm}0.11mm$, and analyzed with $1.98{\pm}0.10mm$. The larger the correlation error values in both the both the respiratory form, the target error value is large. If the motion size of the target of the sine curve breathing form is greater than or equal to 20 mm, was measured at 1.5 mm or more is a recommendation value of both cyber knife manufacturer of both error value. Conclusion : There is a tendency that the correlation error value between about target error value magnitude of the target motion is large is increased, the error value becomes large in variation of rapid respiration than breathing the form of a sine curve. The more the shape of the breathing large movements regular shape of sine curves target accuracy of the tumor tracking system can be judged to be reduced. Using the algorithm of Cyber-Knife tumor tracking system, when there is a change in the sudden unpredictable respiratory due patient coughing during treatment enforcement is to stop the treatment, it is assumed to carry out the internal target validation process again, it is necessary to readjust the form of respiration. Patients under treatment is determined to be able to improve the treatment of accuracy to induce the observed form of regular breathing and put like to see the goggles monitor capable of the respiratory form of the person.

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