• Journal of Mechanical Science and Technology
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• v.18 no.8
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• pp.1388-1400
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• 2004

Problems with the control, oscillatory motion and compliance of pneumatic systems have prevented their widespread use in advanced robotics. However, their compactness, power/weight ratio, ease of maintenance and inherent safety are factors that could be potentially exploited in sophisticated dexterous manipulator designs. These advantages have led to the development of novel actuators such as the McKibben Muscle, Rubber Actuator and Pneumatic Artificial Muscle Manipulators. However, some limitations still exist, such as a deterioration of the performance of transient response due to the changes in the external inertia load in the pneumatic artificial muscle manipulator. To overcome this problem, a switching algorithm of the control parameter using a learning vector quantization neural network (LVQNN) is newly proposed. This estimates the external inertia load of the pneumatic artificial muscle manipulator. The effectiveness of the proposed control algorithm is demonstrated through experiments with different external inertia loads.

• Radiation Oncology Journal
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• v.37 no.4
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• pp.232-248
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• 2019

Proton beams have been used for cancer treatment for more than 28 years, and several technological advancements have been made to achieve improved clinical outcomes by delivering more accurate and conformal doses to the target cancer cells while minimizing the dose to normal tissues. The state-of-the-art intensity modulated proton therapy is now prevailing as a major treatment technique in proton facilities worldwide, but still faces many challenges in being applied to the lung. Thus, in this article, the current status of proton therapy technique is reviewed and issues regarding the relevant uncertainty in proton therapy in the lung are summarized.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.6
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• pp.425-434
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• 2003

The disturbance observer(DOB) has been widely used in high speed and high precision motion control applications and the characteristics of DOB have been investigated in depth. Though most of DOB's have been implemented as the discrete-time form in digital devices, we are still short of the researches on discrete-time DOB (DDOB) in spite of rich references on continuous-time DOB. In this paper, we discuss about the disturbance rejection property and measurement noise effect of discrete-time DOB. Especially, we will focus on revealing the role of sampling time in designing the discrete-time DOB and show the validity of analysis through simulations and experiments for optical disk drive systems.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.9 no.6
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• pp.519-525
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• 2016

This paper addresses the framework of object-oriented image coding, describing a new algorithm, based on monodimensional Legendre polynomials, for texture approximation. Through the use of 1D orthogonal basis functions, the computational complexity which usually makes prohibitive most of 2D region-oriented approaches is significantly reduced, while only a slight increment of distortion is introduced. In the aim of preserving the bidimensional intersample correlation of the texture information as much as possible, suitable pseudo-bidimensional basis functions have been used, yielding significant improvements with respect to the straightforward 1D approach. The algorithm has been experimented for coding still images as well as motion compensated sequences, showing interesting possibilities of application for very low bitrate video coding.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1026-1030
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• 2007

A linear compressor used in a refrigerator has higher energy efficiency than a reciprocating compressor. But its vibration level is still severe than others. The vibration level of linear compressor at the frequency of 60Hz is dominant since it is the exciting frequency of a motor. Experimental approach to reduce the vibration needs much effort and long period. In this paper, simulation tool to predict the vibration of the shell of the linear compressor was developed. The piston, body and shell are assumed to be rigid, while the loop pipe is flexible. The results by the developed tool showed good agreements with those by experiments.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.22 no.2
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• pp.31-35
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• 1986

A bore is a transition between different uniform flows of water. If a long wave of elevation travels in shallow water it steepens and forms a bore. The bore is undular if the change in surface elevation of the wave is less than 0.28 of the original depth of water. This paper describes the growth of an undular bore from a long wave which forms a gentle transition between a uniform flow and still water. A physical account of its development is followed by the results of numerical calculations. Finite-difference approximations are used in the partial differential equations of motion. For undular bores, numerical calculations show that (i) the relationship between relative elevation and relative velocity given by long wave theory is approached for an undular bore, (ii) the amplitude of first crest of an undular bore approaches a finite limit approximately at an exponential rate, and (iii) the distance between the first two crests increases without bound, approximately logarithmically.

• Radiation Oncology Journal
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• v.32 no.3
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• pp.208-212
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• 2014

Marfan syndrome is one of the collagen vascular diseases that theoretically predisposes patients to excessive radiation-induced fibrosis yet there is minimal published literature regarding this clinical scenario. We present a patient with a history of Marfan syndrome requiring radiation for a diagnosis of a right brachial plexus malignant nerve sheath tumor. It has been suggested that plasma transforming growth factor beta 1 (TGF-${\beta}1$) can be monitored as a predictor of subsequent fibrosis in this population of high risk patients. We therefore monitored the patient's TGF-${\beta}1$ level during and after treatment. Despite maintaining stable levels of plasma TGF-${\beta}1$, our patient still developed extensive fibrosis resulting in impaired range of motion. Our case reports presents a review of the literature of patients with Marfan syndrome requiring radiation therapy and the limitations of serum markers on predicting long-term toxicity.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.694-697
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• 1996

The aim of this work for 5 years from 1994 is to develop a multi-fingered robot hand and its control system for grasp and manipulation of objects dexterously. Since the robot hand is still being developed, a commercialized robot hand from Barrett Company is utilized to implement a hand controller and control algorithm. For this, VME based motion control and interface boards are developed and multi-sensors such as encoder, force/torque sensor, dynamic sensor and artificial skin sensor are partly developed and employed for the grasping control algorithm. In oder to handle uncertainties such as mechanical idleness and backlash, a fuzzy rule based grasping algorithm is also considered and tested with the developed control system.

• Proceedings of the KSME Conference
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• 2001.11a
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• pp.515-520
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• 2001

Due to the high power to weight ratio and fast response under heavy load, the hydraulic systems are still applied to the development of many industrial facilities such as heavy duty construction vehicles, aerospace/military weapon actuating systems and motion simulators. Unlike the other actuators, single-rod hydraulic cylinder exhibits a lot different dynamic characteristics between the extending and retracting stroke because of the difference in pressure acting areas. In this research, in order to overcome this nonlinear feature, $H_{\infty}$ optimal controller was designed and implemented with DSP board that was specifically developed for the experiment. From the experimental result, we could confirm that the overall performance of single-rod hydraulic servo system is similar with the results as we expected in the design stage.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.3
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• pp.292-299
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• 2013

The measurement in the manufacturing process of curved ship hull plates still depends on wooden templates as a standard instrument. The metrology-enabled automation in the shipbuilding process has been challenged instead of line measurement with wooden templates. The developed measurement system consists of a CCD camera, multiple structured laser sources and 3-DOF motion device. The system carries out measurement of curved profiles for large scale plates by an optical triangulation method. The results of experiment conducted in a manufacturing shop demonstrate the accurate and robust performance.