• Journal of the Korea Society of Computer and Information
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• 제14권11호
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• pp.179-186
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• 2009

In this paper, we propose a head detection method based on vertical and horizontal pixel histogram analysis in order to overcome drawbacks of the previous head detection approach using Haar-like feature-based face detection. In the proposed method, we create the vertical and horizontal foreground pixel histogram images from the background subtraction image, which represent the number of foreground pixels in the same vertical or horizontal position. Then we extract feature points of a head region by applying Harris corner detection method to the foreground pixel histogram images and by analyzing corner points. The proposal method shows robust head detection results even in the face image covering forelock by hairs or the back view image in which the previous approaches cannot detect the head regions.

• Proceedings of the Korea Information Processing Society Conference
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• 한국정보처리학회 2022년도 추계학술발표대회
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• pp.565-567
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• 2022

질병을 앓고 있는 환자는 상태에 따라 병실, 주거지, 요양원 등 조호환경 내 생활 시 의료 인력의 지속적인 추적 및 관찰을 통해 신체에 이상이 생긴 경우 이를 감지하고, 신속하게 조치할 수 있도록 해야 한다. 의료 인력이 직접 환자를 확인하는 방법은 의료 인력의 반복적인 노동이 요구되며 실시간으로 환자를 확인해야 한다는 특성상 의료 인력이 상주해야 하기에 이는 곧, 의료 인력의 부족과 낭비로 이어진다. 해당 문제 해결을 위해 의료 인력을 대신하여 조호환경 내 환자의 상태를 실시간으로 모니터링할 수 있는 딥러닝 모델들이 연구되고 있다. 딥러닝 모델은 데이터의 수가 많을수록 강인한 모델을 설계할 수 있으며, 데이터셋의 배경, 객체의 특징 분포 등 다양한 조건에 영향을 받기 때문에 학습에 필요한 도메인을 가지는 많은 양의 전처리된 데이터를 수집해야 한다. 따라서, 조호환경 내 환자에 대한 데이터셋이 필요하지만, 공개된 데이터셋의 경우 양이 매우 적으며 이를 반전, 회전기법 등을이용할 경우 데이터의 수를 늘릴 수 있지만, 같은 분포의 특징을 가지는 데이터가 생성되기에 데이터 증강 기법을 단순하게 적용하면 딥러닝 모델의 과적합을 야기한다. 또한, 조호환경 내 이미지 데이터셋은 얼굴 노출과 같은 개인정보가 포함 될 수 있으며 이를 보호하기 위해 정보들을 비식별화 해야 한다는 문제점이 있다. 따라서 본 논문에서는 조호환경에서 수집된 데이터 증강을 위한 Style-Generative Adversarial Networks 기법을 적용하여 조호환경 데이터셋 수집에 효과적인 증강 기법을 제안한다.

• The Journal of Korean Society for Radiation Therapy
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• 제21권1호
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• pp.1-7
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• 2009

Purpose: The purpose is to evaluate the accuracy of correcting the targeting error through the Target Location System (TLS) for the location change error of the reference point which arises from the movement or motion of patient during the treatment using the CyberKnife. Materials and Methods: In this test, Gafchromic MD-55 film was inserted into the head and neck phantom to analyze the accuracy of the targeting, and then the 6 MV X-ray of CyberKnife (CyberKnife Robotic Radiosurgery System G4, Accuray, US) was irradiated. End to End (E2E) program was used to analyze the accuracy of targeting, which is provided by Accuray Corporation. To compute the error of the targeting, the test was carried out with the films that were irradiated 12 times by maintaining the distance within the rage of $0{\pm}0.2\;mm$ toward x, y, z from the reference point and maintaining the angle within the rage of $0{\pm}0.2^{\circ}$ toward roll, pitch, yaw, and then with the films which were irradiated 6 times by applying intentional movement. And the correlation in the average value of the reference film and the test film were analyzed through independent samples t-test. In addition, the consistency of dose distribution through gamma-index method (dose difference: 3%) was quantified, compared, and analyzed by varying the distance to agreement (DTA) to 1 mm, 1.5 mm, 2 mm, respectively. Results: E2E test result indicated that the average error of the reference film was 0.405 mm and the standard deviation was 0.069 mm. The average error of the test film was 0.413 mm with the standard deviation of 0.121 mm. The result of independent sampling t-test for both averages showed that the significant probability was P=0.836 (confidence level: 95%). Besides, by comparing the consistency of dose distribution of DTA through 1 mm, 1.5 mm, 2 mm, it was found that the average dose distribution of axial film was 95.04%, 97.56%, 98.13%, respectively in 3,314 locations of the reference film, consistent with the average dose distribution of sagittal film that was 95.47%, 97.68%, 98.47%, respectively. By comparing with the test film, it was found that the average dose distribution of axial film was 96.38%, 97.57%, 98.04%, respectively, at 3,323 locations, consistent with the average dose distribution of sagittal film which was 95.50%, 97.87%, 98.36%, respectively. Conclusion: Robotic CyberKnife traces and complements in real time the error in the location change of the reference point caused by the motion or movement of patient during the treatment and provides the accuracy with the consistency of over 95% dose distribution and the targeting error below 1 mm.

• Journal of the Korean earth science society
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• 제30권1호
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• pp.141-151
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• 2009

Inquiry has been emphasized in science classrooms, but the problems shown in the inquiry are somewhat different with ones that students usually meet and experience in everyday life. The purpose of this study is to investigate how attitudes toward the task and thinking skills affect students' problem solving process, especially, the way of creating a problem space and elaborating problem solving strategies when they have little schema. The difference in students' problem solving strategies of Lego Robotics class, one of the summer programs for $4^{th}-6^{th}$ grade gifted students, which is new to them, was investigated. The results are as follows: (1) The difference in attitudes toward the task, or selection and identification of the missions, and the perception of operators, affected creating a different problem space. (2) Different level of thinking skills, or analytical and flexible thinking, efficient elaborative skill, and application of schema affected a different level of elaboration of the problem space and resulted in asuccess rate of problem solving. (3) Different initial problem space resulted in different problem solving strategies. But without thinking skills, students could not elaborate problem solving strategies efficiently. Several instructional recommendations to promote scientific inquiry were suggested based on the results.

• Journal of Biomedical Engineering Research
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• 제35권3호
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• pp.50-54
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• 2014

It is being tried to control robot arm using brain signal in the field of brain-machine interface (BMI). This study is focused on applying guidance laws for efficient robot arm control using 3D coordinates obtained from Magnetoencephalography (MEG) signal which represents movement of upper limb. The 3D coordinates obtained from brain signal is inappropriate to be used directly because of the spatial difference between human upper limb and robot arm's end-effector. The spatial difference makes the robot arm to be controlled from a third-person point of view with assist of visual feedback. To resolve this inconvenience, guidance laws which are frequently used for tactical ballistic missile are applied. It could be applied for the users to control robot arm from a first-person point of view which is expected to be more comfortable. The algorithm which enables robot arm to trace MEG signal is provided in this study. The algorithm is simulated and applied to 6-DOF robot arm for verification. The result was satisfactory and demonstrated a possibility in decreasing the training period and increasing the rate of success for certain tasks such as gripping object.

• Journal of the Korean Institute of Gas
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• 제21권2호
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• pp.41-49
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• 2017

Recently, as the number of facilities using chemicals is increasing, the amount of handling is rapidly increasing. However, chemical spills are occurring steadily, and if large quantities of chemicals are leaked in time, they are likely to cause major damage. These industrial complexes use information obtained from a number of sensors to detect and monitor leaking areas, and are used in industrial fields by applying existing fixed sensors to robots and drones. Therefore, it is necessary to propose a sensor placement method at the interface for rapid detection and response based on various leaking scenarios reflecting leaking conditions and environmental conditions of the chemical handling process. In this study, COMSOL was used to analyze the actual accident scenarios by applying the medium parameter to the case of chemical leaks. Based on the accident scenarios, the objective function is selected so that the velocity of each robot is calculated by attaching importance to each item of sensor detection probability, sensing time and sensing scenario number. We also confirmed the feasibility of this method of reliability analysis for unexpected leak accidents. Based on the above results, it is expected that it will be helpful to trace back the leakage source based on the concentration data of the portable sensor to be applied later.

• Journal of Internet of Things and Convergence
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• 제10권2호
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• pp.69-75
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• 2024

This paper proposes an IoT-based indoor autonomous driving system that applies SLAM (Simultaneous Localization And Mapping) and Navigation techniques in a ROS (Robot Operating System) environment based on TurtleBot3. The proposed autonomous driving system can be applied to indoor autonomous wheelchairs and robots. In this study, the operation was verified by applying it to an indoor self-driving wheelchair. The proposed autonomous driving system provides two functions. First, indoor environment information is collected and stored, which allows the wheelchair to recognize obstacles. By performing navigation using the map created through this, the rider can move to the desired location through autonomous driving of the wheelchair. Second, it provides the ability to track and move a specific logo through image recognition using OpenCV. Through this, information services can be received from guides wearing uniforms with the organization's unique logo. The proposed system is expected to provide convenience to passengers by improving mobility, safety, and usability over existing wheelchairs.

• Progress in Medical Physics
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• 제25권4호
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• pp.264-270
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• 2014

This study developed a portable respiratory training device to improve breathing stability, which is an important element in using the CyberKnife Synchrony respiratory tracking device, one of the typical Stereotactic Radiation Therapy (SRT) devices. It produced an interface for users to be able to select one of two displays, a graph type and a bar type, supported an auditory system that helps them expect next respiration by improving a sense of rhythm of their respiratory period, and provided comfortable respiratory inducement. By targeting 5 applicants and applying individual respiratory period detected through a self-developed program, it acquired signal data of 'guide respiration' that induces breathing through signal data gained from 'free respiration' and an auditory system, and evaluated the usability by comparing deviation average values of respiratory period and respiratory amplitude. It could be identified that respiratory period decreased $55.74{\pm}0.14%$ compared to free respiration, and respiratory amplitude decreased $28.12{\pm}0.10%$ compared to free respiration, which confirmed the consistency and stability of respiratory. SBRT, developed based on these results, using the portable respiratory training device, for liver cancer or lung cancer, is evaluated to be able to help reduce delayed treatment time due to respiratory instability and improve treatment accuracy, and if it could be applied to developing respiratory training applications targeting an android-based portable device in the future, even use convenience and economic efficiency are expected.

• Journal of Chest Surgery
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• 제42권1호
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• pp.28-33
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• 2009

Background: Functional tricuspid regurgitation (TR) greater than or equal to a mild grade requires tricuspid valvuloplasty, and tricuspid valvuloplasty with ring annuloplasty has shown good outcomes. We report here on our early experience with the Edwards $MC^3$ annuloplasty system (Edwards LifeSciences, Irvine, CA). Material and Method: From November 2004 to July 2006, 72 patients with tricuspid annular dilatation and TR underwent tricuspid valvuloplasty with using the Edwards $MC^3$ annuloplasty ring. Sixty-eight patients were operated on via median sternotomy and four patients were operated on using robotic assisted minimal invasive thoracotomy. The patient population included 21 males and 51 females and their mean age was $53.9{\pm}12.3$. The mean grade of TR, as assessed by the preoperative echocardiography, was $2.2{\pm}1.0$. The mean NYHA functional class was $3.1{\pm}0.8$. The mean left ventricular ejection fraction was $57.0{\pm}9.9$%. Result: The TR and NYHA functional class, as assessed by postoperative echocardiography, was significantly reduced (mean=$0.4{\pm}0.6$ and $2.0{\pm}0.7$, respectively p<0.001). There was one case of hospital mortality. One patient required permanent pacemaker insertion for third degree atrioventricular block. Conclusion: Our study shows that the Edwards $MC^3$ remodeling ring is easy to implant and it effectively corrects functional TR with excellent clinical and echocardiographic outcomes. Further follow-up and a larger clinical series are required to establish the long-term stability of this repair technique.

• Journal of Chest Surgery
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• 제41권5호
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• pp.568-572
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• 2008

Background: Minimally invasive surgery is currently popular, but this has been applied very sparingly to cardiac surgery because of some limitations. Our study evaluated the safety and efficacy of atrial septal defect (ASD) closure through a video-assisted mini-thoracotomy. Material and Method: Fifteen patients were analyzed. Their mean age was $31{\pm}6$ years. The mean ASD size was $24{\pm}5mm$ and there were 3 cases of significant tricuspid regurgitation. The working window was made through the right 4th intercostal space via a $4{\sim}5cm$ inframammary skin incision, CPB was conducted with performing peripheral cannulation. After cardioplegic arrest, the ASDs were closed with a patch (n=11) or direct sutures (n=4), and the procedures were assisted by using a thoracoscope. There were 3 cases of tricuspid repair and 1 case of mitral valve repair. The mean CPB time and aortic occlusion time were $160{\pm}47\;and\;70{\pm}26 $minutes, respectively. Result: There was no mortality, but there were 3 minor complications (one pneumothorax, one wound dehiscence and one arrhythmia). The mean hospital stay was $5.9{\pm}1.8$ days. The mean follow-up duration was $10.7{\pm}6.4$ months. The follow-up echocardiogram noted no residual ASD or significant tricuspid regurgitation. Three patients suffered from pain or numbness. Conclusion: This study showed satisfactory clinical and cosmetic results. Although the operative time is still too long, more experience and specialized equipment would make this technique a good option for treating ASD.