• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2015.05a
• /
• pp.548-549
• /
• 2015

무인 잠수정은 자율 무인잠수정(이하 'AUV' 또는 '자율무인잠수정'을 혼용)과 원격조정잠수정(이하 'ROV'로 지칭)으로 분류를 할 수 있다. ROV는 테더 게이블로 인한 작업 범위의 한계와 운동성능 효율이 떨어지는 단점을 지니고 있어, 테더 케이블이 필요 없는 AUV에 대한 필요성이 증대되고 있다. 추측 항법 시스템인 관성 항법 시스템(inertial navigation system, 이하 'INS'로 지칭)은 외부 도움없이 관성측정 장치(inertial measurement unit, 이하 'IMU'로 지칭)를 활용하여 구성된 시스템을 말한다. IMU는 자이로 스코프(gyroscope), 가속도계(accelerometer), 지자기(magnetic)센서로 구성된 측정 장치로 3개의 센서를 사용하여 상호 보정을 통한 기동 체의 위치, 속도 및 자세 정보를 제공한다. 복합항법시스템은 추측항법시스템이 가지는 누적오차와 측위 항법시스템이 가지는 외부환경에 대한 단점을 상호 보완하는 방법으로 연구가 진행 중이다. 하지만 심해서 또는 해양의 특성에 따라 측위 시스템이 사용되지 못하기 때문에 추측 항법시스템의 다양한 관성 센서를 활용한 상로 보완과 신호처리 방법을 통한 연구 개발이 진행 중이다. 다양한 센서 정보를 통합하는 목적으로 칼만 필터와 같은 최적 필터기법이 보편적으로 사용되고 있다. 칼만 필터는 확률 선형 시스템에 대하여 공정잡음 및 측정 잡음이 가우시안 확률 분포를 따를 때 최적의 추정자가 된다. 또한 가우시안 조건을 만족하지 않는 경우에도 선형 추정자 중에 추정 오차의 분산이 가장 작은 추정자이다. 칼만 필터가 최상의 성능을 발휘 하려면 공정잡음과 측정 잡음의 실제 값을 정확히 알아내는 것이 중요하다. 잡음 수준에 대한 정보가 부정확 할 경우 칼만 필터는 발산 할 수 있기 때문에 시스템에서 잡음 수준의 공산은 칼만 필터의 최적 이득을 결정하는 중요한 요소로 추정치에 큰 영향을 준다. 따라서 칼만 필터를 추측항법시스템에 적용 시킬 경우 실제 모텔의 잡음 공분산을 정확히 추정할 수 있는 기법이 요구된다. 추측항법시스템은 다양한 센서를 활용하기 때문에 움직이는 기동 표적에 적용시 잡음공분상이 변하기 때문에 항법시스템이 저하 될 수 있다. 본 연구에서는 다양한 센서를 융합하여 해양 생체 로봇의 정밀 자세 제어가 가능한 시스템을 제안하고자 한다.

• Journal of Navigation and Port Research
• /
• v.41 no.4
• /
• pp.189-194
• /
• 2017

The Moving Search Radar System (MSRS) monitors sea areas by moving along the coast. Since the radar is initially aligned to the front of the vehicle, it is important to know the changes in the heading azimuth of the vehicle to quickly acquire the target azimuth from the radar after the MSRS has moved. The heading azimuth can be obtained using the gyro compass, the GPS compass or the electronic compass. The electronic compass is suitable for MSRS requiring fast maneuverability due to its small volume, short stabilization time and low price. However, using a geomagnetic sensor may result in an error due to the surrounding magnetic field. Errors can make early automatic tracking of the satellites difficult and can reduce the radar detection accuracy. Therefore, this paper proposes a method to automatically compensate for the error reflecting the correction value on the radar obtained by comparing the reference azimuth calculated by solving the geodesic inverse problem using two coordinates between the radar and the geostationary satellite with the actually-directed azimuth angle of the satellite antenna. The feasibility and convenience of the proposed method were verified by applying it to the MSRS in the field.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.46 no.3
• /
• pp.244-250
• /
• 2018

Multilateration acquires the transponder signal of target from receivers installed on the ground and calculates the position of the target using the difference of the signal acquisition time of each receiver. One of the factors that influence the positioning accuracy of Multilateration using the TDOA calculation method is the error due to the precision measurement of signal input time. When measuring the signal input time at the receiver, the input signal is sampled using the reference clock of the receiver and a reference sample having the same sampling rate is applied to the cross correlation technique. Therefore, the accuracy of the signal input time is proportional to the reference clock. In this paper, the algorithm for precisely measuring the signal input time by performing cross correlation between the input signal of the receiver and DRS(Delayed Reference Sample) is proposed. In order to verify this, we implemented the pulse signal of the transponder that is transmitted from the target using Matlab. Through the simulation, cross correlation between the proposed DRS and the input signal was performed. From this result, the performance of the precise measurement of signal input time was analyzed.

• Radiation Oncology Journal
• /
• v.11 no.1
• /
• pp.175-181
• /
• 1993

Radiosurgery requires integral procedure where special devices and computer systems are needed for localization, dose planning and treatment. The aim of this work is to verify the overall mechanical accuracy of our LINAC and develop dose calculation algorithm for LINAC radiosurgery. The alignment of treatment machine and the performance testing of the entire system were extensively carried out and the basic data such as percent depth dose, off-axis ratio and output factor were measured. A three dimensional treatment planning system for stereotactic radiosurgery has been developed. We used an IBM personal computer with C programming language (IBM personal system/2, Model 80386, IBM Co., USA) for calculating the dose distribution. As a result, deviations at isocenter on gantry and table rotation for our treatment machine were acceptable since they were less than 2 mm. According to the phantom experiments, the focusing isocenter were successful by the error of less than 2 mm. Finally, the mechanical accuracy of our three dimensional planning system was confirmed by film dosimetry in sphere phantom.

• The Journal of Korean Society for Radiation Therapy
• /
• v.20 no.1
• /
• pp.45-53
• /
• 2008

Purpose: We are trying to analyze 130 patients' conditions by using our Helical Tomotherapy, which was installed in our center in Oct. 2007. We will be statistically approach this examination and analyze so that we will be able to figure out adaptive plans according to the change in place of the tumor, GTV (gross tumor volume), total amount of time it took, vector (${\upsilon}=\surd$x2+y2+z2) and the change in size of the tumor. Materials and Methods: Objectives were the patients who were medicated with Tomotherapy in our medical center since Oct. 2007 August 2008. The Average age of the patients were 53 years old (Minimum 25 years old, Maximum 83 years old). The parts of the body we operated were could be categorized as Head&neck (n=22), Chest (n=47), Abdomen (n=25), Pelvis (n=11), Bone (n=25). MVCT had acted on 2702 times, and also had acted on our adaptive plan toward patients who showed big difference in the size of tumor. Also, after equalizing our gained MVCT and kv-CT we checked up on the range of possible mistake, using x, y, z, roll and vector. We've also investigated on Set-up, MVCT, average time of operation and target volume. Results: Mean time on table was 22.8 minutes. Mean treatment time was 13.26 minutes. Mean correction (mm) was X=-0.7, Y=-1.4, Z=5.77, roll=0.29, vector=8.66 Head&neck patients had 2.96 mm less vector value in movement than patients of Chest, Abdomen, Bone. In increasing order, Head&neck, Bone, Abdomen, Chest, Pelvis showed the vector value in movement. Also, there were 27 patients for adaptive plan, 39 patients, who had long or multiple tumor. We could know that When medical treatment is one cure plan, it takes 32 minutes, and when medical treatment is two cure plan, it takes 40 minutes that one medical treatment takes 21 minutes, and the other medical treatment takes 19 minutes. Conclusion:With our basic tools, we could bring more accurate IMRT with MVCT. Also, through our daily image, we checked up on the change in tumor so that adaptive plan could work. It was made it possible to take the cure of long or multiple tumor, the cure in a nearby OAR, and the complicated cure that should make changes of gradient dose distribution.

• Radiation Oncology Journal
• /
• v.21 no.3
• /
• pp.238-244
• /
• 2003

Purpose: The Planning of High-Dose-Rate (HDR) brachytherapy treatments are becoming individualized and more dependent on the treatment planning system. Therefore, computer software has been developed to perform independent point dose calculations with the integration of an isodose distribution curve display into the patient anatomy images. Meterials and Methods: As primary input data, the program takes patients'planning data including the source dwell positions, dwell times and the doses at reference points, computed by an HDR treatment planning system (TPS). Dosimetric calculations were peformed in a $10\times12\times10\;Cm^3$ grid space using the Interstitial Collaborative Working Group (ICWG) formalism and an anisotropy table for the HDR Iridium-192 source. The computed doses at the reference points were automatically compared with the relevant results of the TPS. The MR and simulation film images were then imported and the isodose distributions on the axial, sagittal and coronal planes intersecting the point selected by a user were superimposed on the imported images and then displayed. The accuracy of the software was tested in three benchmark plans peformed by Gamma-Med 12i TPS (MDS Nordion, Germany). Nine patients'plans generated by Plato (Nucletron Corporation, The Netherlands) were verified by the developed software. Results: The absolute doses computed by the developed software agreed with the commercial TPS results within an accuracy of $2.8\%$ in the benchmark plans. The isodose distribution plots showed excellent agreements with the exception of the tip legion of the source's longitudinal axis where a slight deviation was observed. In clinical plans, the secondary dose calculations had, on average, about a $3.4\%$ deviation from the TPS plans. Conclusion: The accurate validation of complicate treatment plans is possible with the developed software and the qualify of the HDR treatment plan can be improved with the isodose display integrated into the patient anatomy information.

• The Journal of Korean Society for Radiation Therapy
• /
• v.26 no.1
• /
• pp.115-126
• /
• 2014

Purpose : Depending on a variety of therapeutic areas using MVCT(Megavoltage computed tomography) intra-and interfraction is to evaluate changes in patient position. Materials and Methods : In this study, head and neck, thorax, liver, and prostate tumor patients, 48 people with a full course of treatment for patients with various MVCT scan was performed. Average 60 per patient MVCT images were acquired and analyzed. Results : Interfraction error thorax and abdomen, and pelvis in the longitudinal difference was more than 3 mm. Intrafraction to see a change after the end of treatment MVCT taken, and the results confirmed Intrafraction 2 mm in motion around the longitudinal difference. In addition, due to changes in the movement before and after treatment, Inter-and Intrafraction difference was found. Conclusion : In the present study, the Head and Neck, Thorax, liver, prostate cancer in patients with inter-and intrafraction changes and target the appropriate fixtures to complete the outline of the margin would be helpful is considered.

• Radiation Oncology Journal
• /
• v.18 no.4
• /
• pp.251-256
• /
• 2000

Purpose : To evaluate efficacy and complication of stereotactic radiosurgery using stereotactic body frame. Methods and Materials :From December 1997 to June 1999, 11 patients with primary and metastatic tumors were treated with stereotactic radiosurgery using stereotactic body frame(Precision TherapyTu). Three patients were treated with primary hepatoma and seven with metastatic tumor from liver, lung, breast, trachea and one with arteriovenous malformation on neck. We used vacuum pillow for immobilization and made skin marker on sternum and tibia area with chest marker and leg marker. Diaphragm control was used for reducing movement by respiration. CT-simulation and treatment planning were peformed. Set-up error was checked by CT-Simulator before each treatment. Dose were calculated on the 80$\~$90$\%$ isodose of isocenter dose and given consecutive 3 fractions for total dose of 30 Gy (10 Gy/fraction). Results :Median follow-up was 12 months. One patient (9$\%$) showed complete response and four Patients (36$\%$) showed partial response and others showed stable disease. Planning target volumes (PTV) ranged from 3 to 111 cc (mean 18.4 n). Set-up error was within 5 mm in all directions (X, Y, Z axis). There was no complication in all patients. Conclusion :In Primary and metastatic tumors, stereotactic body frame is very safe, accurate and effective treatment modality.

• The Journal of Korean Society for Radiation Therapy
• /
• v.22 no.2
• /
• pp.131-134
• /
• 2010

Purpose: TOMO therapy treatment for a relatively long run Beam time and temperature-sensitive detector, such as CT clinics in optimal temperature ($20~21^{\circ}$) to maintain a constant temperature in addition to its own Chamber Cooling system is activating. TOMO This clinic has been reduced in the patients' body temperature to keep the sheets and covers over the treated area. Therefore, these materials for any changes in the organization gives the dose were analyzed. Materials and Methods: To compare changes in the organization Dose Phantom cheese (Cheese Phantom) were used, CT-simulation taking the center point of the cheese phantom PTV (Planning Target Volume, treatment planning target volume) by setting Daily dose 200 cGy, 3 meetings planned treatment. PTV, PTV +7 cm, PTV +14 cm, the total count points on the phantom using the Ion chamber cover without any substance to measure the dose, and one of the most commonly used treatment, including the frequently used four kinds of bedding materials (febric 0.8 mm, gown 1.4 mm, rug, 3.3 mm, blanket 13.7 mm) and covered with a phantom and the dose measured at the same location were analyzed 3 times each. Results: PTV, PTV +7 cm, PTV +14 cm from the point of any substance measured in the state are covered with four kinds of materials (fabric, gown, rug, blanket) was measured in the covered states and compares their results, PTV respectively -0.17%, -0.44%, -0.53% and -0.9% change, PTV +7 cm, respectively -0.04%, +0.07%, +0.06%, +0.07%, were changed, PTV +14 cm, respectively 0%, -0.06%, -0.02%, +0.6%, respectively. Conclusion: These results TOMO treatment to patients to maintain their body mass by using PTV thickness of the material decreased in proportion to. PTV +7 cm, but showed slight changes in the point, PTV +14 cm at the point of the dose was increased a little. Sejijeom all the difference in treatment tolerance ${\pm}3%$ range, this is confirmed in the coming treatment will not affect the larger should be considered.

• Progress in Medical Physics
• /
• v.20 no.2
• /
• pp.88-96
• /
• 2009

Radiation treatment for skin cancer has recently increased in tomotherapy. It was reported that required dose could be delivered with homogeneous dose distribution to the target without field matching using electron and photon beam. Therapeutic beam of tomotherapy, however, has several different physical characteristic and irradiation of helical beam is involved in the mechanically dynamic factors. Thus verification of skin dose is requisite using independent tools with additional verification method. Modified phantom for dose measurement was developed and skin dose verification was performed using inserted thermoluminescent dosimeters (TLDs) and GafChromic EBT films. As the homogeneous dose was delivered to the region including surface and 6 mm depth, measured dose using films showed about average 2% lower dose than calculated one in treatment planning system. Region indicating about 14% higher and lower absorbed dose was verified on measured dose distribution. Uniformity of dose distribution on films decreased as compared with that of calculated results. Dose variation affected by inhomogeneous material, Teflon, little showed. In regard to the measured dose and its distribution in tomotherapy, verification of skin dose through measurement is required before the radiation treatment for the target located at the curved surface or superficial depth.