• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2290-2295
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• 2005

In this paper, it is developed simulator system of 3 D.O.F parallel robot for educate of expertness. This simulator system is composed of three parts ? 3 D.O.F parallel robot, controller (hardware) and software. First, basic structure of the robot is 3 active rotary actuator that small geared step motor with fixed base. An input-link is connected to this actuator, and this input-link can connect two ball joints. Thus, two couplers can be connected to the input-link as a pair. An end-plate, which is jointed by a ball joint, can be connected to the opposite side of the coupler. A sub-link is produced and installed to the internal spring, and then this sub-link is connected to the upper and bottom side of the coupler in order to prevent a certain bending or deformation of the two couplers. The robot has the maximum diameter of 230 mm, 10 kg of weight (include the table), and maximum height of 300 mm. Hardware for control of the robot is composed of computer, micro controller, pulse generator, and motor driver. The PC used in the controller sends commands to the controller, and transform signals input by the user to the coordinate value of the robot by substituting it into equations of kinematics and inverse kinematics. A controller transfer the coordinate value calculated in the PC to a pulse generator by transforming it into signals. A pulse generator analyzes commands, which include the information received from the micro controller. A motor driver transfer the pulse received from the pulse generator to a step motor, and protects against the over-load of the motor Finally, software is a learning purposed control program, which presents the principle of a robot operation and actual implementation. The benefit of this program is that easy for a novice to use. Developed robot simulator system can be practically applied to understand the principle of parallel mechanism, motors, sensor, and various other parts.

• Radiation Oncology Journal
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• v.11 no.1
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• pp.167-174
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• 1993

Recently, stereotactic radiosurgery plan is required with the information of 3-D image and dose distribution. A project has been doing if developing LINAC based stereotactic radiosurgery since April 1991. The purpose of this research is to develop 3-D radiosurgery planning system using personal computer. The procedure of this research is based on two steps. The first step is to develop 3-D localization system, which input the image information of the patient, coordinate transformation, the position and shape of target, and patient contour into computer system using CT image and stereotactic frame. The second step is to develop 3-D dose planning system, which compute dose distribution on image plane, display on high resolution monitor both isodose distribution and patient image simultaneously and develop menu-driven planning system. This prototype of radiosurgery planning system was applied recently for several clinical cases. It was shown that our planning system is fast, accurate and efficient while making it possible to handle various kinds of image modalities such as angiography, CT and MRI. It makes it possible to develop general 3-D planning system using beam's eye view or CT simulation in radiation therapy in future.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.8
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• pp.50-56
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• 2004

The directional ability of an automobile has an influence on driver directly, and hence it must be given most priority. Alignment factors of automobile such as the camber, caster and toe directly affect the directional ability of a vehicle. The above mentioned factors are determined by the pose of interlinks in the assembly of an automobile front chassis module. Measuring the position of center point of ball joints in the front lower arm is very difficult. A method to determine this position is suggested in this paper. Pose estimation for front chassis module and dimensional evaluation to find the rotational characteristics of front lower arm were developed based on fundamental geometric techniques. To interpret the inspection data obtained for front chassis module, 3-D best fit method is needed. The best fit method determines the relationship between the nominal design coordinate system and the corresponding feature coordinate system. The least squares method based on singular value decomposition is used in this paper.

• Journal of the Korean Society for Precision Engineering
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• v.6 no.3
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• pp.32-45
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• 1989

The positioning accuracy of robots depends upon a forward kinematics which relates the joint variables to the orientation and position of the robot extremity in the absolute coordinate system. The relationship between two connective joint coordi- nates of a robot, which is the basis of the kinematics, is defined by 4 Denavit-Hartenberg parameters. But manufacturing errors in machining and assembly process of robots lead to disctrepancies between the design parameters and the physical structure. Thus, improving the positioning accuracy of robots reguires the identification of the actual link parameters of each robot. In this study, the least-squares method is used to calibrate the link parameters and off-line parameter calibration software is developed. Computer simulation is done to study the dependence of the calibration performance upon the DOF of the robot and number of acquired data set used in the least-squares method. 3 DOF Robot/Controller and specially designed 3D coordinate measurer is made and experiment is carried out to verify the theoretical and computational analysis.

• Journal of Korea Multimedia Society
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• v.10 no.3
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• pp.303-315
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• 2007

This paper proposes a 3D structure recovery and registration method that uses four or more common points. For each frame of a given video, a partial structure is recovered using tracked points. The 3D coordinates, camera positions and camera directions are computed at once by our improved scaled orthographic factorization method. The partially recovered point sets are parts of a whole model. A registration of point sets makes the complete shape. The recovered subsets are integrated by transforming each coordinate system of the local point subset into a common basis coordinate system. The process of shape recovery and integration is performed uniformly and linearly without any nonlinear iterative process and without loss of accuracy. The execution time for the integration is significantly reduced relative to the conventional ICP method. Due to the fast recovery and registration framework, our shape recovery scheme is applicable to various interactive video applications. The processing time per frame is under 0.01 seconds in most cases and the integration error is under 0.1mm on average.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.195-198
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• 2002

Demand for high precision measurement of large area is increasing in many industrial fields. White-light Scanning Interferometer(WSI) is a well-known method for 3D profile measurement. However WSI has some limitations in a measurement range because of the sensing mechanism. Therefore, in this paper we use a heterodyne laser interferometer to get over the limitations of a short measurement range in WSI, We suggest a new WSI system combined with heterodyne laser interferometer. This system is aimed at eliminating Abbe error with measuring the focus point directly. With the use of triggering functionality of WSI, we can use this system as a probe of a precision stage such as a probe of CMM. The suggested system gives a repeatability of 87 nm in the absolute distance measurement test under the laboratory environment.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2003.10a
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• pp.129-134
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• 2003

Mobile Mapping System needs system calibration of multi sensors. System calibration is defined as determination of spatial and rotational offsets between the sensors. Especially, EO parameters of GPS/INS require knowledge of the calibration to camera frame. The calibration parameters must be determined with the highest achievable accuracy in order to get 3D coordinate points in stereo CCD images. This study applies Boresight calibration for the calibration between GPS/INS and camera, and estimates the Performance of the calibration.

• Journal of the Korean Society for Precision Engineering
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• v.32 no.6
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• pp.537-542
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• 2015

The measurement of 3D shape is important in inspecting the quality of product. In this paper, we present a 3D shape measurement system of fastener using a camera and a slit laser. Calibration structure with slits is used in the extrinsic calibration of the camera and laser. The pose of the camera and laser is computed under the same world coordinate system in the calibration structure. Reflection of laser light on the metal surface causes many difficulties in the robust detection of them on image. We overcome this difficulty by using color and dynamic programming. Motor stage is used to rotate the fastener to recover the whole 3D shape of the surface of it.

• The korean journal of orthodontics
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• v.35 no.6 s.113
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• pp.475-484
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• 2005

This study was performed to investigate the reproducibility of the horizontal and midsagittal planes, and to suggest a stable coordinate system for three-dimensional (3D) cephalometric analysis. Eighteen CT scans were taken and the coordinate system was established using 7 reference points marked by a volume model, with no more than 4 points on the same plane. The 3D landmarks were selected on V works (Cybermed Inc., Seoul, Korea), then exported to V surgery (Cybermed Inc., Seoul, Korea) to calculate the coordinate values. All the landmarks were taken twice with a lapse of 2 weeks. The horizontal and midsagittal planes were constructed and its reproducibility was evaluated. There was no significant difference in the reproducibility of the horizontal reference planes, But, FH planes were more reproducible than other horizontal planes. FH planes showed no difference between the planes constructed with 3 out of 4 points. The angle of intersection made by 2 FH planes, composed of both Po and one Or showed less than $1^{\circ}$ difference. This was identical when 2 FH planes were composed of both Or and one Po. But, the latter cases showed a significantly smaller error. The reproducibility of the midsagittal plane was reliable with an error range of 0.61 to $1.93^{\circ}$ except for 5 establishments (FMS-Nc, Na-Rh, Na-ANS, Rh-ANS, and FR-PNS). The 3D coordinate system may be constructed with 3 planes; the horizontal plane constructed by both Po and right Or; the midsagittal plane perpendicular to the horizontal plane, including the midpoint of the Foramen Spinosum and Nc; and the coronal plane perpendicular to the horizontal and midsagittal planes, including point clinoidale, or sella, or PNS.

• The korean journal of orthodontics
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• v.35 no.4 s.111
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• pp.320-329
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• 2005

The three-dimensional (3D) changes of bone, soft tissue and the ratio of soft tissue to bony movement was investigated in 8 skeletal Class III patients treated by mandibular setback surgery. CT scans of each patient at pre- and post-operative states were taken. Each scan was segmented by a threshold value and registered to a universal three-dimensional coordinate system, consisting of an FH plane, a mid-sagittal plane, and a coronal plane defined by PNS. In the study, the grid parallel to the coronal plane was proposed for the comparison of the changes. The bone or soft tissue was intersected by the projected line from each point on the gird. The coordinate values of intersected point were measured and compared between the pre- and post-operative models. The facial surface changes after setback surgery occurred not only in the mandible, but also in the mouth corner region. The soft tissue changes of the mandibular area were measured relatively by the proportional ratios to the bone changes. The ratios at the mid-sagittal plane were $77\~102\%(p<0.05)$. The ratios at all other sagittal planes had similar patterns to the mid-sagittal plane, but with decreased values. And, the changes in the maxillary region were calculated as a ratio, relative to the movement of a point representing a mandibular movement. When B point was used as a representative point, the ratios were $14\~29\%$, and when Pog was used, the ratios were $17\~37\%(9<0.05)$. In case of the 83rd point of the grid, the ratios were $11\~22\%(p<0.05)$.