• Title/Summary/Keyword: Adaptive System

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Current Status and Improvement Measures for Records Management in the National Assembly Member's Office: Focusing on the Perception of the National Assembly Aides (국회의원실 기록관리의 현황과 개선방안 - 보좌직원의 인식을 중심으로 -)

  • Yeonhee Jang;Eun-Ha Youn
    • Journal of Korean Society of Archives and Records Management
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    • v.24 no.1
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    • pp.187-204
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    • 2024
  • This study was conducted to examine the current status of record management in parliamentary offices and identify areas of improvement. For this, in-depth interviews were conducted primarily with parliamentary aides to investigate their perceptions and needs. The research revealed that although the responsibility for record management in parliamentary offices lies with the aides, systematic record management is lacking because of inadequate awareness. While some aides recognize the importance of record management, there is still a need for a change in perception and practice. Furthermore, the study found that there is a lack of systematic education and support for effective implementation. The perceptions of aides were classified into three types: proactive (type A), pragmatically adaptive (type B), and those emphasizing the specificity of parliamentary records (type C). In particular, the change in perception of aides in types B and C is crucial, considering their pivotal role in parliamentary office record management. In response, this study suggests education and awareness improvement programs for record management, the introduction of an integrated record management system, and the establishment of policy and institutional support as key tasks.

Change of Dendritic Cell Subsets Involved in Protection Against Listeria monocytogenes Infection in Short-Term-Fasted Mice

  • Young-Jun Ju;Kyung-Min Lee;Girak Kim;Yoon-Chul Kye;Han Wool Kim;Hyuk Chu;Byung-Chul Park;Jae-Ho Cho;Pahn-Shick Chang;Seung Hyun Han;Cheol-Heui Yun
    • IMMUNE NETWORK
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    • v.22 no.2
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    • pp.16.1-16.20
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    • 2022
  • The gastrointestinal tract is the first organ directly affected by fasting. However, little is known about how fasting influences the intestinal immune system. Intestinal dendritic cells (DCs) capture antigens, migrate to secondary lymphoid organs, and provoke adaptive immune responses. We evaluated the changes of intestinal DCs in mice with short-term fasting and their effects on protective immunity against Listeria monocytogenes (LM). Fasting induced an increased number of CD103+CD11b- DCs in both small intestinal lamina propria (SILP) and mesenteric lymph nodes (mLN). The SILP CD103+CD11b- DCs showed proliferation and migration, coincident with increased levels of GM-CSF and C-C chemokine receptor type 7, respectively. At 24 h post-infection with LM, there was a significant reduction in the bacterial burden in the spleen, liver, and mLN of the short-term-fasted mice compared to those fed ad libitum. Also, short-term-fasted mice showed increased survival after LM infection compared with ad libitum-fed mice. It could be that significantly high TGF-β2 and Aldh1a2 expression in CD103+CD11b- DCs in mice infected with LM might affect to increase of Foxp3+ regulatory T cells. Changes of major subset of DCs from CD103+ to CD103- may induce the increase of IFN-γ-producing cells with forming Th1-biased environment. Therefore, the short-term fasting affects protection against LM infection by changing major subset of intestinal DCs from tolerogenic to Th1 immunogenic.

Development of Five Finger type Myoelectric Hand Prosthesis for State Transition-Based Multi-Hand Gestures change (다중 손동작 변환을 위한 상태 전이 기반 5손가락 근전전동의수 개발)

  • Seung-Gi Kim;Sung-Yoon Jung;Beom-ki Hong;Hyun-Jun Shin;Kyoung-Ho Kim;Se-Hoon Park
    • Journal of the Institute of Convergence Signal Processing
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    • v.25 no.2
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    • pp.67-76
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    • 2024
  • Various types of assistive devices have been developed for upper limb amputees over the years, with myoelectric prosthesis particularly aimed at improving user convenience by enabling a range of hand gestures beyond simple grasping, tailored to the size and shape of objects. In this study, we developed a five-finger myoelectric prosthesis mimicking human hand size and finger movements, utilizing motor and worm gear mechanisms for stable and independent operation. Based on this, we designed a control system for independent finger control through electromyographic signal input, proposed a state transition-based hand gesture conversion algorithm by selecting representative eight hand gestures and defining conversion condition parameters. We introduced training and usability evaluation methods, and conducted usability assessments among upper limb amputees using dedicated tools, confirming the potential for commercial application of the algorithm and observing adaptive capabilities and high performance through iterative evaluations.

Accelerometer-based Gesture Recognition for Robot Interface (로봇 인터페이스 활용을 위한 가속도 센서 기반 제스처 인식)

  • Jang, Min-Su;Cho, Yong-Suk;Kim, Jae-Hong;Sohn, Joo-Chan
    • Journal of Intelligence and Information Systems
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    • v.17 no.1
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    • pp.53-69
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    • 2011
  • Vision and voice-based technologies are commonly utilized for human-robot interaction. But it is widely recognized that the performance of vision and voice-based interaction systems is deteriorated by a large margin in the real-world situations due to environmental and user variances. Human users need to be very cooperative to get reasonable performance, which significantly limits the usability of the vision and voice-based human-robot interaction technologies. As a result, touch screens are still the major medium of human-robot interaction for the real-world applications. To empower the usability of robots for various services, alternative interaction technologies should be developed to complement the problems of vision and voice-based technologies. In this paper, we propose the use of accelerometer-based gesture interface as one of the alternative technologies, because accelerometers are effective in detecting the movements of human body, while their performance is not limited by environmental contexts such as lighting conditions or camera's field-of-view. Moreover, accelerometers are widely available nowadays in many mobile devices. We tackle the problem of classifying acceleration signal patterns of 26 English alphabets, which is one of the essential repertoires for the realization of education services based on robots. Recognizing 26 English handwriting patterns based on accelerometers is a very difficult task to take over because of its large scale of pattern classes and the complexity of each pattern. The most difficult problem that has been undertaken which is similar to our problem was recognizing acceleration signal patterns of 10 handwritten digits. Most previous studies dealt with pattern sets of 8~10 simple and easily distinguishable gestures that are useful for controlling home appliances, computer applications, robots etc. Good features are essential for the success of pattern recognition. To promote the discriminative power upon complex English alphabet patterns, we extracted 'motion trajectories' out of input acceleration signal and used them as the main feature. Investigative experiments showed that classifiers based on trajectory performed 3%~5% better than those with raw features e.g. acceleration signal itself or statistical figures. To minimize the distortion of trajectories, we applied a simple but effective set of smoothing filters and band-pass filters. It is well known that acceleration patterns for the same gesture is very different among different performers. To tackle the problem, online incremental learning is applied for our system to make it adaptive to the users' distinctive motion properties. Our system is based on instance-based learning (IBL) where each training sample is memorized as a reference pattern. Brute-force incremental learning in IBL continuously accumulates reference patterns, which is a problem because it not only slows down the classification but also downgrades the recall performance. Regarding the latter phenomenon, we observed a tendency that as the number of reference patterns grows, some reference patterns contribute more to the false positive classification. Thus, we devised an algorithm for optimizing the reference pattern set based on the positive and negative contribution of each reference pattern. The algorithm is performed periodically to remove reference patterns that have a very low positive contribution or a high negative contribution. Experiments were performed on 6500 gesture patterns collected from 50 adults of 30~50 years old. Each alphabet was performed 5 times per participant using $Nintendo{(R)}$ $Wii^{TM}$ remote. Acceleration signal was sampled in 100hz on 3 axes. Mean recall rate for all the alphabets was 95.48%. Some alphabets recorded very low recall rate and exhibited very high pairwise confusion rate. Major confusion pairs are D(88%) and P(74%), I(81%) and U(75%), N(88%) and W(100%). Though W was recalled perfectly, it contributed much to the false positive classification of N. By comparison with major previous results from VTT (96% for 8 control gestures), CMU (97% for 10 control gestures) and Samsung Electronics(97% for 10 digits and a control gesture), we could find that the performance of our system is superior regarding the number of pattern classes and the complexity of patterns. Using our gesture interaction system, we conducted 2 case studies of robot-based edutainment services. The services were implemented on various robot platforms and mobile devices including $iPhone^{TM}$. The participating children exhibited improved concentration and active reaction on the service with our gesture interface. To prove the effectiveness of our gesture interface, a test was taken by the children after experiencing an English teaching service. The test result showed that those who played with the gesture interface-based robot content marked 10% better score than those with conventional teaching. We conclude that the accelerometer-based gesture interface is a promising technology for flourishing real-world robot-based services and content by complementing the limits of today's conventional interfaces e.g. touch screen, vision and voice.

Bankruptcy Forecasting Model using AdaBoost: A Focus on Construction Companies (적응형 부스팅을 이용한 파산 예측 모형: 건설업을 중심으로)

  • Heo, Junyoung;Yang, Jin Yong
    • Journal of Intelligence and Information Systems
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    • v.20 no.1
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    • pp.35-48
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    • 2014
  • According to the 2013 construction market outlook report, the liquidation of construction companies is expected to continue due to the ongoing residential construction recession. Bankruptcies of construction companies have a greater social impact compared to other industries. However, due to the different nature of the capital structure and debt-to-equity ratio, it is more difficult to forecast construction companies' bankruptcies than that of companies in other industries. The construction industry operates on greater leverage, with high debt-to-equity ratios, and project cash flow focused on the second half. The economic cycle greatly influences construction companies. Therefore, downturns tend to rapidly increase the bankruptcy rates of construction companies. High leverage, coupled with increased bankruptcy rates, could lead to greater burdens on banks providing loans to construction companies. Nevertheless, the bankruptcy prediction model concentrated mainly on financial institutions, with rare construction-specific studies. The bankruptcy prediction model based on corporate finance data has been studied for some time in various ways. However, the model is intended for all companies in general, and it may not be appropriate for forecasting bankruptcies of construction companies, who typically have high liquidity risks. The construction industry is capital-intensive, operates on long timelines with large-scale investment projects, and has comparatively longer payback periods than in other industries. With its unique capital structure, it can be difficult to apply a model used to judge the financial risk of companies in general to those in the construction industry. Diverse studies of bankruptcy forecasting models based on a company's financial statements have been conducted for many years. The subjects of the model, however, were general firms, and the models may not be proper for accurately forecasting companies with disproportionately large liquidity risks, such as construction companies. The construction industry is capital-intensive, requiring significant investments in long-term projects, therefore to realize returns from the investment. The unique capital structure means that the same criteria used for other industries cannot be applied to effectively evaluate financial risk for construction firms. Altman Z-score was first published in 1968, and is commonly used as a bankruptcy forecasting model. It forecasts the likelihood of a company going bankrupt by using a simple formula, classifying the results into three categories, and evaluating the corporate status as dangerous, moderate, or safe. When a company falls into the "dangerous" category, it has a high likelihood of bankruptcy within two years, while those in the "safe" category have a low likelihood of bankruptcy. For companies in the "moderate" category, it is difficult to forecast the risk. Many of the construction firm cases in this study fell in the "moderate" category, which made it difficult to forecast their risk. Along with the development of machine learning using computers, recent studies of corporate bankruptcy forecasting have used this technology. Pattern recognition, a representative application area in machine learning, is applied to forecasting corporate bankruptcy, with patterns analyzed based on a company's financial information, and then judged as to whether the pattern belongs to the bankruptcy risk group or the safe group. The representative machine learning models previously used in bankruptcy forecasting are Artificial Neural Networks, Adaptive Boosting (AdaBoost) and, the Support Vector Machine (SVM). There are also many hybrid studies combining these models. Existing studies using the traditional Z-Score technique or bankruptcy prediction using machine learning focus on companies in non-specific industries. Therefore, the industry-specific characteristics of companies are not considered. In this paper, we confirm that adaptive boosting (AdaBoost) is the most appropriate forecasting model for construction companies by based on company size. We classified construction companies into three groups - large, medium, and small based on the company's capital. We analyzed the predictive ability of AdaBoost for each group of companies. The experimental results showed that AdaBoost has more predictive ability than the other models, especially for the group of large companies with capital of more than 50 billion won.

Behavioural Analysis of Password Authentication and Countermeasure to Phishing Attacks - from User Experience and HCI Perspectives (사용자의 패스워드 인증 행위 분석 및 피싱 공격시 대응방안 - 사용자 경험 및 HCI의 관점에서)

  • Ryu, Hong Ryeol;Hong, Moses;Kwon, Taekyoung
    • Journal of Internet Computing and Services
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    • v.15 no.3
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    • pp.79-90
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    • 2014
  • User authentication based on ID and PW has been widely used. As the Internet has become a growing part of people' lives, input times of ID/PW have been increased for a variety of services. People have already learned enough to perform the authentication procedure and have entered ID/PW while ones are unconscious. This is referred to as the adaptive unconscious, a set of mental processes incoming information and producing judgements and behaviors without our conscious awareness and within a second. Most people have joined up for various websites with a small number of IDs/PWs, because they relied on their memory for managing IDs/PWs. Human memory decays with the passing of time and knowledges in human memory tend to interfere with each other. For that reason, there is the potential for people to enter an invalid ID/PW. Therefore, these characteristics above mentioned regarding of user authentication with ID/PW can lead to human vulnerabilities: people use a few PWs for various websites, manage IDs/PWs depending on their memory, and enter ID/PW unconsciously. Based on the vulnerability of human factors, a variety of information leakage attacks such as phishing and pharming attacks have been increasing exponentially. In the past, information leakage attacks exploited vulnerabilities of hardware, operating system, software and so on. However, most of current attacks tend to exploit the vulnerabilities of the human factors. These attacks based on the vulnerability of the human factor are called social-engineering attacks. Recently, malicious social-engineering technique such as phishing and pharming attacks is one of the biggest security problems. Phishing is an attack of attempting to obtain valuable information such as ID/PW and pharming is an attack intended to steal personal data by redirecting a website's traffic to a fraudulent copy of a legitimate website. Screens of fraudulent copies used for both phishing and pharming attacks are almost identical to those of legitimate websites, and even the pharming can include the deceptive URL address. Therefore, without the supports of prevention and detection techniques such as vaccines and reputation system, it is difficult for users to determine intuitively whether the site is the phishing and pharming sites or legitimate site. The previous researches in terms of phishing and pharming attacks have mainly studied on technical solutions. In this paper, we focus on human behaviour when users are confronted by phishing and pharming attacks without knowing them. We conducted an attack experiment in order to find out how many IDs/PWs are leaked from pharming and phishing attack. We firstly configured the experimental settings in the same condition of phishing and pharming attacks and build a phishing site for the experiment. We then recruited 64 voluntary participants and asked them to log in our experimental site. For each participant, we conducted a questionnaire survey with regard to the experiment. Through the attack experiment and survey, we observed whether their password are leaked out when logging in the experimental phishing site, and how many different passwords are leaked among the total number of passwords of each participant. Consequently, we found out that most participants unconsciously logged in the site and the ID/PW management dependent on human memory caused the leakage of multiple passwords. The user should actively utilize repudiation systems and the service provider with online site should support prevention techniques that the user can intuitively determined whether the site is phishing.

A development of DS/CDMA MODEM architecture and its implementation (DS/CDMA 모뎀 구조와 ASIC Chip Set 개발)

  • 김제우;박종현;김석중;심복태;이홍직
    • The Journal of Korean Institute of Communications and Information Sciences
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    • v.22 no.6
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    • pp.1210-1230
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    • 1997
  • In this paper, we suggest an architecture of DS/CDMA tranceiver composed of one pilot channel used as reference and multiple traffic channels. The pilot channel-an unmodulated PN code-is used as the reference signal for synchronization of PN code and data demondulation. The coherent demodulation architecture is also exploited for the reverse link as well as for the forward link. Here are the characteristics of the suggested DS/CDMA system. First, we suggest an interlaced quadrature spreading(IQS) method. In this method, the PN coe for I-phase 1st channel is used for Q-phase 2nd channels and the PN code for Q-phase 1st channel is used for I-phase 2nd channel, and so on-which is quite different from the eisting spreading schemes of DS/CDMA systems, such as IS-95 digital CDMA cellular or W-CDMA for PCS. By doing IQS spreading, we can drastically reduce the zero crossing rate of the RF signals. Second, we introduce an adaptive threshold setting for the synchronization of PN code, an initial acquistion method that uses a single PN code generator and reduces the acquistion time by a half compared the existing ones, and exploit the state machines to reduce the reacquistion time Third, various kinds of functions, such as automatic frequency control(AFC), automatic level control(ALC), bit-error-rate(BER) estimator, and spectral shaping for reducing the adjacent channel interference, are introduced to improve the system performance. Fourth, we designed and implemented the DS/CDMA MODEM to be used for variable transmission rate applications-from 16Kbps to 1.024Mbps. We developed and confirmed the DS/CDMA MODEM architecture through mathematical analysis and various kind of simulations. The ASIC design was done using VHDL coding and synthesis. To cope with several different kinds of applications, we developed transmitter and receiver ASICs separately. While a single transmitter or receiver ASC contains three channels (one for the pilot and the others for the traffic channels), by combining several transmitter ASICs, we can expand the number of channels up to 64. The ASICs are now under use for implementing a line-of-sight (LOS) radio equipment.

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A Study on the Effects of the Institutional Pressure on the Process of Implementation and Appropriation of System: M-EMRS in Hospital Organization (시스템의 도입과 전유 과정에 영향을 미치는 제도적 압력에 관한 연구: 병원조직의 모바일 전자의무기록 시스템을 대상으로)

  • Lee, Zoon-Ky;Shin, Ho-Kyoung;Choi, Hee-Jae
    • Asia pacific journal of information systems
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    • v.19 no.2
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    • pp.95-116
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    • 2009
  • Increasingly the institutional theory has been an important theoretical view of decision making process and IT adoption in many academic researches. This study used the institutional theory as a lens through which we can understand the factors that enable the effective appropriation of advanced information technology. It posits that mimetic, coercive, and normative pressures existing in an institutionalized environment could influence the participation of top managers or decision makers and the involvement of users toward an effective use of IT in their tasks. Since the introduction of IT, organizational members have been using IT in their daily tasks, creating and recreating rules and resources according to their own methods and needs. That is to say, the adaptation process of the IT and outcomes are different among organizations. The previous studies on a diverse use of IT refer to the appropriation of technology from the social technology view. Users appropriate IT through not only technology itself, but also in terms of how they use it or how they make the social practice in their use of it. In this study, the concepts of institutional pressure, appropriation, participation of decision makers, and involvement of users toward the appropriation are explored in the context of the appropriation of the mobile electronic medical record system (M-EMRS) in particularly a hospital setting. Based on the conceptual definition of institutional pressure, participation and involvement, operational measures are reconstructed. Furthermore, the concept of appropriation is measured in the aspect of three sub-constructs-consensus on appropriation, faithful appropriation, and attitude of use. Grounded in the relevant theories to appropriation of IT, we developed a research framework in which the effects of institutional pressure, participation and involvement on the appropriation of IT are analyzed. Within this theoretical framework, we formulated several hypotheses. We developed a second order institutional pressure and appropriation construct. After establishing its validity and reliability, we tested the hypotheses with empirical data from 101 users in 3 hospitals which had adopted and used the M-EMRS. We examined the mediating effect of the participation of decision makers and the involvement of users on the appropriation and empirically validated their relationships. The results show that the mimetic, coercive, and normative institutional pressure has an effect on the participation of decision makers and the involvement of users in the appropriation of IT while the participation of decision makers and the involvement of users have an effect on the appropriation of IT. The results also suggest that the institutional pressure and the participation of decision makers influence the involvement of users toward an appropriation of IT. Our results emphasize the mediating effect of the institutional pressure on the appropriation of IT. Namely, the higher degree of the participation of decision makers and the involvement of users, the more effective appropriation users will represent. These results provide strong support for institutional-based variables as predictors of appropriation. These findings also indicate that organizations should focus on the role of participation of decision makers and the involvement of users for the purpose of effective appropriation, and these are the practical implications of our study. The theoretical contribution of this study is lies in the integrated model of the effect of institutional pressure on the appropriation of IT. The results are consistent with the institutional theory and support previous studies on adaptive structuration theory.

An adaptive digital watermark using the spatial masking (공간 마스킹을 이용한 적응적 디지털 워터 마크)

  • 김현태
    • Journal of the Korea Institute of Information Security & Cryptology
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    • v.9 no.3
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    • pp.39-52
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    • 1999
  • In this paper we propose a new watermarking technique for copyright protection of images. The proposed technique is based on a spatial masking method with a spatial scale parameter. In general it becomes more robust against various attacks but with some degradations on the image quality as the amplitude of the watermark increases. On the other hand it becomes perceptually more invisible but more vulnerable to various attacks as the amplitude of the watermark decreases. Thus it is quite complex to decide the compromise between the robustness of watermark and its visibility. We note that watermarking using the spread spectrum is not robust enought. That is there may be some areas in the image that are tolerable to strong watermark signals. However large smooth areas may not be strong enough. Thus in order to enhance the invisibility of watermarked image for those areas the spatial masking characteristics of the HVS(Human Visual System) should be exploited. That is for texture regions the magnitude of the watermark can be large whereas for those smooth regions the magnitude of the watermark can be small. As a result the proposed watermarking algorithm is intend to satisfy both the robustness of watermark and the quality of the image. The experimental results show that the proposed algorithm is robust to image deformations(such as compression adding noise image scaling clipping and collusion attack).

Evaluation of the Positional Uncertainty of a Liver Tumor using 4-Dimensional Computed Tomography and Gated Orthogonal Kilovolt Setup Images (사차원전산화단층촬영과 호흡연동 직각 Kilovolt 준비 영상을 이용한 간 종양의 움직임 분석)

  • Ju, Sang-Gyu;Hong, Chae-Seon;Park, Hee-Chul;Ahn, Jong-Ho;Shin, Eun-Hyuk;Shin, Jung-Suk;Kim, Jin-Sung;Han, Young-Yih;Lim, Do-Hoon;Choi, Doo-Ho
    • Radiation Oncology Journal
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    • v.28 no.3
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    • pp.155-165
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    • 2010
  • Purpose: In order to evaluate the positional uncertainty of internal organs during radiation therapy for treatment of liver cancer, we measured differences in inter- and intra-fractional variation of the tumor position and tidal amplitude using 4-dimentional computed radiograph (DCT) images and gated orthogonal setup kilovolt (KV) images taken on every treatment using the on board imaging (OBI) and real time position management (RPM) system. Materials and Methods: Twenty consecutive patients who underwent 3-dimensional (3D) conformal radiation therapy for treatment of liver cancer participated in this study. All patients received a 4DCT simulation with an RT16 scanner and an RPM system. Lipiodol, which was updated near the target volume after transarterial chemoembolization or diaphragm was chosen as a surrogate for the evaluation of the position difference of internal organs. Two reference orthogonal (anterior and lateral) digital reconstructed radiograph (DRR) images were generated using CT image sets of 0% and 50% into the respiratory phases. The maximum tidal amplitude of the surrogate was measured from 3D conformal treatment planning. After setting the patient up with laser markings on the skin, orthogonal gated setup images at 50% into the respiratory phase were acquired at each treatment session with OBI and registered on reference DRR images by setting each beam center. Online inter-fractional variation was determined with the surrogate. After adjusting the patient setup error, orthogonal setup images at 0% and 50% into the respiratory phases were obtained and tidal amplitude of the surrogate was measured. Measured tidal amplitude was compared with data from 4DCT. For evaluation of intra-fractional variation, an orthogonal gated setup image at 50% into the respiratory phase was promptly acquired after treatment and compared with the same image taken just before treatment. In addition, a statistical analysis for the quantitative evaluation was performed. Results: Medians of inter-fractional variation for twenty patients were 0.00 cm (range, -0.50 to 0.90 cm), 0.00 cm (range, -2.40 to 1.60 cm), and 0.00 cm (range, -1.10 to 0.50 cm) in the X (transaxial), Y (superior-inferior), and Z (anterior-posterior) directions, respectively. Significant inter-fractional variations over 0.5 cm were observed in four patients. Min addition, the median tidal amplitude differences between 4DCTs and the gated orthogonal setup images were -0.05 cm (range, -0.83 to 0.60 cm), -0.15 cm (range, -2.58 to 1.18 cm), and -0.02 cm (range, -1.37 to 0.59 cm) in the X, Y, and Z directions, respectively. Large differences of over 1 cm were detected in 3 patients in the Y direction, while differences of more than 0.5 but less than 1 cm were observed in 5 patients in Y and Z directions. Median intra-fractional variation was 0.00 cm (range, -0.30 to 0.40 cm), -0.03 cm (range, -1.14 to 0.50 cm), 0.05 cm (range, -0.30 to 0.50 cm) in the X, Y, and Z directions, respectively. Significant intra-fractional variation of over 1 cm was observed in 2 patients in Y direction. Conclusion: Gated setup images provided a clear image quality for the detection of organ motion without a motion artifact. Significant intra- and inter-fractional variation and tidal amplitude differences between 4DCT and gated setup images were detected in some patients during the radiation treatment period, and therefore, should be considered when setting up the target margin. Monitoring of positional uncertainty and its adaptive feedback system can enhance the accuracy of treatments.