• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.533-535
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• 2006

Cleaning robot that is selling in present city has various cleaning algorithm. However, error of most products happens on progress direction by small obstacle that do not properly and miss cleaning thereby happens. There is robot that correct own position, but is hard to use in general home because economical strain is very big because is high price product very. In this paper measures angular velocity of robot using deviation sensor, and do to correct error using turning angular velocity and vertical angular velocity. Because detailed cleaning such as high pice style is available without addition of expensive hardware in middle and low price style cleaning product thereby, can possess price competitive power.

• The Journal of Advanced Prosthodontics
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• v.8 no.3
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• pp.207-213
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• 2016

PURPOSE. A recently introduced direct drill-guiding implant surgery system features minimal tolerance of surgical instruments in the metal sleeve by using shank-modified drills and a sleeve-incorporated stereolithographic guide template. The purpose of this study was to evaluate the accuracy of this new guided surgery system in partially edentulous patients using geometric analyses. MATERIALS AND METHODS. For the study, 21 implants were placed in 11 consecutive patients using the direct drill-guiding implant surgery system. The stereolithographic surgical guide was fabricated using cone-beam computed tomography, digital scanning, computer-aided design and computer-assisted manufacturing, and additive manufacturing processes. After surgery, the positional and angular deviations between planned and placed implants were measured at the abutment level using implant-planning software. The Kruskal-Wallis test and Mann-Whitney U test were used to compare the deviations (${\alpha}=.05$). RESULTS. The mean horizontal deviations were 0.593 mm (SD 0.238) mesiodistally and 0.691 mm (SD 0.344) buccolingually. The mean vertical deviation was 0.925 mm (SD 0.376) occlusogingivally. The vertical deviation was significantly larger than the horizontal deviation (P=.018). The mean angular deviation was 2.024 degrees (SD 0.942) mesiodistally and 2.390 degrees (SD 1.142) buccolingually. CONCLUSION. The direct drill-guiding implant surgery system demonstrates high accuracy in placing implants. Use of the drill shank as the guiding component is an effective way for reducing tolerance.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.1
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• pp.261-268
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• 2013

In this paper, we propose the algorithm that improves the linearity of the walking assistant robot on lateral slopes. The walking assistant robot goes out of the course due to the rotational moment which is caused by the weight of the robot and the slope. To compensate this, we give the weight to each driving axle after comparing the real rotational angular velocity with the target rotational angular velocity which is entered by an user. The results of applying the algorithm to the real walking assistant robot show that the yaw axis deviation of the robot without the algorithm diverges, but the yaw axis deviation of the robot with the algorithm lies within 20cm, which can be recognized as stable. In addition, the changing rate of the course deviation is stabilized and shows no more course deviation, after moving 300cm.

• Journal of Dental Rehabilitation and Applied Science
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• v.27 no.2
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• pp.175-184
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• 2011

With a development of implant restoration technique, there are increasing use of computer-guided system for edentulous patients. It was carried out simulated operation based on CT information about patient's bone quantity, quality and anatomical landmark. However, there are some difference between the programmed implant and post-operative implant about it's position. If the deviation was severe, it could happen a failure of 'passive fit' and not suited for path of implant restoration. The aim of this presentation is to evaluate about a degree of deviations between programmed implant and post-operative implant. Five patients treated by 'NobelGuide' system (Nobel Biocare AB, G$\ddot{o}$teborg, Sweden) in Department of Prosthodontics, Inha University were included in this study. The patients were performed CT radiograph taking and intra-oral impression taking at pre-operation. Based on CT images and study model, surgical stent was produced by NobelBiocareTM. To fabricated a pre-operative study model, after connected lab analog to surgical template, accomplished a pre-operative model using type 4 dental stone. At final impression, a post-operative study model was fabricated in the conventional procedures. Each study model was performed CT radiograph taking. Based on CT images, each implant was simulated in three dimensional position using $Procera^{(R)}$ software (Procera Software Clinical Design Premium, version 1.5; Nobel Biocare AB). In 3D simulated model, length and angulation between each implant of both pre- and post-operative implants were measured and recorded about linear and angular deviation between pre-and post-operative implants. A total of 24 implants were included in this study and 58 inter-implant sites between each implant were measured about linear and angular deviations. In the linear deviation a mean deviation of 0.41 mm (range 0~1.7 mm) was reported. In the angular deviation, a mean deviation was $1.99^{\circ}$ (range $0^{\circ}{\sim}6.7^{\circ}$). It appears that the both linear and angular mean deviation value were well acceptable to application of computer-guided implant system.

• Journal of the Korea Society of Computer and Information
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• v.11 no.3
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• pp.167-172
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• 2006

An image retrieval system retrieves and offers same of similar image based on various features of image. This paper present a brand image retrieval system based on color and shape of image. We use the image for a color information by dividing into the area and extracting the area color distribution histogram. We use for the shape information by preprocessing of the boundary extraction, the centroid extraction, angular sampling etc. and calculating of the sum of the distance from the centroid to the boundary, the standard deviation, and the rate of long axis to short axis. We accomplish the retrieval through a similarity measurement by using the color and shape information which is extracted in this way.

• Korean Journal of Computational Design and Engineering
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• v.13 no.1
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• pp.1-7
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• 2008

Data compression becomes increasingly an important issue for reducing data storage spaces as well as transmis-sion time in network environments. In 3D geometric models, the normal vectors of faces or meshes take a major portion of the data so that the compression of the vectors, which involves the trade off between the distortion of the images and compression ratios, plays a key role in reducing the size of the models. So, raising the compression ratio when the normal vector is compressed and minimizing the visual distortion of shape model's shading after compression are important. According to the recent papers, normal vector compression is useful to heighten com-pression ratio and to improve memory efficiency. But, the study about distortion of shading when the normal vector is compressed is rare relatively. In this paper, new normal vector compression method which is clustering normal vectors and assigning Representative Normal Vector (RNV) to each cluster and using the angular deviation from actual normal vector is proposed. And, using this new method, Visually Undistinguishable Lossy Compression (VULC) algorithm which distortion of shape model's shading by angular deviation of normal vector cannot be identified visually has been developed. And, being applied to the complicated shape models, this algorithm gave a good effectiveness.

• Journal of the Korean Association of Oral and Maxillofacial Surgeons
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• v.33 no.6
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• pp.643-647
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• 2007

Purpose: The purpose of study was to investigate the correlationship between lip canting change and occlusal canting change after bimaxillary orthognathic surgery, and the ratio of lip canting change and occlusal canting change after the surgery. Patients and methods: The subjects for this study was obtained from a group of 25 patients who took bimaxillary orthognathic surgery for occlusal canting correction at the Department of the Oral and Maxillofacial Surgery, Samsung Medical Center in Seoul, Korea between January 2000 and December 2005 and a patient's chart had to contain a resting frontal facial photograph in natural head position and a corresponding PA cephalogram in occlusion on the same day before the surgery and post-op 6 months later. The lip canting change was assessed with the angle each labial commissure and the bipupilary reference line. And, the occlusal caning change in the frontal plane was assessed with the angle between the each maxillary first molar occulasal surface and the bi-frontozygomatic suture reference line. Results: In angular measurement, average occlusal canting change was $3.09^{\circ}$ and standard deviation was $1.05^{\circ}$, average lip canting change was $1.56^{\circ}$ and standard deviation was $1.05^{\circ}$. In linear measurement, average occlusal canting change was 2.41mm and standard deviation was 2.75mm, average lip canting change was 1.18mm and standard deviation was 0.43mm. Lip canting correction ration to occlusal canting correction was 51.5(${\pm}8.4$)% in angular measurement and 48.8(${\pm}9.1$)% in linear measurement. Under Pearson's correlation analysis, Pearson's correlation coefficient was 0.869 in angular measurement and 0.887 in linear measurement(p-value < 0.01). High correlationship was shown between occlusal canting change and lip canting change. Conclusion: First, Bimaxillary orthognathic surgery can correct lip canting as well as occlusal canting. Second, The average amount of lip canting correction is $51.5{\pm}8.4%,\;48.8{\pm}9.1%$ of occlusal canting correction in the study.

• Journal of the Korean Association of Oral and Maxillofacial Surgeons
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• v.29 no.3
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• pp.173-181
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• 2003

Purpose : This study was intended to evaluate the positional relationship between the hyoid bone and the mandible in patients with mandibular protrusion after mandibular set-back surgery by means of 3D-CT. Materials and methods : Preoperative(3 weeks before) and postoperative (6 weeks after) 3D-CT & cephalogram were taken on 32 patients(12 male, 20 female, mean age of 23.2) treated by bilateral sagittal split osteotomy with rigid fixation. The angular measurement on 3D-CT basilar view were deviation of Me & H, long axis angle of left & right cornu majus. The lineal measurement on 3D-CT basilar view were composed of intercondylar line and coordinates(x,y) of Me & H. The angular & lineal measurement of lateral cephalogram were composed of mandibular plane angle, SNA, SNB, ANB, FH-NA & FH-NB, and coordinates(x,y) of B, Pog, Me & H, PAS, Lpw, MPH and IAS. On the frontal cephalogram, deviation of Me were evaluated. Results : The mean mandibular set-back was 8.0mm horizontally and mandibular plane angle was slightly increased. The hyoid bone was displaced postero-inferiorly, the distance between MP(mandibular plane) and H(hyoid bone) was increased and the posterior airway space values (PAS, Lpw, IAS) were decreased. The coordinates Me(x,y), H(x,y) and deviation angle Me'& H' were revealed the strong positive correlation. Conclusion : The results revealed that the horizontal, vertical and transverse relationship of the mandibular and the hyoid bone movements were significantly correlated in patients performed mandibular set-back surgery.

• The Journal of Korean Academy of Prosthodontics
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• v.50 no.4
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• pp.271-278
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• 2012

Purpose: Recently implant surgical guides were used for accurate and atraumatic operation. In this study, the accuracy of two different types of surgical guides, positioning device fabricated and stereolithography fabricated surgical guides, were evaluated in four different types of tooth loss models. Materials and methods: Surgical guides were fabricated with stereolithography and positioning device respectively. Implants were placed on 40 models using the two different types of surgical guides. The fitness of the surgical guides was evaluated by measuring the gap between the surgical guide and the model. The accuracy of surgical guide was evaluated on a pre- and post-surgical CT image fusion. Results: The gap between the surgical guide and the model was $1.4{\pm}0.3mm$ and $0.4{\pm}0.3mm$ for the stereolithography and positioning device surgical guide, respectively. The stereolithography showed mesiodistal angular deviation of $3.9{\pm}1.6^{\circ}$, buccolingual angular deviation of $2.7{\pm}1.5^{\circ}$ and vertical deviation of $1.9{\pm}0.9mm$, whereas the positioning device showed mesiodistal angular deviation of $0.7{\pm}0.3^{\circ}$, buccolingual angular deviation of $0.3{\pm}0.2^{\circ}$ and vertical deviation of $0.4{\pm}0.2mm$. The differences were statistically significant between the two groups (P<.05). Conclusion: The laboratory fabricated surgical guides using a positioning device allow implant placement more accurately than the stereolithography surgical guides in dental clinic.

• Journal of Korean Academy of Oral and Maxillofacial Radiology
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• v.29 no.2
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• pp.417-422
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• 1999

Purpose : The aim of this study was to assess the validity of standard deviation of gray scale histogram in digital subtraction radiography as a test parameter for superimposition error. Materials and Methods : Twenty periapical radiographs were used as baseline images and they were copied to exclude the influence of exposure geomety and contrast differences. These subsequent images were linearly displaced by 0.1-0.5 mm in the x-. y- and xy-directions, rotated by 0.5-3° and distorted by angular contraction of 1-5° in x- and y-axis before subtraction. The standard deviations of gray levels in the subtraction images were obtained and paired t-tests were performed. Pearson correlation coefficients(r) were calculated between the standard deviations and the superimposition errors. Results : Linear displacement showed high correlation coefficients of 0.997, 0.997 and 0.995 in x-. y- and xy-axis respectively. Statistically significant different standard deviation existed among all linearly displaced groups(p<0.05). Distortion showed relatively low correlation coefficients of 0.982 and 0.959 in x- and y-axis. The standard deviations between the two distortion groups were statistically significant different(p<0.05). Conclusion : Standard deviation of gray level distribution in digital subtraction images is satisfactory but not perfect similarity measure to assess the superimposition errors.