• Imaging Science in Dentistry
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• v.39 no.3
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• pp.133-147
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• 2009

Purpose : To investigate the reproducibilities and compare the measurements in digital and MDCT-synthesized cephalometric radiograph, and to investigate the effect of head position on the measurement during imaging with MDCT. Materials and Methods : Twenty-two dry skulls (combined with mandible) were used in this study. Conventional digital cephalometric radiograph was taken in standard position, and MDCT was taken in standard position and two rotated position ($10^{\circ}$ left rotation and $10^{\circ}$ right tilting). MDCT data were imported in $OnDemand^{(R)}$ and lateral cephalometric radiograph were synthesized from 3D virtual models. Two types of rotated MDCT data were synthesized with default mode and with corrected mode using both ear rods. For all six images, sixteen angular and eleven linear measurements were made in V-$Ceph^{(R)}$ three times. Reproducibility of measurements was assessed using repeated measures ANOV A and ICC. Linear and angular measurements were compared between digital and five MDCT-synthesized images by Student t-test. Results : All measurements in six types of cephalometric radiograph were not statistically different under ICC examination. Measurements were not different between digital and MDCT-synthesized images (P>.05). Measurements in MDCT-synthesized image in $10^{\circ}$ left rotation or $10^{\circ}$ right tilting position showed possibility of difference from digital image in some measurements, and possibility of improvement via realignment of head position using both ear rods. Conclusion : MDCT-synthesized cephalometric radiograph can substitute conventional cephalometric radiograph. The error on head position during imaging with MDCT have possibility that can produce measurement errors with MDCT-synthesized image, and these position error can be corrected by realignment of the head position using both ear rods.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.9
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• pp.723-732
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• 2001

In this paper, the neurofuzzy controller of optically guided AGV is proposed to improve the path-tracking performance A differential steered AGV has front-side and rear-side optical sensors, which can identify the guiding path. Due to the discontinuity of measured data in optical sensors, optically guided AGVs break away easily from the guiding path and path-tracking performance is being degraded. Whenever the On/Off signals in the optical sensors are generated discontinuously, the motion errors can be measured and updated. After sensing, the variation of motion errors can be estimated continuously by the dead reckoning method according to left/right wheel angular velocity. We define the estimated contour error as the sum of the measured contour in the sensing error and the estimated variation of contour error after sensing. The neurofuzzy system consists of incorporating fuzzy controller and neural network. The center and width of fuzzy membership functions are adaptively adjusted by back-propagation learning to minimize th estimated contour error. The proposed control system can be compared with the traditional fuzzy control and decision system in their network structure and learning ability. The proposed control strategy is experience through simulated model to check the performance.

• Journal of the Korean Society of Physical Medicine
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• v.3 no.2
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• pp.63-74
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• 2008

Purpose : The purpose of this study was to compare trunk repositioning errors between subjects with and without low back pain in sitting and standing. Methods : Total 81 participants were recruited who consisted of 41 subjects with low back pain and 40 normal subjects. The subjects were instructed to replicate the predetermined target positions of the trunk toward upright and $30^{\circ}$ flexion in sitting and standing. During each of movement, digital inclinometer was used to measure the angular movement of $T_{12}$ spinal process. Repositioning error was calculated as the absolute difference between the predetermined target positions and replicated target positions. Results : In subjects with low back pain, upright repositioning error was $1.26^{\circ}{\pm}0.14^{\circ}$ in sitting and $1.55^{\circ}{\pm}0.24^{\circ}$ in standing, and $30^{\circ}$ flexion repositioning error was $3.23^{\circ}{\pm}0.33^{\circ}$ in sitting and $5.50^{\circ}{\pm}0.50^{\circ}$ in standing. In subjects without low back pain, upright repositioning error was $1.38^{\circ}{\pm}0.15^{\circ}$ in sitting and $1.67^{\circ}{\pm}0.18^{\circ}$ in standing, and flexion repositioning error was $2.61^{\circ}{\pm}0.28^{\circ}$ in sitting and $3.70^{\circ}{\pm}0.52^{\circ}$ in standing. It was demonstrated that flexion repositioning error increased significantly in standing position. In subjects with low back pain, $30^{\circ}$ flexion repositioning error was significantly higher in standing than in sitting. Conclusion : The repositioning error of subjects with low back pain increased during flexion and it implies that some aspects of proprioception are decreased in subjects with low back pain. Therefore, it will be emphasis that a clinical trial to increase the trunk flexion stability of subjects with low back pain in standing.

• Korean Journal of Applied Biomechanics
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• v.21 no.4
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• pp.495-501
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• 2011

The purpose of this study was to develop the inertial sensor module system to detect gait event using single angular rate sensor(gyroscope), and evaluate the accuracy of this system. This sensor module is attached at the heel and gait events such as heel strike, foot flat, heel off, toe off are detected by using proposed automatic event detection algorithm. The developed algorithm detect characteristics of pitch data of the gyroscope to find gait event. To evaluate the accuracy of system, 3D motion capture system was used and synchronized with sensor module system for comparison of gait event timings. In experiment, 6 subjects performed 5 trials level walking with 3 different conditions such as slow, preferred and fast. Results showed that gait event timings by sensor module system are similar to that by kinematic data, because maximum absolute errors were under 37.4msec regardless of gait velocity. Therefore, this system can be used to detect gait events. Although this system has advantages of small, light weight, long-term monitoring and high accuracy, it is necessary to improve the system to get other gait information such as gait velocity, stride length, step width and joint angles.

• Publications of The Korean Astronomical Society
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• v.32 no.1
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• pp.359-361
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• 2017

We report our research on aluminum mirror optics for future infrared astronomical satellites. For space infrared missions, cooling the whole instrument is crucial to suppress the infrared background and detector noise. In this aspect, aluminum is appropriate for cryogenic optics, because the same material can be used for the whole structure of the instrument including optical components thanks to its excellent machinability, which helps to mitigate optical misalignment at low temperatures. We have fabricated aluminum mirrors with ultra-precision machining and measured the wave front errors (WFEs) of the mirrors with a Fizeau interferometer. Based on the power spectral densities of the WFEs, we confirmed that the surface accuracy of all the mirrors satisfied the requirements for the SPICA Coronagraph Instrument. We then integrated the mirrors into an optical system, and examined the image quality of the system with an optical laser. As a result, the total WFE is estimated to be 33 nm (rms) from the Strehl ratio. This is consistent with the WFEs estimated from the measurement of the individual mirrors.

• Journal of Advanced Navigation Technology
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• v.18 no.2
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• pp.134-141
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• 2014

Mobile robots use various sensors for navigation such as wheel encoder, vision sensor, sonar, and laser sensors. Dead reckoning is used with wheel encoder, resulting in the accumulation of positioning errors. For that reason wheel encoder can not be used alone. Too much information of vision sensors leads to an increase in the number of features and complexity of perception scheme. Also Sonar sensor is not suitable for positioning because of its poor accuracy. On the other hand, laser sensor provides accurate distance information relatively. In this paper we propose to extract the angular information from the distance information of laser range finder and use the Kalman filter that match the heading and distance of the laser range finder and those of wheel encoder. For laser scanner with one feature point error may increase much when the feature point is variant or jumping to a new feature point. To solve the problem, we propose to use two feature points and show that the positioning error can be reduced much.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.41 no.2
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• pp.98-106
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• 2013

This paper proposes fault tolerant control laws using sliding mode control and adaptation laws for a satellite with reaction wheel faults. Considering system parameter errors and faults uncertainties in the dynamics of satellite, the control laws were designed. It was assumed that only reaction wheel failures occurred as faults. The reaction wheel faults were reflected in the multiply form. Because the proposed control laws satisfy the Lyapunov stability theorem, the stability is guaranteed. Through computer simulation, it was assured that the proposed adaptive sliding mode controller has a better performance than the existing sliding mode controller under unstable angular rates.

• The Bulletin of The Korean Astronomical Society
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• v.42 no.1
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• pp.46.2-46.2
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• 2017

Atmospheric propagation effects at millimeter wavelengths can significantly alter the phases of radio signals and reduce the coherence time, putting tight constraints on high frequency Very Long Baseline Interferometry (VLBI) observations. In previous works it has been shown that non-dispersive (e.g. tropospheric) effects can be calibrated with the frequency phase transfer (FPT) technique. The coherence time can thus be significantly extended. Ionospheric effects, which can still be significant, remain however uncalibrated after FPT, as well as the instrumental effects. In this work, we implement a further phase transfer between two FPT residuals (i.e. so-called FPT2) to calibrate the ionospheric effects based on their frequency dependence. We show that after FPT2, the coherence time at 3 mm can be further extended beyond 8 hours, and the residual phase errors can be sufficiently canceled by applying the calibration of another source, which can have a large angular separation from the target (> $20{\circ}$). Calibrations for all-sky distributed sources with a few calibrators are also possible after FPT2. One of the strengths and uniqueness of this calibration strategy is the suitability for high frequency all-sky survey observations including very weak sources. We discuss the introduction of a pulse calibration system in the future to calibrate the remaining instrumental effects and allowing the possibility of imaging the source structure at high frequencies with FPT2, where all phases are fully calibrated without involving any sources other than the target itself.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.6
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• pp.569-575
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• 2013

This paper proposes a method for PDR (Pedestrian Dead-Reckoning) using a low cost IMU. Generally, GPS has been widely used for localization of pedestrians. However, GPS is disabled in the indoor environment such as in buildings. To solve this problem, this research suggests the PDR scheme with an IMU attached to the pedestrian's waist. However, despite the fact many methods have been proposed to estimate the pedestrian's position, but their results are not sufficient. One of the most important factors to improve performance is, a new calibration method that has been proposed to obtain the reliable sensor data. In addition to this calibration, the PDR method is also proposed to detect steps, where estimation schemes of step length, attitude, and heading angles are developed. Peak and zero crossings are detected to count the steps from 3-axis acceleration values. For the estimation of step length, a nonlinear step model is adopted to take advantage of using one parameter. Complementary filter and zero angular velocity are utilized to estimate the attitude of the IMU module and to minimize the heading angle drift. To verify the effectiveness of this scheme, a real-time system is implemented and demonstrated. Experimental results show an accuracy of below 1% and below 3% in distance and position errors, respectively, which can be achievable using a high cost IMU.

• Journal of the HCI Society of Korea
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• v.5 no.2
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• pp.1-6
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• 2010

In this research, we designed the head mouse system for disabled and gamers, a mouse controller which can be controlled by head movements and eye blinks only, and compared its performance with other regular mouse controller systems. The head mouse was moved by a gyro-sensor, which can measure an angular rotation of a head movement, and the eye blink was used as a clicking event of the mouse system. Accumulated errors caused by integral, which was a problem that previous head mouse system had, were removed periodically, and treated as dead zones in the non-linear relative point graph, and direct mouse point control was possible using its moving distance and acceleration calculation. We used the active light sources to minimize the influence of the ambient light changes, so that the head mouse was not affected by the change in external light source. In a comparison between the head mouse and the gazing tracking mouse (Quick Glance), the above method resulted about 21% higher score on the clicking event experiment called "20 clicks", about 25% higher on the dasher experiment, and about 37% higher on on-screen keyboard test respectively, which concludes that the proposed head mouse has better performance than the standard mouse system.