• Nuclear Engineering and Technology
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• 제38권3호
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• pp.239-250
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• 2006

Computational anthropomorphic phantoms are computer models of human anatomy used in the calculation of radiation dose distribution in the human body upon exposure to a radiation source. Depending on the manner to represent human anatomy, they are categorized into two classes: stylized and tomographic phantoms. Stylized phantoms, which have mainly been developed at the Oak Ridge National Laboratory (ORNL), describe human anatomy by using simple mathematical equations of analytical geometry. Several improved stylized phantoms such as male and female adults, pediatric series, and enhanced organ models have been developed following the first hermaphrodite adult stylized phantom, Medical Internal Radiation Dose (MIRD)-5 phantom. Although stylized phantoms have significantly contributed to dosimetry calculation, they provide only approximations of the true anatomical features of the human body and the resulting organ dose distribution. An alternative class of computational phantom, the tomographic phantom, is based upon three-dimensional imaging techniques such as magnetic resonance (MR) imaging and computed tomography (CT). The tomographic phantoms represent the human anatomy with a large number of voxels that are assigned tissue type and organ identity. To date, a total of around 30 tomographic phantoms including male and female adults, pediatric phantoms, and even a pregnant female, have been developed and utilized for realistic radiation dosimetry calculation. They are based on MRI/CT images or sectional color photos from patients, volunteers or cadavers. Several investigators have compared tomographic phantoms with stylized phantoms, and demonstrated the superiority of tomographic phantoms in terms of realistic anatomy and dosimetry calculation. This paper summarizes the history and current status of both stylized and tomographic phantoms, including Korean computational phantoms. Advantages, limitations, and future prospects are also discussed.

• 한국의학물리학회지:의학물리
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• 제25권1호
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• pp.23-30
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• 2014

방사선치료에서는 환자 체내에 전달된 선량이 원래 의도한 데로 분포되는 지 확인하기 위하여 균질한 팬텀을 이용한 정도 관리를 치료 전에 주로 시행하고 있다. 하지만 균질한 팬텀을 이용한 정도 관리는 표면이 불규칙적이고 불균질한 인체에 대한 선량분포를 완전히 보증해 주지는 못하고 있다. 본 연구에서는 환자를 투과하는 선량의 분포를 측정하여 역으로 환자체내 선량 분포를 계산하는 투과선량 기반 체내선량 검증프로그램을 개발하였다. 투과선량은 주방사선과 산란방사선으로 이루어져 있는데, 본 연구에서는 전자포탈영상장치로 측정한 선량분포로부터 주방사선만을 이용한 간단한 식으로 환자체내선량분포를 계산하는 프로그램과 감마값 분포를 평가하여 두 선량분포를 서로 비교할 수 있는 프로그램을 개발하였다. 개발된 프로그램을 이용하여 계산한 팬텀의 등중심점을 지나는 관상면의 체내선량 분포는 치료계획시스템에서 제공하는 동일 평면의 선량분포와의 비교결과 균질팬텀에서 평균 95%, 비균질팬텀에서 81.8%의 감마통과율을 보였다.

• 대한방사선기술학회지:방사선기술과학
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• 제32권3호
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• pp.307-312
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• 2009

CT 검사에서 수정체 차폐용 비스무트(bismuth)를 사용하여 수정체 선량의 감소효과를 유리선량계로 측정하여 비스무트 차폐효과 및 영상을 평가하였다. 안구 및 두부 CT 검사에서 차폐용 비스무트를 사용하여 수정체 선량의 감소와 차폐 효과를 평가하기 위해 인체모형 팬텀으로 유리선량계를 이용하여 수정체 선량을 평가하였다. 유리선량계를 이용하여 비스무트를 사용하기 전의 평균 선량은 21.54 mGy이었고, 사용 후의 선량은 10.46 mGy로 51.3%의 선량 감소효과가 있다. 차폐용 비스무트를 사용한 안구 64 MDCT 촬영에서 선량감소 효과가 있어 수정체를 포함한 안구 CT 스캔에서는 비스무트를 사용하여 검사하도록 권고한다.

• Imaging Science in Dentistry
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• 제48권2호
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• pp.111-119
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• 2018

Purpose: This study was conducted to evaluate the accuracy of linear measurements of 3-dimensional (3D) images generated by cone-beam computed tomography (CBCT) and facial scanning systems, and to assess the effect of scanning parameters, such as CBCT exposure settings, on image quality. Materials and Methods: CBCT and facial scanning images of an anthropomorphic phantom showing 13 soft-tissue anatomical landmarks were used in the study. The distances between the anatomical landmarks on the phantom were measured to obtain a reference for evaluating the accuracy of the 3D facial soft-tissue images. The distances between the 3D image landmarks were measured using a 3D distance measurement tool. The effect of scanning parameters on CBCT image quality was evaluated by visually comparing images acquired under different exposure conditions, but at a constant threshold. Results: Comparison of the repeated direct phantom and image-based measurements revealed good reproducibility. There were no significant differences between the direct phantom and image-based measurements of the CBCT surface volume-rendered images. Five of the 15 measurements of the 3D facial scans were found to be significantly different from their corresponding direct phantom measurements(P<.05). The quality of the CBCT surface volume-rendered images acquired at a constant threshold varied across different exposure conditions. Conclusion: These results proved that existing 3D imaging techniques were satisfactorily accurate for clinical applications, and that optimizing the variables that affected image quality, such as the exposure parameters, was critical for image acquisition.

• Journal of Radiation Protection and Research
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• 제40권1호
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• pp.17-24
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• 2015

To improve accuracy of dose calculation on kilovoltage cone beam computed tomography (kV CBCT) images, a custom-made phantom was fabricated to acquire an accurate CT number to electron density curve by full scatter of cone beam x-ray. To evaluate the dosimetric accuracy, 9 volumetric modulated arc therapy (VMAT) plans for head and neck (HN) cancer and 9 VMAT plans for lung cancer were generated with an anthropomorphic phantom. Both CT and CBCT images of the anthropomorphic phantom were acquired and dose-volumetric parameters on the CT images with CT density curve (CTCT), CBCT images with CT density curve ($CBCT_{CT}$) and CBCT images with CBCT density curve ($CBCT_{CBCT}$) were calculated for each VMAT plan. The differences between $CT_{CT}$ vs. $CBCT_{CT}$ were similar to those between $CT_{CT}$ vs. $CBCT_{CBCT}$ for HN VMAT plans. However, the differences between $CT_{CT}$ vs. $CBCT_{CT}$ were larger than those between $CT_{CT}$ vs. $CBCT_{CBCT}$ for lung VMAT plans. Especially, the differences in $D_{98%}$ and $D_{95%}$ of lung target volume were statistically significant (4.7% vs. 0.8% with p = 0.033 for $D_{98%}$ and 4.8% vs. 0.5% with p = 0.030 for $D_{95%}$). In order to calculate dose distributions accurately on the CBCT images, CBCT density curve generated with full scatter condition should be used especially for dose calculations in the region of large inhomogeneity.

• Imaging Science in Dentistry
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• 제48권1호
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• pp.21-30
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• 2018

Purpose: To calculate the effective doses of cone-beam computed tomography (CBCT) using personal computer-based Monte Carlo (PCXMC) software (Radiation and Nuclear Safety Authority, Helsinki, Finland) and to compare the calculated effective doses with those measured using thermoluminescent dosimeters (TLDs) and an anthropomorphic phantom. Materials and Methods: An Alphard VEGA CBCT scanner (Asahi Roentgen Ind. Co., Kyoto, Japan) with multiple fields of view (FOVs) was used for this study. The effective doses of the scout and main projections of CBCT using 1 large and 2 medium FOVs with a height >10 cm were calculated using PCXMC and PCXMCRotation software and then were compared with the doses obtained using TLD-100 LiF and an anthropomorphic adult human male phantom. Furthermore, it was described how to determine the reference points on the Y- and Z-axes in PCXMC, the important dose-determining factors in this software. Results: The effective doses at CBCT for 1 large ($20.0cm{\times}17.9cm$) and 2 medium FOVs ($15.4cm{\times}15.4cm$ and $10.2cm{\times}10.2cm$) calculated by the PCXMC software were 181, 300, and $158{\mu}Sv$, respectively. These values were comparable (16%-18% smaller) to those obtained through TLD measurements in each mode. Conclusion: The use of PCXMC software could be an alternative to the TLD measurement method for effective dose estimation in CBCT with large and medium FOVs.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2020년도 추계학술발표대회
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• pp.854-857
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• 2020

최근 사람형(Anthropomorphic)로봇손의 사물조작 지능을 개발하기 위하여 행동복제(Behavior Cloning) Deep Reinforcement Learning(DRL) 연구가 진행중이다. 자유도(Degree of Freedom, DOF)가 높은 사람형 로봇손의 학습 문제점을 개선하기 위하여, 행동 복제를 통한 Human Demonstration Augmented(DA)강화 학습을 통하여 사람처럼 사물을 조작하는 지능을 학습시킬 수 있다. 그러나 사물 조작에 있어, 의미 있는 파지를 위해서는 사물의 특정 부위를 인식하고 파지하는 방법이 필수적이다. 본 연구에서는 딥러닝 YOLO기술을 적용하여 사물의 특정 부위를 인식하고, DA-DRL을 적용하여, 사물의 특정 부분을 파지하는 딥러닝 학습 기술을 제안하고, 2 종 사물(망치 및 칼)의 손잡이 부분을 인식하고 파지하여 검증한다. 본 연구에서 제안하는 학습방법은 사람과 상호작용하거나 도구를 용도에 맞게 사용해야하는 분야에서 유용할 것이다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1289-1292
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• 1997

Typical biomechanical system such as human body and mammals possess abundant muscles which are more than required for motion generation of such systems. We have shown that the excess number of muscles play important roles in spring-like impedance modulation. redundant kinematic structure, which is another feature of biomechanical systems, allows modulations of inertia and damping properties of such systems. In this work, we propose a frequency modulation algorithm which combines the spring-like impedance with inertia impedance. also, a load distribution method for frequency modulation is also introduced. The frequency modulation represents a simulataneous control of force and kinematic redundancies, which has not been addressed in the literature.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1764-1769
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• 1991

Recently, dexterous mechanical hands have become of interest in the field of robotics. In this paper, a new symbolic C-Y notation is proposed for the kinematic modeling, and we solve the kinematics of a simplified model of POSTECH Hand 1, which is a 5 fingered, 20 degrees of freedom anthropomorphic hand. POSTECH Hand I is designed to have distinctive kinematic structure and the kinematic analysis of the hand is carried out using C-Y notation. To prove the feasibility of C-Y notation, D-H notation is also applied to the POSTECH Hand 1. In the inverse kinematic analysis, we neglect the fingertip geometry and assume the point contact with 3 degrees of freedom constraints. The configurations which optimize manipulability index[2] was obtained based on the simulation experiments on the SUN-4 graphic workstation using SUNPhigs graphic software.

• 한국생산제조학회지
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• 제8권2호
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• pp.108-115
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• 1999

This paper proposes the robot inverse calibration method using a neural networks. A highorder networks called Pi-Sigma networks has been used. The Pi-Sigma networks uses linear summing units in the hidden layer and product unit in output layer. The inverse calibration model which compensates the difference of joint variables only between measuring value and analytic value about the desired pose(position orientation) of a robot is proposed. The compensated values are determined by using the weights obtained from the learning process of the neural networks previously. To prove the reasonableness the SCARA type direct drive robot(4-DOF) and anthropomorphic robot(6-DOF) are simulated. It shows that the proposed calibration method can reduce the errors of the joint variables from $\pm$3 to $\pm$0.1.