• Transactions of the Korean Society of Machine Tool Engineers
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• v.13 no.1
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• pp.35-47
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• 2004

In this paper presents a new approach to the design and real-time implementation of fuzzy control system based-on digital signal processors(DSP:IMS320C80) in order to improve the precision and robustness for system of industrial robot(Dual-Arm with 8 joint Robot). The need to meet demanding control requirement in increasingly complex dynamical control systems under significant uncertainties, leads toward design of intelligent manipulation robots. The IMS320C80 is used in implementing real time fuzzy control to provide an enhanced motion control for robot manipulators. In this paper, a Self-Organizing Fuzzy Controller(SOFC) for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy logic composed of linguistic conditional statements is employed by defining the relations of input-output variables of the controller. In the synthesis of a FLC(Fuzzy Logic Controller), one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult SOFC is proposed for a hierarchical control structure consisting of basic and high levels that modify control rules. The proposed SOFC scheme is simple in structure, Int in computation, and suitable for implementation of real-time control. Performance of the SOFC is illustrated by simulation and experimental results for a Dual-Arm robot with eight joints.

• Proceedings of the IEEK Conference
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• 2005.11a
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• pp.651-654
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• 2005

In this paper, we designed ECC(Elliptic Curve Cryptographic) Processor with Bus-splitting mothod for embedded SoC. ECC SIP is designed by VHDL RTL modeling, and implemented reusably through the procedure of logic synthesis, simulation and FPGA verification. To communicate with ARM9 core and SIP, we designed SIP bus functional model according to AMBA AHB specification. The design of ECC Processor for platform-based SoC is implemented using the design kit which is composed of many devices such as ARM9 RISC core, memory, UART, interrupt controller, FPGA and so on. We performed software design on the ARM9 core for SIP and peripherals control, memory address mapping and so on.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.32 no.2A
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• pp.188-194
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• 2007

In order to become ubiquitous world, the compatibility of wireless machines has become the significant characteristic of a communication terminal. Thus, SDR is the most necessary technology and standard. However, among the environment which has different communication protocol, it's difficult to make a terminal with only hardware using ASIC or SoC. This paper suggests the processor that can accelerate several communication protocol. It can be connected with main-processor, and it is specialized PHY layer of network The C-program that is modeled with the wireless protocol IEEE802.11a and IEEE802.11b which are based on widely used modulation way; OFDM and CDM is compiled with ARM cross compiler and done simulation and profiling with Simplescalar-Arm version. The result of profiling, most operations were Viterbi operations and complex floating point operations. According to this result we suggested a co-processor which can accelerate Viterbi operations and complex floating point operations and added instructions. These instructions are simulated with Simplescalar-Arm version. The result of this simulation, comparing with computing only one ARM core, the operations of Viterbi improved as fast as 4.5 times. And the operations of complex floating point improved as fast as twice. The operations of IEEE802.11a are 3 times faster, and the operations of IEEE802.11b are 1.5 times faster.

• The Journal of the Korea institute of electronic communication sciences
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• v.4 no.3
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• pp.236-242
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• 2009

When two-link flexible arm is rotated about an joint axis, transverse vibration may occur. In this paper, vibration dynamics of flexible robot arm is modeled by using Bernoulli-Euler beam theory and Lagrange equation. Using the fact that matrix $\dot{D}$-2C is skew symmetric, new controllers which have a simplified structure with less computational burden is proposed. Lyapunov stability theory is applied to achieve a stable deterministic nonlinear controller for the regulation of joint angle.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.52 no.2
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• pp.85-90
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• 2003

This paper has presented the efficient implementation of MPEG-4 simple profile video decoder, which is used as video compression standard in mobile video communication. We have used the ARM9 processor in implementing this MPEG-4 simple profile, which requires much processing power and low power implementation. At first we implemented with C-language under the PC environment with ADS(ARM Developer Suite) environment, and then we have tried to reduce a clock cycle for a power consumption optimization through conversion an assembly language for C-code partly. We have verified the processor is operated at 22.47MHz operation after optimization, but 148MHz before optimization.

• Proceedings of the Korea Information Processing Society Conference
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• 2009.04a
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• pp.674-677
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• 2009

반도체 기술에 발달로 SoC, MPSoC와 같은 기술이 주목을 받고 있다. 이와 함께 soft error의 증가, 설계복잡도와 같은 문제점이 나타나고 있다. 본 논문은 FT_ARM(Fault Tolerant ARM)을 설계하여, soft error에 대응 하고자한다. 또한 오류주입 시뮬레이션을 통해 설계한 FT_ARM의 성능을 비교한다.

• Archives of Craniofacial Surgery
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• v.14 no.2
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• pp.96-101
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• 2013

Background: Among facial fractures, nasal bone fracture, zygomatic arch fracture and mandibular subcondyle fracture take a large portion. Among surgical operations for nasal bone fracture, zygomatic arch fracture and mandibular subcondyle fracture, closed reduction has been generally used but, unlike open reduction, there is a problem in evaluating its accuracy of reduction. Methods: An assessment was made from October 2011 until April 2013 prospectively on 37 patients. For all the operations, closed reductions were executed in a conventional way and simultaneously using C-Arm to verify the reduction of fractures. Two images of plain radiography, one taken before operation and another one taken one day after the operation, were compared. After obtaining images of plain radiography using C-Arm immediately after the correction upon operation, they were compared with the images of plain radiography taken one day after the operation. Results: The fracture reductions of 26 patients among 27 nasal fracture patients were satisfactory but one patient showed a marginal overcorrection of less than 1 mm. The fracture reductions of 7 patients among 8 zygomatic arch fracture patients were satisfactory but one patient showed a marginal undercorrection of less than 2 mm. All of two mandibular subcondyle fracture patients showed less than 2 mm undercorrection. Conclusion: Closed reduction guided by C-Arm for nasal bone fracture, zygomatic arch fracture and mandibular subcondyle fracture was clinically useful because it could make a real-time assessment on fractured areas and add immediate corrections during the operation.

• Asian Pacific Journal of Cancer Prevention
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• v.14 no.3
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• pp.1649-1654
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• 2013

Objective: This work aimed to evaluate the safety and clinical efficacy of transcatheter arterial chemoembolization (TACE) combined with c-arm cone-beam CT guided synchronous radiofrequency ablation (RFA) in treatment of large hepatocellular carcinoma (HCC). Methods: 21 patients with large HCC were studied from January 2010 to March 2012. TACE combined with synchronous C-arm cone-beam CT guided RFA were performed on a total of 25 lesions. Conventional imaging examination (CEUS, enhanced CT or MRI) and AFP detection were regularly conducted to evaluate the technical success rate of combined treatment, complications, treatment response, time without disease recurrence and survival rate. Results: The technical success rate of combined treatment was 100%, without any significant complication. After 1 month, there were 19 cases with complete response and 2 cases with partial response, with an complete response rate of 90.4% (19/21) and a clinical effective rate of 100% (21/21). The complete response rates of single nodular lesions (100%, 17/17) was significantly higher than that of multiple nodular lesions (50%, 2/4) (P<0. 05). During 2 to 28 months of follow-up, in 19 cases with complete response, the average time without disease recurrence was $10.8{\pm}6$ months. The total survival rates of 6, 12 and 18 months in 21 patients were 100%, respectively. Conclusion: TACE combined with synchronous C-arm CT guided RFA is safe and effective for treatment of large HCC. The treatment efficacy for single nodular lesion is better than that for multiple nodular lesions.

• The Korean Journal of Pain
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• v.35 no.2
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• pp.129-139
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• 2022

C-arm fluoroscopy is a useful tool for interventional pain management. However, with the increasing use of C-arm fluoroscopy, the risk of accumulated radiation exposure is a significant concern for pain physicians. Therefore, efforts are needed to reduce radiation exposure. There are three types of radiation exposure sources: (1) the primary X-ray beam, (2) scattered radiation, and (3) leakage from the X-ray tube. The major radiation exposure risk for most medical staff members is scattered radiation, the amount of which is affected by many factors. Pain physicians can reduce their radiation exposure by use of several effective methods, which utilize the following main principles: reducing the exposure time, increasing the distance from the radiation source, and radiation shielding. Some methods reduce not only the pain physician's but also the patient's radiation exposure. Taking images with collimation and minimal use of magnification are ways to reduce the intensity of the primary X-ray beam and the amount of scattered radiation. It is also important to carefully select the C-arm fluoroscopy mode, such as pulsed mode or low-dose mode, for ensuring the physician's and patient's radiation safety. Pain physicians should practice these principles and also be aware of the annual permissible radiation dose as well as checking their radiation exposure. This article aimed to review the literature on radiation safety in relation to C-arm fluoroscopy and provide recommendations to pain physicians during C-arm fluoroscopy-guided interventional pain management.

• Journal of Biomedical Engineering Research
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• v.43 no.4
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• pp.290-297
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• 2022

During surgery, Surgical instruments are often left behind due to accidents. Most of these are surgical gauze, so radioactive non-permeable gauze (X-ray gauze) is used for preventing of accidents which gauze is left in the body. This gauze is divided into wire and pad type. If it is confirmed that the gauze remains in the body, gauze must be detected by radiologist's reading by imaging using a mobile X-ray device. But most of operating rooms are not equipped with a mobile X-ray device, but equipped C-Arm equipment, which is of poorer quality than mobile X-ray equipment and furthermore it takes time to read them. In this study, Use C-Arm equipment to acquire gauze image for detection and Build dataset using artificial intelligence and select a detection model to Assist with the relatively low image quality and the reading of radiology specialists. mAP@50 and detection time are used as indicators for performance evaluation. The result is that two-class gauze detection dataset is more accurate and YOLOv5 model mAP@50 is 93.4% and detection time is 11.7 ms.