• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1992년도 추계학술대회 논문집
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• pp.34-38
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• 1992

Geometry based CAD/CAM system is hard to achieve "net shape machining" For a net shape machining, the machining errors should be compensated by off-line CAD/CAM system followed by on-line control system. In this paper, we investigate an off-line compensation scheme for the machining errors due to tool deflection in contouring operation. The significance of the deflection errors is first shown, and a compensation is sought via modifying the nominal tool path. In modification, tool deflection amount is iteratively compensated until the deflection amount is iteratively compensated until the deflected path results in the desired contour within a tolerance. The path modification algorithm has been tested via computer simulation. The developed algorithm can be used as a postprocessor for the current CAD/CAM system based on geometric modeling as a means for enhancing the machining accuracy.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.895-898
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• 2003

The higher precision is demanded in modem manufacturing and it requires the more accurate servo controller. Cross-coupling control (CCC) has been developed to improve contouring motion. In this paper we introduce a new nonlinear CCC that is based on contour-error-vector using a parametric curve interpolator. A vector from the actual tool position to the nearest point on the desire path is directly adopted. The contour-error-vector is determined by constructing a tangential vector of nearest point on desired curve and determining the vector perpendicular to this tangential vector from the actual tool position. Moreover, the vector CCC can apply directly and easily to free-form curves include convex and concave form. The experimental results on a three-axis CNC machine center show that the present approach significantly improves motion accuracy in multi-axis motion

• 한국측량학회지
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• 제9권1호
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• pp.63-73
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• 1991

음향측심자료는 연직단면상의 연속자료이며 측심선사이에는 자료추출점이 없다. 본 연구에서는 음향측심자료에 대하여 측심선상에서 등간격으로 선형보간을 실시하고, 이 보간점을 자료점으로 하여 반분산으로 부터 유도된 크리깅 법으로 측심선 사이에 위치한 정규격자점의 수심을 보간하였다. 이와같은 계층적 보간법은 음향측심 자료에 있어서 기존의 이동평균법이나 크리깅법에 비해 정확도 향상과 보간소요시간절감 효과를 보였다.

• 대한산업공학회지
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• 제18권2호
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• pp.131-140
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• 1992

The purpose of this study is to improve the performance of robot by providing visual function with robot and developing high-functioned controller and control program. The developed high-functioned controller and software have the better accuracy and flexibility in the movement of robot by complementing the existing robot controller and software problems. To provide visual function to robot, camera calibration, thresholding and contouring tools are also developed and applied in this study. These tools help robot recognize the central points and orientations of objects on work-bench.

• 한국의학물리학회지:의학물리
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• 제32권1호
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• pp.18-24
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• 2021

Purpose: Kilovoltage computed tomography (kV-CT) is essential for radiation treatment planning. However, kV-CT images are significantly distorted by artifacts when a metallic prosthesis is present in the patient's body. Thus, the accuracies of target delineation and treatment dose calculation are inevitably lowered. We evaluated the accuracy of the calculated doses using an image restoration method with hybrid CT, which was introduced in our previous study. Methods: A cylindrical phantom containing four metals, namely, silver, copper, tin, and tungsten, was scanned using kV-CT and megavoltage CT to produce hybrid CT images. We created six verification plans for three head and neck patients on kV-CT and hybrid CT images of the phantom and calculated their doses. The actual doses were measured with film patches during beam delivery using tomotherapy. We used the gamma evaluation method to compare dose distribution between kV-CT and hybrid CT with three gamma criteria, namely, 3%/3 mm, 2%/2 mm, and 1%/1 mm. Results: The gamma pass rates decreased as the gamma criteria were strengthened, and the pass rate of hybrid CT was higher than that of kV-CT in all cases. When the 1%/1 mm criterion was used, the difference in gamma pass rates between them was up to 13%p. Conclusions: According to our findings, we expect that the use of hybrid CT can be a suitable approach to avoid the effect of severe metal artifacts on the accuracy of dose calculation and contouring.

• 핵의학기술
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• 제21권2호
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• pp.55-64
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• 2017

최근 SPECT/CT의 보급과 함께 다양한 영상보정 방법들을 빠르고 정확하게 적용할 수 있게 되면서, 영상품질 향상과 더불어 정량적 정확성까지 기대할 수 있게 되었다. 그중 Collimator Detector Response (CDR) 회복(recovery)은 검출기면의 거리로부터 발생된 blurring 효과를 보상하여 분해능 회복을 목적으로 하는 보정방법이다. 본 연구에서는 SPECT/CT 영상에서 CDR recovery 가 적용되었을 때 검출거리 변화에 따른 정량적 변화를 알아보고자 하였다. 검출거리의 변화에 따른 획득 계수의 차이를 알아보고자 검출거리를 궤도방식(obit type)에 따라 Circular는 X, Y축 반경 30 cm, Non-Circular는 X, Y축 반경 21 cm, 10 cm, Non-Circular Auto(=Auto Body Contouring_ ABC, spacing limit 1 cm)로 설정하였고, 재구성 방법은 CDR recovery(CDRr)의 사용 유/무에 따른 계수 회복 차이를 알아보고자 OSEM (w/o CDRr)와 Astonish(3D-OSEM with CDRr)로 구분하여 적용하였다. 이 때 감쇠, 산란, 붕괴 보정은 모든 영상에 공통 적용하였다. 정량적 평가를 위해 교정인자(calibration factor_CF) 산출을 목적으로 교정영상(cylindrical phantom, $^{99m}TcO_4$ 123.3 MBq, 물 9293 ml)을 획득하였고, 팬텀 실험을 위하여 50 cc 주사기에 물 31 ml를 채우고 $^{99m}TcO_4$ 123.3 MBq를 설정하여 팬텀영상을 획득하였다. 팬텀 영상에서 주사기 전체 체적에 VOI(volume of interest)를 설정하여 각 조건별로 총 계수 값을 측정하였고, CF를 적용시켜 설정된 참값 대비 추정값의 오차를 구하여 보정에 따른 정량적 정확성을 확인하였다. 산출된 CF는 154.27 (Bq/ml/cps/ml)이며, 각 조건별 영상에서 참값 대비 추정값은 OSEM에서 Circular 86.5%, Non-Circular 90.1%, ABC 91.3% Astonish에서 Circular 93.6%, Non-Circular 93.6%, ABC 93.9%으로 분석되었다. OSEM은 검출거리가 가까울수록 정확성이 높아졌으며, Astonish의 경우에는 거리와 상관없이 거의 유사한 값을 나타내었다. 오차는 OSEM Circular(-13.5%)에서 가장 크고, Astonish ABC(-6.1%)에서 가장 적었다. SPECT/CT영상에서 CDR recovery 적용을 통한 거리보상이 이루어 졌을 때 검출거리가 먼 조건에서도 근접검출과 거의 동일한 정량적 정확성을 보였고, 검출거리의 변화에 영향을 받지 않고 정확한 보정이 가능한 것을 확인 할 수 있었다.

• 대한의용생체공학회:의공학회지
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• 제43권5호
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• pp.341-352
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• 2022

Medical image segmentation is the most important task in radiation therapy. Especially, when segmenting medical images, the liver is one of the most difficult organs to segment because it has various shapes and is close to other organs. Therefore, automatic segmentation of the liver in computed tomography (CT) images is a difficult task. Since tumors also have low contrast in surrounding tissues, and the shape, location, size, and number of tumors vary from patient to patient, accurate tumor segmentation takes a long time. In this study, we propose a method algorithm for automatically segmenting the liver and tumor for this purpose. As an advantage of setting the boundaries of the tumor, the liver and tumor were automatically segmented from the CT image using the 2D CoordConv DeepLab V3+ model using the CoordConv layer. For tumors, only cropped liver images were used to improve accuracy. Additionally, to increase the segmentation accuracy, augmentation, preprocess, loss function, and hyperparameter were used to find optimal values. We compared the CoordConv DeepLab v3+ model using the CoordConv layer and the DeepLab V3+ model without the CoordConv layer to determine whether they affected the segmentation accuracy. The data sets used included 131 hepatic tumor segmentation (LiTS) challenge data sets (100 train sets, 16 validation sets, and 15 test sets). Additional learned data were tested using 15 clinical data from Seoul St. Mary's Hospital. The evaluation was compared with the study results learned with a two-dimensional deep learning-based model. Dice values without the CoordConv layer achieved 0.965 ± 0.01 for liver segmentation and 0.925 ± 0.04 for tumor segmentation using the LiTS data set. Results from the clinical data set achieved 0.927 ± 0.02 for liver division and 0.903 ± 0.05 for tumor division. The dice values using the CoordConv layer achieved 0.989 ± 0.02 for liver segmentation and 0.937 ± 0.07 for tumor segmentation using the LiTS data set. Results from the clinical data set achieved 0.944 ± 0.02 for liver division and 0.916 ± 0.18 for tumor division. The use of CoordConv layers improves the segmentation accuracy. The highest of the most recently published values were 0.960 and 0.749 for liver and tumor division, respectively. However, better performance was achieved with 0.989 and 0.937 results for liver and tumor, which would have been used with the algorithm proposed in this study. The algorithm proposed in this study can play a useful role in treatment planning by improving contouring accuracy and reducing time when segmentation evaluation of liver and tumor is performed. And accurate identification of liver anatomy in medical imaging applications, such as surgical planning, as well as radiotherapy, which can leverage the findings of this study, can help clinical evaluation of the risks and benefits of liver intervention.

• 한국생산제조학회지
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• 제20권5호
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• pp.589-597
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• 2011

In this paper, optimal tuning of a cross-coupled controller linked with the feedforward controller and the disturbance observer is studied to improve contouring and tracking accuracy as well as robustness against disturbance. Previously developed integrated design and optimal tuning methods are applied for developing the robust tuning method. Strict mathematical modeling of the multivariable system is formulated as a state-space equation. Identification processes of the servomechanism are conducted for mechanical servo models. An optimal tuning problem to minimize both the contour error and settling time is formulated as a nonlinear constrained optimization problem including the relevant controller parameters of the servo control system. Constraints such as relative stability, robust stability and overshoot, etc. are considered for the optimization. To verify the effectiveness of the proposed optimal tuning procedure, linear and circular motion experiments are performed on the xy-table. Experimental results confirm the control performance and robustness despite the variation of parameters of the mechanical subsystems.

• 제어로봇시스템학회논문지
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• 제3권4호
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• pp.389-397
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• 1997

In this paper, we propose a new method of contour error modeling for cross-coupled control of CNC machines. This modeling method is based on the information that the interpolator of a CNC machine generates knot points per each sampling time in order to approximate a given curved path as a series of small straight-line segments. The merits of the proposed method are : (1) its applicability for arbitrary curved contours and (2) its ability to calculate contour errors more accurately than the other conventional methods. The proposed method is evaluated and compared with the conventional methods using the three typical curved trajectories by computer simulations. Furthermore, it is shown that the cross-coupled controller based on this proposed error model improves contouring accuracy more effectively than the other methods.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.158-161
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• 2003

Recently, the evolution in production techniques (e.g. high-speed milling), the complex shapes involved in modem production design, and the ever increasing pressure for higher productivity demand a drastic improvement of the dynamic behavior of the machine tool axes used in production machinery. And also machine tools of multi functional and minimized parts are increasingly required as demand of higher accurate in some fields such as electronic and optical components etc. The accuracy and the productivity of machined parts are natural to depend on the linear system of machine tools. The complex workpiece surfaces encountered in present-day products and generated by CAD systems are to be transformed into tool paths for machine tools. The more complex these tool paths and the higher the speed requirements, the higher the acceleration requirements are needed to the machine tool axes and the motion control system, and the more difficult it is to meet the requirements. The traditional indirect drive design for high speed machine tools, which consists of a rotary motor with a ball-screw transmission to the slide, is limited in speed, acceleration, and accuracy. The direct drive design of machine tool axes. which is based on linear motors and which recently appeared on the market. is a viable candidate to meet the ever increasing demands, because of these advantages such as no backlash, less friction, no mechanical limitations on acceleration and velocity and mechanical simplicity. Therefore performance tests were carried out to machine tool axes based on linear motor. Especially, dynamic characteristics were investigated through circular test.