• Journal of Biomedical Engineering Research
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• v.29 no.1
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• pp.32-39
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• 2008

This paper reports on a realtime OS based master-slave configuration robot control system for laparoscopic surgery robot which enables telesurgery and overcomes shortcomings with conventional laparoscopic surgery. Surgery robot system requires control system that can process large volume information such as medical image data and video signal from endoscope in real-time manner, as well as precisely control the robot with high reliability. To meet the complex requirements, the use of high-level real-time OS (Operating System) in surgery robot controller is a must, which is as common as in many of modem robot controllers that adopt real-time OS as a base system software on which specific functional modules are implemened for more reliable and stable system. The control system consists of joint controllers, host controllers, and user interface units. The robot features a compact slave robot with 5 DOF (Degree-Of-Freedom) expanding the workspace of each tool and increasing the number of tools operating simultaneously. Each master, slave and Gill (Graphical User Interface) host runs a dedicated RTOS (Real-time OS), RTLinux-Pro (FSMLabs Inc., U.S.A.) on which functional modules such as motion control, communication, video signal integration and etc, are implemented, and all the hosts are in a gigabit Ethernet network for inter-host communication. Each master and slave controller set has a dedicated CAN (Controller Area Network) channel for control and monitoring signal communication with the joint controllers. Total 4 pairs of the master/slave manipulators as current are controlled by one host controller. The system showed satisfactory performance in both position control precision and master-slave motion synchronization in both bench test and animal experiment, and is now under further development for better safety and control fidelity for clinically applicable prototype.

• Journal of Biomedical Engineering Research
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• v.24 no.4
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• pp.363-367
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• 2003

Contact area and pressure are important factors which directly influence a life of knee implants. Since implant's mechanical functions should be experimentally evaluated for clinical use, many studies using a knee simulator and a pressure sensor system have been conducted. However it has not been reported that the contact pressure's distribution of a knee implant motion was estimated in real-time during a gate cycle. Therefore. the objective of this study was to analyze the contact pressure distribution for the motion of a joint using the knee simulator and I-scan sensor system. For this purpose, we developed a force-controlled dynamic knee simulator to evaluate the mechanical performance of artificial knee joint. This simulator includes a function of a soft tissue and has a 4-degree-of-freedom to represent an axial compressive load and a flexion angle. As axial compressive force and a flexion angle of the femoral component can be controlled by PC program. The pressure is also measured from I-scan system and simulator to visualize the pressure distribution on the joint contact surfaces under loading condition during walking cycle. The compressive loading curve was the major cause for the contact pressure distribution and its center move in a cycle as to a flexion angie. In conclusion, this system can be used to evaluate to the geometric interaction of femoral and tibial design due to a measured mechanical function such as a contact pressure, contact area and a motion of a loading center.

• Journal of the Earthquake Engineering Society of Korea
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• v.7 no.4
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• pp.15-22
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• 2003

Seismic design codes developed taking into account the strong earthquakes may result in unnecessary economical loss in the low seismic area, and the importance of the performance based design considering the soil-structure interaction is recognized for the reasonable seismic design. In this study. elastic and inelastic seismic response analyses of a single degree of freedom system on the soft soil layer were performed considering the nonlinearity of the soil for the 1 weak earthquakes scaled to the nominal peak accelerations of 0.07g and 0.11g. The seismic response analyses were performed in one step applying the earthquake motions to the bedrock, utilizing a pseudo 3-D dynamic analysis software of the soil-structure system. The study results indicated that seismic response spectra of a system assuming the rigid base or the linear soil layer does not represent the true behavior of a structure-soil system, and it is necessary to take into account the nonlinear soil-structure interaction effects and to perform the performance based seismic design for the various soil layers, having different characteristics, rather than to follow the routine design procedures specified in the design codes for the reasonable seismic design. The nonlinearity of the soft soil excited with the weak seismic motions also affected significantly on the elastic and inelastic seismic response spectra of a system due to the nonlinear soil amplification of the earthquake motions, and it was pronounced especially for the elastic response spectra.

• Journal of the Korean Society of Marine Environment & Safety
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• v.27 no.7
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• pp.1031-1037
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• 2021

The frequency of marine accidents of vessels in Korea is steadily increasing and it is concentrated on small vessels with less than 10 tons of gross tonnage. Therefore, preventing capsizing accidents in small vessels is important to reduce the cost in terms of human and property damage due to such accidents. However, research on the seakeeping performance of small vessels has been insufficient, and there are no domestic and international regulations on seakeeping performance. Therefore, in this study, capsizing accidents caused by poor loading conditions were investigated by examining the adjudications of the small vessels in which the capsizing accidents occurred. Hydrostatic calculations and seakeeping performance analysis were performed for a representative vessel. A vessel generally performs a six-degree-of-freedom motion during operation. In this study, the response amplitude operator and response spectrum of a representative vessel were calculated to determine the roll motion. Moreover, a short-term statistical analysis of the vessel according to the loading conditions was performed for the wave stationary status for 3 h. From the results, it was estimated that, when the loading condition of a small vessel is poor, its roll motion increases, greatly reducing its stability.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.1
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• pp.79-87
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• 2015

This paper proposes a floating-type wave energy conversion system that consists of a mechanical part (yo-yo vibrating system, motion rectifying system, and power transmission system) and electrical part (power generation system). The yo-yo vibrating system, which converts translational input to rotational motion, is modeled as a single degree-of-freedom system. It can amplify the wave input via the resonance phenomenon and enhance the energy conversion efficiency. The electromechanical model is established from impedance matching of the mechanical part to the electrical system. The performance was analyzed at various wave frequencies and damping ratios for a wave input acceleration of 0.14 g. The maximum output occurred at the resonance frequency and optimal load resistance, where the power conversion efficiency and electrical output power reached 48% and 290 W, respectively. Utilizing the resonance phenomenon was found to greatly enhance the performance of the wave energy converter, and there exists a maximum power point at the optimum load resistance.

• Journal of the Korean Institute of Intelligent Systems
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• v.5 no.1
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• pp.52-64
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• 1995

Robot manipulator is a highly nonlinear-time varying system. Therefore, a lot of control theory has been applied to the system. Robot manipulator has two types of control; one is path planning, another is path tracking. In this paper, we select the path tracking, and for this purpose, propose the intelligent control¬ler which is combined with fuzzy logic and neural network. The fuzzy logic provides an inference morphorlogy that enables approximate human reasoning to apply to knowledge-based systems, and also provides a mathematical strength to capture the uncertainties associated with human cognitive processes like thinking and reasoning. Based on this fuzzy logic, the fuzzy logic controller(FLC) provides a means of converhng a linguistic control strategy based on expert knowledge into automahc control strategy. But the construction of rule-base for a nonlinear hme-varying system such as robot, becomes much more com¬plicated because of model uncertainty and parameter variations. To cope with these problems, a auto-tuning method of the fuzzy rule-base is required. In this paper, the GA-based Fuzzy-Neural control system combining Fuzzy-Neural control theory with the genetic algorithm(GA), that is known to be very effective in the optimization problem, will be proposed. The effectiveness of the proposed control system will be demonstrated by computer simulations using a two degree of freedom robot manipulator.

• Journal of Navigation and Port Research
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• v.34 no.6
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• pp.479-485
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• 2010

To handle container effectively is one of the most important factors in a port because working time is linked soon into cost. Since the middle of 1990s, RMGC(Rail-Mounted Gantry Crane) and RTGC(Rubber-Tired Gantry Crane) have been developed and widely used to operate containers in the yard. The RTGC is more difficult than RMGC in the automatic control system design. Although, the RTGC is largely advantaged to free driving environment, it has some considerable disadvantages in the system operating. In general, the problems are due to tire slip and lack of tire pressure etc. Therefore, a desirable research result has not been shown in this time. So, in this paper, we propose a new approach to design tracking control system for the RTGC in which the mathematical modeling is included. From the simulation results, the control performance of the designed control systems is evaluated.

• Journal of the Earthquake Engineering Society of Korea
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• v.13 no.1
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• pp.17-26
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• 2009

The capacity spectrum method (CSM), which is known to be an approximate technique for assessing the seismic capacity of an existing structure, was originally proposed for simple building structures that could be modeled as single-degree-of-freedom (SDOF) systems. More recently, however, CSM has increasingly been adopted for assessing most bridge structures, as it has many practical advantages. Some studies on this topic are now being performed, and a few results of these have been presented as ground-breaking research. However, studies have until now been limited to symmetrical straight bridges only. This study evaluates the practical applicability of CSM to the evaluation of irregular curved bridges. For this purpose, the seismic capacities of 3-span prestressed concrete bridges with different subtended angles subjected to some recorded earthquakes are compared with a more refined approach based on nonlinear time history analysis. The results of the study show that when used for curved bridges, CSM induces higher inelastic displacement responses than the actual values, and that the gap between the two becomes larger as the subtended angle increases.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.46 no.1
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• pp.41-51
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• 2018

Downwash from helicopter rotor blades and external winds from various maneuvering make an unguided rocket change its trajectory and range. For the prediction of the trajectory and range, it is essential to consider the downwash effect. In this study, an algorithm was developed to calculate 6-Degree-Of-Freedom(6 DOF) forces and moments exerting on the rocket, and total flight trajectory of a 2.75-inch unguided rocket in a helicopter downwash flow field. Using Actuator Disk Model(ADM) analysis result, the algorithm could analyze the entire trajectory in various initial launch condition such as launch angle, launch velocity, and external wind. The algorithm that considered the interference between a fuselage and external winds could predict the trajectory change more precisely than inflow model analysis. Using the developed algorithm, the attitude and trajectory change mechanism by the downwash effect were investigated analyzing the effective angle of attack change and characteristics of pitching stability of the unguided rocket. Also, the trajectory and range changes were analyzed by considering the downwash effect with external winds. As a result, it was concluded that the key factors of the rocket range change were downwash area and magnitude which effect on the rocket, and the secondary factors were the dynamic pressure of the rocket and the interference between a fuselage and external winds. In tailwind case which was much influential on the range characteristics than other wind cases, the range of the rocket rose as increasing the tailwind velocity. However, there was a limit that the range of the rocket did not increase more than the specific tailwind velocity.

• Radiation Oncology Journal
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• v.17 no.4
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• pp.275-280
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• 1999

Purpose : To assess the feasibility and the toxicity of the neoadjuvant chemotherapy on the treatment of patients with locoregionally advanced nasopharyngeal carcinoma. Methods and Materials : We analyzed 77 previously untreated and histologically confirmed advanced stage nasopharyngeal carcinoma patients treated with neoadjuvant chemotherapy followed by radiation therapy at the Seoul National University Hospital between 1984 and 1996. The stage distribution was as follows : AJCC stage III-2, stage IV-75. Sixty-six patients received infusion of 5-FU (1000 mg/m$^2$, on Day 1$\~$5) and cisplatin (100 mg/m$^2$, on Day 1), eleven patients received infusion of 5-FU (1000 mg/m$^2$, on Day 1 $\~$5) and carboplatin (300 mg/m$^2$, on Day 1) as neoadjuvant chemotherapy Prior to radiation therapy. The median follow-up for surviving patients was 44 months. Results : The overall chemotherapy response rates were 87$\%$. The toxicities of chemotherapy were mild. Only 3 patients experienced Grade 3 toxicities (1 for cytopenia, 2 for nause/vomiting). The degree of radiation induced mucositis was not severe, and ten patients developed Grade 2 mucositis. The 5-year overall survival rates were 68$\%$ and the 5-year disease free survival rates were 65$\%$. The 5-year freedom from distant metastasis rates were 82$\%$ and 5-year locoregional control rates were 75$\%$. Conclusion : This single institution experience suggests that neoadjuvant chemotherapy improves overall survival and disease free survival for patients with advanced stage nasopharyngeal carcinoma without increase of toxicity.