• 로봇학회논문지
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• 제7권1호
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• pp.20-28
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• 2012

In spite of the difficulties and uncertain characteristic of cable driven method, surgical robot instrument has adopted it as driving mechanism for various reasons. To overcome the problem of cable system, previous research applied SMCSPO (sliding mode control with sliding perturbation observer) algorithm as robust controller to control the instrument and found that the value of SPO (sliding perturbation observer) followed force disturbance, reaction force loaded on the tip very similarly. Thus, this paper confirms that the perturbation observer is sufficient estimator which finds out the mount of loaded force on the surgical robot instrument. To prove the proposition, simulation using the similar model with an actual instrument and experimental evaluation are performed. The results show that it is possible to substitute SPO for sensors to measure the reaction force. This estimated reaction force will be used to realize haptic function by sending the reaction force to a master device for a surgeon. The results will contribute to create surgical benefit such as shortening the practice time of a surgeon and giving haptic information to surgeon by using it as haptic signal to protect an organ by making force boundary.

• Clinical and Experimental Pediatrics
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• 제57권12호
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• pp.542-545
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• 2014

Bickerstaff's brainstem encephalitis is characterized by ophthalmoplegia, ataxia, and disturbance of consciousness. It is similar to Miller Fisher syndrome, a variant of Guillain-Barre syndrome, in that they share features such as ophthalmoplegia and ataxia. The difference is that patients with Bickerstaff's brainstem encephalitis have impaired consciousness, whereas patients with Miller Fisher syndrome have alert consciousness and areflexia. Here, we report the case of a 3-year-old child who was diagnosed with Bickerstaff's brainstem encephalitis presenting typical clinical features and interesting radiological findings. The patient showed ophthalmoplegia, ataxia, and subsequent stuporous mentality. Brain magnetic resonance imaging revealed high signal intensity in the pons and cerebellum around the 4th ventricle on a T2-weighted image. He was successfully treated with intravenous immunoglobulin. Differentiation of Bickerstaff's brainstem encephalitis and Miller Fisher syndrome is often difficult because they possess many overlapping features. Brain magnetic resonance imaging may be helpful in diagnosing Bickerstaff's brainstem encephalitis, especially when lesions are definitely found.

• 한국항공우주학회지
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• 제35권7호
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• pp.640-646
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• 2007

인공위성의 정밀 자세제어 문제에서 자세지향 및 안정성을 저해하는 구동기 교란의 효과는 매우 중요한 인자 중 하나라 할 수 있다. 최근 CMG는 그 구조의 복잡성에도 불구하고 반작용휠에 비교할 때 고출력저중량이라는 장점에 근거하여 인공위성의 차세대 구동기로 많은 연구가 진행되고 있다. 정밀자세제어가 요구되는 인공위성의 구동기로 이용되기 위해서는 CMG가 위성 동체에 주게 될 교란력의 특성을 파악하는 것이 필수적이다. 본 논문에서는 CMG의 교란토크 및 교란력를 분석하기 위해 정적동적 불균형을 가정하고, 라그랑지안 방법을 이용하여 소신호 가정을 통해 해석적 모델을 유도하였다.

• Journal of Korean Neurosurgical Society
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• 제42권6호
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• pp.441-445
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• 2007

Objective : The purpose of this study was to investigate the surgical results and prognostic factors for patients with soft cervical disc herniation with myelopathy. Methods : During the last 7 years, 26 patients with cervical discogenic myelopathy were undertaken anterior discectomy and fusion. Clinical and radiographic features were reviewed to evaluate the surgical results and prognostic factors. The clinical outcome was judged using two grading systems (Herkowitz's scale and Nurick's grade). Results : Male were predominant (4:1), and C5-6 was the most frequently involved level. Gait disturbance, variable degree of spasticity, discomfort in chest and abdomen, hand numbness were the most obvious signs. Magnetic resonance(MR) images showed that central disc herniation was revealed in 16 cases, and accompanying cord signal changes in 4. Postoperatively, 23 patients showed favorable results (excellent, good and fair) according to Herkowitz's scale. Conclusion : Anterior cervical discectomy and fusion effectively reduced myelopathic symptoms due to soft cervical disc herniation. The authors assured that the shorter duration of clinical attention, the lesser the degree of myelopathy and better outcome in discogenic myelopathy.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1998년도 하계종합학술대회논문집
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• pp.46-49
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• 1998

In this paper, we introduce the notion of intelligent communication by introducing a novel intelligent receiver model. This receiver is continually evolving and learns and improves in performance as it compiles its experience over time. In digital communication context, in a typical training mode, it jearns the concept of "1" as is deteriorated by arbitrary (not necessarily additive as is typically assumed) disturbance and /or modulation. After learning "1", in test mode, it classifies the received signal "1" and "0" almost completely. The intelligent receiver as implemented is grounded on the recently introduced Stochastic Morphological Sampling Theorem(SMST), a distribution-free result which gives theoretical bounds on the sample complexity(training size) needed for the required performance parameters such as accuracy($\varepsilon$) and confidence($\delta$). Based on this theorem, we demonstrate --almost irrespective of channel and modulation model-- the number of samples needed to learn the concept of "1" is not too "large" and the resulting universal receiver structure, that corresponding to classical Nearest Neighbor rule in Pattern Recognition Theory, is trivial. We check the surprising efficiency and validity of this model through some simple simulations. and validity of this model through some simple simulations.

• Journal of the Optical Society of Korea
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• 제20권1호
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• pp.42-54
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• 2016

A hybrid color and grayscale images encryption scheme based on the quaternion Hartley transform (QHT), the two-dimensional (2D) logistic map, the double random phase encoding (DRPE) in gyrator transform (GT) domain and the three-step phase-shifting interferometry (PSI) is presented. First, we propose a new color image processing tool termed as the quaternion Hartley transform, and we develop an efficient method to calculate the QHT of a quaternion matrix. In the presented encryption scheme, the original color and grayscale images are represented by quaternion algebra and processed holistically in a vector manner using QHT. To enhance the security level, a 2D logistic map-based scrambling technique is designed to permute the complex amplitude, which is formed by the components of the QHT-transformed original images. Subsequently, the scrambled data is encoded by the GT-based DRPE system. For the convenience of storage and transmission, the resulting encrypted signal is recorded as the real-valued interferograms using three-step PSI. The parameters of the scrambling method, the GT orders and the two random phase masks form the keys for decryption of the secret images. Simulation results demonstrate that the proposed scheme has high security level and certain robustness against data loss, noise disturbance and some attacks such as chosen plaintext attack.

• 조명전기설비학회논문지
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• 제19권1호
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• pp.52-58
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• 2005

제어이론들 중에 PID제어는 지난 수십년간 잘 활용되고 있다. PID 알고리즘은 PID 파라미터를 선택하기 위해서 사용되는 튜닝법이 필요하다. 그러나 어떤 경우에는 잘 알려진 튜닝법 대신에 제어기, 출력특성 및 외란제거 성능 등이 어떤 사양을 만족하도록 다양한 종류의 평가지표들을 사용하기도 하기도 한다. 본 논문에서는 오차신호, 시간, 제어입력 및 견실성을 사용한 성능지표의 선형조합을 사용하여 공조시스템의 PID제어를 한다. 성능지표를 최소화하는 2 자유도 PID파라미터를 사용하여 제어기, 출력특성 및 견실성을 분석한다. Simulink를 포함한 MATLAB을 이용하여 시뮬레이션을 한다.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2000년도 춘계학술대회논문집 - 한국공작기계학회
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• pp.411-416
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• 2000

Cutting process has been automated by progress of CNC and CAD/CAM, but polishing process has been depended on only experiential knowledge of expert. To automate the polishing process, a polishing robot with w degrees of freedom which is attached to a machining center with 3 degrees of freedom has been developed. This automatic polishing robot is able to keep the polishing tool normal on the curved surface of die to improve a performance of polishing. Polishing task for a curved surface die demands repetitive operation and high precision, but conventional control algorithm can not cope with the problem of disturbance such as a change of load. In this research, a new sliding mode control algorithm is applied to the robot. The signal compression method is used to identify polishing robot system. to obtain an effect of 5 degrees of freedom motion, a synchronization between the machining center and polishing robot is accomplished by using M code of machining center. And also a trajectory for polishing the curved surface die by 5 degrees of freedom motion, a synchronization between the machining center and polishing robot is accomplished by using M code of machining center. And also a trajectory for polishing the curved surface die by 5 axes machining center is divided into data of two types for 3 axes machining center and 2 axes polishing robot. To evaluate polishing performance of the robot. various experiments are carried out.

• Journal of Korean Neurosurgical Society
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• 제46권2호
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• pp.161-164
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• 2009

Plasma cell granuloma is a tumor-like disease characterized by non-neoplastic polyclonal proliferation of plasma cells and other mononuclear cells. This disease occurs most frequently in the lung and upper respiratory tract, while the involvement of the central nervous system is very rare. A 44-year-old female patient presented with nausea and progressive visual disturbance. Brain magnetic resonance imaging (MRI) revealed the mass along the right tentorium with low signal intensity in the T2 weighted image (T2WI) and fluid-attenuated inversion recovery (FLAIR) sequence, and an isosignal intensity in T1 weighted image (T1WI), the latter of which was enhanced after administration of gadolinium-diethylenetriamine penta-acetic acid (Gd-DTPA). The thickest portion of the tentorium was partially excised via the combined suboccipital and infratentorial approach. The histopathological examination indicated a diagnosis of plasma cell granuloma. Postoperative steroid therapy was administered for remnant tumor control. Although a follow up MRI scan taken 20 months after the operation showed a slight decrease in tumor size, the lesion had extended to the falx and left frontal convexity along with parenchymal edema at 32 months after the operation and the clinical status was aggravated. The mass was removed from the left frontal convexity. Radiation therapy was given, together with steroid administration.

• 한국정밀공학회지
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• 제26권4호
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• pp.107-113
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• 2009

In this paper, we studied of measurement the vibration of natural frequency using optical fiber sensor. The boring bar for measurement of vibration in use optical fiber sensor has the advantage of direct measure for the frequency than accelerometer. Because it deal with output value on electrical signal of optical fiber in physical disturbance when it measures the frequency of vibration. The optical fiber sensor measured the vibration of boring bar by the gap in sensing jig while optical fiber just kept contact with boring bar. A prototype system was composed of jig part with gap and optical system part. In this paper, we found out the possibility to measurement of vibration by the gap in use optical fiber.