• Archives of Reconstructive Microsurgery
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• v.26 no.1
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• pp.14-17
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• 2017

The superior gluteal artery perforator flap technique has increasingly been used for soft tissue defects in the sacral area following its introduction nearly 25 years ago. Advantages in covering sacral defects include muscle sparing, versatility in design, and low donor side morbidity. The bilateral superior gluteal artery perforator flap procedure is planned in cases of large sacral defects that cannot be covered with the unilateral superior gluteal artery perforator flap. Here, we report two cases of large sacral defects in which patient factors of poor general health, such as old age, pneumonia, and previous operation scar, led to use of a large unilateral superior gluteal artery perforator super-flap with parasacral perforator. The approach was utilized to reduce the operation time and prevent unpredictable flap failure due to the large flap size. Even though the parasacral perforator was included, the versatility of the large superior gluteal artery perforator flap was preserved because sufficient perforator length was acquired after adequate dissection.

• Archives of Reconstructive Microsurgery
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• v.24 no.1
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• pp.1-6
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• 2015

Purpose: The main cause of flap loss in microsurgical tissue transfer is venous insufficiency. Whether or not multiple venous anastomoses prevents vascular thrombosis and reduces the risk of flap failure remains controversial. Some researchers are in favor of performing dual venous anastomoses, but the counterargument holds that performing a single venous anastomosis does provide advantages. Materials and Methods: We carried out a retrospective analysis of 15 cases of anterolateral thigh free flap for extremity reconstruction performed between January 2011 and December 2013. The patients were categorized into two groups: group A that received a single venous anastomosis and group B that received dual venous anastomoses. The time of the anastomosis, size of the flap, complications of the flap, and survival rate of each group were analyzed. Results: The total microsurgical time in the single venous anastomosis group ranged from 28 to 43 minutes (mean 35.9 minutes). The total time in the dual anastomoses group ranged from 50 to 64 minutes (mean 55.7 minutes). No statistically significant difference was found between the two groups with regards to postoperative complications and flap failure. Conclusion: Our study suggests that the use of a single venous anastomosis in the venous drainage of anterolateral thigh free flaps is a safe and feasible option for extremity reconstruction and provides shorter operative time and easy flap dissection.

• Korean Journal of Optics and Photonics
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• v.8 no.4
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• pp.267-276
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• 1997

We set up a four-wave holographic interferometer using a symmetric dual-beam illumination which is to measure in-plane and out-of-plane displacement simultaneously. In order to acquire the displacement phase map we applied the phase-shifting method and removed the noise of the phase map with least-squares fitting. In this approach the access to information relative to both the difference and sum of phases existing in the two arms of four-wave holographic interferometer was allowed. As a result, in-plane and out-of-plane displacement was measured to the accuracy of λ/40 and λ/100, respectively at λ=632.8nm

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.105.4-105
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• 2002

The development of a teleoperated mobile robot, Kaerot/m2, has been described. Kaerot/m2 consists of three subsystems - a 4 wheeled mechanism with the dual reconfigurable crawler arms, a thermal image monitoring system , and an extendable long reach mast. The mechanical design, control system of Kaerot/m2 in terms of remote inspection operation at a high radiation level of the Calandria face environment has been shown. Kaerot/m2 is capable of detecting the degraded locations of the Calandria face in a remote manner.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10b
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• pp.951-957
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• 1988

A collision-free trajectory planning algorithm is proposed to optimally coordinate two robots working in a common 3-D workspace. Each link of the two robots is modeled as a line segment and by their motion priority, one of the two robots is chosen as the master and the other the slave. And the one-step-ahead minimum distance between the two robots is computed by moving the master to the next location on its specified trajectory. Then the nominal trajectory of the slave is modified such that the distance between the next locations of the master and the slave must be larger than a prespecified allowable minimum distance. Here the weighted sum of the trajectory error and the joint motions of the slave is minimized by using the linear programming technique under the constraints that joint angle and velocity limits are not violated. To show the validity of the proposed algorithm, a numerical example is illustrated by employing a two dof's and a three dof's planar robots.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.4
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• pp.295-304
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• 2000

In the teleoperation system, force and velocity signals are communicated between a master and a slave robot. The addition of force feedback to a teleoperation system benefits the operator by providing more information to perform given tasks especially for tasks requiring contact with environment. When the master and slave arms are located in different places, time delay is unavoidable and it is well known that the system can become unstable when even a small time delay exists in the communication channel. The control scheme proposed in this paper is based on the estimator with virtual master model. Delayed signal from the master robot can be replaced by the estimated signal with the virtual master model. This control scheme makes the teleoperation system stable for the given time delay while the conventional scheme is not. This new control scheme is verified through numerical simulations and an experiments using the dual axis testbed of the teleoperation system.

• The Journal of Korea Robotics Society
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• v.2 no.2
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• pp.129-136
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• 2007

This paper introduces a position-based robust visual servoing method which is developed for operation of a human-like robot with two arms. The proposed visual servoing method utilizes SIFT algorithm for object detection and CAMSHIFT algorithm for object tracking. While the conventional CAMSHIFT has been used mainly for object tracking in a 2D image plane, we extend its usage for object tracking in 3D space, by combining the results of CAMSHIFT for two image plane of a stereo camera. This approach shows a robust and dependable result. Once the robot's task is defined based on the extracted 3D information, the robot is commanded to carry out the task. We conduct several position-based visual servoing tasks and compare performances under different conditions. The results show that the proposed visual tracking algorithm is simple but very effective for position-based visual servoing.

• Proceedings of the IEEK Conference
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• 2006.06a
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• pp.203-204
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• 2006

We present and demonstrate a novel method of alternate-phase return-to-zero (RZ) signal generation and pulse-amplitude equalization simultaneously in a rational harmonic mode-locked fiber ring laser, using a dual-drive Mach-Zehnder (MZ) modulator. By adjusting the voltages applied to both arms of the modulator, the rational harmonic mode-locked pulse trains are equalized in their amplitudes. In addition to that, the amplitude-equalized pulse trains multiplying the repetition rate at ${\sim}10\;GHz$ have alternate $\pi$ phase difference between adjacent pulses. The alternate-phase RZ signal generated by the proposed method enhances transmission performance through the single-mode fiber (SMF) links without dispersion compensation.

• Proceedings of the Korea Institute of Applied Superconductivity and Cryogenics Conference
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• 2003.10a
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• pp.10-13
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• 2003

6.6㎸rms/200Arms DC reactor type superconducting fault current limiter (SFCL) has been developed. This paper deals with the manufacture and short-circuit test of the SFCL. DC reactor was the HTS solenoid coil whose inductance was 84mH. AC/DC power converter was performed as the dual-mode operation. The short-term run(1 sec) and short-circuit test of this SFCL was performed successfully. The experimental results have a similar tendency to the simulation results. In short-circuit test, at 2 cycles after the fault, fault current limitation rate was about 30％.

• Journal of the Semiconductor & Display Technology
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• v.10 no.1
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• pp.75-81
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• 2011

Today, FPD manufactures are eager to develop larger and larger glass to become the prime market leader. To follow this need, larger AMHS(Automated Material Handling System) development is essential. The radical increase of glass/cassette weight puts a lot of pressure on stocker robot's dual arms, which can cause a damage of expensive glasses and contaminate a clean room facility. In this paper the axiomatic design method is used to institute a design guideline to evenly distribute a pressure throughout the stocker robot structure.