• 전기학회논문지P
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• 제56권4호
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• pp.161-167
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• 2007

This paper introduces a dynamic walking control of biped walking robot using intelligent sensor interface and shows an intelligent control method for biped walking robot. For the dynamic walking control of biped walking robot, serious motion controllers are used. They are main controller(using INTEL80C296SA MPU), sub controller(using TMS320LF2406 DSP), sensor controller(using Atmega128 MPU) etc. The used sensors are gyro sensor, tilt sensor, infrared sensor, FSR sensor etc. For the feasibility of a dynamic walking control of biped walking robot, we use the biped walking robot which has twenty-five degrees of freedom(D.O.F.) in total. Our biped robot is composed of two legs of six D.O.F. each, two arms of five D.O.F. each, a waist of two D.O.F., a head of one D.O.F.

• 전기학회논문지P
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• 제57권2호
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• pp.109-114
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• 2008

In this paper, a dynamic learning controller for robot manipulator is implemented using real-time operating system with capabilities of multitasking, intertask communication and synchronization, event-driven, priority-driven scheduling, real-time clock control, etc. The controller hardware system with VME bus and related devices is developed and applied to implement a dynamic learning control scheme for robot manipulator. Real-time performance of the proposed dynamic learning controller is tested and evaluated for tracking of the desired trajectory and compared with the conventional servo controller.

• 대한방사선기술학회지:방사선기술과학
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• 제33권2호
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• pp.133-141
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• 2010

선형가속기의 동적쐐기(enhanced dynamic wedge: EDW)의 품질보증을 위하여 다양한 방법으로 동적쐐기의 특성을 평가하였다. 본 연구에서는 6 MV와 15 MV 엑스선에 대하여 각각 7종(10, 15, 20, 25, 30, 45, 60도)의 EDW를 평가하였다. EDW 작동에 필요한 STT(segmented treatment table)를 계산으로 구하고 로그파일을 통하여 기계적 작동을 평가하였으며, 이차원배열형검출기와 전리함을 사용하여 팬텀속 선량분포를 측정하고 치료계획시스템(RTP)과 비교하였다. EDW의 기계적 작동은 예상과 잘 일치하였으며, 빔측면도를 포함한 이차원선량분포는 근사적으로 RTP 계산과 일치하였다. 선형가속기 조사량 100 MU에 대한 출력선량은 RTP 계산과 2.9% 이내로 일치하였으며, 측정된 쐐기인자는 RTP 계산과 최대 2.6%를 보였다. 이 결과들은 본 선형가속기에 장착된 EDW의 임상적 적용에 문제가 없음을 의미한다.

• 대한치과보철학회지
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• 제61권4호
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• pp.328-343
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• 2023

최근 삼차원적 안면 스캔 (facial scan) 및 악운동 (jaw motion) 등의 데이터를 통합하여 동적 교합을 나타내는 가상 환자를 형성함으로써 심미적인 전치부 고정성 보철물을 제작하는 방법이 소개되고 있다. 이를 통해 진단과정에서 환자와의 원활한 소통이 가능하며, 심미적인 보철 치료의 예지성을 높일 수 있고, 교합조정의 가능성을 낮출 수 있다. 본 증례에서는 상악 전치부 심미 보철 수복이 필요한 환자에서 구강 스캔 데이터와 삼차원 (3D) 안면 스캔데이터, 환자의 악운동 기록을 computer-aided design (CAD) 소프트웨어 상에서 통합하여 동적 교합을 나타내는 가상 환자를 형성하였다. 이를 통해 치료의 결과를 시뮬레이션하고 심미적인 상악 전치부 고정성 보철물을 제작 및 수복하였다. 또한, 안정적인 교합관계를 회복하고 적절한 전방유도가 형성되었는지 확인하기 위하여 각각 치료 단계별로 환자의 교합을 비교 평가하였으며 심미적, 기능적으로 만족스러운 결과를 보였기에 이를 보고하는 바이다.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2003년도 추계학술대회
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• pp.159-163
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• 2003

In recent days, as the efficiency of electronic home applications become higher, that of the driving AC motor become higher. On this reason, the demand fir high capacity coil firming machine is increasing. Since the coil forming is not simply related with the only capacity of hydraulic cylinder, the development of a newer coil firming machine which has new filming mechanism new driving method, new filming tool, and new specification is required. In this paper, the virtual prototype which have new mechanism is developed. This prototype is tested and experimented on PC with the same condition as actual. The results from the virtual experiment is applied to the actual design process.

• 대한치과의사협회지
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• 제55권11호
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• pp.778-788
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• 2017

Ultrasound sonography(US) is used to evaluate various diseases of oral and maxillofacial region including salivary glands, soft tissue and jaw lesions because of easy accessibility and no hazard of ionizing radiation. Also, US can offer dynamic study showing real-time images during diagnostic or surgical procedure. US images provide accurate information about the internal features of lesions on the jaw prior to surgical treatment. Doppler images are used to visualize the vascular distribution of the lesions and to provide additional information to enhance diagnostic value. It is necessary to evaluate the diagnostic value of US and evaluate its usefulness by looking at clinical cases using US images. Therefore, US imaging may be recommended as an assistant image in evaluating jaw lesions. US images provided accurate information about the internal structure of lesions on the jaw prior to surgical treatment, and diagnostic value was enhanced by visualizing the vascular distribution of the lesion using doppler imaging. We report the protocol and suggest the effectiveness of US for various lesions and US-guided sialography.

• 대한치과교정학회지
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• 제54권5호
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• pp.325-341
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• 2024

Objective: To correlate temporomandibular joint (TMJ) morphology and position with cone-beam computed tomography (CBCT) images, Joint Vibration Analysis (JVA), and Jaw Tracker (JT) to develop a radiation-free, dynamic method for screening and monitoring the TMJ in orthodontic patients. Methods: A total of 236 orthodontic patients without symptoms of TMJ disorders who had undergone CBCT were selected for the JVA and JT tests in this cross-sectional study. TMJ position and morphology were measured using a three-dimensional analysis software. JT measurements involved six opening-closing cycles, and JVA measurements were performed using a metronome to guide the mouth opening-closing movements of the patients. The correlations among the three measuring devices were evaluated. Results: Abnormalities in condylar surface morphology affected the mandibular range of motion. The cut-off value results show that when various measurement groups are within a certain range, abnormalities may be observed in morphology (area under the curve, 0.81; P < 0.001). A 300/< 300 Hz ratio ≥ 0.09 suggested abnormal morphology (P < 0.05). Correlations were observed among the maximum opening velocity, maximum vertical opening position, and joint spaces in the JT measurements. Correlations were also observed between the > 300/< 300 Hz ratio, median frequency, total integral, integral < 300 Hz, and peak frequency with joint spaces in the JVA measurements. Conclusions: JT and JVA may serve as rapid, non-invasive, and radiation-free dynamic diagnostic tools for monitoring and screening TMJ abnormalities before and during orthodontic treatment.

• 한국기계가공학회지
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• 제19권12호
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• pp.105-112
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• 2020

The increase in the edentulous jaw which occurs in the aged population has led to personal dental health concerns. In the case of dental implant surgery, the duration of a patient's recovery depends on the surgical plan and their physicical ability. A device may be required to assist a physician in controlling vibration reduction of free-hand drilling and prescribing a good treatment plan that is suitable for the patient's condition. In this work, an artificial tooth-root implant assistant manipulator was studied. The structure and the vibration analysis of the dynamic restraint manipulator that is for drilling the alveolar bone in the mandible bone were performed, and the structural stability was analyzed. Further, a virtual prototype of an artificial tooth-root implant assisted manipulator was fabricated and tested. Hence, the state of the Remote Center of Motion (RCM) point and the driving state of the manipulator were confirmed. Furthermore, the drilling experiments were performed by using materials similar to a human jawbone in order to evaluate the performance of the drilling process that is operated using the assistant manipulator.

• Journal of Korean Dental Science
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• 제17권3호
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• pp.121-137
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• 2024

It is possible to design dental prosthesis in harmony with the patient's face and functional pathway using virtual patient created by integrating 3D diagnostic data such as intraoral scan, facial scan and jaw motion data. Also, esthetic teeth-gingiva relationship can be obtained, and post-surgical gingival outline can be predicted by using CAD software designed 3D surgical template during gingivectomy procedure. In this case report, 3D diagnostic data was collected from patients in need of esthetic anterior restoration, integrated on CAD software and applied to virtual articulator. Treatment outcome was simulated by creating virtual patient with dynamic occlusion. Esthetic anterior fixed restoration was fabricated by applying 3D surgical template designed on CAD software to gingivectomy procedure. To make sure that anterior guidance was formed in harmony with the patient's function pathway, occlusion was assessed following every step. The results were both functionally and esthetically satisfying.

• 대한방사선치료학회지
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• 제31권2호
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• pp.13-24
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• 2019

목 적: 두경부 토모테라피 치료 시 다양한 이유로 CT scan range가 부족한 상황이 발생한다. CT scan range는 정확한 선량 계산에 영향을 주기 때문에 Re-CT Simulation이 좋지만 환자의 피폭선량 증가와 불편함, 치료일정 변경 등 문제점을 갖는다. 이에 본 저자는 기존 CT scan range에서 Plan setup parameter 변화를 통해 Re-CT Simulation 없이 정확한 치료계획에 필요한 최소한의 CT scan range를 평가해보고자 한다. 대상 및 방법: CT simulator(Discovery CT590 RT, GE, USA)와 In House Head & Neck Phantom을 이용하였고, Target의 끝단에서 0.25~3.0cm까지 0.25cm씩 증가시켜 CT scan range 별 이미지를 획득하였다. Target과 정상 장기를 Head & Neck Phantom에 등록하고 ACCURAY Precision^® 이용하여 치료계획을 설계하였다. 처방 선량은 Daily 2.2Gy, 27 Fxs, Total Dose 59.4Gy, Target은 처방 선량의 95~107%, 정상 장기는 SMC Protocol에 맞춰 치료계획을 설계하였다. 동일한 치료계획 조건에서 Field Width(FW)와 Jaw 모드를 고려한 5가지 방법(Fixed-1cm, Fixed-2.5cm, Fixed-5cm, Dynamic-2.5cm Dynamic-5cm)과 2가지 Pitch(0.43, 0.287)의 Plan Setup parameter로 치료계획을 설계하였다. 각 치료계획에 대한 선량 전달의 정확성은 EBT3 film과 RIT(Complete Version 6.7, RIT, USA)를 이용하여 분석하였다. 결 과: Target의 처방 선량과 정상 장기의 견딤선량(Tolerance dose)을 만족한 치료계획(SMC Protocol)은 Fixed-1cm은 0.25cm 이상, Fixed-2.5cm는 0.75cm 이상, Dynamic-2.5cm는 1cm 이상, Fixed-5cm과 Dynamic-5cm인 경우는 1.75cm 이상의 Scan range가 있어야 정확한 치료계획을 할 수 있었다. 선량 전달의 정확성은 RIT로 분석한 결과 SMC Protocol을 만족한 치료계획에서 3% 미만의 오차였다. 결 론: 두경부 토모테라피 치료 시 CT scan range가 부족한 경우 Plan Setup Parameter 중 Field Width(FW)를 조절하여 정확한 치료계획을 설계할 수 있었다. 이에 본 저자가 추천한 Plan Setup Parameter를 CT scan range에 따라 적용하고 Re-CT 여부를 판단한다면 업무의 효율성 및 환자의 피폭선량을 감소시킬 수 있을 것으로 사료된다.