• 제어로봇시스템학회논문지
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• 제16권4호
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• pp.381-390
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• 2010

This paper describes a procedure of the map-based localization for mobile robots by using a sensor fusion technique in structured environments. A combination of various sensors with different characteristics and limited sensibility has advantages in view of complementariness and cooperation to obtain better information on the environment. In this paper, for robust self-localization of a mobile robot with a monocular camera and a laser structured light sensor, environment information acquired from two sensors is combined and fused by a Bayesian sensor fusion technique based on the probabilistic reliability function of each sensor predefined through experiments. For the self-localization using the monocular vision, the robot utilizes image features consisting of vertical edge lines from input camera images, and they are used as natural landmark points in self-localization process. However, in case of using the laser structured light sensor, it utilizes geometrical features composed of corners and planes as natural landmark shapes during this process, which are extracted from range data at a constant height from the navigation floor. Although only each feature group of them is sometimes useful to localize mobile robots, all features from the two sensors are simultaneously used and fused in term of information for reliable localization under various environment conditions. To verify the advantage of using multi-sensor fusion, a series of experiments are performed, and experimental results are discussed in detail.

• Journal of Korean Neurosurgical Society
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• 제51권4호
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• pp.203-207
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• 2012

Objective: The purpose of this prospective study was to evaluate the efficacy and safety of screw fixation without bone fusion for unstable thoracolumbar and lumbar burst fracture. Methods: Nine patients younger than 40 years underwent screw fixation without bone fusion, following postural reduction using a soft roll at the involved vertebra, in cases of burst fracture. Their motor power was intact in spite of severe canal compromise. The surgical procedure included postural reduction for 3 days and screw fixations at one level above, one level below and at the fractured level itself. The patients underwent removal of implants 12 months after the initial operation, due to possibility of implant failure. Imaging and clinical findings, including canal encroachment, vertebral height, clinical outcome, and complications were analyzed. Results: Prior to surgery, the mean pain score (visual analogue scale) was 8.2, which decreased to 2.2 at 12 months after screw fixation. None of the patients complained of worsening of pain during 6 months after implant removal. All patients were graded as having excellent or good outcomes at 6 months after implant removal. The proportion of canal compromise at the fractured level improved from 55% to 35% at 12 months after surgery. The mean preoperative vertebral height loss was 45.3%, which improved to 20.6% at 6 months after implant removal. There were no neurological deficits related to neural injury. The improved vertebral height and canal compromise were maintained at 6 months after implant removal. Conclusion: Short segment pedicle screw fixation, including fractured level itself, without bone fusion following postural reduction can be an effective and safe operative technique in the management of selected young patients suffering from unstable burst fracture.

• Journal of Korean Neurosurgical Society
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• 제50권5호
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• pp.441-445
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• 2011

Objective : There are technical limitations of multi-level posterior pedicle screw fixation performed by the percutaneous technique. The purpose of this study was to describe the surgical technique and outcome of minimally invasive multi-level posterior lumbar interbody fusion (PLIF) and to determine its efficacy. Methods : Forty-two patients who underwent mini-open PLIF using the percutaneous screw fixation system were studied. The mean age of the patients was 59.1 (range, 23 to 78 years). Two levels were involved in 32 cases and three levels in 10 cases. The clinical outcome was assessed using the visual analog scale (VAS) and Low Back Outcome Score (LBOS). Achievement of radiological fusion, intra-operative blood loss, the midline surgical scar and procedure related complications were also analyzed. Results : The mean follow-up period was 25.3 months. The mean LBOS prior to surgery was 34.5, which was improved to 49.1 at the final follow up. The mean pain score (VAS) prior to surgery was 7.5 and it was decreased to 2.9 at the last follow up. The mean estimated blood loss was 238 mL (140-350) for the two level procedures and 387 mL (278-458) for three levels. The midline surgical scar was 6.27 cm for two levels and 8.25 cm for three level procedures. Complications included two cases of asymptomatic medial penetration of the pedicle border. However, there were no signs of neurological deterioration or fusion failure. Conclusion : Multi-level, minimally invasive PLIF can be performed effectively using the percutaneous transpedicular screw fixation system. It can be an alternative to the traditional open procedures.

• 한국가축번식학회지
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• 제21권3호
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• pp.229-238
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• 1997

Chromosome condensation and swelling of the donor nucleus have been known as the early morphological indicators of chromatin remodelling after injection of a foreign nucleus into an enucleated recipient cytoplasm. The effects of non-preactivation and electrical preactivation of recipient cytoplasm, prior to fusing a donor nucleus, on the profile of nuclear remodelling in the nuclear transplant rabbit embryos were evaluated. The embryos of 16-cell stage were collected and synchronized to G1 phase of 32-cell stage. The recipient cytoplasms were obtained by removing the first polar body and chromosome mass by non-disruptive microsurgical procedure. The separated G1 phase blastomeres of 32-cell stage were injected into non-preactivated recipient cytoplasms. Otherwise, the enucleated recipient cytoplasms were preactivated by electrical stimulation and the separated G1 phase blastomeres of 32-cell stage were injected. After culture until 20h post-hCG injection, the nuclear transplant oocytes were electrofused by electrical stimulation. The nuclei of nuclear transplant embryos fused into non-preactivated and/or preactivated recipient cytoplasm were stained by Hoechst 33342 at 0, 1.5, 2, 4, 6, 8, 10 hrs post-fusion and were observed under an fluorescence microscopy. Accurate measurements of nuclear diameter were revealed with an ocular micrometer at 200$\times$. Upon blastomere fusion into non-preactivated recipient cytoplasm, a prematurely chromosome condensation at 1.5 hrs post-fusion and nuclear swelling at 8 hrs post-fusion were occurred as 91.6% and 86.1%, respectively. But the nuclei of nuclear transplant embryos fused into preactivated recipient cytoplasm, as o, pp.sed to non-preactivated recipient cytoplasm, were not occurred chromosome condensation and extensive nuclear swelling. Nuclear diameter fused into non-preactivated and preactivated recipient cytoplasm at hrs post-fusion was 30.2$\pm$0.74 and 15.2$\pm$1.32${\mu}{\textrm}{m}$, respectively. These results indicated that onset of unclear condensation and swelling which was associated with oocytes activation were critical steps in the process of chromatin swelling. Futhermore, complete reprogramming seemed only possible after remodelling of the donor nucleus by chromosome condensation and nuclear swelling.

• Journal of Korean Neurosurgical Society
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• 제50권6호
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• pp.520-522
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• 2011

Injury to the vertebral artery during anterior cervical discectomy is rare but potentially fatal. We report a case of cerebellar infarction after endovascular embolization for iatrogenic vertebral artery injury at C5-C6 during an anterior cervical discectomy and fusion. A 61-year-old man had an intraoperative injury of the right vertebral artery that occurred during anterior cervical discectomy and fusion at C5-C6. Hemorrhage was not controlled successfully by packing with surgical hemostatic agents. While the patient was still intubated, an emergency angiogram was performed. The patient underwent endovascular occlusion of the right V2 segment with coils. After the procedure, his course was uneventful and he did not show any neurologic deficits. Brain computed tomographic scans taken 3 days after the operation revealed a right cerebellar infarction. Anti-coagulation medication was administered, and at 3-month follow-up examination, he had no neurologic sequelae in spite of the cerebellar infarction.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2006년도 Proceedings of ISRS 2006 PORSEC Volume II
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• pp.639-642
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• 2006

The intensity-hue-saturation (IHS) technique has become a standard procedure in image analysis. It enhances the colour of highly correlated data. Unfortunately, IHS technique is sensitive to the properties of the analyzed area and usually faces colour distortion problems in the fused process. This paper explores the relationship of colour between before and after the fused process and the change in colour space of images. Subsequently, the fused colours are transformed back into the 'simulative' true colours by the following steps: (1) For each pixel of fused image that match with original pixel (of the coarse spectral resolution image) is transformed back to the true colour of original pixel. (2) The value for interpolating pixels is compensated to preserve the DN ratio between the original pixel and it's vicinity. The 'compensative matrix' is constructed by the DN of fused images and simulation of scaling process. An illustrative example of a Landsat and SPOT fused image also demonstrates the simulative true colour fusion methods.

• Journal of Welding and Joining
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• 제30권5호
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• pp.13-15
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• 2012

Stainless steels is widely used in various industries due to its high strength and excellent corrosion resistance. However, in the case of fusion welding for stainless steel, chromium deficiency layer produced by chromium carbide precipitation during welding process causes corrosion-resistance to be lower and formation of intergranular corrosion. It requires a inevitable complex procedure such as pre-heating and post-heating process etc. to prevent such weld defects. From this viewpoint, the new welding process such as a solid state welding method is suited for welding of stainless steels due to its advantages over the fusion welding. Therefore this paper intends to investigate the research trend on friction stir welding, one of solid state welding processes for stainless steels.

• Nuclear Engineering and Technology
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• 제44권6호
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• pp.673-682
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• 2012

Three dimensional atom probe tomography (3D APT) is applied to characterize the dissimilar metal joint which was welded between the Ni-based alloy, Alloy 690 and the low alloy steel, A533 Gr. B, with Alloy 152 filler metal. While there is some difficulty in preparing the specimen for the analysis, the 3D APT has a truly quantitative analytical capability to characterize nanometer scale particles in metallic materials, thus its application to the microstructural analysis in multi-component metallic materials provides critical information on the mechanism of nanoscale microstructural evolution. In this study, the procedure for 3D APT specimen preparation was established, and those for dissimilar metal weld interface were prepared near the fusion boundary by a focused ion beam. The result of the analysis in this study showed the precipitation of chromium carbides near the fusion boundary between A533 Gr. B and Alloy 152.

• Journal of Welding and Joining
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• 제31권6호
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• pp.1-7
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• 2013

In nuclear power plants, lined carbon steel pipes or PCCPs (pre-stressed concrete cylinder pipes) have been widely used for sea water transport systems. However, de-bonding of linings and oxidation of PCCP could make problems in aged NPPs (nuclear power plants). Recently at several NPPs in the United States, the PCCPs or lined carbon steel pipes of the sea water or raw water system have been replaced with HDPE (high density polyethylene) pipes, which have outstanding resistance to oxidation and seismic loading. ASME B&PV Code committee developed Code Case N-755, which describes rules for the construction of buried Safety Class 3 polyethylene pressure piping systems. Although US NRC permitted HDPE materials for Class 3 buried piping, their permission was limited to only 10-year operation because of several concerns including the quality of fusion zone of HDPE. In this study, various requirements for fusion qualification test of HDPE and some regulatory issues raised during HDPE application review in foreign NPPs are introduced.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1791-1796
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• 2004

Recently, great improvements have been made in developing autonomous underwater vehicles (AUVs) using stateof- the-art technologies for various kinds of sophisticated underwater missions. To meet increasing demands posed on AUVs, a powerful on-board computer system and an accurate sensor system with an well-organized control system architecture are needed. In this paper, a new control system architecture is proposed for AUV, ORCA (Oceanic Reinforced Cruising Agent) which is being currently developed by Korea Research Institute of Ships and Ocean Engineering (KRISO). The proposed architecture uses a hybrid architecture that combines a hierarchical architecture and a behavior based control architecture with an evaluator for coordinating between the architectures. This paper also proposed a sensor fusion structure based on the definition of 4 categories of sensors called grouping and 5-step data processing procedure. The development of the AUV, ORCA involving the system architecture, vehicle layout, and hardware configuration of on-board system are described.