• Journal of Biomedical Engineering Research
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• v.33 no.3
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• pp.105-113
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• 2012

Biopsy is a type of histopathological examinations, in which a physician samples cells or tissues from a patient's suspicious lesion. Such a lesion frequently resides deep inside human body, and then a percutaneous biopsy is therefore performed using a thick needle with the assistance of medical imaging such as computed tomography(CT) and magnetic resonance imaging(MRI). Recently modern robotic technology is being introduced to percutaneous biopsy in order to reduce any possible human error and hazard on physicians caused by medical imaging. After medical imaging locates the exact location of lesion, an optimization algorithm plans the path for a biopsy needle. Subsequently, a robot system moves the biopsy needle to the lesion in accurate and safe way with the control of a practitioner or automatically. In this article, we try to look into the state-of-art of percutaneous biopsy using such robotic technology. We classified percutaneous biopsy robots by mechanical characteristics and by imaging technology. Then, advantage and disadvantage of each class type are described as well as the basic description, and a few representative designs for each type are introduced. Current research issues of robotized percutaneous biopsy are subjectively selected for the readers' convenience. We emphasize the basic technology of actuator and sensors compatible with imaging technology to conclude this review.

• The Journal of Asian Finance, Economics and Business
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• v.9 no.10
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• pp.39-48
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• 2022

This research aims to investigate the application of Keynes's theory in Indonesia, particularly in solving unemployment and poverty problems through government spending, economic growth, and human resource capacity. The basic concepts of the Keynesian theory were used as a method, through which government spending was harnessed toward economic growth in reducing unemployment and poverty rate. The analytical materials used were panel data for the 2017-2021 period in Central Java, Indonesia. The analytical methodology used was a multiple regression experimental design in selecting the best model according to Keynes's theory, especially for overcoming formidable problems. The main results showed that large Government spending program is ineffective in encouraging pro-growth, pro-job, pro-poor, and pro-equity development policy strategies. The causes of this failure include the violation of Keynes' assumptions about rationality and the low quality of education investment, which do not encourage productive and innovative entrepreneurship, as well as self-employment opportunities. As a result, government spending, including subsidies and direct financial assistance, used to implement the macroeconomic monetary, unstructured, and fiscal policy system is insufficient to significantly reduce the enormous difficulties. The main research results confirm that human capital capacity is the key to mitigating and reducing unemployment and poverty.

• Journal of Navigation and Port Research
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• v.38 no.4
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• pp.357-366
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• 2014

On December of 2003, IMO's $23^{rd}$ Assembly discussed 'Guidelines on places of refuge for ships in need of assistance' At the discussion, Res. A.949(23) has been selected to appoint recommended place of refuge for countries signatory to the IMO Convention. IMO defines "Places of Refuge" as a places where a ship in need of assistance can take action to enable it to stabilize its condition and reduce the hazards to navigation, and to protect human life and the environment. Appointing and managing a Place of refuge can be a delicate problem because of its close connection to each country's coastal and environmental protection policies. However, in case of marine accident, the appointment or management of the place of refuge has a potential to avoid further damage and reduce to the minimum any environmental and estate losses. Currently a number of foreign countries, designated and operated a place of refuge. But, place of refuge selected method criteria were different by country and also does not have any standardized designating place of refuge model. Therefor, this study suggested the model of assigned places of refuge according to objective indication in order to assign reasonable and efficient places of refuge in domestic waters in the future by investigating and analyzing imported facts in considering the assignment of places of refuge in foreign countries and describing these imported data into quantitative value. In designating the model place of refuge, the final place of refuge location was presented by evaluating the probability of marine accidents, analyzing the location, and evaluating the supporting establishment.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.15 no.4
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• pp.81-90
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• 2016

As an autonomous driving vehicle (AV) need to cope with external road conditions by itself, its perception performance for road environment should be better than that of a human driver. A vision sensor, one of AV sensors, performs lane detection function to percept road environment for performing safe vehicle steering, which relates to define vehicle heading and lane departure prevention. Performance standards for a vision sensor in an ADAS(Advanced Driver Assistance System) focus on the function of 'driver assistance', not on the perception of 'independent situation'. So the performance requirements for a vision sensor in AV may different from those in an ADAS. In assuming that an AV keep previous steering due to lane detection failure, this study calculated lane departure distances between the AV location following curved road alignment and the other one driving to the straight in a curved section. We analysed lane departure distance and time with respect to the allowance of lane detection malfunction of an AV vision sensor. With the results, we found that an AV would encounter a critical lane departure situation if a vision sensor loses lane detection over 1 second. Therefore, it is concluded that the performance standards for an AV should contain more severe lane departure situations than those of an ADAS.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2010.10a
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• pp.145-146
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• 2010

This paper proposed a new concept of global healthcare system based on M2M technology with the combination of networks by using IPv6 techniques. The proposed system consists of 6LoWPAN based wearable sensors, gateway for the connection of different networks, and server program offering health information. Thus our approach presents an intelligent system which allows direct exchange of information between machines without human assistance with the epoch-making extension of measurement environment in healthcare areas appropriately.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.3
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• pp.346-353
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• 2012

The purpose of this study is to verify the energy efficiency of the integrated system combining human and a lower extremity exoskeleton robot when it is applied to the proposed gait pattern. Energy efficient gait pattern of the lower limb was proposed through leg function distribution during stance phase and the dynamic-manipulability ellipsoid (DME). To verify the feasibility and effect of the redefined gait trajectory, simulations and experiments were conducted under the conditions of walking on level ground and ascending and descending from a staircase. Experiments to calculate the metabolic cost of the human body with or without the assistance of the exoskeleton were conducted. The energy consumption of the lower extremity exoskeleton was assessed, with the aim of improving the efficiency of the integrated system.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.12
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• pp.1067-1076
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• 2016

This paper describes the development of a hybrid-powered wheelchair (HPW) for the elderly. The proposed HPW has novel mechanical and control features compared with conventional powered wheelchairs. An ergonomic back-braking mechanism was designed in order to stop the wheels easily. In terms of control features, the HPW remarkably reduces the muscle power required by combining various assistive functions, such as wheel torque assistance, friction/inertia compensation, gravity compensation, and the one-hand driving algorithm. For wheel torque assistance, strain gauges were attached to the hand-rim in order to measure the wheel torque applied by a human. Gyroscopes and an accelerometer were attached to the wheel and chair respectively for friction and inertia compensation. An inclinometer was attached for gravity compensation and the one-hand driving algorithm was included for patients who can only use one hand. The one-hand driving algorithm controls the angular velocity of the uncontrolled wheel by using a gyroscope and pressure sensors attached to the bottom of the seat. Finally, the performance of the proposed motion assisted algorithm was verified through various experiments.

• Journal of the Korean Society of Marine Environment & Safety
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• v.18 no.4
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• pp.308-315
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• 2012

Hebei Spirit Oil Spill that happened in 2007 had prompted the need of revisiting the coastal safety. In response to this, Korea had made an effort to implement VTS in every coastline in the country. There are a lot of theoretical studies on VTS function nowadays, but coastal VTS are less frequently studied. In this paper, performance analysis results and accident prevention activities of Jindo Coastal VTS center were summarized and the Coastal VTS function are investigated. Jindo Coastal VTS covers relatively wide area and various places with various maritime traffic characteristics are the major navigation vessels, which means that it is important to control these vessels. Since the probability of accidents due to human error is relatively high in coastal area due to negligence tendency of crews during coastal area navigation, coastal VTS has to provide sufficient assistance to navigating vessels. Like most harbour VTS, Coastal VTS provides not only main information service, navigational assistance and traffic organization services but also various services related with advanced search-and-rescue assistance, marine national security, maritime crime prevention, oil spill response, traffic services for non-service vessel, and safety supervision for water leisure boats.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.5
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• pp.421-426
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• 2015

Need to develop human body's posture supervised robots, gave the push to researchers to think over dexterous design of exoskeleton robots. It requires to develop quantitative techniques to assess human motor function and generate the command to assist in compliance with complex human motion. Upper limb rehabilitation robots, are one of those robots. These robots are used for the rehabilitation of patients having movement disorder due to spinal or brain injuries. One aspect that must be fulfilled by these robots, is to cope with uncertainties due to different patients, without significantly degrading the performance. In this paper, we propose chattering free sliding mode control technique for this purpose. This control technique is not only able to handle matched uncertainties due to different patients but also for unmatched as well. Using this technique, patients feel active assistance as they deviate from the desired trajectory. Proposed methodology is implemented on seven degrees of freedom (DOF) upper limb rehabilitation robot. In this robot, shoulder and elbow joints are powered by electric motors while rest of the joints are kept passive. Due to these active joints, robot is able to move in sagittal plane only while abduction and adduction motion in shoulder joint is kept passive. Exoskeleton performance is evaluated experimentally by a neurologically intact subjects while varying the mass properties. Results show effectiveness of proposed control methodology for the given scenario even having 20 % uncertain parameters in system modeling.

• Journal of the Korean Institute of Intelligent Systems
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• v.16 no.5
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• pp.544-549
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• 2006

This research is to introduce about Judgment System for Intelligent Movement(JSIM) that can perform assistance work of human brain. JSIM can order autonomous command and also it can be directly controlled by user. This research assumes that control object is limited to Mobile Robot(MR) Mobile robot offers image and ultrasonic sensor information to user carrying JSIM and it performs guide to user. JSIM having PDA and Sensor-box controls velocity and direction of the mobile robot by soft-computing method that inputs user's command and information that is obtained to mobile robot. Also it controls mobile robot to achieve various movement. This paper introduces wearable JSIM that communicates with around devices and that can do intelligent judgment. To verify the possibility of the proposed system, in real environment, the simulation of control and application problem lot mobile robot will be introduced. Intelligent algorithm in the proposed system is generated by mixed hierarchical fuzzy and neural network.