• Proceedings of the IEEK Conference
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• 2009.05a
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• pp.372-374
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• 2009

In this research, an obstacle avoidance method is proposed. The common usage of a robot is indoor and the obstacles to the indoor robot is studied. The accurate detection of direction after overcoming the obstacles is necessary for performance of autonomous navigation and mission project. The sensors such as Laser, Ultrasound, PSD can be used to measure the obstacles. In this research, a PSD sensor is used to detect obstacles. It detects the height and width of obstacles located on the floor. Before measuring the obstacles, a calibration of the sensor was done and it produced a better accuracy. We have plotted an error graph using data obtained from the repeated experiments. The graph is fitted to a polynomial curve. The polynomial equation is used for the robot navigation. And in this research, a model of the error of the direction of the robot after overcoming obstacles was obtained also. The prototype of the obstacle and the error of the direction after overcoming the obstacles are modelled using a neural networks. The input of the neural network composed with the height of the obstacles, the speed of robot, the direction of wheels and the error of the direction. To implement the suggested algorithm, we set up a robot which is operated by a notebook computer. Experiment showed the suggested algorithm performed well.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.20 no.11
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• pp.3607-3619
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• 1996

Experimental and numerical studies for three-dimensional pulsatile flows are conducted to investigate the flow characteristics in the bifurcated tubes. Velocity measurements in experimental study were made by both Pulsed Doppler Ultrasound(PDU) machine and Laser Doppler Anemometer(LDA) system. Glycerin is used for experimental study. Experimental results are used to verify the results of the numerical simulation. Flow characteristics of Newtonian fluid and blood in the bifurcated tubes under the steady and pulsatlie flows are numerically investigated. Finite volume method is employed for three-dimensional numerical simulations. Blood is considered as a non-Newtonian fluid and the constitutive equation of blood is used for the numerical analysis. Numerical analyses are focused on the flow patterns for various branch angles ranging from 30.deg. to 90.deg. and diameter ratios such as 1.0, 0.8, and 0.6. Pulsatile flow characteristics of blood are compared with those of Newtonian fluid. Parameter effects on axial velocity, pressure and wall shear stress distribution along the bifurcated tubes are discussed in terms of the branch angle, diameter ratio, and Reynolds number.

• Journal of Embryo Transfer
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• v.16 no.3
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• pp.193-201
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• 2001

This study was designed to examine the factors affecting in fertilization and development of embryos in vitro, and to examine whether zone drilling by laser irradiation can improve the hatching rate of IVF embryos from DNA marker-proved Hanwoo. DNA markers related to marbling score were identified using DNA fingerprinting with Ml3 probe and restriction enzyme Hae III. Oocytes were aspirated from immature ovarian follicles using a combined method of rectal ovarian-palpation and transvaginal ultrasound-guidance(6.5MHz) under local anesthesia. The aspirated oocytes were washed twice with fresh D-PBS containing 5% FBS and were rewashed 4 to 5 times with TCM-199 containing 5% FBS. A morphological grade of I to IV was assigned to each oocyte. Data were analyzed using the GLM procedure of SAS. Sperm separation methods did not have any significant effect on cleavage or developmental abilities of IVF embryos. Significantly(P<0.05) higher cleavage rate was observed in embryos from GI(60.0%, 3/5), GII(69.2%, 18/26) and GIII(62.1%, 59/95) compared to embryos from GIV oocytes(36.2%, 25/69). And the developmental rate to blastocyst stage was higher(P<0.05) in embryos from GI(33.3%, 1/3) and GII oocytes(38.9%, 7/18) than those from GIII(16.9%,10/59) and GIV oocytes(4.0%, 1/25). There was no significant difference in development of IVF embryos to blastocyst by media for in vitro culture. Proportion of hatched blastocyst was significantly(P<0.05) higher in embryos received zona drilling by laser than those of non-drilled.

• Journal of the Korean Society for Nondestructive Testing
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• v.31 no.5
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• pp.466-471
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• 2011

Optical coherence tomography(OCT) is an emerging medical diagnostic tool that draws great attention in medical and biological fields. It has a 10-100 times higher spatial resolution than that of the clinical ultrasound but lower imaging depth such as 1-2 mm. In order to image internal organs, OCT needs an endoscopic probe. In this paper, the principle of Fourier-domain optical coherence tomography with high-speed imaging capability was introduced. An OCT endoscope based on MEMS technology was developed. It was attached to the Fourier-domain OCT system to acquire three-dimensional tomographic images of gastrointestinal tract of New Zealand white rabbit. The endoscope had a two-axis scanning mirror that was driven by electrostatic force. The mirror stirred an incident light to sweep two-dimensional plane by scanning. The outer diameter of the endoscope was 6 mm and the mirror diameter was 1.2 mm. A three-dimensional image rendered by 200 two-dimensional tomographs with $200{\times}500$ pixels was displayed within 3.5 seconds. The spatial resolution of the OCT system was 8 ${\mu}m$ in air.

• Analytical Science and Technology
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• v.25 no.2
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• pp.114-120
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• 2012

For the qualitative analysis of peptides in matrix-assisted laser desorption/ionization-mass spectrometry (MALDI-MS), O-methylisourea, which is chemically bound to a specific site of an amino acid (e.g. lysine) of peptides and improves the intensities of the modified peptides, is frequently used prior to the MALDI-MS analysis of peptides, where the process is called guanidination. The reaction efficiency of guanidination varies depending on the reaction conditions. We investigated the efficiencies of guanidination of tryptically digested myoglobin using three different reagents (O-methylisourea, S-methylisothiourea, and 2-methyl-2-imidazoline) at $65^{\circ}C$ for 1 h with various pH conditions (pH 4.0, 7.0, and 10.5), where O-methylisourea and pH 10.5 were found to be most effective. The guanidination with O-methylisourea at pH 10.5 were then applied with different reaction conditions such as heating, microwave and ultrasound at various times, where heating for 60 min was found to be most effective. Conclusively, guanidination with O-methylisourea at $65^{\circ}C$ for 1 h at pH 10.5 was found to be the optimized condition.

• Journal of Sensor Science and Technology
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• v.29 no.1
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• pp.33-39
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• 2020

Typically, photoacoustic images are obtained in water or gelatin because the impedance of these mediums is similar to that of the human body. However, these acoustic mediums can have an additional mass effect that changes the resonance frequency of the transducer. The acoustic radiation impedance in air is negligible because it is very small compared to that of the transducer. However, the high acoustic impedance of mediums such as the human body and water is quite large compared to that of air, making it difficult to ignore. Specifically, in a case where the equivalent mass is very small, such as with a micro-machined ultrasound transducer, the additional mass effects of the acoustic medium should be considered for an accurate resonance frequency design. In this study, a piezoelectric micro-machined ultrasonic transducer (pMUT) was designed to have a resonance frequency of 10 MHz in the acoustic medium of water, which has similar impedance as the human body. At that time, the resonance frequency of the pMUT in air was calculated at 15.2 MHz. When measuring the center displacement of the manufactured pMUT using a laser vibrometer, the resonance frequencies were measured as 14.3-15.1 MHz, which is consistent with the finite element method (FEM) simulation results. Finally, photoacoustic images of human hair samples were successfully obtained using the fabricated pMUT.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.4
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• pp.395-403
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• 2012

This is direct bonding many of the metal bumps between FPCB and HPCB substrate. By using an ultrasonic horn mounted on an ultrasonic bonding machine, it is possible to bond gold pads onto the FPCB and HPCB at room temperature without an adhesive like ACA or NCA and high heat and solder. This ultrasonic bonding technology minimizes damage to the material. The process conditions evaluated for obtaining a greater bonding strength than 0.6 kgf, which is commercially required, were 40 kHz of frequency; 0.6MPa of bonding pressure; and 0.5, 1.0, 1.5, and 2.0 s of bonding time. The peel off test was performed for evaluating bonding strength, which was found to be more than 0.80 kgf.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.5
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• pp.463-468
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• 2010

An obstacle avoidance method for a mobile robot is proposed in this paper. Our research was focused on the obstacles that can be found indoors since a robot is usually used within a building. It is necessary that the robot maintain the desired direction after successfully avoiding the obstacles to achieve a good autonomous navigation performance for the specified project mission. Sensors such as laser, ultrasound, and PSD (Position Sensitive Detector) can be used to detect and analyze the obstacles. A PSD sensor was used to detect and measure the height and width of the obstacles on the floor. The PSD sensor was carefully calibrated before measuring the obstacles to achieve better accuracy. Data obtained from the repeated experiments were used to plot an error graph which was fitted to a polynomial curve. The polynomial equation was used to navigate the robot. We also obtained a direction-error model of the robot after avoiding the obstacles. The prototypes for the obstacle and direction-error were modeled using a neural network whose inputs are the obstacle height, robot speed, direction of the wheels, and the error in direction. A mobile robot operated by a notebook computer was setup and the proposed algorithm was used to navigate the robot and avoid the obstacles. The results showed that our algorithm performed very well during the experiments.

• Journal of the Institute of Convergence Signal Processing
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• v.21 no.4
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• pp.183-194
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• 2020

Recently, the number of hip dysplasia (DDH) that occurs during infant and child growth has been increasing. DDH should be detected and treated as early as possible because it hinders infant growth and causes many other side effects In this study, two modelling techniques were used for multiple training techniques. Based on the results after the first transformation, the training was designed to be possible even with a small amount of data. The vertical flip, rotation, width and height shift functions were used to improve the efficiency of the model. Adam optimization was applied for parameter learning with the learning parameter initially set at 2.0 x 10e-4. Training was stopped when the validation loss was at the minimum. respectively A novel image overlay system using 3D laser scanner and a non-rigid registration method is implemented and its accuracy is evaluated. By using the proposed system, we successfully related the preoperative images with an open organ in the operating room

• Medical Lasers
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• v.8 no.2
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• pp.64-73
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• 2019

Background and Objectives The effectiveness of many physiotherapy modalities in reducing subcutaneous fat has been investigated in numerous previous studies. However, to the best of our knowledge, there have been no attempts to determine the effectiveness of physiotherapy modalities in body contouring. The present report determined the effect of 448-kHz capacitive resistive monopolar radiofrequency (CRMRF) in a porcine model. Materials and Methods This study investigated the effect of selective destruction of the subcutaneous fat layer in abdominal fat tissue using CRMRF. The effects of two types of CRMRF (capacitive electric transfer (CET) and resistive electric transfer (RET)) treatment were evaluated using regular digital photography in addition to thermal imaging evaluation, ultrasound measurement, hematological evaluation, and histologic analyses (H&E (hematoxylin and eosin), Oil red O, and immunohistochemistry staining). Results Preclinical evaluation was performed to obtain the data for comparison of the safety and efficacy of the subcutaneous fat reduction after applying CRMRF using CET and RET. After treatment, the thermal transmission was effective, and a 42-47℃ temperature change was observed in the fat layer while an approximately temperature of 42℃ was confirmed on the skin surface. Moreover, after the application of both types of CRMRF treatment, fibrotic septa were observed in the adipose tissue induced by heat at the treatment sites. TUNEL staining was also performed to confirm the process of apoptosis in the adipocytes. Conclusion These results suggest that both CET and RET for CRMRF treatment are safe and effective for subcutaneous fat reduction in a porcine model.