• Journal of Positioning, Navigation, and Timing
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• 제1권1호
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• pp.35-43
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• 2012

The UGV is one of the special field robot developed for mine detection, surveillance and transportation. To achieve successfully the missions of the UGV, the accurate and reliable navigation data should be provided. This paper presents design and implementation of multi-sensor-based open architecture integrated navigation for localization of UGV. The presented architecture hierarchically classifies the integrated system into four layers and data communications between layers are based on the distributed object oriented middleware. The navigation manager determines the navigation mode with the QoS information of each navigation sensor and the integrated filter performs the navigation mode-based data fusion in the filtering process. Also, all navigation variables including the filter parameters and QoS of navigation data can be modified in GUI and consequently, the user can operate the integrated navigation system more usefully. The conventional GPS/INS integrated system does not guarantee the long-term reliability of localization when GPS solution is not available by signal blockage and intentional jamming in outdoor environment. The presented integration algorithm, however, based on the adaptive federated filter structure with FDI algorithm can integrate effectively the output of multi-sensor such as 3D LADAR, vision, odometer, magnetic compass and zero velocity to enhance the accuracy of localization result in the case that GPS is unavailable. The field test was carried out with the UGV and the test results show that the presented integrated navigation system can provide more robust and accurate localization performance than the conventional GPS/INS integrated system in outdoor environments.

• 대한추나의학회지
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• 제3권1호
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• pp.43-53
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• 2002

Objectives : The object is to study a clinical effect regarding the conservative treatment of the patient who was diagnosed as the herniated Intervertebral lumbar disc(HIVD) and hospitalized in the oriental medical hospital and clinical study about the type of the HIVD. Methods. The clinical studies were done on 65 cases (hospitalized in Dept. of Oriental Rehabilitation Medicine, jaseng on oriental medical hospital from June 2001 to May 2002) who complained of low back pain or sciatica and diagnosed as HIVD on CT(computerized tomography) or MRI(magnetic resonance imaging). They were given both oriental conservative treatment and exercise during the hospitalization period. We investigated and observed 20 items about sex, age, weight, height, occupation, smoking. obesity, duration of disease, clinical symptom and treatment duration in basis of medical recording which was drawn up at patient hospitalization. We classified HIVD with 4 types(Bulging. Protruded. Extruded, Sequestered) and decided the case which simultaneously had 2 overs with Mixed type. The treatment evaluation standard was classified with 4 branches; Excellent. Good, Fair and Poor. Results & Conclusions : The treatment result of over 'fair' is bulging type 85%, protruded type 92.7%, extruded type 100% and the mixed type was 85.1 %. The effect was good in order of bulging, mixed, protruded and extruded type. It appeared most plentifully with 30 people in L4-5 and L5-S 1 disc herniation type.

• 생물정신의학
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• 제12권1호
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• pp.68-72
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• 2005

Object:Nicotine dependence is the most common substance abuse disorder. One of the characteristics of nicotine dependence is craving. Regional activation of the brain induced by craving for nicotine was evaluated by using functional magnetic resonance imaging to investigate neuroanatomical site of smoking craving. Method:A smoker who satisfied DSM-IV criteria for nicotine dependence and a non smoker was studied. MRI data were acquired on a 1.5T Magnetom Vision Plus with a head volume coil. Two sets of visual stimuli were presented to subjects in a random manner. One was the film scenes of inducing smoking craving and the other was neutral stimuli not related to smoking. There were two fMRI sessions before and after smoking or sham smoking. Data were analyzed using SPM99. Results:fMRI showed significant activated area in anterior cingulate and medial frontal lobes in the smoker during smoking craving. Right dorsolateral prefrontal cortex and parietal lobes were activated in the control during visual stimulation before smoking. After smoking, there was no brain activation during visual stimulation in both of smoker and non smoker. Conclusion:Metabolic activity of the anterior cingulate and medial frontal lobes increased during craving for smoking. This result suggests that fMRI may be a valuable tool in the identification of neurobiological process of craving.

• 전기학회논문지
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• 제67권7호
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• pp.946-953
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• 2018

Photo-plethysmography (PPG), which measures changes in the peripheral blood flow of a human body using difference in absorption rate of light, is a measurement method that is studied and used in clinical and various applications due to its simple circuit configuration and measurement convenience. Magneto-plethysmography (MPG), which is newly developed by our team, is a method of measuring changes in the conductivity of biological tissues by using a eddy current induced by a time-varying magnetic field, and is not subject to optical interference. In this study, we investigated the detection characteristics of MPG according to the change of the conductivity of the object and fluid to be measured by simultaneously measuring PPG and MPG. In order to control the speed of fluid known in advance, a blood flow simulator was implemented and used. The fluid used in the experiment was general mineral water and physiological saline (0.9% NaCl) solution. Experimental results show that the amplitude change of the measured PPG was 0.3% in normal water and saline solution, and that of MPG was 77.3%. Therefore, it is considered that the magneto-plethysmography (MPG) has a strong correlation with the conductivity of the fluid.

• Journal of Korean Neurosurgical Society
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• 제29권7호
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• pp.899-903
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• 2000

Objective : Object : A 7-year retrospective clinical and MRI study was reviewed to evaluate the characteristics of pineal cyst. We evaluated results of clinical and radiologic change of pineal cyst during follow up period. Patients and Methods : From 1992 to 1999, 50 patients with pineal cyst were visited for evaluation. Follow up clinical information was obtained from patients or clinical record through phone conversation. also radiologic findi-ngs of pineal cyst in mid-sagittal MRI were reviewed in detail. Results : Pineal cysts were usually asymptomatic and detected incidentally during evaluation of other diseases. Sagittal MRI is the most useful diagnostic test. The radiologic findings of pineal cyst were isointensity on T1WI comared to CSF and slightly high signal intensity on T2WI. Cyst wall was variably enhanced on Gad-enhanced T1WI. The average size of cyst was $13.9{\times}13.0mm$. The pineal cyst was classified into five groups according to previous report. Long term behavior of these lesions are not apparent, but in our study they showed no specific changes in clinical and radiological aspects during 25 months. Conclusion : Although long-term follow up results are needed, the pineal cyst are considered as normal variants. In our 25 months follow up results, there was no rapid change of cyst both clinically and radiologically. Therefore, frequent radiologic evaluation seems unnecessary except type III pineal cyst.

• 한국지능시스템학회논문지
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• 제22권1호
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• pp.56-61
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• 2012

본 논문에서는 이중여자 유도발전기 기반 가변속도 풍력발전 시스템의 퍼지 모델링 및 안정도 해석에 관하여 다루고자 한다. 일반적인 풍력발전 시스템은 복잡한 비선형성 기반 동적방정식으로 구성되며, 플랜트를 구성하는 각 파라미터 수치 역시 주변 환경에 의해 변화할 여지가 있다. 풍력발전 시스템의 해석을 위하여 본 논문에서는 비선형성 및 불확실성에 강인한 퍼지 제어 기법을 기반으로 제어이론을 구성하고자 한다. 이중여자 유도발전기 기반 풍력발전 시스템의 퍼지 모델링 및 시스템 안정화를 위한 퍼지 제어기 설계 기법이 제안된다. 해당 제어 기법은 리아푸노프 기반 안정도 해석에 의해 점근 안정도를 보장받게 되며, 가상 시뮬레이션을 통한 시스템 효율성을 입증하게 된다.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2008년도 추계학술대회 논문집 Vol.21
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• pp.368-368
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• 2008

Ion implantation has been widely developed during the past decades to become a standard industrial tool. To comply with the growing needs in ion implantation, innovative technology for the control of ion beam parameters is required. Beam current, beam profile, ion fractions are of great interest when uniformity of the implant is an issue. Especially, it is important to measure the spatial distribution of beam power and also the energy distribution of accelerated ions. This energy distribution is influenced by the proportion of mass for ion in the plasma generator(ion source) and by charge exchange and dissociation within the accelerator structure and also by possible collective effects in the neutralizer which may affect the energy and divergence of ions. Hydrogen atom has been the object of a good study to investigate the energy distribution. Hydrogen ion sources typically produce multi-momentum beams consisting of atomic ion ($H^+$) and molecular ion ($H_2^+$ and $H_3^+$). In the beam injector, the molecular ions pass through a charge-exchanges gas cell and break up into atomic with one-half (from $H_2^+$) or one-third (from $H_3^+$) according to their accelerated energy. Burrell et al. have observed the Doppler shifted lines from incident $H^+$, $H_2^+$, and $H_3^+$ using a Doppler shift spectroscopy. Several authors have measured the proportion of mass for hydrogen ion and deuterium using an ion source equipped with a magnetic dipole filter. We developed an ion implanter with 50-KeV and 20-mA ion source and 100-keV accelerator tube, aiming at commercial uses. In order to measure the proportion of mass for ions, we designed a filter system which can be used to measure the ion fraction in any type of ion source. The hydrogen and helium ion species compositions are used a filter system with the two magnets configurations.

• Maxillofacial Plastic and Reconstructive Surgery
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• 제15권3호
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• pp.189-197
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• 1993

Tempormandibular Joint pain and dysfunction is a common and important clinical problem. With the recent advances in imaging technology, radiologists have made major contribution to the understanding of TMJ disease. The MRI has several advantages over the conventional imaging methods. It is possible to obtain surprisingly precise images of internal hard and soft tissues with MRI. It is not invasive without ionizing radiation. The abnormal disk position has been thought as the cause of TMJ internal derangement. But there are few methods to relate disk position to TMJ internal derangement quantatively. The object of our study is to determine the amount of anterior displacement fo articular disk in symptomatic patients related each symptoms. Using the method of Dr. Drace, we studied the 38 joints of 22 persons with susceptable TMJ internal derangement. 1. In determining the anterior displacement of TMJ articular disk, the junction between the posterior band and bilaminar zone was useful. 2. The mean anterior displacement of disk in reduction group and without reduction group were $51.0^{\circ}C$ and $81.1^{\circ}C$ respectively. The difference was significant. 3. In the mean anterior displacement of disk, the pain without clicking group showed $84.8^{\circ}C$ and the clicking and pain group $70.8^{\circ}C$, the clicking group respectively.

• 디지털콘텐츠학회 논문지
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• 제16권1호
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• pp.113-121
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• 2015

디지털 기술을 이용한 유물의 문양표현 방법은 크게 디지털 탁본기술과 디지털 명암기술의 두 가지가 있다. 디지털 탁본기술은 유물에 새겨진 명문이나 문양을 원형의 훼손 없이 3차원으로 스캐닝하고 이를 객관적 수치로 입체화시켜 명암효과를 표현함으로써 디지털 탁본 데이터를 구축하여 육안으로 확인하기 어려운 원래의 명문이나 문양을 명확하게 나타낼 수 있는 디지털 기술을 말한다. 디지털 명암기술은 유물 표면의 유리질 피막으로 인해서 대상물의 깊이정보를 계산할 수 없는 경우 3차원으로 스캐닝하고 이를 실감이미지 맵핑기술을 응용하여 디지털 명암이미지를 생성하는 디지털 기술을 말한다. 디지털 탁본기술은 주로 토기나 기와 그리고 비석 등 음각 또는 양각으로 표현된 명문이나 문양을 표현하는데 유용하며, 디지털 명암기술은 디지털 탁본기술이 적용될 수 없는 자기나 유리 등의 유물에 효과적으로 이용될 수 있다.

• 대한전자공학회논문지SP
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• 제46권6호
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• pp.153-162
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• 2009

본 논문에서는 이동 금속 물체 탐지 목적의 무선 센서네트워크 응용 시스템에 이용 가능한 저연산, 저전력 소모를 목적으로 하는 간결한 신호처리 알고리즘을 제안한다. 일반적 센서노드에 주로 사용되는 자기센서의 물리적 특성을 분석하고 Exponential Average method(EA)를 사용하여 시간 영역에서 실시간으로 센서 신호를 처리한다. EA를 사용하여 잡음, 시간, 온도에 따른 자기장 변화, 외부 간섭에 강인하면서 임베디드 프로세서에 적합한 적은 메모리소모와 연산량을 가진다. 또한 통계적 분석을 통해 제안하는 알고리즘의 최적화된 파라미터 값을 도출하고 적용하였다. 보편적으로 사용되는 자기 센서 모델의 시뮬레이션 결과 5%의 오경보 확률에서 90%이상의 이동 물체를 탐지할 수 있었다. 그리고 직접 제작한 센서 노드의 모델링 및 이를 이용한 시뮬레이션과 외부 실험의 결과 60~70% 이상의 탐지 확률을 확인하였다.