• Progress in Medical Physics
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• v.27 no.3
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• pp.117-124
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• 2016

Intrafractional motion of patients, such as respiratory motion during radiation treatment, is an important issue in image-guided radiotherapy. The accuracy of the radiation treatment decreases as the motion range increases. We developed a control system for a robotic patient immobilization system that enables to reduce the range of tumor motion by compensating the tumor motion. Fusion technology, combining robotics and mechatronics, was developed and applied in this study. First, a small-sized prototype was established for use with an industrial miniature robot. The patient immobilization system consisted of an optical tracking system, a robotic couch, a robot controller, and a control program for managing the system components. A multi speed and position control mechanism with three degrees of freedom was designed. The parameters for operating the control system, such as the coordinate transformation parameters and calibration parameters, were measured and evaluated for a prototype device. After developing the control system using the prototype device, a feasibility test on a full-scale patient immobilization system was performed, using a large industrial robot and couch. The performances of both the prototype device and the realistic device were evaluated using a respiratory motion phantom, for several patterns of respiratory motion. For all patterns of motion, the root mean squared error of the corresponding detected motion trajectories were reduced by more than 40%. The proposed system improves the accuracy of the radiation dose delivered to the target and reduces the unwanted irradiation of normal tissue.

• Journal of Biomedical Engineering Research
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• v.32 no.2
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• pp.144-150
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• 2011

The primary purpose of this study was to analyze the motion of the scaphoid, capitate, and lunate during dart-throwing motion by three-dimensional modeling. Five series of CT images of five normal right wrists were acquired from five motion steps from radial extension to ulnar flexion in the dart-throwing motion plane. Segmentation and three-dimensional modeling of bones from CT images was performed using Analyze. Distances among centroids of the scaphoid, capitate and lunate and angles between principal axes of three carpal bones were calculated to analyze the motion by using MATLAB. As the wrist motion changed from radial extension to ulnar flexion, the distance between two adjacent bones decreased. The scaphoid and lunate rotated less than the capitates during dart-throwing motion. This study reports the Three-dimensional in vivo measurement of carpal motion using CT images.

• Earthquakes and Structures
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• v.23 no.3
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• pp.259-269
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• 2022

In this study, we introduce a canonical correlation analysis method to accurately assess the tunnel damage potential of ground motion. The proposed method can retain information relating to the initial variables. A total of 100 ground motion records are used as seismic inputs to analyze the dynamic response of three different profiles of tunnels under deep and shallow burial conditions. Nine commonly used ground motion parameters were selected to form the canonical variables of ground motion parameters (GMP_CCA). Five structural dynamic response parameters were selected to form canonical variables of structural dynamic response parameters (DRP_CCA). Canonical correlation analysis is used to maximize the correlation coefficients between GMP_CCA and DRP_CCA to obtain multivariate ground motion parameters that can be used to comprehensively assess the tunnel damage potential. The results indicate that the multivariate ground motion parameters used in this study exhibit good stability, making them suitable for evaluating the tunnel damage potential induced by ground motion. Among the nine selected ground motion parameters, peck ground acceleration (PGA), peck ground velocity (PGV), root-mean-square acceleration (RMSA), and spectral acceleration (Sa) have the highest contribution rates to GMP_CCA and DRP_CCA and the highest importance in assessing the tunnel damage potential. In contrast to univariate ground motion parameters, multivariate ground motion parameters exhibit a higher correlation with tunnel dynamic response parameters and enable accurate assessment of tunnel damage potential.

• The Journal of Korea Robotics Society
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• v.12 no.2
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• pp.239-247
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• 2017

The purpose of this study is to develop a motion generation technique based on a double inverted pendulum model (DIPM) that learns and reproduces humanoid robot (or virtual human) motions while keeping its balance in a pattern similar to a human. DIPM consists of a cart and two inverted pendulums, connected in a serial. Although the structure resembles human upper- and lower-body, the balancing motion in DIPM is different from the motion that human does. To do this, we use the motion capture data to obtain the reference motion to keep the balance in the existence of external force. By an optimization technique minimizing the difference between the motion of DIPM and the reference motion, control parameters of the proposed method were learned in advance. The learned control parameters are re-used for the control signal of DIPM as input of linear quadratic regulator that generates a similar motion pattern as the reference. In order to verify this, we use virtual human experiments were conducted to generate the motion that naturally balanced.

• Journal of the Institute of Convergence Signal Processing
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• v.1 no.1
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• pp.49-57
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• 2000

In this study, a new algorithm for canceling a MRI artifact due to the translational motion In the image plane is described. Unlike the conventional iterative phase retrieval algorithm, in which there is no guarantee for the convergence, a direct method for estimating the motion is presented. In previous approaches, the motions in the x(read out) direction and the y(phase encoding) direction were estimated simultaneously. However, the feature of x and y directional motions are different from each other. By analyzing their features, each x and y directional motion is canceled by the different algorithms in two steps. First, it is noticed that the x directional motion corresponds to a shift of the x directional spectrum of the MRI signal, and the non-zero area of the spectrum just corresponds to the projected area of the density function on the x axis. So the motion is estimated by tracing the edges between non-zero area and zero area of the spectrum, and the x directional motion is canceled by shifting the spectrum in an reverse direction. Next, the y directional motion is canceled by using a new constraint condition, with which the motion component and the true image component can be separated. This algorithm is shown to be effective by using a phantom image with simulated motion.

• Nuclear Engineering and Technology
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• v.51 no.5
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• pp.1231-1240
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• 2019

Unlike land-based nuclear power plants, a marine or floating reactor is affected by external forces due to ocean conditions. These external forces can cause additional accelerations and affect each system and equipment of the marine reactor. Therefore, in designing a marine reactor and evaluating its performance and stability, a thermal hydraulic safety analysis code is necessary to consider the thermal hydrodynamic effects of ship motion. MARS, which is a reactor system analysis code, includes a dynamic motion model that can simulate the thermal-hydraulic phenomena under three-dimensional motion by calculating the body force term included in the momentum equation. In this study, it was verified that the dynamic motion model can simulate fluid motion with reasonable accuracy using conceptual problems. In addition, two modifications were made to the dynamic motion model; first, a user-supplied table to simulate a realistic ship motion was implemented, and second, the flow regime map determination algorithm was improved by calculating the volume inclination information at every time step if the dynamic motion model was activated. With these modifications, MARS could simulate the thermal-hydraulic phenomena under ocean motion more realistically.

• Journal of the Korean Society of Safety
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• v.18 no.1
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• pp.101-107
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• 2003

Dynamic behavior of flexible rectangular liquid storage structures is analysed by the developed method. The rectangular liquid storage structures are assumed to be fixed to the ground and a moving coordinate system is used. The irrotational motion of invicid and incompressible ideal fluid is represented by two analytic solutions. One is the solution of the fluid motion in the rigid rectangular liquid storage structure due to ground motions and the other is the solution of the fluid motion by the motion of the wall in the flexible rectangular liquid storage structure. The motion of structure is modeled by finite elements. The fluid-structure interaction effect is reflected into the coupled equation of motion as added fluid mass matrix. The free surface sloshing motion and hydrodynamic pressure acting on the wall in the flexible rectangular liquid storage structure due to the horizontal ground motion are obtained by the developed method and verified.

• Journal of Computing Science and Engineering
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• v.7 no.2
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• pp.122-131
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• 2013

The MPI CyberMotion Simulator provides a unique motion platform, as it features an anthropomorphic robot with a large workspace, combined with an actuated cabin and a linear track for lateral movement. This paper introduces the simulator as a tool for studying human perception, and compares its characteristics to conventional Stewart platforms. Furthermore, an experimental evaluation is presented in which multimodal human control behavior is studied by identifying the visual and vestibular responses of participants in a roll-lateral helicopter hover task. The results show that the simulator motion allows participants to increase tracking performance by changing their control strategy, shifting from reliance on visual error perception to reliance on simulator motion cues. The MPI CyberMotion Simulator has proven to be a state-of-the-art motion simulator for psychophysical research to study humans with various experimental paradigms, ranging from passive perception experiments to active control tasks, such as driving a car or flying a helicopter.

• Journal of Korea Multimedia Society
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• v.20 no.11
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• pp.1842-1848
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• 2017

Recently, user motion estimation methods using various wearable devices have been actively studied. In this paper, we propose a motion estimation system using Myo, which is one of the wearable devices, using two Myo and their dependency relations. The estimated motion is used as a command for remotely controlling the robot. Myo's Orientation and EMG signals are used for motion estimation. These two type data sets are used complementarily to increase the accuracy of motion estimation. We design and implement the system according to the proposed method and analyze the results through experiments. As a result of comparison with previous studies, the accuracy of motion estimation can be improved by about 12.3%.

• Journal of Power System Engineering
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• v.7 no.3
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• pp.54-60
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• 2003

In general, the swing motion of the crane is controlled and suppressed by activating the trolley motion. In this paper, we suggest a new type of anti-sway control system of the crane. In the proposed control system, a small auxiliary mass(moving-mass) is installed on the spreader and the swing motion is controlled by moving the auxiliary mass. The actuator reaction against the auxiliary mass applies inertial control forces to the container to reduce the swing motion in the desired manner. In this paper, we apply the $H_{\infty}$ based control technique to the anti-sway control system design problem. And the experimental result shows that the proposed control system is shown to be useful and robust to disturbances like winds and initial sway motion.