• Journal of Korean Neurosurgical Society
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• 제30권1호
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• pp.41-46
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• 2001

Objective : The exact position of the lesion during the pallidotomy is critical to obtain the clinical improvement of parkinson's disease without damage to surrounding structure. Ventriculogrphy, CT(computed tomograpy) or MRI(magnetic resonance imaging) have been used to determine the initial coordinates of stereotactic target for pallidotomy. The goal of this study was to determine whether microelectrode recording significantly improves the neurophysiologic localization of the target obtained from MRI. Methods : Twenty patients were studied. They underwent a unilateral pallidotomy. Leksell frame was applied and T1 axial images parallel to the AC-PC(anterior commissure-posterior commissure) plane using a 1.5 Tesla MRI with 3mm slice thickness were obtained. Anteroposterior coordinate of target was chosen at 2mm in front of the midcommissural point and lateral coordinate between 19 and 22mm from the midline. The vertical coordinate was calculated on coronal slice using a fast spin echo inversion recovery sequence(FSEIR) related to the position of the choroidal fissure and ranged over 4-5mm below the AC-PC plane. Confirmation of the anatomical target was done on axial slices using the same FSEIR sequence . Microrecording was done at the pallidum contralateral to the symptomatic side using an electrode with a tip diameter of $1{{\mu}m}$ diameter tip and 1.1-1.4 mOhm impedance at 1000Hz. Electrophysiologic localization of the target was also confirmed intraoperatively by macrostimulation. Results : Microrecording techniques were reliable to define the transition from the base of the pallidum which was characterized by the disappearance of spike activity and by the change of the audible background activity. Signals from high amplitude neurons firing at 200-400Hz were recorded in the pallidal base. X, Y and Z coordinates of target obtained from the MRI were within 1mm from the X, Y, Z coordinates obtained with microrecording in 16 patients (80%), 15 patients(75%), 10 patients(50%) respectively. The difference of Y coordinate between on MRI and on microrecording was 4mm in only one patient. Conclusion : The MRI was accurate to localize the target within 1mm of the error from microrecording target in 70% of the patients. 4mm discrepancy was observed only once. We conclude that MRI alone can be used to determine the target for pallidotomy in most patients. However, microrecording technique can still be extremely valuable in patents with aberrant anatomy or unusual MRI coordinates. We also consider physiologic confirmation of the target using macrostimulation to be mandatory in all cases.

• 대한원격탐사학회지
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• 제25권6호
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• pp.547-557
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• 2009

LIDAR (LIght Detection And Ranging) is an active remote sensing technology which provides 3D coordinates of the Earth's surface by performing range measurements from the sensor. Early small footprint LIDAR systems recorded multiple discrete returns from the back-scattered energy. Recent advances in LIDAR hardware now make it possible to record full digital waveforms of the returned energy. LIDAR waveform decomposition involves separating the return waveform into a mixture of components which are then used to characterize the original data. The most common statistical mixture model used for this process is the Gaussian mixture. Waveform decomposition plays an important role in LIDAR waveform processing, since the resulting components are expected to represent reflection surfaces within waveform footprints. Hence the decomposition results ultimately affect the interpretation of LIDAR waveform data. Computational requirements in the waveform decomposition process result from two factors; (1) estimation of the number of components in a mixture and the resulting parameter estimates, which are inter-related and cannot be solved separately, and (2) parameter optimization does not have a closed form solution, and thus needs to be solved iteratively. The current state-of-the-art airborne LIDAR system acquires more than 50,000 waveforms per second, so decomposing the enormous number of waveforms is challenging using traditional single processor architecture. To tackle this issue, four parallel LIDAR waveform decomposition algorithms with different work load balancing schemes - (1) no weighting, (2) a decomposition results-based linear weighting, (3) a decomposition results-based squared weighting, and (4) a decomposition time-based linear weighting - were developed and tested with varying number of processors (8-256). The results were compared in terms of efficiency. Overall, the decomposition time-based linear weighting work load balancing approach yielded the best performance among four approaches.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2057-2062
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• 2003

Chained form mobile robots have been studied from the viewpoint of the control and analysis of nonholonomic mechanical systems in literature. However, researches for the detailed closed form kinematic modeling are rarely progressed. Nothing that a chained form mobile robot can be considered as a parallel system including several chains and wheels, the transfer method using augmented generalized coordinates is applied to obtain inverse and forward kinematic models of chained form mobile robots. Various numerical simulations are conducted to verify the effectiveness of the suggested kinematic model.

• Journal of international Conference on Electrical Machines and Systems
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• 제3권4호
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• pp.472-480
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• 2014

The In solar power system, the height and azimuth of the sun are important parameters which control generated power magnitude. The tracking method that controls the daily generation magnitude according to latitude and longitude using the two axles is often used in the existing sunlight tracking system today. In this two-axle PV track control system, the self-load is concentrated on one FRAME. It is influenced of the regular load, snow load and the wind load, etc. It is difficult to set up the system in the conventional building. This research is a development about the small-scale economy track device of independent load-dispersing solar generation system. The position tracking algorithm is through new coordinates transformation calculating the height and azimuth of the sun.

• 조명전기설비학회논문지
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• 제20권9호
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• pp.45-53
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• 2006

This paper proposes a method for an effective intelligent route decision for automatic moving robots(AMR) using a 2D spatial map of a stereo camera system. In this method, information about depth and disparity map are detected in the inputting images of a parallel stereo camera. The distance between the automatic moving robot and the obstacle is detected, and a 2D spatial map is obtained from the location coordinates. Then the relative distances between the obstacle and other objects are deduced. The robot move automatically by effective and intelligent route decision using the obtained 2D spatial map. From experiments on robot driving with 240 frames of stereo images, it was found that the error ratio of the calculated distance to the measured distance between objects was very low, 1.52[%] on average.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2001년도 춘계학술대회논문집
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• pp.115-120
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• 2001

A gyroscope is a rotating body possessing one axis of symmetry and whose rotation about the symmetry axis is relatively large compared with the rotation about any other axis. Tuning fork is this type of structure that various modem gyro-sensors are based on. In this paper, dynamic behavior of a cantilevered beam subjected ta a base rotation with respect to the eccentric axis that is parallel to the beam axis is analyzed. The final equations of motion in terms of generalized coordinates can be solved with numerical scheme with various values of angular velocities and angular accelerations of the rotating axis. In contrast to the case of rotating cantilever beam like helicopter blade, the rotational motion with respect to the beam axis has effect to decrease the stiffness of the beam and has unstable region depending on the magnitude of the rotational angular velocity and angular acceleration.

• International Journal of Internet, Broadcasting and Communication
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• 제8권4호
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• pp.54-57
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• 2016

In this paper, the method for an effective and intelligent route decision of the automatic ground vehicle (AGV) using a 2D spatial map of the stereo camera system is proposed. The depth information and disparity map are detected in the inputting images of a parallel stereo camera. The distance between the automatic moving robot and the obstacle detected and the 2D spatial map obtained from the location coordinates, and then the relative distance between the obstacle and the other objects obtained from them. The AGV moves automatically by effective and intelligent route decision using the obtained 2D spatial map. From some experiments on robot driving with 480 frames of the stereo images, it is analyzed that error ratio between the calculated and measured values of the distance between the objects is found to be very low value of 1.57% on average, respectably.

• Smart Structures and Systems
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• 제26권5호
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• pp.657-666
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• 2020

A rotational pulse-echo ultrasonic propagation imager that can inspect cylindrical specimens for material nondestructive evaluations is proposed herein. In this system, a laser-generated ultrasonic bulk wave is used for inspection, which enables a clear visualization of subsurface defects with a precise reproduction of the damage shape and size. The ultrasonic waves are generated by a Q-switched laser that impinges on the outer surface of the specimen walls. The generated waves travel through the walls and their echo is detected by a Laser Doppler Vibrometer (LDV) at the same point. To obtain the optimal Signal-to-Noise Ratio (SNR) of the measured signal, the LDV requires the sensed surface to be at a right angle to the laser beam and at a predefined constant standoff distance from the laser head. For flat specimens, these constraints can be easily satisfied by performing a raster scan using a dual-axis linear stage. However, this arrangement cannot be used for cylindrical specimens owing to their curved nature. To inspect the cylindrical specimens, a circular scan technology is newly proposed for pulse-echo laser ultrasound. A rotational stage is coupled with a single-axis linear stage to inspect the desired area of the specimen. This system arrangement ensures that the standoff distance and beam incidence angle are maintained while the cylindrical specimen is being inspected. This enables the inspection of a curved specimen while maintaining the optimal SNR. The measurement result is displayed in parallel with the on-going inspection. The inspection data used in scanning are mapped from rotational coordinates to linear coordinates for visualization and post-processing of results. A graphical user interface software is implemented in C++ using a QT framework and controls all the individual blocks of the system and implements the necessary image processing, scan calculations, data acquisition, signal processing and result visualization.

• Journal of Dental Anesthesia and Pain Medicine
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• 제22권6호
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• pp.427-435
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• 2022

Background: This study aimed to investigate the relationship between pharyngeal morphology and the success or failure of blind nasotracheal intubation using standard lateral cephalometric radiography and to analyze the measurement items affecting the difficulty of blind nasotracheal intubation. Methods: Assuming a line perpendicular to the Frankfort horizontal (FH) plane, the reference point (O) was selected 1 cm above the posterior-most end of the hard palate. A line passing through the reference point and parallel to the FH plane is defined as the X-axis, and a line passing through the reference point and perpendicular to the X-axis is defined as the Y-axis. The shortest length between the tip of the uvula and posterior pharyngeal wall (AW), shortest length between the base of the tongue and posterior pharyngeal wall (BW), and width of the glottis (CW) were measured. The midpoints of the lines representing each width are defined as points A, B, and C, and the X and Y coordinates of each point are obtained (AX, BX, CX, AY, BY, and CY). For each measurement, a t-test was performed to compare the tracheal intubation success and failure groups. A binomial logistic regression analysis was performed using clinically relevant items. Results: The items significantly affecting the success rate of blind nasotracheal intubation included the difference in X coordinates at points A and C (Odds ratio, 0.714; P-value, 0.024) and the ∠ABC (Odds ratio, 1.178; P-value, 0.016). Conclusion: Using binomial logistic regression analysis, we observed statistically significant differences in AX-CX and ∠ABC between the success group and the failure group.

• PNF and Movement
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• 제22권1호
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• pp.1-11
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• 2024

Purpose: The prevalent use of mobile devices may contribute to musculoskeletal disorders, such as forward head posture (FHP), among users. The measurement of the craniovertebral angle (CVA) using photographic images is frequently employed in assessing FHP. Although manual CVA measurement using photographic images is reliable in clinical settings, computer programs or mobile applications to support tele-physical therapy are not yet fully developed. Therefore, in the current study, we propose an automatic method for extracting CVA from photographic images of FHP subjects to facilitate tele-physical therapy. Methods: To develop the automatic CVA measuring computer program, photographic images were obtained from 10 FHP participants. The location information obtained from the markers attached to the tragus and the spinous process of the seventh cervical vertebra were used as coordinates. Using these coordinates, straight line 1 was generated by connecting the seventh spinous process of the cervical vertebra and the tragus, while straight line 2 was drawn parallel to the coordinate obtained from the seventh spinous process of the cervical vertebra. The arc tangent function was used to calculate the angle between the two straight lines. The automatic CVA measurement computer program utilizing photographic images was developed using MATLAB (ver. 2016b). Results: The results showed that the automatic CVA measurement computer program demonstrated stable repeatability and high accuracy. Conclusion: The proposed approach was able to automatically estimate the CVA using photographic images. The developed computer program can potentially be used for easier and more reliable clinical assessment of FHP.