• 정보통신설비학회논문지
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• 제10권4호
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• pp.143-147
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• 2011

The system using augmented reality can save the time and cost. It is verified in various fields under the possibility of a technology by solving unrealistic feeling in the virtual space. Therefore, augmented reality has a variety of the potential to be used. Generally, multimodal senses such as visual/auditory/tactile feed back are well known as a method for enhancing the immersion in case of interaction with virtual object. By adapting tangible object we can provide touch sensation to users. a 3D model of the same scale overlays the whole area of the tangible object; thus, the marker area is invisible. This contributes to enhancing immersive and natural images to users. Finally, multimodal feedback also creates better immersion. In this paper, sound feedback is considered. By further improving immersion learning augmented reality for children with the initial step learning content is presented. Augmented reality is in the intermediate stages between future world and real world as well as its adaptability is estimated more than virtual reality.

• 한국인터넷방송통신학회논문지
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• 제19권1호
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• pp.279-287
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• 2019

본 논문에서는 신체의 움직임 정보와 족압 분포의 변화를 측정하여 신체 균형 능력을 분석하고자 하였다. 그래서 관성측정장치와 FSR 센서를 사용하여 관절가동범위와 신체압력중심을 측정하고 분석할 수 있는 프로그램을 개발하였고, 이에 대한 결과를 바탕으로 균형 능력 개선에 도움을 줄 수 있는 콘텐츠를 제작하였다. 이 프로그램에서 측정된 관절가동범위와 신체압력중심의 정량적인 값을 실시간으로 시각화하여 사용자가 결과를 쉽게 알 수 있도록 하였다. 또한 콘텐츠는 측정된 균형정보를 바탕으로 난이도가 조절되며 균형능력을 개선하고자 하는 방향에 맞춰 수행할 수 있도록 제작되었다. 이것은 사용자의 동작에 따라 움직이는 물체를 보면서 진행하는 시각 되먹임 방법을 이용하여 집중력과 참여의지를 높여 더욱 효과적인 균형 훈련 결과를 기대할 수 있다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2451-2456
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• 2003

In biological cell manipulation, manual thrust or penetration of an injection pipette into an egg is currently performed by a skilled operator, relying only on visual feedback information. Massive load of various micro injection of either genes, fluid or cells in the postgenomic era calls a more reliable and automatic micro injection system that can test hundreds of genes or cell types at a single experiment. We initiated to study cellular force sensing in zebrafish eggs as the first step for the development of a more controllable micro injection system by any inexperienced operator. Zebrafish eggs at different developmental stages were collected and an integrated biomanipulation system was employed to measure cellular force during penetrating the egg envelope, the chorion. First of all, the biomanipulation system integrated with cellular force sensing instrument is implemented to measure the penetration force of cell membranes and characterize mechanical properties of zebrafish embryo cells. Furthermore, implementation of cellular force sensing system and calibration are presented. Finally, the cellular force sensing of penetrating cell membranes at each developmental stages was experimentally performed. The results demonstrated that the biomanipulation system with force sensing capability can measure cellular force at real-time while the injection operation is undergoing. The magnitude of the measured force was in the range of several hundreds of uN. The precise real-time measurement should provide the first step forwards for the development of an automatic and reliable injection system of various materials into biological cells.

• 대한의용생체공학회:의공학회지
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• 제44권2호
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• pp.125-138
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• 2023

The development of AI systems for radiation therapy is important to improve the accuracy, effectiveness, and safety of cancer treatment. The current system has the disadvantage of monitoring patients using CCTV, which can cause errors and mistakes in the treatment process, which can lead to misalignment of radiation. Developed the PMRP system, an AI automation system that uses depth cameras to measure patient's fine movements, segment patient's body into parts, align Z values of depth cameras with Z values, and transmit measured feedback to positioning devices in real time, monitoring errors and treatments. The need for such a system began because the CCTV visual monitoring system could not detect fine movements, Z-direction movements, and body part movements, hindering improvement of radiation therapy performance and increasing the risk of side effects in normal tissues. This study could provide the development of a field of radiotherapy that lags in many parts of the world, along with the economic and social importance of developing an independent platform for radiotherapy devices. This study verified its effectiveness and efficiency with data through phantom experiments, and future studies aim to help improve treatment performance by improving the posture correction mechanism and correcting left and right up and down movements in real time.

• 한국군사과학기술학회지
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• 제2권2호
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• pp.186-196
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• 1999

The CPS provides data with long-term stability independent of passed time and the INS provides high-rate data with short-term stability. By integrating these complementary systems, a highly accurate navigation system can be achieved. In this paper, a loosely-coupled GPS/INS integration system is designed. It is a simple structure and is easy to implement and preserves independent navigation capability of GPS and INS. The integration system consists of a NCU, an IMU, a GPS receiver, and a monitoring system. The navigation algorithm in the NCU is designed under the multi-tasking environment based on a real-time kernel system and the monitoring system is designed using the Visual C++. The integrated Kalman filter is designed as a feedback formed 15-state filter, in which the states are position errors, velocity errors, attitude errors and sensor bias errors. The van test result shows that the integrated system provides more accurate navigation solution then the inertial or the GPS-alone navigation system.

• 융합신호처리학회논문지
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• 제24권1호
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• pp.15-20
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• 2023

일반적으로 잘못된 앉은 자세를 장시간 유지하는 것은 척추에 나쁜 영향을 미치는 것으로 널리 알려져 있다. 최근 여러 연구자들이 잘못된 앉은 자세와 척추질환의 인과관계에 관심을 두고 있으며, 척추질환 예방을 위해 앉거나 서는 자세의 변화를 정밀하게 측정할 수 있는 방법을 연구해왔다. 우리는 과거 연구에서 실시간 체위 변환 측정이 가능한 센서 디바이스를 개발하고 운동량 계산 알고리즘을 적용하여 실시간 자세 전환 측정 정확도를 향상시켰으며, 체위 변환 측정 센서의 정확도를 검증하였다. 본 연구에서는 좌압 측정을 통해 체중심의 변화를 고려한 자세 측정 및 분석 장치를 개발하였으며, 개발된 센서는 사용자의 시각적 피드백을 개선하여 자세 교정 훈련 정확도를 높이는 보조 도구로의 활용 가능성을 확인하였다.

• Radiation Oncology Journal
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• 제32권2호
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• pp.84-94
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• 2014

Purpose: To quantify the cardiac dose reduction during breathing adapted radiotherapy using Real-time Position Management (RPM) system in the treatment of left-sided breast cancer. Materials and Methods: Twenty-two patients with left-sided breast cancer underwent CT scans during breathing maneuvers including free breathing (FB), deep inspiration breath-hold (DIBH), and end inspiration breath-hold (EIBH). The RPM system was used to monitor respiratory motion, and the in-house self respiration monitoring (SRM) system was used for visual feedback. For each scan, treatment plans were generated and dosimetric parameters from DIBH and EIBH plans were compared to those of FB plans. Results: All patients completed CT scans with different breathing maneuvers. When compared with FB plans, DIBH plans demonstrated significant reductions in irradiated heart volume and the heart $V_{25}$, with the relative reduction of 71% and 70%, respectively (p < 0.001). EIBH plans also resulted in significantly smaller irradiated heart volume and lower heart $V_{25}$ than FB plans, with the relative reduction of 39% and 37%, respectively (p = 0.002). Despite of significant expansion of lung volume using inspiration breath-hold, there were no significant differences in left lung $V_{25}$ among the three plans. Conclusion: In comparison with FB, both DIBH and EIBH plans demonstrated a significant reduction of radiation dose to the heart. In the training course, SRM system was useful and effective in terms of positional reproducibility and patient compliance.

• Journal of Radiation Protection and Research
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• 제47권1호
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• pp.8-15
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• 2022

Background: We developed a machine vision technology program that tracks patients' real-time breathing and automatically analyzes their breathing patterns. Materials and Methods: To evaluate its potential for clinical application, the image tracking performance and accuracy of the program were analyzed using a respiratory motion phantom. Changes in the stability and regularity of breathing were observed in healthy adult volunteers according to whether the breathing pattern mirrored the breathing guidance. Results and Discussion: Displacement within a few millimeters was observed in real-time with a clear resolution, and the image tracking ability was excellent. This result was consistent even in the sections where breathing patterns changed rapidly. In addition, the respiratory gating method that reflected the individual breathing patterns improved breathing stability and regularity in all volunteers. Conclusion: The findings of this study suggest that this technology can be used to set the appropriate window and the range of internal target volume by reflecting the patient's breathing pattern during radiotherapy planning. However, further studies in clinical populations are required to validate this technology.

• Journal of Biosystems Engineering
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• 제37권1호
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• pp.65-74
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• 2012

Purpose: An autonomous robot was developed for harvesting strawberries cultivated in bench-type systems. Methods: The harvest robot consisted of four main components: an autonomous vehicle, a manipulator with four degrees of freedom (DOF), an end effector with two DOFs, and a color computer vision system. Strawberry detection was performed based on 3D image and distance information obtained from a stereo CCD color camera and a laser device, respectively. Results: In this work, a Cartesian type manipulator system was designed, including an intermediate revolute axis and a double driven arm-based joint axis, so that it could generate collision-free motions during harvesting. A DC servomotor-driven end-effector, consisting of a gripper and a cutter, was designed for gripping and cutting the strawberry stem without damaging the strawberry itself. Real-time position tracking algorithms were developed to detect, recognize, trace, and approach strawberries under natural light conditions. Conclusion: The developed robot system could harvest a strawberry within 7 seconds without damage.

• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2009년도 학술대회
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• pp.68-73
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• 2009

최근 다양한 햅틱 알고리즘과 햅틱 장비가 개발되면서 햅틱을 이용한 컴퓨터 시뮬레이션이 증가하고 있다. 햅틱 시뮬레이션은 기본적으로 1000Hz 정도의 비교적 고속 리프레쉬를 요구한다. 기존 햅틱 시뮬레이션은 대상 모델을 간략화 해서 고속 리프레쉬 요구사항을 만족 시켰다. 하지만, 유연체 가변형 모델 시뮬레이션은 시각적 변형요소가 중요하기 때문에 모델을 간략화 할 경우에 시각적으로 좋지 않은 결과를 초래한다. 햅틱 렌더링만 담당하는 모델을 따로 분리하여 병렬처리를 통해 햅틱과 변형 시뮬레이션을 모두 하는 경우도 있지만 두 모델간의 관계가 명백하지 않아 문제가 발생하기도 한다. 이 논문에서는 유연체 시뮬레이션을 위한 볼륨 변형 모델과 햅틱 렌더링 모델을 정의하고 두 모델간의 관계를 정의한다. 또한, 충돌처리등 사용자 인터랙션에 필요한 알고리즘을 제안하고 수술시뮬레이션 등에 적용해보고자 한다.