• Journal of Biomedical Engineering Research
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• v.37 no.3
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• pp.105-111
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• 2016

Introduction: Surgical robot is the alternative instrument that substitutes the difficult and precise surgical operation; should have intuitiveness operationally to transfer natural motions. There are limitations of hand motion derived from contacting mechanical handle in the surgical robot master interface such as mechanical singularity, isotropy, coupling problems. In this paper, we will confirm and verify the feasibility of intuitive Non-restraint master interface which tracking the hand motion using infra-red camera and only 3 reflective markers without the hardware handle for the surgical robot master interface. Materials & methods: We configured S/W and H/W system; arranged 6 infra-red cameras and attached 3 reflective markers on hands for measuring 3 dimensional coordinate then we find the 7 motions of grasp, yaw, pitch, roll, px, py, pz. And we connected Virtual-Master to the slave surgical robot(Laparobot) and observed the feasibility. To verify the result of motion, we compare the result of Non-restraint master and that of clinometer (and protractor) through measuring 0~180 degree, 10degree interval, 1000 samples and recorded standard deviation stands for error rate of the value. Results: We confirmed that the average angle values of Non-restraint master interface is accurately corresponds to the result of clinometer (and protractor) and have low error rates during motion. Investigation & Conclusion: In this paper, we confirmed the feasibility and accuracy of 3D Non-restraint master interface that can offer the intuitive motion of non-contact hardware handle. As a result, we can expect the high intuitiveness, dexterousness of surgical robot.

• Korean Journal of Computational Design and Engineering
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• v.19 no.4
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• pp.324-331
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• 2014

In the design of a combat vehicle, various performances such as firepower, mobility and survivability, etc., should be considered. Furthermore, since these performances relate to each other, design framework which can treat an integrated system should be employed to design the combat vehicle. In this paper, we use empirical interior ballistic and 3D combat vehicle analyses for predicting firepower and mobility performances which are developed in previous study (1) integrated performance modeling. In firepower performance, pitch and roll angle by sequential firing are considered. In mobility performance, vertical acceleration after passing through a bump is regarded. However, since there are many design variables such as mass of vehicle, mass of suspension, spring and damping coefficient of suspension and tire, geometric variables of vehicle, etc., for firepower and mobility performance, we utilize analysis of variance and quality function deployment to reduce the number of design variables. Finally, integrated design optimization is carried out for integrated performance such as firepower and mobility.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.37 no.3
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• pp.283-292
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• 2009

Considering an integral equation governing the motion of unfolding fin, an algebraic equation was acquired to get estimated minimum deployment energy required for the successful fin unfolding under the given wind condition. To complete the integration of moment, some approximations had to be introduced particularly to frictional moment and aerodynamic damping for which deployment angular speed of the unfolding fin was modelled as a function of deployment angle only with assumed profile using expected maximum angular speed. Technique for the estimation of the minimum required deployment energy was finalized by introducing the ideal deployment angular speed representing work done by the fin unfolding device alone during fin unfolding and was confirmed by comparing results from simulation with various aerodynamic conditions and profiles of the hinge torque.

• Journal of Convergence for Information Technology
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• v.8 no.6
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• pp.135-142
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• 2018

In recent years, researches utilizing UAV for military purposes such as precision tracking and batting have been actively conducted. In order to track the preceding flight, there has been a previous research on estimating the attitude information of the flight such as roll, pitch, and yaw using images taken from the rear UAV. In this study, we propose a method to estimate the attitude information more precisely by applying the Kalman filter to the existing image processing technique. By applying the Kalman filter to the estimated attitude data using image processing, we could reduce the estimation error of the attitude angle significantly. Through the simulation experiments, it was confirmed that the estimation using the Kalman filter can estimate the posture information of the aircraft more accurately.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.26 no.4
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• pp.36-42
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• 2018

Although continuous passenger injuries and physical damages are repeated due to the unexpected aviation turbulence encountered during operations, there is still exist the limitation for preventing recurrence of similar events because the lack of real-time information and delay in technological developments regarding various operating conditions and variable weather phenomena. The purpose of this study is to compare and analyze the meteorological data of the aviation turbulence occurred and actual flight data extracted from the Quick Access Recorder(QAR) to provide some precursors that the pilot can identify aviation turbulence early by referring thru the flight instrumentation indications. The case applied for this study was recent event, a scheduled flight from Incheon Airport, Korea to Narita Airport, Japan that suddenly encountered turbulence at an altitude of approximately 14,000 feet during approach. According to the Korea Meteorological Administration(KMA)'s Regional Data Assessment and Prediction System(RDAPS) data, it was observed that the strong amount of vorticity in the rear area of jet stream, which existed near Mount Fuji at that time. The QAR data analysis shows significant changes in the aircraft's parameters such as Pitch and Roll angle, Static Air Temperature(SAT), and wind speed and direction in tens of seconds to minutes before encounter the turbulence. If the accumulate reliability of the data in addition and verification of various parameters with continuous analysis of additional cases, it can be the precursors for the pilot's effective and pre-emptive action and conservative prevention measures against aviation turbulence to reduce subsequent passenger injuries in the aviation operations.

• Journal of Drive and Control
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• v.12 no.4
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• pp.60-70
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• 2015

A front-end loader (FEL) mounted on an agricultural tractor is one of the most commonly used implements for farm work. However, when the tractor carries material using the bucket attached to the FEL on a sloping ground, the materials can spill or roll back over the operator due to the tilted body, thereby requiring the bucket surface to remain level at a constant value regardless of varying slopes. In this study, an active system for controlling the angle of the FEL bucket on a tractor based on the real-time measurement of ground slopes was developed to enable the bucket to constantly remain level. A FEL simulator operated based on an electro hydraulic proportional valve (EHPV) was constructed in the laboratory to develop a proportional-integral-derivative (PID) controller forming a virtual electronic control unit (ECU) on the computer, which could automatically adjust the bucket angles depending on varying input angles while sending SAE-J1939 associated messages via CAN BUS to the EHPV. The different parameter values for the PID controller due to the gravity effect of the bucket were determined using a manual PID tuning method while assuming that the tractor travels on either an ascending slope or a descending slope. The developed PID control-based self-leveling system showed a mean of steady-state errors of within $1^{\circ}$ and a mean of delayed times of ~ 0.8s when the step input of $+20^{\circ}$ was given, implying that the developed system and control algorithm would be effective in maintaining the bucket angle at a certain value. Future studies include the improvement of the control algorithm to reduce such a time delay as well as the application of the developed algorithm to the FEL mounted on a tractor tested at a testing ground.

• The Journal of Korean Society for Radiation Therapy
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• v.21 no.1
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• pp.1-7
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• 2009

Purpose: The purpose is to evaluate the accuracy of correcting the targeting error through the Target Location System (TLS) for the location change error of the reference point which arises from the movement or motion of patient during the treatment using the CyberKnife. Materials and Methods: In this test, Gafchromic MD-55 film was inserted into the head and neck phantom to analyze the accuracy of the targeting, and then the 6 MV X-ray of CyberKnife (CyberKnife Robotic Radiosurgery System G4, Accuray, US) was irradiated. End to End (E2E) program was used to analyze the accuracy of targeting, which is provided by Accuray Corporation. To compute the error of the targeting, the test was carried out with the films that were irradiated 12 times by maintaining the distance within the rage of $0{\pm}0.2\;mm$ toward x, y, z from the reference point and maintaining the angle within the rage of $0{\pm}0.2^{\circ}$ toward roll, pitch, yaw, and then with the films which were irradiated 6 times by applying intentional movement. And the correlation in the average value of the reference film and the test film were analyzed through independent samples t-test. In addition, the consistency of dose distribution through gamma-index method (dose difference: 3%) was quantified, compared, and analyzed by varying the distance to agreement (DTA) to 1 mm, 1.5 mm, 2 mm, respectively. Results: E2E test result indicated that the average error of the reference film was 0.405 mm and the standard deviation was 0.069 mm. The average error of the test film was 0.413 mm with the standard deviation of 0.121 mm. The result of independent sampling t-test for both averages showed that the significant probability was P=0.836 (confidence level: 95%). Besides, by comparing the consistency of dose distribution of DTA through 1 mm, 1.5 mm, 2 mm, it was found that the average dose distribution of axial film was 95.04%, 97.56%, 98.13%, respectively in 3,314 locations of the reference film, consistent with the average dose distribution of sagittal film that was 95.47%, 97.68%, 98.47%, respectively. By comparing with the test film, it was found that the average dose distribution of axial film was 96.38%, 97.57%, 98.04%, respectively, at 3,323 locations, consistent with the average dose distribution of sagittal film which was 95.50%, 97.87%, 98.36%, respectively. Conclusion: Robotic CyberKnife traces and complements in real time the error in the location change of the reference point caused by the motion or movement of patient during the treatment and provides the accuracy with the consistency of over 95% dose distribution and the targeting error below 1 mm.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.36 no.5B
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• pp.502-510
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• 2011

In this research, a wireless movable systems is introduced that is applicable for real-world clinical examination in order to resolve the inconvenience of wired motion analysis system which uses markers by measuring more accurately the angle of the 3D motion. The system is composed of bluetooth data transmission and 6 DOF inertial measurement system that is composed of 3-axis acceleration and 3-axis gyroscope. The samples were collected from 10 feet of 5 young children who were confirmed as patients having flat feet and achilles tendonitis by podiatric expert in pediatrics, and the validity of the system was evaluated by comparison with the opinion by the expert using the EMG data and the data measured by the developed system. ROM of ankle was measured by the difference between the maximum and the minimum peaks of 3-axis values (pitch, roll and yaw) measured at lateral malleolus bone, and based on this measured value, the eversion rate became relatively higher as flat feet state become worse, which is equivalent to the opinion from the podiatric experts. It was shown that there is a relation between the certain muscle activities and the abnormal motion of foot caused by disease.

• Journal of the Korean Vacuum Society
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• v.16 no.2
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• pp.79-90
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• 2007

Prototype of $800{\ell}$ vacuum web coater (Vic Mama) consisting of ion source with low energy less than 250 eV for high speed surface modification and 4 magnetron sputter cathodes was designed and constructed. Its performance was evaluated through fabricating the adhesiveless flexible copper clad laminate (FCCL). Pumping speed was monitored in both upper noncoating zone pumped down by 2 turbo pumps with 2000 l/sec pumping speed and lower surface modification and sputter zone vacuumed by turbo pumps with 450 1/sec and 1300 1/sec pumping speed respectively. Ion current density, plasma density, and uniformity of ion beam current were measured using Faraday cup and the distribution of magnetic field and erosion efficiency of sputter target were also investigated. With the irradiation of ion beams on polyimide (Kapton-E, $38{\mu}m$) at different fluences, the change of wetting angle of the deionized water to polyimide surface and those of surface chemical bonding were analyzed by wetting anglometer and x-ray photoelectron spectroscopy. After investigating the deposition rate of Ni-Cr tie layer and Cu layer was investigated with the variations of roll speed and input power to sputter cathode. FCCL fabricated by sputter and electrodeposition method and characterized in terms of the peel strength, thermal and chemical stability.

• Journal of Navigation and Port Research
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• v.37 no.3
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• pp.257-262
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• 2013

A ship operating in rough sea may suffer from an undesirable motion which may severely degrade the performance of equipment onboard and give a person an uncomfortable feeling. Hence, roll stabilization received a considerable attention and various devices including bilge keels, stabilizing fins, gyroscopic, anti-rolling tanks, rudders and flaps have been conceived and utilized for the purpose. The Coanda effect is evident when a jet stream is applied tangential to a curved surface of a hydrofoil since then the jet increases the circulation around the foil and consequently the lift. Model tests and numerical simulation have been conducted to examine the practicality of a fixed type fin stabilizer augmented by the Coanda jet. The results show that the lift coefficient of the modified Coanda fin at the zero angle of attack identically coincides with that of the original fin at ${\alpha}=\26^{\circ}$ when Coanda jet is supplied at the rate of $C_j$ = 0.25. It is also shown that fixed type fin stabilizers for active control of the motions of ships and the other mobile units without rotation can be put to practical use if the Coanda effect is applied.