• Journal of Broadcast Engineering
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• v.25 no.4
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• pp.487-496
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• 2020

For the purpose of next generation technology for robot perfomances, a RAoRA (Robot Actor on Robot Arm) structure was proposed using a robot arm joined with a humanoid robot actor. Mechanical analysis, machine design and fabrication were performed for motions combined with the robot arm and the humanoid robot actor. Kinematical analysis for 3D model, spline interpolation of positions, motion control algorithm and control devices were developed for movements of the robot actor. Preliminary visualization, simulation tools and integrated operation of consoles were constructed for the non-professionals to produce intuitive and safe contents. Air walk was applied to test the developed platform. The air walk is a natural walk close to a floor or slow ascension to the air. The RAoRA also executed a performance with 5 minute-running time. Finally, the proposed platform of robot performance presented intensive and live motions which was impossible in conventional robot performances.

• Journal of the Korean Association of Oral and Maxillofacial Surgeons
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• v.37 no.3
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• pp.234-236
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• 2011

Traditional surgery to remove foreign bodies in the face carries a risk of postoperative morbidity with an injury to various anatomical structures, particularly the facial nerve and parotid duct and gland. Endoscopy can be a great aid in the removal of foreign bodies in the maxillofacial region. Surgical intervention using endoscope and/,or intraoperative images can be minimized, allowing the safe and precise removal of foreign bodies, and saving operating time. We report a case of the use of an endoscope and C-arm fluoroscopy guidance system to remove a very small foreign body.

• Journal of the Korea Institute of Information Security & Cryptology
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• v.33 no.2
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• pp.243-252
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• 2023

As an efficient key recovery attack on SIDH/SIKE was proposed, CSIDH is drawing attention again. CSIDH is an isogeny-based key exchange algorithm that is safe against known attacks to date, and provide efficient NIKE by modernizing CRS scheme. In this paper, we firstly present the optimized implementation of CSIDH-512 on ARM Cortex-M7. We use three-level hybrid Montgomery reduction and present the results of our implementation, limitations, and future research directions. This is a CSIDH implementation in 32-bit embedded devices that has not been previously presented, and it is expected that the results of this paper will be available to implement CSIDH and derived cryptographic algorithms in various embedded environments in the future.

• Journal of Electrical Engineering and Technology
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• v.12 no.1
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• pp.317-328
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• 2017

This paper presents design and specific absorption rate analysis of a 2.4 GHz wearable patch antenna on a conventional and electromagnetic bandgap (EBG) ground planes, under normal and bent conditions. Wearable materials are used in the design of the antenna and EBG surfaces. A woven fabric (Zelt) is used as a conductive material and a 3 mm thicker Wash Cotton is used as a substrate. The dielectric constant and tangent loss of the substrate are 1.51 and 0.02 respectively. The volume of the proposed antenna is $113{\times}96.4{\times}3mm^3$. The metamaterial surface is used as a high impedance surface which shields the body from the hazards of electromagnetic radiations to reduce the Specific Absorption Rate (SAR). For on-body analysis a three layer model (containing skin, fats and muscles) of human arm is used. Antenna employing the EBG ground plane gives safe value of SAR (i.e. 1.77W/kg<2W/kg), when worn on human arm. This value is obtained using the safe limit of 2 W/kg, averaged over 10g of tissue, specified by the International Commission of Non Ionization Radiation Protection (ICNIRP). The SAR is reduced by 83.82 % as compare to the conventional antenna (8.16 W/kg>2W/kg). The efficiency of the EBG based antenna is improved from 52 to 74 %, relative to the conventional counterpart. The proposed antenna can be used in wearable electronics and smart clothing.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.10
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• pp.853-858
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• 2016

Cooperation and collaboration with robots are key functions of robotic utility that are currently developing. Thus, robots should be safe and resemble human beings to cope with these needs. In particular, dual-arm robots that mimic human kinetics are becoming the focus of recent industrial robotics research. Their size is similar to the size of a human adult; however, they lack natural, human-like motion. One of the critical reasons for this is the shoulder complex. Most recent dual-arm robots have only 2 degrees of freedoms (DOFs), which significantly limits the workspace and mobility of the shoulders and arms. Therefore, a redundant shoulder complex could be very important in new developments that enable new capabilities. However, constructing a kinematically redundant shoulder complex is difficult because of spatial constraints. Therefore, we propose a novel, redundant shoulder complex for a human-like robot that is driven by flexible wire tendons. This kinematically redundant shoulder complex allows human-like robots to move more naturally because of redundant DOFs. To control the proposed shoulder complex, a hybrid control scheme is used. The positioning precision has also been considered, and the ability of the shoulder complex to perform several human-like motions has been verified.

• Radiation Oncology Journal
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• v.18 no.1
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• pp.17-25
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• 2000

Purpose : To evaluate the side effects, pattern of failure, and survival rate according to the sequence of postoperative adjuvant radiotherapy and chemotherapy, patients with stages II and III rectal cancer who had undergone curative resection were randomized to 'early radiotherapy group (arm I)' or' late radiotherapy group (arm II)', then we intend to determine the most effective sequence of the radiotherapy and chemotherapy. Materials and Methods . From January 1996 to March 1999, 313 patients with curatively resected stages II and III rectal cancer have been randomized to' early' or' late' radiation therapy group and received combined chemotherapy (5-FU 375 mg/m$^{2}$/day, ieucovorin 20 mg/m$^{2}$, IV bolus daily Dl-5, 8 cycles) and radiation therapy (whole pelvis with 45 Gy/25 fractions/s weeks). Arm I received radiation therapy from day 1 with first cycle of chemotherapy and arm II received radiation therapy from day 57 with third cycle of chemotherapy after completion of first two cycles. Preliminary analysis was peformed with 228 patients registered up to Jun 1998. Two out of the 228 patients were excluded because of double primary cancer. Median follow-up period was 23 months. Results :Local recurrence occurred in 11 patients (9.7$\%$) for arm I and 9 patients (8$\%$) for arm 11. There was no significant difference between both groups ( p=0.64). However, distant metastasis was found in 22 patients (19.5$\%$) for arm I and 35 patients (31.0$\%$) for arm II and which showed statistically significant difference between the two groups ( p=0.046). And neither 3-year disease-free survival (70.2$\%$ vs 59.2$\%$, p=0.2) nor overall survival (89.4$\%$ vs 88.0$\%$, p=0.47) showed significant differences. The incidence of leukopenia during radiation therapy and chemotherapy was 78.3$\%$ and 79.9$\%$ respectively but leukopenia more than RTOG grade 3 was only 2.1$\%$ and 6.0$\%$ respectively. The incidence of diarrhea more than 10 times per day was significantly higher in the patients for arm I than for arm II (71.2$\%$ vs 41.6$\%$, p=0.02) but this complication was controlled with supportive cares. Conclusion : Regardless of the sequence of postoperative adjuvant radiation therapy and chemotherapy after curative resection for rectal cancer, local recurrence rate was low with combined chemoradlotherapy. But distant metastasis rate was lower in early radiation therapy group than in late radiation therapy group and the reason is unclear. Most patients completed these treatments without severe complication, so these were thought to be safe treatments but the treatment compliance should be improved.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.9
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• pp.1048-1053
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• 2011

Recently, robots have been used in surgical area. Robotic surgery in Minimally Invasive Surgery gives many advantages to surgeons and patients both. This study introduce a robotic assistant to improve the safety of telerobotic Minimally Invasive Surgical procedures. The master-slave system is applied to the telerobotic surgical system with the master arm, which control the system, and slave robot which operates the surgery on the patient body. By using a 3-DOF master arm, the surgeon can control the 6-DOF surgical robot under the constraint of fulcrum point. This paper explains the telerobotic surgical system and confirms the system with the precision of the robot control related to the fulcrum point to enhance the safety.

• Journal of Ocean Engineering and Technology
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• v.23 no.6
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• pp.53-60
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• 2009

Recently, since there are several problems in space, the infra-structure and the facilities in the contiguity of the existing harbors due to the trend of enlarging the container capacity of the large container vessel, a special floating platform named as the Mobile Harbor has been proposed conceptually as an effective solution of those problems. Two kinds of hull shapes, a conventional mono-hull type and a catamaran type, are proposed as midway feeders to transfer containers to the harbor on land from a large container ship on near shore. In this study, the motion response and mooring analysis are carried out for comparing the global performance of two types of Mobile Harbor. Robot arm mooring facility specially is devised and newly tried to use for the safe fixation of a large container ship and the Mobile Harbor on near shore. It would be expected for this comparison study to give a guideline to design the efficient hull form for a midway loader.

• Clinical and Experimental Reproductive Medicine
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• v.43 no.4
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• pp.247-252
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• 2016

Objective: Heparin can modulate proteins, and influence processes involved in implantation and trophoblastic development. This study aimed to assess the improvement of clinical pregnancy and implantation rates after local intrauterine injection of low-molecular-weight heparin (LMWH) in patients undergoing intracytoplasmic sperm injection (ICSI). Methods: A randomised case/control design was followed in women scheduled for ICSI. The study arm was injected with intrauterine LMWH during mock embryo transfer immediately following the ovum pickup procedure, while the control arm was given an intrauterine injection with a similar volume of tissue culture media. Side effects, the clinical pregnancy rate, and the implantation rate were recorded. Results: The pregnancy rate was acceptable (33.9%) in the LMWH arm with no significant reported side effects, confirming the safety of the intervention. No statistically significant differences were found in the clinical pregnancy and implantation rates between both groups (p= 0.182 and p= 0.096, respectively). The odds ratio of being pregnant after intrauterine injection with LMWH compared to the control group was 0.572 (95% confidence interval [CI], 0.27-1.22), while the risk ratio was 0.717 (95% CI, 0.46-1.13; p= 0.146). No statistical significance was found between the two groups in other factors affecting implantation, such as day of transfer (p= 0.726), number of embryos transferred (p= 0.362), or embryo quality. Conclusion: Intrauterine injection of LMWH is a safe intervention, but the dose used in this study failed to improve the outcome of ICSI. Based on its safety, further research involving modification of the dosage and/or the timing of administration could result in improved ICSI success rates.

• Radiation Oncology Journal
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• v.20 no.1
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• pp.53-61
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• 2002

Purpose : To determine the optimal scheme of postoperative chemoradiotherapy in rectal cancer by comparing survival, Patterns of failure, toxicities in early and late radiotherapy groups using a Phase III randomized prospective clinical trial. Materials and Methods : From January 1996 to March 1999, 307 patients with curatively resected AJCC stage II and III rectal cancer were assigned randomly to an 'early (151 patients, arm 1)' or a 'late (156 patients, arm II)' and were administered combined chemotherapy (5-FU $375\;mg/m^2/day$, leucovorin $20\;mg/m^2$, IV bolus daily, for 3 days with RT, 5 days without RT, 8 cycles with 4 weeks interval) and radiation therapy (whole pelvis with 45 Gy/25 fractions/5 weeks). Patients of arm I received radiation therapy from day 1 of the first cycle of chemotherapy and those of arm II from day 57 with a third cycle of chemotherapy. The median follow-up period of living patients was 40 months. Results : Of the 307 patients enrolled, fifty patients did not receive scheduled radiation therapy or chemotherapy. The overall survival rate and disease free survival rate at 5 years were $78.3\%\;and\;68.7\%$ in arm I, and $78.4\%\;and\;67.5\%$ in arm II. The local recurrence rate was $6.6\%\;and\;6.4\%$ (p=0.46) in arms I and II, respectively, no significant difference was observed between the distant metastasis rates of the two arms ($23.8\%\;and\;29.5\%$, p=0.16). During radiation therapy, grade 3 diarrhea or more, by the NCI common toxicity criteria, was observed in $63.0\%\;and\;58.2\%$ of the respective arms (p=N.S.), but most were controlled with supportive care. Hematologic toxicity (leukopenia) greater than RTOG grade 2 was found in only $1.3\%\;and\;2.6\%$ of patients in each respective arm. Conclusion : There was no significant difference in survival, patterns of failure or toxicities between the early and late radiation therapy arms. Postoperative adjuvant chemoradiation was found to be a relatively safe treatment but higher compliance is needed.