• Journal of Biosystems Engineering
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• v.28 no.1
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• pp.65-76
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• 2003

The analysis of cow body parameters is important to provide some useful information fur cow management and cow evaluation. Present methods give many stresses to cows because they are invasive and constrain cow postures during measurement of body parameters. This study was conducted to develop the stereo vision system fur non-invasive analysis of cow body features. Body feature parameters of 16 heads at two farms(A, B) were measured using scales and nineteen stereo images of them with walking postures were captured under outdoor illumination. In this study, the camera calibration and inverse perspective transformation technique was established fer the stereo vision system. Two calibration results were presented for farm A and fm B, respectively because setup distances from camera to cow were 510 cm at farm A and 630cm at farm B. Calibration error values fer the stereo vision system were within 2 cm for farm A and less than 4.9 cm for farm B. Eleven feature points of cow body were extracted on stereo images interactively and five assistant points were determined by computer program. 3D world coordinates for these 15 points were calculated by computer program and also used for calculation of cow body parameters such as withers height. pelvic arch height. body length. slope body length. chest depth and chest width. Measured errors for body parameters were less than 10% for most cows. For a few cow. measured errors for slope body length and chest width were more than 10% due to searching errors fer their feature points at inside-body positions. Equation for chest girth estimated by chest depth and chest width was presented. Maximum of estimated error fur chest girth was within 10% of real values and mean value of estimated error was 8.2cm. The analysis of cow body parameters using stereo vision system were successful although body shape on the binocular stereo image was distorted due to cow movements.

• Progress in Medical Physics
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• v.21 no.4
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• pp.332-339
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• 2010

We aimed to setup an adaptive radiation therapy platform using cone-beam CT (CBCT) and multileaf collimator (MLC) log data and also intended to analyze a trend of dose calculation errors during the procedure based on a phantom study. We took CT and CBCT images of Catphan-600 (The Phantom Laboratory, USA) phantom, and made a simple step-and-shoot intensity-modulated radiation therapy (IMRT) plan based on the CT. Original plan doses were recalculated based on the CT ($CT_{plan}$) and the CBCT ($CBCT_{plan}$). Delivered monitor unit weights and leaves-positions during beam delivery for each MLC segment were extracted from the MLC log data then we reconstructed delivered doses based on the CT ($CT_{recon}$) and CBCT ($CBCT_{recon}$) respectively using the extracted information. Dose calculation errors were evaluated by two-dimensional dose discrepancies ($CT_{plan}$ was the benchmark), gamma index and dose-volume histograms (DVHs). From the dose differences and DVHs, it was estimated that the delivered dose was slightly greater than the planned dose; however, it was insignificant. Gamma index result showed that dose calculation error on CBCT using planned or reconstructed data were relatively greater than CT based calculation. In addition, there were significant discrepancies on the edge of each beam while those were less than errors due to inconsistency of CT and CBCT. $CBCT_{recon}$ showed coupled effects of above two kinds of errors; however, total error was decreased even though overall uncertainty for the evaluation of delivered dose on the CBCT was increased. Therefore, it is necessary to evaluate dose calculation errors separately as a setup error, dose calculation error due to CBCT image quality and reconstructed dose error which is actually what we want to know.

• The Journal of Korean Society for Radiation Therapy
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• v.19 no.1
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• pp.43-49
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• 2007

Purpose: The aim of this study was the clinical implementation of IGRT using KV CBCT for setup correction in radiation therapy. Materials and Methods: We selected 9 patients (3 patient for each region; head, body, pelvis)and acquired 135 CBCT images with CLINAC iX (Varian medical system, USA). During the scan, the required time was measured. We analyzed the result in 3 direction; vertical, longitudinal, lateral. Results: The mean setup errors at the couch position of vertical, lateral, and longitudinal direction were 0.07, 0.12, and 0.1 cm in the head region, 0.3, 0.26, and 0.22 cm in the body region, 0.21, 0.18, and 0.15 cm in the pelvis region respectively. The mean time required for CBCT was $6{\sim}7$ minute. Conclusion: The CBCT on the LINAC provides the capacity for soft tissue imaging in the treatment position and real time monitoring during treatment delivery. With presented workflow, the setup correction within reasonable time for more accurate radiation therapy is possible. And it's image can be very useful for adaptive radiation therapy(ART) in the future with improved image quality.

• Radiation Oncology Journal
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• v.19 no.3
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• pp.287-292
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• 2001

Prupose : We analyzed setup errors induced by using air-vacuum cushion as immobilization device in patients with rectal cancer. Materials and methods : We had treated the twenty patients with rectal cancer by 6 MV, 10 MV X-ray from Aug. 1998 to Aug. 1999 at Chungnam National University Hospital. All patients were treated at prone position. They were separated to two groups, control group, 10 patients using styrofoam, and test group, 10 patients using styrofoam and air-vacuum cushion. We measured errors of posterior field for x, y axis and lateral field for z, y axis with simulation film and EPID image using a matching technique. Results : In control group, the mean displacement values of pelvic bone landmark for x axis and y axis were 0.02 mm. 0.78 mm, respectively and the standard deviations of systematic error were 2.13 mm, 2.40 mm, respectively and the standard deviation of random error were 1.46 mm. 1.51 mm, respectively. In test group, the mean displacement values of x axis and y axis were -0.33 mm. 0.81 mm, respectively and the standard deviations of systematic error were 1.71 mm, 3.08 mm, respectively and the standard deviations of random errors were 1.40 mm. 1.88 mm, respectively. The mean displacement values of z axis and y axis were 2.98 mm. 0.74 mm, respectively and the standard deviations of systematic error were 4.75 mm, 2.65 mm, respectively and standard deviations of random error were 2.69 mm. 1.86 mm, respectively. The statistical difference of field size by using air vacuum cushion between two groups in posterior direction and lateral direction was not shown. Conclusion : We think that use of air-vacuum cushion may not be an advantage for improving setup accuracy in rectal cancer patients.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.55 no.4
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• pp.173-180
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• 2006

A key component of autonomous navigation of intelligent home robot is localization and map building with recognized features from the environment. To validate this, accurate measurement of relative location between robot and features is essential. In this paper, we proposed relative localization algorithm based on 3D reconstruction of scale invariant features of two images which are captured from two parallel cameras. We captured two images from parallel cameras which are attached in front of robot and detect scale invariant features in each image using SIFT(scale invariant feature transform). Then, we performed matching for the two image's feature points and got the relative location using 3D reconstruction for the matched points. Stereo camera needs high precision of two camera's extrinsic and matching pixels in two camera image. Because we used two cameras which are different from stereo camera and scale invariant feature point and it's easy to setup the extrinsic parameter. Furthermore, 3D reconstruction does not need any other sensor. And the results can be simultaneously used by obstacle avoidance, map building and localization. We set 20cm the distance between two camera and capture the 3frames per second. The experimental results show :t6cm maximum error in the range of less than 2m and ${\pm}15cm$ maximum error in the range of between 2m and 4m.

• Journal of Korean Society on Water Environment
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• v.26 no.5
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• pp.802-809
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• 2010

An automatic calibration tool of Hydrological Simulation Program-Fortran (HSPF), Parameter Estimation (PEST) program, was applied at the Imha lake watershed to get optimal hydrological parameters of HSPF. Calibration of HSPF parameters was performed during 2004 ~ 2008 by PEST and validation was carried out to examine the model's ability by using another data set of 1999 ~ 2003. The calibrated HSPF parameters had tendencies to minimize water loss to soil layer by infiltration and deep percolation and to atmosphere by evapotranspiration and maximize runoff rate. The results of calibration indicated that the PEST program could calibrate the hydrological parameters of HSPF with showing 0.83 and 0.97 Nash-Sutcliffe coefficient (NS) for daily and monthly stream flow and -3% of relative error for yearly stream flow. The validation results also represented high model efficiency with showing 0.88 and 0.95, -10% relative error for daily, monthly, and yearly stream flow. These statistical values of daily, monthly, and yearly stream flow for calibration and validation show a 'very good' agreement between observed and simulated values. Overall, the PEST program was useful for automatic calibration of HSPF, and reduced numerous time and effort for model calibration, and improved model setup.

• Current Optics and Photonics
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• v.1 no.4
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• pp.364-371
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• 2017

Compared to one made of glass, an aluminum mirror features light weight, compact design, low cost, and quick manufacturing. Reflective mirrors and supporting structures can be made from the same material, to improve the athermal performance of the system. With the rapid development of ultraprecise machining technologies, the field of applications for aluminum mirrors has been developed rapidly. However, most of them are rotationally symmetric in shape, and are used for infrared applications. In this paper, the design and manufacture of an off-axis aluminum mirror used for a three-mirror-anastigmat (TMA) optical system at visible wavelengths is presented. An optimized, lightweight design provides a weight reduction of more than 40%, while the surface deformation caused by earth's gravity can meet the required tolerance. The two pieces of an off-axis mirror can be diamond-turned simultaneously in one setup. The centrifugal deformation of the off-axis mirror during single-point diamond turning (SPDT) is simulated through the finite-element method (FEM). The techniques used to overcome centrifugal deformation are thoroughly described in this paper, and the surface error is reduced to about 1% of the original value. After post-polishing, the form error is $1/30{\lambda}$ RMS and the surface roughness is better than 5 nm Ra, which can meet the requirements for visible-light imaging.

• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2372-2374
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• 2003

With 3-D vision measuring, camera calibration is necessary to calculate parameters accurately. Camera calibration was developed widely in two categories. The first establishes reference points in space, and the second uses a grid type frame and statistical method. But, the former has difficulty to setup reference points and the latter has low accuracy. In this paper we present an algorithm for camera calibration using perspective ratio of the grid type frame with different line widths. It can easily estimate camera calibration parameters such as focal length, scale factor, pose, orientations, and distance. But, radial lens distortion is not modeled. The advantage of this algorithm is that it can estimate the distance of the object. Also, the proposed camera calibration method is possible estimate distance in dynamic environment such as autonomous navigation. To validate proposed method, we set up the experiments with a frame on rotator at a distance of 1,2,3,4[m] from camera and rotate the frame from -60 to 60 degrees. Both computer simulation and real data have been used to test the proposed method and very good results have been obtained. We have investigated the distance error affected by scale factor or different line widths and experimentally found an average scale factor that includes the least distance error with each image. It advances camera calibration one more step from static environments to real world such as autonomous land vehicle use.

• International Journal of Control, Automation, and Systems
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• v.3 no.4
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• pp.542-551
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• 2005

A new distance measurement method with the use of a single camera and a rotating mirror is presented. A camera in front of a rotating mirror acquires a sequence of reflected images, from which distance information is extracted. The distance measurement is based on the idea that the corresponding pixel of an object point at a longer distance moves at a higher speed in a sequence of images in this type of system setting. Distance measurement based on such pixel movement is investigated. Like many other image-based techniques, this presented technique requires matching corresponding points in two images. To alleviate such difficulty, two kinds of techniques of image tracking through the sequence of images and the utilization of multiple sets of image frames are described. Precision improvement is possible and is one attractive merit. The presented approach with a rotating mirror is especially suitable for such multiple measurements. The imprecision caused by the physical limit could be improved through making several measurements and taking an average. In this paper, mathematics necessary for implementing the technique is derived and presented. Also, the error sensitivities of related parameters are analyzed. Experimental results using the real camera-mirror setup are reported.

• The Journal of Korea Robotics Society
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• v.6 no.4
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• pp.334-343
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• 2011

This paper presents a new approach for mobile robot heading detection using MEMS Gyro north finding method in the indoor environment. Based on this, the robot heading angle measurement scheme is proposed; improved north finding theory and algorithm are also explained. Several approaches are applied to confirm system's precision and effectiveness. In order to find out the heading angle, a single axis MEMS gyroscope to sense the angle between the robot heading direction and the north is used. To reach enough estimation accuracy and reduce detection time, the least square method (LSM) for the signal fitting and parameter estimation is applied. Through a turn-table, we setup a carouseling system to decrease the substantial bias effect on gyroscope's heading angle. For the evaluation of the proposed method, this system is implemented to the Pioneer robot platform. The performance and heading error are analyzed after the test. From the simulation and experimental results, system's accuracy, usefulness and adaptability are shown.