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A Mobile Robot Based on Slip Compensating Algorithm for Cleaning of Stud Holes at Reactor Vessel in NPP

  • Kim, Dong Il;Moon, Young Jun
    • Transactions of the Korean Society of Pressure Vessels and Piping
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    • v.16 no.1
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    • pp.84-91
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    • 2020
  • The APR1400 reactor stud holes can be stuck due to high temperatures, high pressure, prolonged engagement, and load changes according to pressure changes in the reactor. Threaded surfaces of a stud hole should be cleaned for the sealing of pressure in reactor vessel by removing any foreign materials which may exist in the stud holes. Human workers can access to the stud hole for the cleaning of stud holes manually, but the radiation exposure of human workers is increased. Robot is an effective way to work in hazardous area. So we introduced robot for the cleaning of stud holes. Localization of mobile robots is generally based on odometry, but with increased mileage, position errors can be accumulated. In order to eliminate cumulative error and to ensure stability of its driving, laser sensors and new control algorithm were utilized. The distance between the robot and the wall was measured by laser sensors, and the control algorithm was implemented so as to travel the desired trajectory by using the measured values from sensors. The performance of driving and hole sensing were verified through field application, and mobile robot was confirmed to be applicable to the APR 1400 NPP.

C-arm Guided Closed Reduction of Zygomatic Arch Fracture (C-arm 투시하에서 관골궁 골절의 비관혈적 정복술에 관한 고찰)

  • Eo, Yoon-Ki;Lee, Dong-Kun;Kim, Jeong-Sam;Jang, Young-Il
    • Journal of radiological science and technology
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    • v.22 no.2
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    • pp.23-26
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    • 1999
  • The Zygomatic arch is structurally protruded and is easily fractured. The classic management of zygomatic arch fracture has been mentioned the Keen, Lothrop, Dingman and Ailing and threaded K-wire. All of the above methods have advantages and disadvantages. To minimize the disadvantages, we performed threaded K-wire for the first time using C-arm image intensifier. The subjects were 16 patients with Knight North group II (Zygomatic arch fracture). Among them the C-arm was used in 12 patients and the operator used sensitivity general method in 4 patients and confirmed the operation by mobile X-ray equipment. In conclusion, both groups were satisfied surgically and cosmetically. Using the C-arm, actual image at the time operation was clear and satisfied, the surrounding tissue damage was minimized and at was more accurately completed. The operation time was shortened by 30 to 60 minutes proving it to be an efficient method. We suggest though that further studies be needed to evaluate the radiation effect on these patients.

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Multi-threaded system to support reconfigurable hardware accelerators on Zynq SoC (Zynq SoC에서 재구성 가능한 하드웨어 가속기를 지원하는 멀티쓰레딩 시스템 설계)

  • Shin, Hyeon-Jun;Lee, Joo-Heung
    • Journal of IKEEE
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    • v.24 no.1
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    • pp.186-193
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    • 2020
  • In this paper, we propose a multi-threading system to support reconfigurable hardware accelerators on Zynq SoC. We implement high-performance JPEG decoder with reconfigurable 2D IDCT hardware accelerators to achieve maximum performance available on the platform. In this system, up to four reconfigurable hardware accelerators synchronized with SW threads can be dynamically reconfigured to provide adaptive computing capabilities according to the given image resolution and the compression ratio. JPEG decoding is operated using images with resolutions 480p, 720p, 1080p at the compression ratio of 7:1-109:1. We show that significant performance improvements are achieved as the image resolution or the compression ratio increase. For 1080p resolution, the performance improvement is up to 79.11 times with throughput speed of 99 fps at the compression ratio 17:1.

A Three-dimensional Photoelastic Analysis of Stress Distributions Around Osseointegrated Implants and Abutment Teeth According to Bridge Connecting Type (골유착성(骨癒着性) 임플란트와 치아간(齒牙間)의 보철물(補綴物) 연결(連結) 형태(形態)에 따른 주위(周圍) 골조직(骨組織)의 응력분산(應力分散)에 관한 3차원적(次元的) 광탄성(光彈成) 분석(分析))

  • Lee, Moo-Geon;Cho, Sung-Am
    • The Journal of Korean Academy of Prosthodontics
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    • v.32 no.1
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    • pp.120-147
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    • 1994
  • This study was performed for the purpose of evaluating the stress distribution around threaded type implants, cylindrical type implants and teeth connected with rigid or non-rigid connector. The stress distribution around the surrounding bone was analyzed by three-dimensional photoelastic method. Twelve mandibular photoelastic epoxy resin models and a circular polariscope were used to record the isochromatic fringes. After the stress distribution around the implant and tooth was observed, the results were as follows ; 1. In threaded type implants, stress concentrated patterns were observed at the neck either vertical or 25 degree lateral force. 2. The stress concentrated patterns were observed at the tooth apical portion and neck portions of the implant and tooth when a threaded implant was connected with the tooth by either a rigid or non-rigid connector. More force was generated at the tooth neck portion by a rigid connector and more force at the implant neck portion by a non-rigid connector. 3. The stress concentrated patterns were observed at the apical portion of the implant and tooth when a cylindrical type ,implant was connected with the tooth either by a rigid or non-rigid connector. More force was generated at the tooth apical portion by a rigid connector and more force at the neck portion of the tooth and implant by a non-rigid connector. 4. The stress around the tooth was more equally distributed in a threaded type implant than in a cylindrical implant when the tooth was connected with either a rigid or non-rigid connector. 5. The stress around a threaded type implant was progressively more equally distributed in the following order : 1) when used a single implant, 2) a non-rigid connection with the implant and tooth, 3) a rigid connection with the implant and tooth, 4) a rigid connection with two implant fixtures.

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Posterior Lumbar Interbody Fusion Using Posterolateral Placement of A Single Cylindrical Threaded Cage and Two Regular Cages : A Biomechanical Study (단일 나사형 Cage를 이용한 후방 요추체간 융합술과 두개의 나사형 Cage를 이용한 PLIF의 생체 역학적 비교)

  • Park, Choon Keun;Hwang, Jang Hoe;Ji, Chul;Kwun, Sung Oh;Sung, Jae Hoon;Choi, Seung Jin;Lee, Sang Won;Kim, Moon Kyu;Park, Sung Chan;Cho, Kyeung Suok;Park, Chun Kun;Yuan, Hansen;Kang, Joon Ki
    • Journal of Korean Neurosurgical Society
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    • v.30 no.7
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    • pp.883-890
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    • 2001
  • Objectives : An in vitro biomechanical study of posterior lumbar interbody fusion(PLIF) with threaded cage using two different approaches was performed on eighteen functional spinal units of bovine lumbar spines. The purpose of this study was to compare the segmental stiffnesses among PLIF with one long posterolateral cage, PLIF with one long posterolateral cage and simultaneous facet joint fixation, and PLIF with two posterior cages. Methods : Eighteen bovine lumbar functional spinal units were divided into three groups. All specimens were tested intact and with cage insertion. Group 1(n=12) had a long threaded cage($15{\times}36mm$) inserted posterolaterally and oriented counter anterolaterally on the left side by posterior approach with left unilateral facetectomy. Group 2(n=6) had two regular length cages($15{\times}24mm$) inserted posteriorly with bilateral facetectomy. Six specimens from group 1 were then retested after unilateral facet joint screw fixation in neutral(group 3). Likewise, the other six specimens from group 1 were retested after fixation with a facet joint screw in an extended position(group 4). Nondestructive tests were performed in pure compression, flexion, extension, lateral bending, and torsion. Results : PLIF with a single cage, group 1, had a significantly higher stiffnesses than PLIF with two cages, group 2, in left and right torsion(p<0.05). Group 1 showed higher stiffness values than group 2 in pure compression, flexion, left and right bending but were not significantly different. Group 3 showed a significant increase in stiffness in comparison to group 1 for pure compression, extension, left bending and right torsion(p<0.05). For group 4, the stiffness significantly increased in comparison to group 1 for extension, flexion and right torsion(p<0.05). Although there was no significant difference between groups 3 and 4, group 4 had increased stiffness in extension, flexion, right bending and torsion. Conclusion : Posterior lumbar interbody fusion with a single long threaded cage inserted posterolaterally with unilateral facetectomy enables sufficient decompression while maintaining a majority of the posterior elements. In combination with a facet joint screw fixation, adequate postoperative stability can be achieved. We suggest that posterolateral insertion of a long threaded cage is biomechanically an ideal alternative to PLIF.

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Automated Schedulability-Aware Mapping of Real-Time Object-Oriented Models to Multi-Threaded Implementations (실시간 객체 모델의 다중 스레드 구현으로의 스케줄링을 고려한 자동화된 변환)

  • Hong, Sung-Soo
    • Journal of KIISE:Computing Practices and Letters
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    • v.8 no.2
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    • pp.174-182
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    • 2002
  • The object-oriented design methods and their CASE tools are widely used in practice by many real-time software developers. However, object-oriented CASE tools require an additional step of identifying tasks from a given design model. Unfortunately, it is difficult to automate this step for a couple of reasons: (1) there are inherent discrepancies between objects and tasks; and (2) it is hard to derive tasks while maximizing real-time schedulability since this problem makes a non-trivial optimization problem. As a result, in practical object-oriented CASE tools, task identification is usually performed in an ad-hoc manner using hints provided by human designers. In this paper, we present a systematic, schedulability-aware approach that can help mapping real-time object-oriented models to multi-threaded implementations. In our approach, a task contains a group of mutually exclusive transactions that may possess different periods and deadline. For this new task model, we provide a new schedulability analysis algorithm. We also show how the run-time system is implemented and how executable code is generated in our frame work. We have performed a case study. It shows the difficulty of task derivation problem and the utility of the automated synthesis of implementations as well as the Inappropriateness of the single-threaded implementations.

Multi-Threaded Parallel H.264/AVC Decoder for Multi-Core Systems (멀티코어 시스템을 위한 멀티스레드 H.264/AVC 병렬 디코더)

  • Kim, Won-Jin;Cho, Keol;Chung, Ki-Seok
    • Journal of the Institute of Electronics Engineers of Korea SD
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    • v.47 no.11
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    • pp.43-53
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    • 2010
  • Wide deployment of high resolution video services leads to active studies on high speed video processing. Especially, prevalent employment of multi-core systems accelerates researches on high resolution video processing based on parallelization of multimedia software. In this paper, we propose a novel parallel H.264/AVC decoding scheme on a multi-core platform. Parallel H.264/AVC decoding is challenging not only because parallelization may incur significant synchronization overhead but also because software may have complicated dependencies. To overcome such issues, we propose a novel approach called Multi-Threaded Parallelization(MTP). In MTP, to reduce synchronization overhead, a separate thread is allocated to each stage in the pipeline. In addition, an efficient memory reuse technique is used to reduce the memory requirement. To verify the effectiveness of the proposed approach, we parallelized FFmpeg H.264/AVC decoder with the proposed technique using OpenMP, and carried out experiments on an Intel Quad-Core platform. The proposed design performs better than FFmpeg H.264/AVC decoder before the parallelization by 53%. We also reduced the amount of memory usage by 65% and 81% for a high-definition(HD) and a full high-definition(FHD) video, respectively compared with that of popular existing method called 2Dwave.

Usefulness of Treatment with 6.5 mm Cancellous Screw and Steinmann Pin Fixation for Calcaneal Joint Depression Fracture (종골의 관절 함몰 골절에서 6.5 mm 해면골 나사와 Steinmann 핀을 이용한 치료의 유용성)

  • Lee, Gi-Soo;Kang, Chan;Hwang, Deuk-Soo;Noh, Chang-Kyun;Lee, Gi-Young
    • Journal of Korean Foot and Ankle Society
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    • v.19 no.1
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    • pp.11-17
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    • 2015
  • Purpose: To report the radiographic and clinical results of 6.5 mm cancellous full threaded buttress screw or Steinmann pin fixation to maintain a reduction of calcaneal posterior facet depression fracture. Materials and Methods: From June 2009 to June 2012, 50 consecutive cases with calcaneal joint depression fracture that underwent open reduction and screw or pin fixation were enrolled in this study. A 6.5 mm cancellous full threaded screw was inserted from the posteroinferior aspect of the calcaneal tuberosity to the posterior facet (group A) or Steinman pin was inserted from the posterosuperior aspect of the calcaneal tuberosity to the calcaneocuboidal joint (group B). Both preoperative and postoperative Bohler and Gissane angles were measured radiographically, and American Orthopaedic Foot and Ankle Society (AOFAS) ankle-hindfoot scale on the final follow-up were assessed. Results: The mean age of patients was 44.1 years, and the mean follow-up period was 27.2 months. According to the Sanders classification, 28 cases were type II and 22 cases were type III. In Sanders type II, Bohler and Gissane angles improved significantly from $10.1^{\circ}$ and $126.2^{\circ}$ preoperatively to $27.2^{\circ}$ and $117.1^{\circ}$, respectively, in the immediate postoperative radiograph, and at the final follow-up, $26.6^{\circ}$ and $118.6^{\circ}$, respectively. In Sanders type III, Bohler and Gissane angles improved significantly from $5.0^{\circ}$ and $129.8^{\circ}$ to $29.9^{\circ}$ and $119.3^{\circ}$, respectively, in the immediate postoperative radiograph, and $26.9^{\circ}$ and $120.2^{\circ}$ at the final follow-up. All cases achieved bony union, and the average period until complete union was 13.3 weeks. AOFAS ankle-hindfoot scale was 82.6 in Sanders type II and 77.3 in Sanders type III at the final follow-up. Conclusion: A 6.5 mm cancellous full threaded buttress screw or Steinman pin fixation is a noninvasive treatment method with a merit of being able to maintain the bearing capacity of the posterior facet comparable to plate fixation.

Torsional Elastic Waves Propagating in a Periodically-Nonuniform Circular Rod (주기적으로 불균일한 원형막대에서 전파하는 비틂 탄성파)

  • 김진오
    • Proceedings of the Acoustical Society of Korea Conference
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    • 1998.06c
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    • pp.323-326
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    • 1998
  • The paper describes a theoretical and experimental study on the speed of the torsional elastic waves propagating in an axisymmetirc waveguide whose cross-sectional area varies periodically as an harmonic function of the axial coordinate. The approximate solution of the phase speed has been obtained using the perturbation technique for sinusoidal modulation of small amplitude. The experiment verifying the theoretical result consists of transmitting and receiving torsional waves by magnetostriction and measuring the wave speed in the waveguides with threaded surfaces.

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