• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1887-1891
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• 2005

Despite significant advances in multimedia transferring technologies in various fields of robotics, it is sometimes quite difficult for the operator to fully understand the context of 3D remote environments from 2D image feedback. Particularly, in the remote control of mobile robots, the recognition of the object associated with the task is very important, because the operator has to control the robot safely in various situations not through trial and error. Therefore, it is necessary to provide the operator with 3D volumetric models of the object and object-related information as well such as locations, shape, size, material properties, and so on. Thus, in this paper, we propose a vision-based human interface system that provides an interactive, information-rich map through network-based information brokering. The system consists of an object recognition part, a 3D map building part, a networked knowledge base part, and a control part of the mobile robot.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.11 no.2
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• pp.193-204
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• 1999

Performance of a variable-speed, roller-type vane compressor was evaluated at low evaporating temperature. First, an experimental investigation was conducted to examine the performance variation as functions of both outdoor temperature and rotating speed. For this purpose, a typical heat pump was implemented as a test apparatus to measure mass flow rate and power input. Secondly, computational investigations corresponding to the heat pump test conditions were performed to predict compressor performance using ORNL Map-Based compressor model. Results obtained from the heat-pump experiments showed that both mass flow rate and power consumption were sensitively dependent on both evaporating temperature and compressor speed as was predicted from the computational results. From the comparisons of both experimental and computational results, it was well recognized that the ORNL model was subjected to larger error in the accuracy of prediction as outdoor temperature decreased. When the outdoor temperature was above $-5^{\cire}C$, errors of predicted values corresponding to both mass flow rate and power consumption were estimated as $\pm$10% and $\pm$ 15%, respectively. Finally, it is suggested that the ORNL model needs to be re-evaluated if compressor map data tested below $-5^{\cire}C$(in evaporating temperature) are available.

• Journal of the Korean Society of Radiology
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• v.9 no.7
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• pp.449-457
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• 2015

In this study, to evaluate the usefulness of the treatment plan of tomotherapy and volumetric modulated arc therapy (VMAT) in the radiotherapy for prostate cancer, the absorbed dose, dose volume histogram (DVH), treatment efficiency, and the results of dose verification accuracy using MapCHECK2 were compared and analyzed. Of the prostate cancer patients who underwent tomotherapy treatment in the Radiologic Oncology of H University Hospital between July 2014 and December 2014, 12 patients were randomly selected. As a result of analyzing the absorbed dose and DVH, both radiologic treatment plans showed slight differences in the treatment of the cancer tissues and the bladder, but the difference was in the error range of -5% to +3%, and did not exceed the side effect guideline or the tolerance dose limit. VMAT showed higher treatment efficiency than tomotherapy with a 2.5 times shorter treatment time and a 10.3 times less monitor unit (MU). Both showed 95% or higher dose accuracy satisfying the standard. VMAT showed 2.3% higher efficiency than tomotherapy. In both tomotherapy and VMAT, appropriate doses were absorbed for cancer tissues, and did not exceed the tolerance dose for normal tissues showing no significant difference in dose distribution. However, considering the shorter treatment time, lower total MU, and better treatment efficiency and dose verification accuracy, VMAT may be more useful than tomotherapy in cancer treatments.

• Journal of the Korean Society of Hazard Mitigation
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• v.11 no.3
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• pp.157-163
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• 2011

In this study, after the target basin was divided into both overland and channel grids, the travel time from center of each grid cell to watershed's outlet was calculated based on the manning equation. Through this process, volumetric discharge was calculated according to the isochrones and finally, the direct runoff hydrograph was estimated considering watershed's hydrodynamic characteristics. Sanseong subwatershed located in main stream of Bocheong basin was selected as a target basin. The model parameters are only two: area threshold and channel velocity correction factor; the optimized values were estimated at 3,800 and 3.3, respectively. The developed model based on the tuned parameters led to well-matching results between observed and calculated hydrographs (mean of absolute error of peak discharge: 3.41%, mean of absolute error of peak time: 0.67 hr). Moreover, the analysis results regarding histogram of travel time-contribution area demonstrates that the proposed model characterizes relatively well hydrodynamic characteristics of the catchment due to effective rainfall.

• The Journal of Korean Society for Radiation Therapy
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• v.25 no.2
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• pp.115-121
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• 2013

Purpose: Latest linear accelerator and the introduction of new measurement equipment to the agency that the introduction of this equipment in the future, by analyzing the process of confirming the usefulness of the preparation process for applying it in the clinical causes some problems, should be helpful. Materials and Methods: All measurements TrueBEAM STX (Varian, USA) was used, and a file specific to each energy, irradiation conditions, the dose distribution was calculated using a computerized treatment planning equipment (Eclipse ver 10.0.39, Varian, USA). Measuring performance and cause errors in MapCHECK 2 were analyzed and measured against. In order to verify the performance of the MapCHECK 2, 6X, 6X-FFF, 10X, 10X-FFF, 15X field size $10{\times}10$ cm, gantry $0^{\circ}$, $180^{\circ}$ direction was measured by the energy. IGRT couch of the CT values affect the measurements in order to confirm, CT number values : -800 (Carbon) & -950 (COUCH in the air), -100 & 6X-950 in the state for FFF, 15X of the energy field sizes $10{\times}10$, gantry $180^{\circ}$, $135^{\circ}$, $275^{\circ}$ directionwas measured at, MapPHAN allocated to confirm the value of HU were compared, using the treatment planning computer for, Measurement error problem by the sharp edges MapPHAN Learn gantry direction MapPHAN of dependence was measured in three ways. GANTRY $90^{\circ}$, $270^{\circ}$ in the direction of the vertically erected settings 6X-FFF, 15X respectively, and Setting the state established as a horizontal field sizes $10{\times}10$, $90^{\circ}$, $45^{\circ}$, $315^{\circ}$, $270^{\circ}$ of in the direction of the energy-6X-FFF, 15X, respectively, were measured. Without intensity modulated beam of the third open arc were investigated. Results: Of basic performance MapCHECK confirm the attenuation measured by Couch, measured from the measured HU values that are assigned to the MAP-PHAN, check for calculation accuracy for the angled edge of the MapPHAN all come in a range of valid measurement errors do not affect the could see. three ways for the Gantry direction dependence, the first of the meter built into the value of the Gantry $270^{\circ}$ (relative $0^{\circ}$), $90^{\circ}$ (relative $180^{\circ}$), 6X-FFF, 15X from each -1.51, 0.83% and -0.63, -0.22% was not affected by the AP/PA direction represented. Setting the meter horizontally Gantry $90^{\circ}$, $270^{\circ}$ from the couch, Energy 6X-FFF 4.37, 2.84%, 15X, -9.63, -13.32% the difference. By-side direction measurements MapPHAN in value is not within the valid range can not, because that could be confirmed as gamma pass rate 3% of the value is greater than the value shown. You can check the Open Arc 6X-FFF, 15X energy, field size $10{\times}10$ cm $360^{\circ}$ rotation of the dose distribution in the state to look at nearly 90% pass rate to emerge. Conclusion: Based on the above results, the MapPHAN gantry direction dependence by side in the direction of the beam relative dose distribution suitable for measuring the gamma value, but accurate measurement of the absolute dose can not be considered is. this paper, a more accurate treatment plan in order to confirm, Reduce the tolerance for VMAT, such as lateral rotation investigation in order to measure accurate absolute isodose using a combination of IMF (Isocentric Mounting Fixture) MapCHEK 2, will be able to minimize the impact due to the angular dependence.

• Progress in Medical Physics
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• v.28 no.4
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• pp.164-170
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• 2017

One of the methods to consider the effect of respiratory motion of a tumor target in radiotherapy is to establish a treatment plan with the internal target volume (ITV) created based on an accurate analysis of the target motion displacement. When this method is applied to intensity modulated radiotherapy (IMRT), it is expected to yield a different treatment dose distribution under the motion condition according to the IMRT method. In this study, we prepared ITV-based IMRT plans with conventional IMRT using fixed gantry angle beams, RapidArc using volumetric modulated arc therapy, and tomotherapy using helical therapy. Then, the variation in dose distribution caused by the target motion was analyzed by the dose measurement in the actual motion condition. A delivery quality assurance plan was prepared for the established IMRT plan and the dose distribution in the actual motion condition was measured and analyzed using a two-dimensional diode detector placed on a moving phantom capable of simulating breathing movements. The dose measurement was performed considering only a uniform target shape and motion in the superior-inferior (SI) direction. In this condition, it was confirmed that the error of the dose distribution due to the target motion is minimum in tomotherapy. This is thought to be due to the characteristic of tomotherapy that treats the target sequentially by dividing it into several slices. When the target shape is uniform and the main target motion direction is SI, it is considered that tomotherapy for the ITV-based IMRT method has a characteristic which can reduce the dose difference compared with the plan dose under the target motion condition.

• Journal of Broadcast Engineering
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• v.25 no.3
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• pp.439-448
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• 2020

In this paper, we propose a modified optimization algorithm for point cloud matching of multi-view RGB-D cameras. In general, in the computer vision field, it is very important to accurately estimate the position of the camera. The 3D model generation methods proposed in the previous research require a large number of cameras or expensive 3D cameras. Also, the methods of obtaining the external parameters of the camera through the 2D image have a large error. In this paper, we propose a matching technique for generating a 3D point cloud and mesh model that can provide omnidirectional free viewpoint using 8 low-cost RGB-D cameras. We propose a method that uses a depth map-based function optimization method with RGB images and obtains coordinate transformation parameters that can generate a high-quality 3D model without obtaining initial parameters.

• The Journal of Korean Society for Radiation Therapy
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• v.30 no.1_2
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• pp.107-116
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• 2018

Purpose : Intensity-modulated radiation therapy(IMRT) has been widely used for radiation therapy of Prostate Cancer because it can reduce radiation adverse effects on normal tissues and deliver more dose to the Prostate than 3D radiation therapy. Volumetric modulated arc therapy(VMAT) has been widely used due to recent advances in equipment and treatment techniques. VMAT can reduce treatment time by up to 55 % compared to IMRT, minimizing motion error during treatment. Materials and Methods : In this study, compared the MU and DVH values of 10 patients with prostate cancer by classifying them into 4 groups with 5 LN-Prostate groups and 5 Only-Prostate. And DQA measurements were performed using ArcCHECK and MapCHECK. Results : The results of Target and OAR dose distribution of Prostate patients are as follows. $D_{max}$ was in the range of 100~110 % in 4 groups, and more than 110 % of hot spot was not seen. Only-Prostate ($P_1$, $P_2$) without LN had a satisfactory dose distribution for the target dose, but slightly better for 2 arc plan($P_2$) than 1 arc plan($P_1$). The target dose $D_{98%}$ distribution in the LN-Prostate ($P_{L1}$, $P_{L2}$) group showed better 2 arc plan($P_{L2}$) than 1 arc plan($P_{L1}$), But in the case of 1 arc plan($P_{L1}$), the target dose $D_{98%}$ value was not enough. In OAR, the dose distribution of 1 Arc($P_1$) Plan and 2 Arc($P_2$) Plan in the Only-Prostate ($P_1$, $P_2$) Group satisfied the prescribed dose value. But, The dose distribution of 1 arc($P_1$) was slightly higher. In LN-Prostate OAR, 1 Arc($P_{L1}$) Plan showed higher dose than the prescribed dose. The Gamma evaluation pass rate of ArcCHECK and MapCHECK calculated from the DQA measurements was slightly higher than 99 % and the mean error range of the point dose measurements using the CC04 ion chamber was less than 1 %. Conclusion : In this study, Only-Prostate ($P_1$, $P_2$) group, the dose of 2 Arc plan was better. However, considering the treatment time and MU value, 1 Arc treatment method was more suitable. In the LN-Prostate ($P_{L1}$, $P_{L2}$) group, 2 Arc($P_{L2}$) treatment method showed better results and satisfied with Target $D_{98%}$ and OAR prescription dose.