• The Journal of Korean Society for Radiation Therapy
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• v.32
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• pp.73-83
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• 2020

Purpose: The purpose of this study is to confirm the matching of the electron density between tissue and gas due to variation of abdominal gas volume in MRgART (Magnetic Resonance-guided Adaptive Radiation Therapy) for pancreatic cancer patients, and to confirm the effect on the dose change and treatment time. Materials and Methods: We compared the PTV and OAR doses of the initial plan and the AGC(Abdominal gas correction) plans to one pancreatic cancer patient who treated with MRgART using the ViewRay MRIdian System (Viewray, USA) at this clinic. In the 4fx AGC plans, Beam ON(%) according to the patient's motion error was checked to confirm the effect of abdominal gas volume on treatment time. Results: Comparing the Initial plan with the average value of AGC plan, the dose difference was -7 to 0.1% in OAR and decreased by 0.16% on average, and in PTV, the dose decreased by 4.5% to 5.5% and decreased by 5.1% on average. In Adaptive treatment, as the abdominal gas volume increased, the Beam ON(%) decreased. Conclusion: Abdominal gas volume variation causes dose change due to inaccurate electron density matching between tissue and gas. In addition, if the abdominal gas volume increases, the Beam ON(%) decreases, and the treatment time may increase due to the motion error of the patient. Therefore, in MRgART, it is necessary to check the electron density matching and minimize the variability of the abdominal gas.

• Advances in aircraft and spacecraft science
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• v.7 no.5
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• pp.459-473
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• 2020

The aircraft nose landing gear (NLG) can suffer of an unstable vibration called shimmy that is responsible of discomfort and of fatigue stress on the gear strut components. An adaptive controller is proposed in this paper to cope with the aforementioned problem. It is based on a method called Modified Simple Adaptive control (MSAC) which is able of governing the NLG motion by using a feedback signal that relies on just one output of the plant. The MSAC only asks for the passivity of the controlled plant. With this aim, a parallel feedforward compensator is employed in this work to let the system satisfies the almost strictly passivity (ASP) requirements. The nonlinear equations that govern the aircraft NLG shimmy vibration behavior are used to analyzed the controlled system transient response undergoing an initial disturbance and taking into account different taxiing speed values.

• Journal of information and communication convergence engineering
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• v.10 no.1
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• pp.91-95
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• 2012

The photoplethysmography (PPG) signal measured from a mobile healthcare device contains various motion artifacts occurring from a patient’s movements. Recently, to reject the motion artifacts, the method of using an acceleration sensor was suggested, but such sensors are very expensive. Therefore, this study deals with a novel sensor device to replace the acceleration sensor, and evaluated the performance of the proposed sensor experimentally. In the results of the experiments, it is shown that the proposed sensor device can reconstruct the PPG signal despite the occurrence of motion artifacts, and also that the variation rate in heart rate analysis was 1.22%. According to the experimental results, the proposed method can be applied to design a low-cost device.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.41 no.2
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• pp.73-78
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• 2004

By modeling the block matching algorithm as a function of the correlation of image blocks, we derive search patterns for fast block matching motion estimation. The proposed approach provides an analytical support lot the diamond-shape search pattern, which is widely used in fast block matching algorithms. We also propose a new fast motion estimation algorithm using adaptive search patterns and statistical properties of the object displacement. In order to select an appropriate search pattern, we exploit the relationship between the motion vector and the block differences. By changing the search pattern adaptively, we improve motion prediction accuracy while reducing required computational complexity compared to other fast block matching algorithms.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.478-482
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• 1996

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C50) for robotic manipulators to achieve trajectorytracking angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide motion for robotic manipulators. In the proposed scheme, adapation laws are derived from the improved second stability analysis based on the indirect adaptive control theory.l The proposed control scheme is simple in structure, fast in computation, an suitable for implementation of real-time control. Moreover, this scheme does not requre an accurate dynamic modeling, nor values of manipulator paramenters and payload Performance of the adaptive controller is illustrated by exeperimental results for a SCARA robot.

• Journal of Mechanical Science and Technology
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• v.16 no.1
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• pp.13-23
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• 2002

This paper presents inverse kinematic and dynamic analyses of HexaSlide type six degree-of-freedom parallel manipulators. The HexaSlide type parallel manipulators (HSM) can be characterized as an architecture with constant link lengths that are attached to moving sliders on the ground and to a mobile platform. In the inverse kinematic analyses, the slider and link motion (position, velocity, and acceleration) is computed given the desired mobile platform motion. Based on the inverse kinematic analysis, in order to compute the required actuator forces given the desired platform motion, inverse dynamic equations of motion of a parallel manipulator is derived by the Newton-Euler approach. In this derivation, the joint friction as well as all link inertia are included. Relative importance of the link inertia and joint frictions on the computed torque is investigated by computer simulations. It is expected that the inverse kinematic and dynamic equations can be used in the computed torque control and model-based adaptive control strategies.

• International Journal of Aeronautical and Space Sciences
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• v.13 no.3
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• pp.361-368
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• 2012

This paper presents an approach on the design of a nonlinear controller to track a reference velocity for an air-breathing supersonic vehicle. The nonlinear control scheme involves an adaptation of propulsive and aerodynamic characteristics in the equations of motion. In this paper, the coefficients of given thrust and drag functions are estimated and they are used to approximate the equations of motion under varying flight conditions. The form of the function of propulsive thrust is extracted from a thrust database which is given by preliminary engine input/output performance analysis. The aerodynamic drag is approximated as a function of angle of attack and fin deflection. The nonlinear controller, designed by using the approximated nonlinear control model equations, provides engine fuel supply command to follow the desired velocity varying with time. On the other hand, the stabilization of altitude, separated from the velocity control scheme, is done by a classical altitude hold autopilot design. Finally, several simulations are performed in order to demonstrate the relevance of the controller design regarding the vehicle.

• Journal of Korea Multimedia Society
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• v.10 no.6
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• pp.716-725
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• 2007

In this paper we describe a motion tracking algorithm for 3D human animation using stereo vision system. This allows us to extract the motion data of the end effectors of human body by following the movement through segmentation process in HIS or RGB color model, and then blob analysis is used to detect robust shape. When two hands or two foots are crossed at any position and become disjointed, an adaptive algorithm is presented to recognize whether it is left or right one. And the real motion is the 3-D coordinate motion. A mono image data is a data of 2D coordinate. This data doesn't acquire distance from a camera. By stereo vision like human vision, we can acquire a data of 3D motion such as left, right motion from bottom and distance of objects from camera. This requests a depth value including x axis and y axis coordinate in mono image for transforming 3D coordinate. This depth value(z axis) is calculated by disparity of stereo vision by using only end-effectors of images. The position of the inner joints is calculated and 3D character can be visualized using inverse kinematics.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.1
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• pp.57-65
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• 2000

In this paper, a model reference adaptive control for the atomic force microscope (AFM) of tapping mode is investigated. The dynamics between the AFM system and al sample is mathematically modeled as a second order spring-mass-damper system with oscillatory inputs. The attractive and repulsive forces between the tip of the AFM system and the sample are derived using the Lennard-Jones potential energy. By non-dimensionalizing the displacement of the tip and the input frequency, the chaotic behavior near a resonance frequency is better depicted through the non-dimensionalized equations. Four nonlinear analysis techniques, a phase portrait, sensitive dependence on initial conditions, a power spectral density function, and a Pomcare map are investigated. Because the equations of motion derived in this paper involve unknown parameter values such as the damping effect of the air and the interaction constants between materials, the standard model reference adaptive control is adopted. Two control objectives, the prevention of chaos and the tracking of reference signal, are pursued. Simulation results are included.

• Restorative Dentistry and Endodontics
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• v.42 no.3
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• pp.224-231
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• 2017

Objectives: To determine the actual revolutions per minute (rpm) values and compare the cyclic fatigue life of Reciproc (RPC, VDW GmbH), WaveOne (WO, Dentsply Maillefer), and TF Adaptive (TFA, Axis/SybronEndo) nickel-titanium (NiTi) file systems using high-speed camera. Materials and Methods: Twenty RPC R25 (25/0.08), 20 WO Primary (25/0.08), and 20 TFA ML 1 (25/0.08) files were employed in the present study. The cyclic fatigue tests were performed using a dynamic cyclic fatigue testing device, which has an artificial stainless steel canal with a $60^{\circ}$ angle of curvature and a 5-mm radius of curvature. The files were divided into 3 groups (group 1, RPC R25 [RPC]; group 2, WO Primary [WO]; group 3, TF Adaptive ML 1 [TFA]). All the instruments were rotated until fracture during the cyclic fatigue test and slow-motion videos were captured using high-speed camera. The number of cycles to failure (NCF) was calculated. The data were analyzed statistically using one-way analysis of variance (ANOVA, p < 0.05). Results: The slow-motion videos were indicated that rpm values of the RPC, WO, and TFA groups were 180, 210, and 425, respectively. RPC ($3,464.45{\pm}487.58$) and WO ($3,257.63{\pm}556.39$) groups had significantly longer cyclic fatigue life compared with TFA ($1,634.46{\pm}300.03$) group (p < 0.05). There was no significant difference in the mean length of the fractured fragments. Conclusions: Within the limitation of the present study, RPC and WO NiTi files showed significantly longer cyclic fatigue life than TFA NiTi file.