• Journal of Korean Neurosurgical Society
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• 제30권1호
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• pp.41-46
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• 2001

Objective : The exact position of the lesion during the pallidotomy is critical to obtain the clinical improvement of parkinson's disease without damage to surrounding structure. Ventriculogrphy, CT(computed tomograpy) or MRI(magnetic resonance imaging) have been used to determine the initial coordinates of stereotactic target for pallidotomy. The goal of this study was to determine whether microelectrode recording significantly improves the neurophysiologic localization of the target obtained from MRI. Methods : Twenty patients were studied. They underwent a unilateral pallidotomy. Leksell frame was applied and T1 axial images parallel to the AC-PC(anterior commissure-posterior commissure) plane using a 1.5 Tesla MRI with 3mm slice thickness were obtained. Anteroposterior coordinate of target was chosen at 2mm in front of the midcommissural point and lateral coordinate between 19 and 22mm from the midline. The vertical coordinate was calculated on coronal slice using a fast spin echo inversion recovery sequence(FSEIR) related to the position of the choroidal fissure and ranged over 4-5mm below the AC-PC plane. Confirmation of the anatomical target was done on axial slices using the same FSEIR sequence . Microrecording was done at the pallidum contralateral to the symptomatic side using an electrode with a tip diameter of $1{{\mu}m}$ diameter tip and 1.1-1.4 mOhm impedance at 1000Hz. Electrophysiologic localization of the target was also confirmed intraoperatively by macrostimulation. Results : Microrecording techniques were reliable to define the transition from the base of the pallidum which was characterized by the disappearance of spike activity and by the change of the audible background activity. Signals from high amplitude neurons firing at 200-400Hz were recorded in the pallidal base. X, Y and Z coordinates of target obtained from the MRI were within 1mm from the X, Y, Z coordinates obtained with microrecording in 16 patients (80%), 15 patients(75%), 10 patients(50%) respectively. The difference of Y coordinate between on MRI and on microrecording was 4mm in only one patient. Conclusion : The MRI was accurate to localize the target within 1mm of the error from microrecording target in 70% of the patients. 4mm discrepancy was observed only once. We conclude that MRI alone can be used to determine the target for pallidotomy in most patients. However, microrecording technique can still be extremely valuable in patents with aberrant anatomy or unusual MRI coordinates. We also consider physiologic confirmation of the target using macrostimulation to be mandatory in all cases.

• 한국철도학회논문집
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• 제10권6호
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• pp.685-691
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• 2007

건설교통부는 2007. 1. 1 (2009.12. 신구좌표병행) 세계측지계 전면 시행 방침에 따라 철도측량의 내실화 그리고 기술력 제고를 위하여 호남고속철도건설 사업수행에 요구되는 수치지도를 항공측량을 통해 제작하였으며 이와 함께 철도기준점(GPS 정밀 3등기준점)측량을 실시, 보다 정밀한 철도 중심선형 좌표값 과 수준값을 획득할 수 있었다. 또한 국토지리정보원은 세계측지계 변환지침에 의거 국가좌표변환계수 및 왜곡량 모델을 고시하였다. 호남고속철도의 경우 좌표변환을 위해 공통기준점을 새로이 설치하지 않고 중심측량 및 종횡단측량을 위해 이미 구축된 철도기준점을 공통기준점으로 가정하여 변환을 실시하고자 한다. 따라서 본 논문은 남북축으로 계획된 호남고속철도 사례를 통해 현재의 계획노선을 선형 중심축으로 가정하고 철도기준점을 이용한 좌표변환을 실시후 결과에 대한 분석을 통해 변환가능성 여부를 판단하고자 한다. 좌표변환 실시 후 분석결과 Y축 왜곡량 값이 최소 21cm에서 최대 40cm까지 완만한 직선축으로 감소함을 확인할 수 있었고, X축은 $14cm\sim29cm$의 왜곡량을 보였으며 이러한 왜곡량을 보정한 결과 좌표간 편차량이 $6mm{\sim}9mm$로 국토지리정보원의 세계측지계 변환 지침에 따른 허용오차 및 지적경계측량 허용오차인 10cm를 만족시켰다. 이러한 결과는 철도기준점을 공통기준점(Common Point)으로 이용한 중심선형좌표 변환이 가능함을 설명할 수 있으며 동시에 공통점의 데이터, 좌표데이터, 수치지도의 변환도 허용오차범위내에서 변환이 가능하다.

• 제어로봇시스템학회논문지
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• 제19권3호
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• pp.240-247
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• 2013

This paper proposes an optimal three-dimensional coordinate implementation of the vision sensor using two CCD cameras. The PBVS (Position based visual servoing) is implemented using the positional information obtained from images. Stereo vision by PBVS method that has enhanced every frame using calibration parameters is effective in the distance calculation. The IBVS (Image based visual servoing) is also implemented using the difference between reference and obtained images. Stereo vision by IBVS method calculates the distance using rotation angle of motors that correspond eyes and neck without enhanced images. The PBVS method is compared with the IBVS method in terms of advantages, disadvantages, computing time, and performances. Finally, the IBVS method is applied for the dual arm manipulator on the mobile inverted pendulum. The autonomous mobile inverted pendulum is successfully demonstrated using the center of the manipulator's mass.

• 대한공간정보학회지
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• 제9권1호
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• pp.59-66
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• 2001

GPS/GLONASS 결합을 통해 위성의 가시성, 정확성, 그리고 이용성 등이 증가하였다. 하지만 두 시스템 결합에서 시간계 차이, 좌표계 차이, 그리고 GLONASS의 상이한 주파수에 의해 결합 반송파 주파수에서 반송파 미지정수 결정에 관한 문제점을 가지고 있다. 따라서 본 연구에서는 단독위치결정에서 GPS/GLONASS 결합에 의한 위치결정 정확도를 평가하고, GPS/GLONASS 결합에 의한 위성의 가시성과와 위성신호 수신고도각에 따른 자료획득율을 검토함으로써 GPS/GLONASS 결합 특성을 알아보고자 한다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1991년도 추계학술대회 논문집 학회본부
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• pp.160-163
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• 1991

Permanent Magnet Synchronous Motor(PMSM) has merits in both simple electrical controllability of dc motor and mechanical reliability of ac motor by applying vector control. The vector control method orients the armature current phasor to be perpendicular to the permenant magnet rotor flux in a two-axis coordinate frame, and provides control characteristics that are similar to those of separately excited dc motors. This paper presents a simple model following scheme for position control of PMSM fed by hysteresis current-controlled PWM inverter. The simulation results show the validity of the proposed control method.

• 한국해양공학회지
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• 제17권6호
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• pp.7-15
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• 2003

A Digital Wave Tank simulation technique, based on a finite-difference method and a modified marker-and-cell (MAC) algorithm, is applied in order to investigate the characteristics of nonlinear Tsunami propagations and their interactions with a 2D sloping beach, Ohkushiri Island, and to predict maximum wove run-up around the island. The Navier-Stokes (NS) and continuity equation are governed in the computational domain, and the boundary values are updated at each time step, by a finite-difference time-marching scheme in the frame of the rectangular coordinate system. The fully nonlinear, kinematic, free-surface condition is satisfied by the modified marker-density function technique. The near shore Tsunami is assumed to be a solitary wave, and is generated from the numerical wave-maker in the developed Digital Wave Tank. The simulation results are compared with the experiments and other numerical methods, based on the shallow-water wave theory.

• 전기학회논문지
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• 제59권8호
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• pp.1436-1440
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• 2010

In this paper, we proposed that stereo camera system using fuzzy control for moving object tracking. We extract some features of the moving object from overall image. This informations send to the PC and the PC calculate the coordinate of the object in the image frame. To make the object set in the middle of the image, the step motor should be controlled accurately and rapidly with the location information received by the PC. Then we design a fuzzy logic system for controlling stereo camera system. To verify the better performance of the proposed algorithm, we exemplified by experimental results.

• 한국자동차공학회논문집
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• 제4권2호
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• pp.127-136
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• 1996

Dynamic analysis of a three-axle heavy truck is carried out with rigid body model and flexible body model. To see the effects of chassis flexibility, the chassis is modeled as flexible body. The mass matrix, stiffness matrix, and vibration normal modes of the chassis are obtained by a finite element analysis program, and four vibration normal modes are used in the flexible body model. The vehicle model consisting of a frame, a cab, suspensions, an engine, a deck, a seat, and tires, has total 77 degrees of freedom. The result shows that the peaked acceleration in the flexible model is lower than that of the rigid body model.

• Management Science and Financial Engineering
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• 제10권2호
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• pp.73-87
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• 2004

Automotive and aircraft assembly process rely on fixtures to support and coordinate parts and subassemblies. Fixture layout in multi-station panel assemblies has a direct dimensional effect on final products and thus presents a quality problem. This paper describes a methodology for fixture layout design in multi -station assembly processes. An optimal fixture layout improves the robustness of a fixture system against environmental noises, reduces product variability, and eventually leads to manufacturing cost reduction. One of the difficulties raised by multi-station fixture layout design is the overwhelmingly large number of design alternatives. This makes it difficult to find a global optimality and, if an inefficient algorithm is used, may require prohibitive computing time. In this paper, simulated annealing is adopted and appropriate parameters are selected to find good fixture layouts. A four-station assembly process for a sport utility vehicle (SUV) side frame is used throughout the paper to illustrate the efficiency and effectiveness of this methodology.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.552-555
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• 1996

In this paper, we present a force control of a five-axes robot, using an impedance model. Tasks such as assembly, grinding, and deburring, which involve extensive contact with the environment, are better handled by controlling the forces of interaction between the manipulator and the environment. The five-link articulated robot is equipped with a wrist force sensor which consists of an array of strain gauges and can delineate the three components of the vector force along the three axes of the sensor coordinate frame, and the three components of the torque about these axes. For the precise control of the contact force, impedance models of a robot and the environment are defined. Experimental results are shown.