• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.513-518
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• 1993

In this paper, we consider the handling f a flexible object using dual-arm manipulators. We choose both the side arms as rigid, and the objects to be manipulated as flexible. Our purpose is to realize position control for the flexible object while suppressing its vibration. In particular, the problem taken up here is the stability of the control system while manipulating the object. We propose that the traditional approach to investigate the robot system be expanded to include the object's characteristics (thus transferring the stability of the robot system into the full assembly system). We define a handling characteristic while manipulating the object. Finally, the relationship between the handling characteristic and the positional constraint condition in the hold position of the arms is studied while considering the stability of the control system.

• Journal of Electrical Engineering and Technology
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• v.13 no.1
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• pp.201-210
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• 2018

This paper proposes a new start-up method for a load commutated inverter (LCI) in a large synchronous gas-turbine generator. The initial rotor position for start-up torque is detected by the proposed initial angle detector, which consists of an integrator and a phase-locked loop. The initial rotor position is accurately detected within 150ms, and the angle difference between the real position and the detected position is less than 1%. The LCI system operates in two modes (forced commutation mode and natural commutation mode) according to operating speed range. The proposed controllers include a forced commutation controller for the low-speed range, a PI speed controller and a PI current controller, where the forced commutation controller is connected to the current controller in parallel. The current controller is modeled by Matlab/Simulink, where a six-pulse delay of the thyristor and a processing delay are considered by using a zero-order hold. The performance of the proposed start-up method is evaluated in Matlab/Psim at standstill and at low speed. To verify the feasibility of the method, a 5kVA LCI system prototype is implemented, and the proposed initial angle detector and the system performance are confirmed by experimental results from standstill to 900rpm.

• Progress in Medical Physics
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• v.25 no.2
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• pp.72-78
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• 2014

The aim of the study is to test a hypothesis that quasi-breath-hold (QBH) biofeedback improves the residual respiratory motion management in gated 3D thoracic MR imaging, reducing respiratory motion artifacts with insignificant acquisition time alteration. To test the hypothesis five healthy human subjects underwent two gated MR imaging studies based on a T2 weighted SPACE MR pulse sequence using a respiratory navigator of a 3T Siemens MRI: one under free breathing and the other under QBH biofeedback breathing. The QBH biofeedback system utilized the external marker position on the abdomen obtained with an RPM system (Real-time Position Management, Varian) to audio-visually guide a human subject for 2s breath-hold at 90% exhalation position in each respiratory cycle. The improvement in the upper liver breath-hold motion reproducibility within the gating window using the QBH biofeedback system has been assessed for a group of volunteers. We assessed the residual respiratory motion management within the gating window and respiratory motion artifacts in 3D thoracic MRI both with/without QBH biofeedback. In addition, the RMSE (root mean square error) of abdominal displacement has been investigated. The QBH biofeedback reduced the residual upper liver motion within the gating window during MR acquisitions (~6 minutes) compared to that for free breathing, resulting in the reduction of respiratory motion artifacts in lung and liver of gated 3D thoracic MR images. The abdominal motion reduction in the gated window was consistent with the residual motion reduction of the diaphragm with QBH biofeedback. Consequently, average RMSE (root mean square error) of abdominal displacement obtained from the RPM has been also reduced from 2.0 mm of free breathing to 0.7 mm of QBH biofeedback breathing over the entire cycle (67% reduction, p-value=0.02) and from 1.7 mm of free breathing to 0.7 mm of QBH biofeedback breathing in the gated window (58% reduction, p-value=0.14). The average baseline drift obtained using a linear fit was reduced from 5.5 mm/min with free breathing to 0.6 mm/min (89% reduction, p-value=0.017) with QBH biofeedback. The study demonstrated that the QBH biofeedback improved the upper liver breath-hold motion reproducibility during the gated 3D thoracic MR imaging. This system can provide clinically applicable motion management of the internal anatomy for gated medical imaging as well as gated radiotherapy.

• Asian Pacific Journal of Cancer Prevention
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• v.15 no.20
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• pp.9033-9038
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• 2014

Background: The purpose of this study was to assess the feasibility of deep inspiration breath-hold (DIBH) based volumetric modulated arc therapy (VMAT) for locally advanced left sided breast cancer patients undergoing radical mastectomy. DIBH immobilizes the tumor bed providing dosimetric benefits over free breathing (FB). Materials and Methods: Ten left sided post mastectomy patients were immobilized in a supine position with both the arms lifted above the head on a hemi-body vaclock. Two thermoplastic masks were prepared for each patient, one for normal free breathing and a second made with breath-hold to maintain reproducibility. DIBH CT scans were performed in the prospective mode of the Varian real time position management (RPM) system. The planning target volume (PTV) included the left chest wall and supraclavicular nodes and PTV prescription dose was 5000cGy in 25 fractions. DIBH-3DCRT planning was performed with the single iso-centre technique using a 6MV photon beam and the field-in-field technique. VMAT plans for FB and DIBH contained two partial arcs ($179^{\circ}-300^{\circ}CCW/CW$). Dose volume histograms of PTV and OAR's were analyzed for DIBH-VMAT, FB-VMAT and DIBH-3DCRT. In DIBH mode daily orthogonal ($0^{\circ}$ and $90^{\circ}$) KV images were taken to determine the setup variability and weekly twice CBCT to verify gating threshold level reproducibility. Results: DIBH-VMAT reduced the lung and heart dose compared to FB-VMAT, while maintaining similar PTV coverage. The mean heart $V_{30Gy}$ was $2.3%{\pm}2.7$, $5.1%{\pm}3.2$ and $3.3%{\pm}7.2$ and for left lung $V_{20Gy}$ was $18.57%{\pm}2.9$, $21.7%{\pm}3.9$ and $23.5%{\pm}5.1$ for DIBH-VMAT, FB-VMAT and DIBH-3DCRT respectively. Conclusions: DIBH-VMAT significantly reduced the heart and lung dose for left side chest wall patients compared to FB-VMAT. PTV conformity index, homogeneity index, ipsilateral lung dose and heart dose were better for DIBH-VMAT compared to DIBH-3DCRT. However, contralateral lung and breast volumes exposed to low doses were increased with DIBH-VMAT.

• Journal of the Korean Society of Safety
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• v.2 no.3
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• pp.37-43
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• 1987

The combustion process in gas turbine combustor mainly influenced by flow pattern in combustor, and especially the flow pattern near the nozzle and the shape of recirculation zone affect strongly on the flame stabilization, temperature distribution and combustion efficiency in combustor. In this paper, the author has designed and manufactured transparent simplified model combustors on the basis of K. Suzuki's combustor design method to investigate the effects of swirl number and secondary air hold arrays in axial position on the flow characteristics by adopting the tuft method and 5 hole pitot tube.

• Journal of Digestive Cancer Research
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• v.1 no.2
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• pp.78-81
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• 2013

With advances in technology, advances in the understanding of biology of cancer, and the advent of improved and novel therapies, the role of the gastroenterologist has been modified greatly over the past 2 decades, and continues to be shaped by the knowledge, skill, and opportunity to capitalize on the unique position that gastroenterologists hold in the patient care continuum. The gastroenterologist is evolving from a "pure" diagnostician to an endoscopic surgeon, a geneticist, a nutritionist, an immunologist and chemotherapist, and palliative care physician.

• MALSORI
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• no.41
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• pp.31-47
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• 2001

The purpose of this study is to explain the cause of obsturents neutralization in syllable final position. Most of the previous phonological studies did not reflect phonetic reality sufficiently because of the limited use of the binary feature system. Using binary distinctive features, we can't explain the cause of neutralization. In order to explain the cause of neutralization, I use the multi-valued phonetic feature -[vocal tract aperture]. By [vocal tract aperture] I mean the distance between articulators in the hold stage. In this study, I claim that the cause of neutralization is assimilation to [vocal tract aperture] 0 degree. The neutralized sounds become aplosives, as a consequence of assimilation to [vocal tract aperture].

• Journal of the Korean Society of Environmental Restoration Technology
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• v.12 no.3
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• pp.9-20
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• 2009

The naturalized plants in the Gwangyang Steel Works were listed 70 taxa; 18 families, 51 genus, 66 species, 3 varieties and 1 form. by field survey. The naturalized plants divided into pattern by survey of annual plants ratio is 31 taxa (44.3%) by life form spectrum and perennials is 23 taxa (32.9%), biennials is 13 taxa (18.5%), two trees (Robinia pseudoacacia, Alianthus altissima) and one shrub (Amorpha furticosa) were founded. According to analysis results form place of origin, Europe covered 26 taxa (37.1%), North America covered 23 taxa (32.8%). Naturalized degree 3 plants, as common but not abundant, founded as 24 taxa (35.0%) were hold most highly ratio, naturalized degree 1 plants founded as 3 taxa (4.0%) were hold lowest. Introduction period 1 covered 31 taxa (44.3%) have had highest score and period 2 covered 11 taxa (15.7%) have had lowest scores. In addition, the urbanization index based on 271 taxa was 25.8% and 2 taxa (Solanum carolinense, Ambrosia artemisiaefolia) is growing in the Gwangyang Steel Works by ecosystem disturbing wild plants. Meanwhile, Ambrosia artemisiaefolia have confirmed into several tens~hundred in the Gwangyang Steel Works were damage the human body of plants develop an allergy to pollen. Solanium carolinense have composed several large communities about $10m{\times}10m$ ($100m^2$) and hold a dominant position, so management plan of the sequel of monitoring them might be required.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.57-62
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• 2004

This paper deals with a waypoint trajectory following problem for the tilt-rotor UAV under development in Korea (TR-KUAV). In this problem, dynamic model inversion based on the linearized model and Sigma-Phi neural network with adaptive weight update are involved to realize the waypoint following algorithm for the vehicle in the helicopter flight mode (nacelle angle=0 deg). This algorithms consists of two main parts: outer-loop system as a command generator and inner-loop system as stabilizing controller. In this waypoint following problem, the position information in the inertial axis is given to the outer-loop system. From this information, Attitude Command/Attitude Hold logic in the longitudinal channel and Rate Command/Attitude Hold logic in the lateral channel are realized in the inner-loop part of the overall structure of the waypoint following algorithm. The nonlinear simulation based on the TR-KUAV is carried out to evaluate the stability and performance of the algorithm. From the numerical simulation results, the algorithm shows very good tracking performance of passing the waypoints given. Especially, it is observed that ACAH/RCAH logic in the inner-loop has the satisfactory performance due to adaptive neural network in spite of the model error coming from the linear model based inversion.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.3
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• pp.233-239
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• 2013

This paper presents the analysis and control of the position of the COG (Center of Gravity) for a two-wheel balancing robot. The two-wheel balancing robot is required to maintain balance by driving two wheels only. Since the robot is not exactly symmetrical and its dynamics is changing with respect to moving parts, robust balancing control is difficult. Balancing performance becomes difficult when two arms hold a heavy object since the center of gravity is shifted out of the wheel axis. Novel design of a sliding waist mechanism allows the robot to react against the shift of the COG by moving the whole upper body to compensate for the imbalance of the mass as a counter balancer. To relocate the COG position accurately, the COG is analyzed by force data measured from two force sensors. Then the sliding COG mechanism is utilized to control the sliding waist position. Experimental studies are conducted to confirm the proposed design and method.