• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.5
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• pp.667-672
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• 2011

This paper presents to study the sensor fusion of positioning sensors using UKF(unscented Kalman filter) for positioning accuracy improvement of AGV(automatic guided vehicle). The major guidance systems for AGV are wired guidance and magnetic guidance system. Because they have high accuracy and fast response time, they are used in most of the FMS(flexible manufacturing system). However, they had weaknesses that are high maintenance cost and difficult of existing path modification. they are being changed to the laser navigation in recent years because of those problems. The laser navigation is global positioning sensor using reflecters on the wall, and it have high accuracy and easy to modify the path. However, its response time is slow and it is influenced easily by disturbance. In this paper, we propose the sensor fusion method of the laser navigation and local sensors using UKF. The proposed method is improvement method of accuracy through error analysis of sensors. For experiments, we used the axle-driven forklift AGV and compared the positioning results of the proposed method with positioning results of the laser navigation. In experimental result, we verified that the proposed method can improve positioning accuracy about 16%.

• Journal of Korean Neurosurgical Society
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• v.60 no.5
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• pp.597-603
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• 2017

Objective : Several surgical methods have been reported for treatment of ossification of the posterior longitudinal ligament (OPLL) in the thoracic spine. Despite rapid innovation of instruments and techniques for spinal surgery, the postoperative outcomes are not always favorable. This article reports a minimally invasive anterior decompression technique without instrumented fusion, which was modified from the conventional procedure. The authors present 2 cases of huge beak-type OPLL. Patients underwent minimally invasive anterior decompression without fusion. This method created a space on the ventral side of the OPLL without violating global thoracic spinal stability. Via this space, the OPLL and anterior lateral side of the dural sac can be seen and manipulated directly. Then, total removal of the OPLL was accomplished. No orthosis was needed. In this article, we share our key technique and concepts for treatment of huge thoracic OPLL. Methods : Case 1. 51-year-old female was referred to our hospital with right lower limb radiating pain and paresis. Thoracic OPLL at T6-7 had been identified at our hospital, and conservative treatment had been tried without success. Case 2. This 54-year-old female with a 6-month history of progressive gait disturbance and bilateral lower extremity radiating pain (right>left) was admitted to our institute. She also had hypoesthesia in both lower legs. Her symptoms had been gradually progressing. Computed tomography scans showed massive OPLL at the T9-10 level. Magnetic resonance imaging of the thoracolumbar spine demonstrated ventral bony masses with severe anterior compression of the spinal cord at the same level. Results : We used this surgical method in 2 patients with a huge beaked-type OPLL in the thoracic level. Complete removal of the OPLL via anterior decompression without instrumented fusion was accomplished. The 1st case had no intraoperative or postoperative complications, and the 2nd case had 1 intraoperative complication (dural tear) and no postoperative complications. There were no residual symptoms of the lower extremities. Conclusion : This surgical technique allows the surgeon to safely and effectively perform minimally invasive anterior decompression without instrumented fusion via a transthoracic approach for thoracic OPLL. It can be applied at the mid and lower level of the thoracic spine and could become a standard procedure for treatment of huge beak-type thoracic OPLL.

• Journal of Astronomy and Space Sciences
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• v.12 no.2
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• pp.216-233
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• 1995

The distributions of the ionospheric conductivities, electric potential, ionospheric currents, field-aligned currents, Joule heating rate, and particle energy input rate by auroral electrons along with the characteristics of auroral particle spectrum are examined during moderately disturbed period by using the computer code developed by Kamide et al. (1981) and the ionospheric conductivity model developed by Ahn et al. (1995). Since the ground magnetic disturbance data are obtained from a single meridian chain of magnetometers (Alaska meridian chain) for an extended period of time (March 9 - April 27, 1978), they are expected to present the average picture of the electrodynamics over the entire polar ionosphere. A number of global features noted in this study are as follows: (1) The electric potential distribution is characterized by the so-called two cell convection pattern with the positive potential cell in the morning sector extending into the evening sector. (2) The auroral electrojet system is well developed during this time period with the signatures of DP-1 and DP-2 current systems being clearly discernable. It is also noted that the electric field seems to play a more important role than the ionospheric conductivity the conductivity over the poleward half of the westward electrojet in the morning sector while the conductivity enhancement seems to be more important over its equatorward half. (3) The global field-aligned current distribution pattern is quite comparable with the statistical result obtained by Iijima and Potemra (1976). However, the current density of Region 1 is much higher than that of Region 2 current at pointed out by pervious studies (e.g.; Kamide 1988). (4) The Joule heating occurs over a couple of island-like areas, one along the poleward side of the westward electrojet region in the afternoon sector. (5) The maximum average energy of precipitating electrons is found to be in the morning sector (07∼08 MLT) while the maximum energy flux is registered in the postmidnight sector (02 MLT). Thus auroral brightening and enhancement of ionospheric conductivity during disturbed period seem to be more closely associated with enhancement of particle flux rather than hardening of particle energy.