• 제어로봇시스템학회논문지
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• 제22권10호
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• pp.817-825
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• 2016

In this paper, we introduce a flexible gripper that we have engineered to precisely pinch in parallel and compliantly grasp objects. As found in most conventional industrial grippers, the parallel pinching property is essential for precise manipulation. On the other hand, the grippers with a flexible structure are more adept at grasping objects with arbitrary shapes and softness. To achieve these disparate properties, we introduce a flexible gripper mechanism composed of multiple flexible beam structures. Utilizing these beam structures, the proposed gripper is able to grasp arbitrarily shaped objects. Additionally, a unique combination of flexible beams enables the gripper to pinch objects using the parallel fingertips for enhanced precision. A detailed description of the proposed mechanism is provided, and an analysis of the strength and stiffness of the fingertip and finger body is presented. The Results section compares the theoretical and experimental analyses and verifies the properties and performance of the proposed gripper.

• 대한방사선치료학회지
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• 제5권1호
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• pp.68-73
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• 1992

If the same weight is used in parallel opposed 6 and 10 MV x-ray beams, the lowest dose is achieved at SAD. Therefore, dose homogeneity in the target volume is decreased when SAD is taken at center of target volume than center of phantom or patient. With Standard deviation of ${\pm}6\%$ that repuesented the dose homogeneity in tarhet volume, we studied the optimized beam weights at which hot spot dose was least in parallel opposed beams. The optimized beam weights that maximally decrease the hot spot dose, wer 1.29, 1.19, 2.71, 3.50, and 4.70 in 6 MV x-ray and 1.25, 1.53, 1.90, 2.36, 3.01, and 3.7 in 10 MV x-ray, reapectively, when center of target volume was changed to 2,4,6,8,10, and 12cm from center plan of phantom along the centeral axis of beams.

• ETRI Journal
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• 제37권6호
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• pp.1251-1258
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• 2015

We investigate an image recovery method for sparse-view computed tomography (CT) using an iterative shrinkage algorithm based on a second-order approach. The two-step iterative shrinkage-thresholding (TwIST) algorithm including a total variation regularization technique is elucidated to be more robust than other first-order methods; it enables a perfect restoration of an original image even if given only a few projection views of a parallel-beam geometry. We find that the incoherency of a projection system matrix in CT geometry sufficiently satisfies the exact reconstruction principle even when the matrix itself has a large condition number. Image reconstruction from fan-beam CT can be well carried out, but the retrieval performance is very low when compared to a parallel-beam geometry. This is considered to be due to the matrix complexity of the projection geometry. We also evaluate the image retrieval performance of the TwIST algorithm -sing measured projection data.

• 대한핵의학회지
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• 제39권6호
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• pp.464-472
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• 2005

목적: 부채살 단일광자단층촬영(SPECT)은 공간분해능과 민감도를 개선하는 것으로 알려져 있다. 보다 정확한 영상을 얻고 인체에 대한 SPECT의 영상화 과정을 정확하게 묘사하기 위하여 평행 데이터로 재배열하는 과정 없이 직접 부채살 데이터를 이용하여 재구성하는 알고리즘이 필요하다. 본 연구는 다양한 부채살 재구성 알고리즘을 구현하였고 각 방법의 성능을 비교하였다. 대상 및 방법: 선추적법을 적용하여 부채살 투사기와 이로부터 얻은 데이터를 직접 재구성할 수 있는 FBP, EM, OS-EM과 MAP-EM OSL 알고리즘을 구현하였다. OSL 알고리즘의 경우에는 membrane과 thin plate prior를 사용하였다. 직접 부채살 데이터를 재구성하는 방법의 성능을 평가하기 위해 양방향 최근접 이웃, 양방향 1차와 양방향 3차 보간법을 사용하여 재배열된 평행 데이터를 얻었고 이 데이터를 기존의 평행 데이터에 대한 EM 알고리즘을 사용하여 재구성하였다. Hoffman 두뇌와 Shepp/Logan 팬텀으로부터 얻은 잡음 없는 데이터와 잡음 있는 데이터는 각 방법으로 재구성하였으며 퍼센트 오차를 계산하여 각 재구성된 영상을 비교하였다. 결과: Thin-plate 사전 분포함수를 사용한 OSL 방법이 가장 낮은 오차를 가지며 잡음으로 인한 결과 영상의 불안정성을 효과적으로 제어함을 확인할 수 있었다. 부채살 데이터를 평행 데이터로 재배열시 양방향 1차 보간법이 정확성과 계산 시간 측면에서 가장 효율적인 방법임을 확인하였다. 재배열된 평행 데이터의 EM결과에 비해 직접 부채살 데이터를 재구성하여 얻은 결과영상이 더 정확하게 재구성되었다. 결론: 본 연구에서는 평행 데이터로 재배열한 경우에 비하여 보다 정확한 영상을 재구성하는 직접 부채살 재구성 알고리즘을 구현하였으며 이는 정량적으로 월등히 개선된 결과를 제공함을 확인하였다.

• Computers and Concrete
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• 제18권5호
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• pp.1019-1039
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• 2016

In this paper, a parallel algorithm of nonlinear dynamic analysis of three-dimensional (3D) reinforced concrete (RC) frame structures based on the platform of graphics processing unit (GPU) is proposed. Time integration is performed using Newmark method for nonlinear implicit dynamic analysis and parallelization strategies are presented. Correspondingly, a parallel Preconditioned Conjugate Gradients (PCG) solver on GPU is introduced for repeating solution of the equilibrium equations for each time step. The RC frames were simulated using fiber beam model to capture nonlinear behaviors of concrete and reinforcing bars. The parallel finite element program is developed utilizing Compute Unified Device Architecture (CUDA). The accuracy of the GPU-based parallel program including single precision and double precision was verified in comparison with ABAQUS. The numerical results demonstrated that the proposed algorithm can take full advantage of the parallel architecture of the GPU, and achieve the goal of speeding up the computation compared with CPU.

• Applied Microscopy
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• 제36권spc1호
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• pp.25-33
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• 2006

Nanofabrication with finely focused ion and electron beams is reviewed, and position and size controlled fabrication of nano-metals and -semiconductors is demonstrated. A focused ion beam (FIB) interface attached to a column of 200keV transmission electron microscope (TEM) was developed. Parallel lines and dots arrays were patterned on GaAs, Si and $SiO_2$ substrates with a 25keV $Ga^+-FIB$ of 200nm beam diameter at room temperature. FIB nanofabrication to semiconductor specimens caused amorphization and Ga injection. For the electron beam induced chemical vapor deposition (EBI-CVD), we have discovered that nano-metal dots are formed depending upon the beam diameter and the exposure time when decomposable gases such as $W(CO)_6$ were introduced at the beam irradiated areas. The diameter of the dots was reduced to less than 2.0nm with the UHV-FE-TEM, while those were limited to about 15nm in diameter with the FE-SEM. Self-standing 3D nanostructures were also successfully fabricated.

• IEIE Transactions on Smart Processing and Computing
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• 제4권5호
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• pp.297-304
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• 2015

A multilayer gaseous detector has been developed for fast dose-verification measurements of raster-scan-mode therapeutic beams in particle therapy. The detector, which was constructed with eight thin parallel-plate ionization chambers (PPICs) and polymethyl methacrylate (PMMA) absorber plates, is closely tissue-equivalent in a beam's eye view. The gas-electron signals, collected on the strips and pad arrays of each PPIC, were amplified and processed with a continuous charge.integration mode. The detector was tested with 190-MeV raster-scan-mode beams that were provided by the Proton Therapy Facility at Samsung Medical Center, Seoul, South Korea. The detector responses of the PPICs for a 190-MeV raster-scan-mode proton beam agreed well with the dose data, measured using a 2D ionization chamber array (Octavius model, PTW). Furthermore, in this study it was confirmed that the detector simultaneously tracked the doses induced at the PPICs by the fast-oscillating beam, with a scanning speed of 2 m s-1. Thus, it is anticipated that the present detector, composed of thin PPICs and operating in charge.integration mode, will allow medical scientists to perform reliable fast dose-verification measurements for typical dynamic mode therapeutic beams.

• 한국진공학회지
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• 제18권6호
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• pp.468-473
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• 2009

Chemical beam epitaxy 성장법으로 InP/InGaAs 다층구조의 선택적 영역 에피성장 (selective area epitaxy)을 하였다. <011> 방향에 평행한 직선패턴에서는 선폭이 작아지고, <01-1> 방향에 평행한 직선패턴에서는 선폭이 증가하는 현상이 나타났는데 이는 InGaAs의 <311>A와 B면이 <01-1> 방향에 평행한 직선패턴에서 성장되었기 때문으로 설명되었다. 성장속도가 $1\;{\mu}m/h$인 조건에서 5족 가스의 압력이 감소할수록 (100) 면 위에서 평평한 에피층이 성장되었는데 이는 5족 가스의 과포화현상에 의한 3족 원소의 표면이동으로 설명하였다.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2000년도 춘계학술대회논문집
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• pp.1311-1320
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• 2000

In this study, shape memory alloy(SMA) wires and piezoceramic actuators(PZT's) are employed in order to generate higher modes on the beam deformations. Compressive force is generated and applied to the beam by the pre-strained SMA wires attached at both ends of the beam. PZT's apply concentrated moments to several locations on the beam. Combinations of the compressive force and concentrated moments are investigated in order to understand the higher-mode deformation of beams. The first desired mode shape is obtained by controlling the temperature of the SMA wires. The first and third mode shapes are performed experimentally by heating SMA wires up to phase transformation temperature. The adaptive wing is defined as a wing whose shape parameters such as the camber, wing twist and thickness can be varied in order to change the wing shape for various flight conditions. In this research, control of the camber has been studied. The wing model consists of three plates and many ribs. Two of the plates are placed parallel to each other and they are clamped at one edge. Third plate connects the other edges of the parallel plates together. Each rib is made of SMA wire and connected to the parallel plates. It generates concentrated force and applies to the plates in oblique directions. The PZT's are bonded onto the plates and exert concentrated moments upon the plate at several locations. The object of this research is to generate various shape of wing by combining the concentrated forces and moments.

• 한국의학물리학회:학술대회논문집
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• 한국의학물리학회 2002년도 Proceedings
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• pp.106-108
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• 2002

Recent advances in radiation transport algorithms, computer hardware performance, and parallel computing make the clinical use of Monte Carlo based dose calculations possible. Monte Carlo treatment planning requires accurate beam information as input to generate accurate dose distributions. The procedures to obtain this accurate beam information are called "commissioning", which includes accelerator head modeling. In this study, we would like to investigate how much accurately Monte Carlo based dose calculations can predict the measured beam data in various conditions. The Siemens 6MV photon beam and the BEAM Monte Carlo code were used. The comparisons including the percentage depth doses and off-axis profiles of open fields and wedges, output factors will be presented.