• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.4
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• pp.226-234
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• 2004

A rapid Prototyping system that laser-cuts and laminates thick layers can fabricate 3D objects promptly with a variety of materials. Building such a system must consider the surface distortions due to both vertical-cut layers and triangular surfaces. We developed a tangential layer-cutting algorithm by rearranging tangential lines such that they reconstruct 3D surfaces more closely and also constitute smoother laser trajectories. An energy function that reflects the surface-closeness with the tangential lines was formulated and then the energy was minimized by a gradient descent method. Since this simple method tends to cause many local minima for complex 3D objects, we tried to solve this problem by adding a simulated annealing process to the proposed method. To view and manipulate 3D objects, we also implemented a 3D visual environment. Under this environment, experiments on various 3D objects showed that our algorithm effectively approximates 3D surfaces and makes laser-trajectory feasibly smooth.

• Korean Journal of Optics and Photonics
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• v.6 no.4
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• pp.274-281
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• 1995

The new method of recording and reconstructing a synthetic object, which was called as scannedobject holography (SOH), was proposed and its feasibility was demonstrated theoretically and experimentally. The hologram was recorded by interfering the fixed reference beam with spherical waves emitting from a moving point source, whose trajectory determined the shape of the synthetic object to be recorded. The end face of an optical fiber and the output from a pulsed laser were utilized in order to implement a moving point source experimentally. tally.

• Proceedings of the Korea Society for Simulation Conference
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• 1998.10a
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• pp.120-123
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• 1998

In animating an articulated entity with motion capture data, especially when the reconstruction is based on forward kinematics, there could be large discrepancies at the end effector. The small errors in joint angles tend to be amplified as the forward kinematics positioning progresses toward the end effector. In this paper, we present an algorithm that enhances the motion capture data to reduce positional errors at the end effector. The process is optimized so that the characteristics of the original joint angle data is preserved in the resulting motion. The frames at which the end-effector position needs to be accurate are designated as“keyframes”(e.g. starting and ending frames). In the algorithm, corrections by inverse kinematics are performed at sparse keyframes and they are interpolated with a cubic spline which produces a curve best approximating the measured joint angles. The experiment proves that our algorithm is a valuable tool to improve measured motion especially when end-effector trajectory contains a special goal.

• IEIE Transactions on Smart Processing and Computing
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• v.2 no.4
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• pp.203-207
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• 2013

The appropriate handling of motion artifacts is essential for clinical diagnosis in magnetic resonance imaging (MRI). In many cases, motion is an inherent part of MR images because it is difficult to control during MR imaging. As the motion in the human body occur in a deformable manner, they are difficult to deal with. This paper proposes a novel detection method for periodically moving regions to produce MR images with less motion artifacts. When the data is acquired by the radial trajectory, the proposed method can extract the deformable region easily using the difference in the modulated sinograms, which have different periodic phase terms. The simulation results applied to the various cases confirmed the good performance of the proposed method.

• Journal of the Korean Society of Safety
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• v.18 no.3
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• pp.22-28
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• 2003

This study proposes the construction of chaos simulator for cutting characteristics evaluation of non-ferrous metals. Also this paper aims to find the optimal cutting conditions of diamond turning machine by measuring surface form and roughness to perform the cutting experiment of non-ferrous metals, which are aluminum, with diamond tool. As well, according to change cutting conditions such as fled rate, using diamond turning machine to perform cutting processing, by measuring cutting force and surface roughness and according to cutting conditions the aluminum about cutting properties. Trajectory changes in the attractor indicated a substantial difference in fractal characteristics. Constructed chaos simulator in this study can be used for cutting characteristics evaluation of non-ferrous metals.

• Investigative Magnetic Resonance Imaging
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• v.25 no.3
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• pp.141-155
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• 2021

Purpose: To develop a 3D magnetic resonance fingerprinting (MRF) method for application in high resolution knee cartilage PD, T₁, T₂ mapping. Materials and Methods: A novel 3D acquisition trajectory with golden-angle rotating radial in k_xy direction and interleaved echo planar imaging (EPI) acquisition in the k_z direction was implemented in the MRF framework. A centric order was applied to the interleaved EPI acquisition to reduce Nyquist ghosting artifact due to field inhomogeneity. For the reconstruction, singular value decomposition (SVD) compression method was used to accelerate reconstruction time and conjugate gradient sensitivity-encoding (CG-SENSE) was performed to overcome low SNR of the high resolution data. Phantom experiments were performed to verify the proposed method. In vivo experiments were performed on 6 healthy volunteers and 2 early osteoarthritis (OA) patients. Results: In the phantom experiments, the T₁ and T₂ values of the proposed method were in good agreement with the spin-echo references. The results from the in vivo scans showed high quality proton density (PD), T₁, T₂ map with EPI echo train length (N_ETL = 4), acceleration factor in through plane (R_z = 5), and number of radial spokes (N_spk = 4). In patients, high T₂ values (50-60 ms) were seen in all transverse, sagittal, and coronal views and the damaged cartilage regions were in agreement with the hyper-intensity regions shown on conventional turbo spin-echo (TSE) images. Conclusion: The proposed 3D MRF method can acquire high resolution (0.5 mm³) quantitative maps in practical scan time (~ 7 min and 10 sec) with full coverage of the knee (FOV: 160 × 160 × 120 mm³).

• Journal of Korean Neurosurgical Society
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• v.66 no.2
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• pp.183-189
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• 2023

Objective : The facial nerve trace on the ipsilateral side of the vestibular schwannoma was reconstructed by diffusion tensor imaging tractography to identify the adjacent relationship between the facial nerve and the tumor, and to improve the level of intraoperative facial nerve protection. Methods : The clinical data of 30 cases of unilateral vestibular schwannoma who underwent tumor resection via retrosigmoid approach were collected between January 2019 and December 2020. All cases underwent magnetic resonance imaging examination before operation. Diffusion tensor imaging and anatomical images were used to reconstruct the facial nerve track of the affected side, so as to predict the course of the nerve and its adjacent relationship with the tumor, to compare the actual trace of the facial nerve during operation, verify the degree of coincidence, and evaluate the nerve function (House-Brackmann grade) after surgery. Results : The facial nerve of 27 out of 30 cases could be displayed by diffusion tensor imaging tractography, and the tracking rate was 90% (27/30). The intraoperative locations of facial nerve shown in 25 cases were consistent with the preoperative reconstruction results. The coincidence rate was 92.6% (25/27). The facial nerves were located on the anterior middle part of the tumor in 14 cases, anterior upper part in eight cases, anterior lower part in seven cases, and superior polar in one case. Intraoperative facial nerve anatomy was preserved in 30 cases. Among the 30 patients, total resection was performed in 28 cases and subtotal resection in two cases. The facial nerve function was evaluated 2 weeks after operation, and the results showed grade I in 12 cases, grade II in 16 cases and grade III in two cases. Conclusion : Preoperative diffusion tensor imaging tractography can clearly show the trajectory and adjacent position of the facial nerve on the side of vestibular schwannoma, which is beneficial to accurately identify and effectively protect the facial nerve during the operation, and is worthy of clinical application and promotion.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1587-1592
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• 2003

There are three kinds of singularity in controlling redundant manipulators. Kinematic, algorithmic and representation singularities are those. If manipulators fall into any singularity without proper action to avoid it, the control system must go away from our desire, and we can meet a dangerous situation. Hence, we have to deal the singularities very carefully. In this paper, we describe an on-line solution for avoiding the occurrence of both algorithmic and kinematic singularities in task-priority based kinematic controllers of robotic manipulators. Representation singularity can be easily avoided by using proper representation algorithm, so, in this paper, we only consider kinematic and algorithmic singularities. The proposed approach uses a desired task reconstruction and a successive task projection in order to maintain the measure for singularity over a user defined minimum value. It shows a gain in performance and a better task error especially when working in proximity of singular configurations. It is particularly suitable for autonomous systems where an off-line trajectory control scheme is often not applicable. The advantage and performance of the proposed controller is verified by simulation works. And, the experiment with real manipulator is remaining for the future works.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2001.10a
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• pp.91-96
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• 2001

This paper presents a neural net based nonlinear adaptive controller for an autonomous underwater vehicle (AUV). AUV's dynamics are highly nonlinear and their hydrodynamic coefficients vary with different operational conditions, so it is necessary for the high performance control system of an AUV to have the capacities of learning and adapting to the change of the AUV's dynamics. In this paper a linearly parameterized neural network is used to approximate the uncertainties of the AUV's dynamics, and a sliding mode control is introduced to attenuate the effects of the neural network's reconstruction errors and the disturbances of AUV's dynamics. The presented controller is consist of three parallel schemes; linear feedback control, sliding mode control and neural network. Lyapunov theory is used to guarantee the asymptotic convergence of trajectory tracking errors and the neural network's weights errors. Numerical simulations for motion control of an AUV are performed to illustrate to effectiveness of the proposed techniques.

• Journal of Korean Neurosurgical Society
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• v.50 no.6
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• pp.532-534
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• 2011

Temple trauma that appears initially localized to the skin might possess intracranial complications. Early diagnosis and management of such complications are important, to avoid neurologic sequelae. Non-penetrating head injuries with intracranial hemorrhage caused by a driven bone fragment are extremely rare. A 53-year-old male was referred to our hospital because of intracerebral hemorrhage. He was a mechanic and one day before admission to a local clinic, tip of metallic rod hit his right temple while cutting the rod. Initial brain computed tomography (CT) and magnetic resonance imaging demonstrated scanty subdural hematoma at right temporal lobe and left falx and intracerebral hematoma at both frontal lobes. Facial CT with 3-D reconstruction images showed a small bony defect at the right sphenoid bone's greater wing and a small bone fragment at the left frontal lobe, crossing the falx. We present the unusual case of a temple trauma patient in whom a sphenoid bone fragment migrated from its origin upward, to the contralateral frontal lobe, producing hematoma along its trajectory.