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무인자동차 로봇을 위한 센서와 엑추에이터의 실시간 제어
장익규,박홍성,최형섭,김시완,최덕용,김성훈,김후정 제어로봇시스템학회 2008 제어로봇시스템학회 국내학술대회 논문집 Vol.2008 No.10
As robots has become popular, many parts of environment need robots. Especially automobile is one of the most well-known robot. However its difficult to move to correct points of destination without human. In this paper we made robot consist of the GPS, Compass, Vision sensors and automobile actuators. so we will show the self-driving car robot and find the real-time supporting scheduling method for accurate and fast action.
췌장암 조기진단을 위한 조건부 확률 기반 지능형 진단 방식
장익규,정준호,고재호,문현석,조영호,JANG, IK GYU,JUNG, JOONHO,KO, JAE HO,MOON, HYUN SEOK,JO, YUNG HO 대한의용생체공학회 2017 의공학회지 Vol.38 No.5
Early diagnosis of pancreatic cancer had been considered one of the important barrier for successful therapy since the five year survival rate after treatment of pancreatic cancer was critically low. Nonetheless, patients often miss the golden time of treatment because they rarely visit the hospital until their symptoms are severe. To overcome these problems, a lot of information about the patient's symptoms should be applied as biomarkers for early diagnosis. For this reason, a biomarker for early detection of pancreatic cancer (CA19-9) has been developed as a diagnostic kit. However, since the diagnosis is not accurate enough, pancreatic symptoms (abdominal pain, jaundice, anorexia, diabetes, etc.) and biomarkers (CA19-9) should be considered together. We develop an intelligent diagnostic system that considers CA19-9 and the incidence of pancreatic cancer for pancreatic symptoms that was determined by studying a large number of patient information. It shows a higher accuracy than one using CA19-9 alone. It may increase the survival rate of pancreatic cancer because it can diagnose pancreatic cancer early.
손동작 영상획득을 이용한 최소침습수술로봇 무구속 마스터 인터페이스
장익규,Jang, Ik-Gyu 대한의용생체공학회 2016 의공학회지 Vol.37 No.3
Introduction: Surgical robot is the alternative instrument that substitutes the difficult and precise surgical operation; should have intuitiveness operationally to transfer natural motions. There are limitations of hand motion derived from contacting mechanical handle in the surgical robot master interface such as mechanical singularity, isotropy, coupling problems. In this paper, we will confirm and verify the feasibility of intuitive Non-restraint master interface which tracking the hand motion using infra-red camera and only 3 reflective markers without the hardware handle for the surgical robot master interface. Materials & methods: We configured S/W and H/W system; arranged 6 infra-red cameras and attached 3 reflective markers on hands for measuring 3 dimensional coordinate then we find the 7 motions of grasp, yaw, pitch, roll, px, py, pz. And we connected Virtual-Master to the slave surgical robot(Laparobot) and observed the feasibility. To verify the result of motion, we compare the result of Non-restraint master and that of clinometer (and protractor) through measuring 0~180 degree, 10degree interval, 1000 samples and recorded standard deviation stands for error rate of the value. Results: We confirmed that the average angle values of Non-restraint master interface is accurately corresponds to the result of clinometer (and protractor) and have low error rates during motion. Investigation & Conclusion: In this paper, we confirmed the feasibility and accuracy of 3D Non-restraint master interface that can offer the intuitive motion of non-contact hardware handle. As a result, we can expect the high intuitiveness, dexterousness of surgical robot.
중재적 심장 질환 시술을 위한 스마트 글래스 삽입관 가이드 시스템 개발
장익규,허영준,전금상,최재순 대한의용생체공학회 2020 의공학회지 Vol.41 No.5
Remote control intervention surgery robotic system improves treatment effect on cardiovascular patients and reduces X-ray exposure. However, at the time of the first procedure, CT (computerized tomography) and other ultrasound diagnostic equipment should be used because the operator must insert the cannula directly into the patient’s leg. Improvements to this have been un-met-needs of hospitals. In this paper, we developed a system that can insert the cannula intuitively and quickly by displaying blood vessels at a glance through the system using smart wearable glasses. The core development method is as follows. In order to project augmented reality onto the surgical image, CT scan angiography image is extracted and processed. In the process, three CT-Markers are used to create a coordinate system of blood vessel images. Additionally, a reference marker is photographed on a single camera to obtain a camera coordinate system. Since the CT marker and the reference marker are in the same position, 3D registration is performed. In the text, a detailed explanation will be given.
슬관절 동종골을 이용한 사지 구제수술 환자의 3차원 보행분석
장익규,박홍성,남경원,홍만복,김수현,김한수,강현귀,김광기,Jang, Ik-Gyu,Park, Hong-Seong,Nam, Kyoung-Won,Hong, Man-Bok,Kim, Soo-Hyun,Kim, Han-Soo,Kang, Hyun-Guy,Kim, Kwang-Gi 대한의용생체공학회 2010 의공학회지 Vol.31 No.1
This paper presents the three dimensional gait analysis of the patients with osteoarticular knee allograft reconstruction. The gait analysis has been performed in some medical fields such as orthopedics and neurosurgery for the purpose of the rehabilitation of patients. However, to the author's knowledge, the analysis of gait for the patients with osteoarticular knee allograft reconstruction caused by tumor has not been reported. In this work, In this work, we confirmed the validity of this method by analyzing 50 samples per one gait cycle obtained from each of 3 patients and 3 normal persons. The motion capture was performed using six infrared cameras. The symmetry and stability of the gait patterns are investigated (patients' r=0.39, p<0.05, normal persons' r=0.65, p<0.05) respectively using the correlation coefficients and the standard deviations of the joint angles of the left and right legs. It also would be applied to the comparison analysis where artificial knee joint is transplanted.
선택적 환원 촉매(SCR)에서 암모니아(NH₃) 분사량 최적화에 대한 실험적 연구
장익규(Ik-Kyoo Jang),윤여빈(Yu-Bin Yoon),박영준(Young-Joon Park),이성욱(Seang-Wock Lee),조용석(Yong-Seok Cho) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.11
The Selective catalytic reduction(SCR) system is a highly-effective device of NO<SUB>x</SUB> reduction for diesel engines. Generally, the ammonia(NH₃) generated from a liquid urea-water solution is used for the reductant. The ideal ratio of NH₃ molecules to NO<SUB>x</SUB> molecules is 1:1 based on NH₃ consumption and having NH₃ available for reaction of all of the exhaust NO<SUB>x</SUB>. However, under the too low and too high temperature condition, the NO<SUB>x</SUB> reduction efficiency becomes lower, due to temperature window. And space velocity also affects to NO<SUB>x</SUB> conversion efficiency. This paper reviews a laboratory study to evaluate the effects of NO<SUB>x</SUB> and NH₃ concentrations, gas temperature and space velocity on the NO<SUB>x</SUB> conversion efficiency of the SCR system. The maximum conversion efficiency of NO<SUB>x</SUB> was indicated when the NH₃ to NO<SUB>x</SUB> ratio was 1.2 and the space velocity was 60,000 h?¹. The results of this paper contribute to improve overall NO<SUB>x</SUB> reduction efficiency and NH₃ slip.