http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
- 中文 을 입력하시려면 zhongwen을 입력하시고 space를누르시면됩니다.
- 北京 을 입력하시려면 beijing을 입력하시고 space를 누르시면 됩니다.
RISS 인기검색어
- 검색키워드
- 저자 : Hee-JunKang (검색결과 3 건)
- 무료
- 기관 내 무료
- 유료
-
-
Simultaneous Identification of Joint Compliance and Kinematic Parameters of Industrial Robots
Jian Zhou,Hee-JunKang,Hoai-Nhan Nguyen 한국정밀공학회 2014 International Journal of Precision Engineering and Vol. No.
Owing to the flexibility of robot joints and links, the industrial robot can hardly achieve the specified accuracy to perform tasks whena payload is attached at its end-effector. Hence, compliance errors due to the deflections of robot joints and links should be identifiedand compensated as well as kinematic errors to improve the positioning accuracy of the industrial robot. Assuming the links of therobot are much stiffer than its actuated joints, compliance errors mainly come from the joint deflections. This paper presents a newalgorithm for robot calibration, which simultaneously identifies joint compliance and kinematic parameters of industrial robotsthrough a comprehensive error model consisting of kinematic errors and compliance errors. The identified parameters are used tocompensate kinematic errors and compliance errors in industrial robots. The proposed calibration algorithm is implemented on a 6degree of freedom serial robot (Hyundai YS100) to show its effectiveness.
-
Jun Kang,Gui Young Kwon,Young-Hee Lee,Gyungyub Gong 한국유방암학회 2009 Journal of breast cancer Vol.12 No.4
Purpose: Silver-enhanced in situ hybridization (SISH) is a newly developed method to evaluate HER2 gene amplification in invasive breast carcinomas. Most laboratories widely use fluorescence in situ hybridization (FISH) to evaluate the HER2 gene amplification status because FISH is a very sensitive and accurate technique. However, this technique is not the best because it requires specialized equipment and interpretation skills. We compared a new technique of SISH with FISH for assessing HER2 gene amplification in invasive breast carcinomas. Methods: HER2 gene amplification was assessed in 165 cases of invasive breast carcinoma by FISH and SISH with constructing a tissue microarray. The tumors were assessed by the guidelines of the American Society of Clinical Oncology/College of American Pathologists (ASCO/CAP). Positivity was defined as a HER2/Chromosome 17 ratio greater than 2.2. Negativity was defined if the ratio was less than 1.8. The tumor was considered as equivocal for HER2 gene amplification if the ratio was between 1.8 and 2.2. The HER2 protein status was assessed. Immunostaining for HER2 protein was performed in a Benchmark automatic immunostaining device with using whole tissue sections. Results: There was agreement of the HER2 gene amplification status by SISH and FISH in 162 of 165 cases, which is a concordance rate of 98.2% (κ=0.94). There were three discrepant cases, with two of them being FISH positive and SISH negative (one case was IHC negative and one case was IHC positive) and one case was FISH negative and SISH equivocal. Conclusion: The 98.2% concordance between FISH and SISH meets the ASCO/CAP requirements for test validation of >95% concordance. These results indicate that SISH can be used as an alternative to FISH for assessing the HER2 gene amplification status in breast carcinomas.
연관 검색어 추천
이 검색어로 많이 본 자료
활용도 높은 자료
