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Noble Development of Array Type Gripper for Robot Arm
( Jaeman Lee ),( Wangheon Lee ) 한국산업융합학회 2022 한국산업융합학회 논문집 Vol.25 No.2
For grippers of industrial robots, parallel grippers and multi-function finger grippers are used. The former has the advantage of low cost but has the disadvantage of low precision, and the latter has the advantage of excellent precision but has the disadvantage of being expensive. In this paper, we developed a grip that can detects the various shapes of the object to be gripped on the gripper surface by using mesured pressure information frome Veloset Sheet sensor so that the gripper can be gripped without deforming the surface of the gripper. Also we did not only developed the array type gripper and 4 array type grippers (ATG), but also confirmed the usefulness of array type gripper developed in this study according to the 4 predefined evaluation criteria
Lee, Jiyoul,Chung, Jong Won,Jang, Jaeman,Kim, Do Hwan,Park, Jeong-Il,Lee, Eunkyung,Lee, Bang-Lin,Kim, Joo-Young,Jung, Ji Young,Park, Joon Seok,Koo, Bonwon,Jin, Yong Wan,Kim, Dae Hwan American Chemical Society 2013 Chemistry of materials Vol.25 No.9
<P>The influence of alkyl side chains on the crystallinity of semiconducting copolymer films and their sub-bandgap density-of-states (DOS), the latter being closely related to the stability and the device performance of organic field-effect transistors (OFETs), is investigated. Three different poly(hexathiophene-alt-bithiazole) (PHTBTz) based polymer semiconductors, with identical backbones but different side chain positions and lengths, were synthesized. The crystallinity examined by grazing incidence X-ray diffraction (GIXRD) strongly depends on the number, position, and length of each type of alkyl side chain attached to the thiophene and thiazole copolymer backbones. Also, the sub-bandgap trap DOS distributions were extracted by performing multiple-frequency capacitance–voltage (MF-CV) spectroscopy on the field effect devices. The relationship between film crystallinity and trap DOS in the field-effect transistors can be interpreted in terms of the complex interplay between the number, position, and length of each alkyl side chain for efficient π–π stacking. In particular, the number and position of the alkyl side chain attached to the polymer backbone significantly affects the device performance. Poly(tetryloctylhexathiophene-alt-dioctylbithiazole) (PHTBTz-C8) exhibits the best electrical performance among the different semiconductors synthesized, with a relatively low bulk trap density of ∼2.0 × 10<SUP>20</SUP> cm<SUP>–3</SUP> eV<SUP>–1</SUP> as well as reasonable hole mobility of ∼0.25 cm<SUP>2</SUP> V<SUP>–1</SUP> s<SUP>–1</SUP>. The microstructural analyses of this organic material strongly suggest that the short π–π stacking distance induces strong interaction between adjacent polymer backbones, which in turn results in enhanced electrical properties.</P><P><B>Graphic Abstract</B> <IMG SRC='http://pubs.acs.org/appl/literatum/publisher/achs/journals/content/cmatex/2013/cmatex.2013.25.issue-9/cm400592b/production/images/medium/cm-2013-00592b_0009.gif'></P><P><A href='http://pubs.acs.org/doi/suppl/10.1021/cm400592b'>ACS Electronic Supporting Info</A></P>
Son, Jaeman,Baek, Taesung,Lee, Boram,Shin, Dongho,Park, Sung Yong,Park, Jeonghoon,Lim, Young Kyung,Lee, Se Byeong,Kim, Jooyoung,Yoon, Myonggeun Versita, Warsaw 2015 Radiology and oncology Vol.49 No.3
<P><B>Background</B></P><P>This study was designed to compare the quality assurance (QA) results of four dosimetric tools used for intensity modulated radiation therapy (IMRT) and to suggest universal criteria for the passing rate in QA, irrespective of the dosimetric tool used.</P><P><B>Materials and methods.</B></P><P>Thirty fields of IMRT plans from five patients were selected, followed by irradiation onto radiochromic film, a diode array (Mapcheck), an ion chamber array (MatriXX) and an electronic portal imaging device (EPID) for patient-specific QA. The measured doses from the four dosimetric tools were compared with the dose calculated by the treatment planning system. The passing rates of the four dosimetric tools were calculated using the gamma index method, using as criteria a dose difference of 3% and a distance-to-agreement of 3 mm.</P><P><B>Results</B></P><P>The QA results based on Mapcheck, MatriXX and EPID showed good agreement, with average passing rates of 99.61%, 99.04% and 99.29%, respectively. However, the average passing rate based on film measurement was significantly lower, 95.88%. The average uncertainty (1 standard deviation) of passing rates for 6 intensity modulated fields was around 0.31 for film measurement, larger than those of the other three dosimetric tools.</P><P><B>Conclusions</B></P><P>QA results and consistencies depend on the choice of dosimetric tool. Universal passing rates should depend on the normalization or inter-comparisons of dosimetric tools if more than one dosimetric tool is used for patient specific QA.</P>
( Jongwon Lee ),( Joong Sub Choi ),( Jaeman Bae ),( Un Suk Jung ),( Won Moo Lee ),( Jeong Min Eom ),( A Ra Koh ) 대한산부인과학회 2016 대한산부인과학회 학술대회 Vol.102 No.-
Uterine artery embolization(UAE) has been used successfully in the control of postpartum hemorrhage. Although UAE has several advantages, including easy identification of the bleeding site and preservation of the uterus and fertility, the success rates and complications of this procedure have been reported. We present a case of delayed uterine perforation occurred six weeks after cesarean section followed by uterine artery embolization. A 32-year-old female patient, gravida 2 para 2, presented with lower abdominal pain in an outpatient clinic. The patient presented both tenderness and rebound tenderness on lower abdomen. Computed tomography scan revealed uterine rupture with perilesional hematoma and localized peritonitis in lower abdomen. She underwent cesarean section at a local hospital 6 weeks before the visit; she was then transferred to our hospital for postpartum hemorrhage and had a both UAE. Placenta accreta on uterine fundus as well as severe muscle tissue defect were identified while performing cesarean section. We performed a laparoscopic surgery on May 10, 2016. Severe adhesion was observed between uterine fundus and the portion of omentum, ileum and appendix. After performing adhesiolysis, the uterine perforation of about 3 cm in diameter was identified through which endometrium was exposed and the adjacent muscle tissue was necrotized. The necrotic tissue was removed by debridement procedure and the uterus was repaired using extracorporeal suture technique. The appendix was removed using endo GIA due to the adhesion between the appendix and the omentum. The patient had a good recovery. Maintenance of the integrity of the uterine fundus was demonstrated on the pelvic ultrasound imaging 7 days following surgery. We present this case along with a video clip.
Jaewook Lee,Sungwoo Jun,Jaeman Jang,Hagyoul Bae,Hyeongjung Kim,Jong Won Chung,Sung-Jin Choi,Dae Hwan Kim,Jiyoul Lee,Dong Myong Kim IEEE 2013 IEEE electron device letters Vol.34 No.12
<P>We report a fully subthreshold current-based technique for characterization of subgap density of states [DOS:g(E)] with consistent mapping of the surface potential (ψ<SUB>S</SUB>) in p-channel polymer-based thin-film transistors (PTFTS). Initially, we propose a technique for extraction of the DOS over the bandgap using the gate voltage (V<SUB>GS</SUB>)-dependent ideality factor [m(V<SUB>GS</SUB>)] from the transfer characteristics of the PTFTs under subthreshold operation. We also propose a technique for a consistent nonlinear mapping of V<SUB>GS</SUB> to the subgap energy level by converting m(V<SUB>GS</SUB>) to ψ<SUB>S</SUB>. Through combining the two methods, the exponential tail and deep g(E) are obtained to be N<SUB>TD</SUB>=1·1×10<SUP>17</SUP> [eV<SUP>-1</SUP>·cm<SUP>-3</SUP>], kT<SUB>TD</SUB>=0·035 [eV], N<SUB>DD</SUB>=9·8×10<SUP>16</SUP> [eV<SUP>-1</SUP>·cm<SUP>-3</SUP>], and kT<SUB>DD</SUB>=0·80 [eV] over the bandgap.</P>
방사형과 초점형 체외충격파를 이용한 견갑골 주변 근막동통증후군의 임상적 치료결과
이재만(Jaeman Lee),하청수(Cheungsoo Ha),안태근(Tae-Keun Ahn) 대한정형외과학회 2022 대한정형외과학회지 Vol.57 No.2
목적: 지난 20년간 근막동통증후군에서 체외충격파 치료에 대한 연구는 다양하게 진행되어 왔으나, 방사형과 초점형의 효과를 직접적으로 비교한 선행연구는 없었다. 본 연구의 목적은 체외충격파 유형에 따른 견갑골 주변 근막동통증후군의 임상적 치료 효과를 조사하는 것이다. 대상 및 방법: 2018년 1월부터 2019년 2월까지 견갑골 주변 근막동통증후군을 진단받고 체외충격파 치료를 시행받은 66명의 환자를 대상으로 하였으며, 유형별로 방사형 체외충격파 치료군 24명, 초점형 체외충격파 치료군 42명이었다. 치료 시작 전 시각통증척도와 어깨관절 기능평가 조사항목으로 Constant Murley scale, UCLA score를 조사하고, 1주일 간격으로 총 6차례의 체외충격파 치료를 마친 후 동일한 시각통증척도와 어깨관절 기능평가 조사항목Constant Murley scale, UCLA score를 다시 조사하였다. 결과: 시각통증척도는 방사형 체외충격파 치료군에서 치료 전 3.66점에서 치료 후 2.54점으로 개선되었고(p=0.007), 초점형 체외충격파 치료군에서 치료 전 3.26점에서 치료 후 2.52점으로 개선되었다(p=0.010). 어깨관절 기능평가 조사항목에서는 방사형 체외충격파 치료군에서 치료 전 Constant Murley scale, UCLA score는 각각 64.60점, 24.96점에서 치료 후 각각 71.76점, 27.98점으로 개선되었고(p<0.001, p=0.006), 초점형 체외충격파 치료군에서 치료 전 Constant Murley scale, UCLA score는 각각 64.06점, 25.26점에서 치료 후 각각 72.19점, 28.80점으로 개선되었다(p<0.001, p<0.001). 결론: 방사형 및 초점형 체외충격파 치료 모두 견갑골 주변 근막동통증후군 환자의 통증 감소 및 어깨관절 운동기능 증가에 효과적이었다. Purpose: In the past 20 years, studies on extracorporeal shock wave therapy in myofascial pain syndrome have been conducted in various ways, but no studies have compared the effects of the radial and focused type directly. This study examined the clinical treatment effects of periscapular myofascial pain syndrome according to the type of extracorporeal shock wave. Materials and Methods: From January 2018 to February 2019, 66 patients were diagnosed with periscapular myofascial pain syndrome and subjected to extracorporeal shock waves. Twenty-four patients were in the radial extracorporeal shock wave treatment group, and 42 patients were in the focused extracorporeal shock wave treatment group. Before starting treatment, the visual analog pain scale, Constant Murley scale, and UCLA score were examined. After six shock wave treatments were completed at intervals of one week, the visual analog pain scale, Constant Murley scale, and UCLA score were re-evaluated. Results: The visual analog pain scale improved from pre-treatment 3.66 points to post-treatment 2.54 points in the radial extracorporeal shock wave treatment group (p=0.007), and improved from pre-treatment 3.26 points to post-treatment 2.52 points in the focused extracorporeal shock wave treatment group (p=0.010). For the shoulder function evaluation, the Constant Murley scale and UCLA score in the radial extracorporeal shock wave treatment group improved from 64.60 points and 24.96 points, respectively, before treatment to 71.76 points and 27.98 points after treatment, respectively (p<0.001, p=0.006). The Constant Murley scale and UCLA score in the focal extracorporeal shockwave treatment group improved from 64.06 points and 25.26 points, respectively, to 72.19 points and 28.80 points after treatment (p<0.001, p<0.001). Conclusion: Both radial and focused extracorporeal shockwave therapy were effective in reducing pain and increasing the shoulder function in patients with periscapular myofascial pain syndrome.