3D Registration Using Inertial Navigation System And Kinect For Image-Guided Surgery

JoonYoung Bang,Shirazi Muhammad Ayaz,Khan Danish,Soo-in Park,Hyunki Lee,Min Young Kim 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10

When 3d image registration using 2d image by hand-held scanner, the most important thing is pose estimation and object surface measure. The relationship between images is important to image registration. In this paper suggest 3d registration using Kinect and INS. The Kinect and INS are integrated on rigid body to improve the accuracy of estimate pose. It can complement the disadvantages of each sensor through the sensor fusion of INS and vision sensor position to make more precise estimates. Using purposed system can measure the three-dimensional shape of a variety of objects, and also can obtain an accurate image in a medical imaging applications which require precision application and apply in Image-guided surgery.

1953년 정전협정 직후 미국의 대한(對韓) 정책 형성과정 고찰

방준영 ( Joonyoung Bang ) 사단법인 아시아문화학술원 2021 인문사회 21 Vol.12 No.6

미 아이젠하워 정권기의 대한 정책 기본문서로 수없이 거론되는 ‘NSC 170/1’과 관련해서는, 그 채택 배경과 논의 과정에 주목한 선행연구가 부재하다. 본 연구에서는 미 공간문서인 FRUS (foreign relations of the United States)에 대한 면밀한 분석을 통해, 정전협정 직후 이승만의 전쟁 재개 가능성이 재연되는 상황에서 미국이 어떠한 과정을 거쳐 대한정책을 형성해 갔는가를 밝히고자 했다. NSC 170/1이 책정된 배경에는 정전협정에서 규정한 정치회담 개최 기한이 다가오는 가운데, 이에 대한 한국의 강경한 태도가 다시금 고개를 들게 되었다는 사정이 있었다. 전쟁을 재개하더라도 미국의 지원을 얻을 수 없다는 점을 이승만에게 확실히 인식시킬 필요가 있다고 판단한 미국 정부는, 정치회담이 실패하거나 혹은 무기한 연기될 경우에 발생할지 모를 긴급사태에 대비하기 위한 미국의 행동방침을 담은 ‘NSC 167’에 대한 검토를 서둘렀다. 1953년 10월 29일의 제168차 NSC에서 해당 문서가 제시한 방침에 입각해서 정책 검토 작업을 진행하기로 결정하였고 이것이 NSC 170/1의 책정으로 이어진 것이다. Regarding NSC 170/1, which is mentioned countless times as a basic document for Korean policy during the Eisenhower administration, there is no prior study that paid attention to the background of its adoption and the discussion process. In this study, through a close analysis of the U.S. government official documents FRUS (Foreign Relations of the United States), it was intended to reveal how the US formed a Korean policy at a time when the Possibility of resumption of war by President Rhee was reenacted immediately after the armistice agreement. The background of the NSC 170/1 was that South Korea’s tough attitude toward political talks was raised again as the deadline for holding the talks stipulated in the armistice agreement approached. Judging that President Rhee needs to be aware that even if the war resumes, he will not be able to get U.S. support, the U.S. government had hurried to review NSC 167, which contained U.S. action policies to prepare for emergencies that may occur if political talks fail or are postponed indefinitely. The 168th NSC on Oct. 29, 1953, decided to proceed with policy review based on the policy presented by the document, which led to the establishment of NSC 170/1.

일본의 국가안보전략 평가와 영향 - 방위력의 근본적 강화를 천명한 新 안보 3문서 내용을 중심으로 -

방준영 ( Bang Joonyoung ) 한국군사학회 2023 군사논단 Vol.114 No.0

On December 16,2022,the Japanese government established and announced three so-called security documents: the National Security Strategy, the National Defense Strategy, and the Defense Forces Maintenance Plan. The three security documents state that first, they will first create a security environment favorable to Japan, second, deter unilateral attempts to change the status quo by force, and third, block and exdude armed aggression. In order to achieve these defense goals, it proposes three approaches: strengthening Japan’s own architecture for national defense, strengthening Japan-U.S. joint deterrence and response capabilities, and collaboration with like-minded countries and others. This indudes strengthening the nation’s comprehensive defense system, which combines national power, including diplomatic, intelligence, economic, and technological capabilities, as well as fundamental strengthening of national defense capabilities, including ① Stand-off defense capabilities, ② Integrated air and missile defense capabilities, ③ Unmanned defense capabilities, ④ Cross-domain operation capabilities, ⑤ Command and control and Intelligence-related Sanctions ⑥ Mobile deployment capabilities / Civil protection, ⑦ Sustainability and Resiliency. The following is an evaluation of notable matters among the specific policies of the three security documents. First, Japan defined “Counterstrike capabilities” as an essential capability in the future and declared that it would use “stand-off defense capabilities” as a means. Some doubt the feasibility of the future development of technology for development of long-range missiles and diversification of launch types, and above all, it implies controversy in the future as to how to judge whether the other counties attack is “started.” Next, in relation to the expression of awareness of neighboring countries in the 3 security documents, how to express China, Japan’s largest trading country and target of threat, was also an important issue. As Japan’s southwest region is also related to Taiwan crisis, attention should be paid to the situation in the region and its response. Among the various security themes discussed in the discussion process, the lack of parts and ammunition of the Self-Defense Forces equipment, aging, vulnerable facilities to earthquakes, and weakening defense industry base were more focused than ever. Finally, the establishment of a permanent integrated command to strengthen integrated operation is noteworthy for Korea, which plans to create a strategic command, and discussions on the proportion and role of female SDF personnel as part of the reorganization and establishment of SDF personnel are also expected to be a reference. From South Korea’s point of view, it can be evaluated that Japan has taken a step closer to its aspect as a “normal state” with the revision of the three security documents. However, it can be said that it is time to seriously consider whether South Korea can play the required or necessary role in the growing need for security cooperation between South Korea and the U.S. and Japan. It is necessary to reevaluate Japan’s strategic value again and explore its possibility as an object of cooperation, not as a vague threat.

일본 육상자위대의 조직 개편 현황과 전망

방준영 ( Bang Joonyoung ),조재관 ( Cho Jaekwan ) 한일군사문화학회 2018 한일군사문화연구 Vol.26 No.-

일본 육상자위대는 지난 2018년 3월 27일, ‘즉응 기동하는 육상방위력’을 목표로 ①지휘통제능력의 강화, ②기동전개능력의 강화, ③수륙양용기능의 정비, ④경계감시능력의 강화, 그리고 ⑤체제 개혁을 뒷받침하는 교육훈련연구본부체제의 충실의 다섯 가지 범주에 초점을 둔 조직개편을 단행했다. 이는 구체적인 국가나 지명이 명시되지는 않았지만, 해양진출을 강화하는 중국의 움직임에 대응하여 남서제도에서의 억지 및 대처를 염두에 두고, 유사시 전국에서 부대를 신속하게 전선으로 전개할 수 있는 태세를 갖추기 위한 조치라고 할 수 있다. 구체적으로 일본 육상자위대는 전국의 5개 방면대를 일원적으로 통솔하여 유사시 전국의 부대를 지휘·운용하는 ‘육상총대’와 더불어 일본판 해병대에 해당하는 ‘수륙기동단’을 창설하였고, ‘교육훈련연구본부’ 및 ‘정보학교’를 신설했다. 또한 제8사단과 제14여단을 ‘즉응기동연대’를 주력으로 하는 기동사단과 기동여단으로 각각 개편함과 동시에, 전차와 화포의 수량 삭감을 내세우고 있다. 여기에 남서제도에 대한 경계감시능력을 강화하기 위해 동 지역에 경비부대 및 미사일부대 배치를 완료 혹은 계획하고 있다. 이러한 ‘발족 이래 대개혁’으로 불릴만한 육상자위대의 대규모 조직개편의 향후 전망은 2018년 연말로 예정되어 있는 새로운 방위계획의 대강 책정과 함께 그 체제이행 계획이 분명해질 것이다. 이와 관련해서 지난 6월에 아베 수상에게 전달된 자민당 정무조사회가 정리한 제언에서는, 現 방위계획의 대강이 제시한 ‘통합기동방위력’을 대신하는 ‘다차원 횡단(크로스 도메인) 방위구상’을 제창하고 있다. 이를 바탕으로 예상하건데 향후 일본 자위대는 육·해·공 뿐만 아니라 우주, 사이버, 전자 등의 영역도 활용한 다차원 횡단적인 방위력을 통합운용의 관점에서 최적화된 형태로 정비함으로써 필요한 방위력을 질적으로나 양적으로나 확충하려 할 것이다. 역내 안보환경의 개선을 바라는 우리로서는 향후 이러한 육상자위대 체제 이행의 방향성을 제시하게 될 일본 방위정책 동향과 그 내용에 예의주시할 필요가 있다. On March 27, 2018, Japan’s GSDF carried out a reorganization aimed at “Dynamic Defense Force.” The focus of the reorganization is on strengthening command control, strengthening mobility, maintaining amphibious functions, strengthening Education and Training Research Headquarters supporting system reform. Although no specific country or geographical names were specified, the measure was taken to ensure that troops could be deployed quickly across the nation with deterrence and counter-measures in mind in response to China’s move to strengthen its maritime advance. Specifically, Japan’s GSDF established “Ground Component Command,” which commands and operates troops nationwide in case of emergency and created a “Amphibious Rapid Deployment Brigade,” which is equivalent to the Japanese Marine Corps with “Training Evaluation Research and Development Command,” and “Military Intelligence School.” In addition, while reducing the quantity of tanks and artillery, the 8th Division and 14th Brigade will be reorganized as the Rapid Deployment Div/Bd, which will focus on the “Rapid Deployment Regiment.” Also, the deployment of security forces and missile units in the region is completed or planned to strengthen the surveillance capability on the southwestern islands. The future prospects for the massive reorganization of the Self-Defense Forces, dubbed the Great Revolution since its inception, will be clear through the next new National Defense Program Guidelines(NDPG), scheduled for the end of 2018. In the proposal, which was delivered to Prime Minister Abe in June by the Policy Affairs Research Council in Liberal Democratic Party, “Cross Domain” defense initiative is being proposed to replace the “Dynamic Joint Defense Force” proposed by the present NDPG. Based on this, the Japanese Self-Defense Forces will seek to expand the necessary defense capabilities in terms of the combined operation of the multi-dimensional cross-section, utilizing not only land, sea, air but also space, cyberspace, electronics. As far as we hope to improve the security environment in the region, We need to pay close attention to Japan’s defense policy trends and their content, which will show the direction of implementation of the Self-Defense Forces system in the future.

Anti-Jerk Controller Design with a Cooperative Control Strategy in Hybrid Electric Vehicle

Yong Seok Kim,Joonyoung Park,Tae Wook Park,Jae Sung Bang,Hyun Sung Sim 전력전자학회 2011 ICPE(ISPE)논문집 Vol.2011 No.5

In this paper, vibration suppression in the drivetrain of HEV(Hybrid Electric Vehicle) is considered. This study is motivated by the fact that vibration in the drivetrain of HEV and EV(Electric Vehicle) becomes a more important problem because while the existing gasoline or diesel vehicles have sufficient elements which have a role of a damper such as a torque converter, a flexible joint, and so on, the HEV and EV do not, and then the vibration is not effectively suppressed. Since the vibration makes passengers feel uncomfortable and causes poor drivability, this problem should be solved for good merchantable quality of HEV and EV. For this, in this paper we design an anti-jerk controller with a cooperative control strategy among HCU(Hybrid Control Unit), MCU(Motor Control Unit), EBS(Electric Brake System), TCU(Transmission Control Unit), and ECU(Engine Control Unit). We present the cooperative control strategy which makes appropriate circumstances under which the anti-jerk controller operates well. Then, the anti-jerk controller is designed that is composed of an active damping method producing a reverse torque of which the phase is opposite to that of the vibration and a torque profiling method limiting the gradient of torque. In order to verify the effectiveness of the proposed controller, simulation results and experimental results are shown.

Relationship between preoperative grip strength and the clinical results of patients treated via reverse shoulder arthroplasty

Bong Gun Lee,Joonyoung Bang,Seung-hyun Yoon,Doohyung Lee,Jeonghyun Koh 대한견주관절의학회 2022 대한견주관절학회 학술대회논문집 Vol.2022 No.4

일본 자위대의 재해파견 활동과 그 역할의 변용 -한신·아와지대지진과 동일본대지진에 대한 대처 활동을 중심으로-

정회주 ( Chung Hoeju ),방준영 ( Bang Joonyoung ) 한일군사문화학회 2021 한일군사문화연구 Vol.33 No.-

1872년에 탄생하여 1945년 패전으로 해체된 일본의 무력 조직은 1950년 6월 한국전쟁이 발발함에 따라 국내 치안유지를 위해 같은 해에 경찰예비대로 부활했다. 1952년 4월 해상보안청 산하에 해상경비대가 발족하였고, 8월 보안청 신설 이후 경찰예비대는 보안대로 명칭을 바뀌었다. 1954년 7월 방위청 설치와 함께 보안대는 육상자위대로 해상경비대는 해상자위대로 변모하였고 동시에 항공자위대도 새롭게 발족하였다. 이제는 일본 국민에게 널리 받아들여진 존재가 된 자위대는, 창설 초기부터 ‘위헌적 존재’ 혹은 ‘세금 도둑’이라는 비판도 받으면서 전후 평화주의 속에서 어렵게 성장해 왔다. 이러한 가운데 자위대는 국민에게 인정받는 수단으로 재해파견에 주목하고 이를 주요 시책으로 삼았으며, 특히 한신·아와지대지진과 동일본대지진을 통해 자위대의 존재감이 드러나는 커다란 계기가 되었다. 한신·아와지대지진 이후 자위대와 지방 공공단체의 연계가 강화되었을 뿐만 아니라 자위대의 실질적인 재해파견 기준이 설정되었고, 동일본대지진으로 자위대는 일본의 자연재해 대처에 있어서 여타 기관과 비교할 수 없는 독보적인 존재로 인식되게 되었다. 본 논문에서는 전후 국민에게 널리 받아들여지지 못했던 자위대라는 무력 집단이 대지진을 접하면서 어떠한 활약을 하였고, 재해대처에 임하면서 어떤 제한사항이 있었는지를 살펴보았다. 이어서 재해대처 활동 강화를 위한 어떤 후속 조치(관계부처와의 연계 강화 및 제도 보완, 훈련, 장비취득 등)가 이루어졌고, 자위대에 대한 일본 국민의 호감도가 어떤 방식으로 변화하고 있는지를 확인하였다. 국가의 안보를 담당하는 무력 집단이라기보다는 재해재난 시 국민을 구원하는 조직으로서의 역할 변용을 거쳐온 자위대의 활동이 한국군에게 주는 함의를 도출하고자 했다. Japan disbanded military in the defeat of World War II and launched a police reserve in 1950 due to the need for domestic policing. After that, the police reserve and maritime guards merged into National Safety Forces, and in 1954 the National Safety Forces were transformed into the Ground, Maritime, Air Self-Defence Forces. During this process, the self-defense force became the object of disapproval from the people to the point that they were “constitutional beings” or “tax thieves” since the establishment of itself. Policy-wise, the Self-Defense Forces paid attention to disaster dispatch for getting recognition of the people. From that process, the Self-Defense Forces have been transformed into disaster relief group in rescuing people rather than being a military group for national security. In particular, the two major earthquakes that occurred after the establishment of the Self-Defense Forces (Great Hanshin-Awaji Earthquake and Great East Japan Earthquake)played a major role in highlighting the presence of the Self-Defense Forces. Especially, after the Great Hanshin-Awaji Earthquake, Japan built a standard manual for actual disaster dispatch such as strengthening the connection between the Self-Defense Forces and local public organizations. This paper aims to examine what kind of activities ①the Self-Defense Forces actually did in the wake of the Great Earthquake and ②what limitations were in place while dealing with disasters. Furthermore, this paper tries to show ③ which follow-up measures have been taken place to strengthen disaster response activities (including building solid connection with related ministries, supplementing the system, training, and equipment acquisition, etc). And through this paper, we would like to examine ④The way how favorability of japanese people towards the Self-Defense Forces are changing and to derive implications for the Korean military.

요인 테러 관점의 일본 아베 前 총리 암살사건 연구

김태영 ( Kim Taeyoung ),문홍렬 ( Moon Hongryul ),방준영 ( Bang Joonyoung ) 고려대학교 글로벌일본연구원 2023 일본연구 Vol.39 No.0

이 연구의 목적은 2022년 일본 아베 신조 전 총리 암살사건 사례분석 연구를 통해 향후 우리나라가 지향해야 할 경호안전 정책의 방향성을 도출하는 것이다. 이를 위해 이론적 배경으로 요인 테러의 개념 및 양상을 토대로 일본의 암살사건 진행 과정을 살펴보았다. 둘째 일본 경찰청에서 조치한 주요 대응사항을 대테러 안전대책 측면에서 분석하여 문제점을 살펴보았다. 셋째 이러한 문제점을 통해 향후 우리나라의 경호안전정책의 정책적 시사점을 도출하였다. 연구결과 도출된 문제점 및 우리나라 경호안전 분야 정책적 시사점으로는 7가지를 제시하였다. 경호정보 수집·분석·공유 역량 미흡에 따른 관계기관과의 협업 강화, 경호개념의 미정립에 따른 다영역 작전 개념의 경호구역 확대, 유형별 경호매뉴얼 정립 및 관계기관과의 연계성 강화, 통합경호작전 지휘를 위한 대통령경호처 중심의 일원화, 개별 경호인력의 역량 미흡에 따른 국가 경호안전 교육훈련 역량 강화, 과학 경호장비 개발·운용 미흡에 따른 연구개발 강화, 경호대상자와의 소통 미흡 개선 등을 도출하였다. The purpose of this study is to derive the direction of the security safety policy that Korea should pursue in the future through a case analysis study on the assassination of former Prime Minister Shinzo Abe in Japan in 2022. To this end, the progress of the assassination case was first examined based on the concept of factor terrorism and the recent aspect. Second, the main countermeasures taken by the Japanese National Police Agency were analyzed in terms of counter-terrorism safety measures and the problems were examined. Third, through these problems, policy implications for Korea’s security safety policy in the future were derived. As a research method of this study, literature research and in-depth interviews with security safety experts were conducted simultaneously. Seven policy implications from the perspective of security safety in the Republic of Korea and the main problems of the Japanese case derived as a result of the study were presented. It includes strengthening the security information collection capabilities of the Presidential Security Agency, expanding the concept of multi-area operations, establishing security manuals and connecting with related agencies, unifying the command system centered on the presidential security service, strengthening the development and operation of science security equipment, and improving communication with security targets.