MEASURE AND INTEGRATION

Measure and Integral are important when dealing with abstract spaces such as function spaces and probability spaces. This thesis will cover Lebesgue Measure and Lebesgue integral. The Lebesgue integral is a generalized theory of Riemann integral learned in mathematics. The Riemann integral is centered on the domain of the function, but the Lebesgue integral is different in that it is centered on the range of the function, and uses the basic concept of analysis. Measure and integral have widely applied not only to mathematics but also to other fields

A study on improvement plan of overseas business through process and issue analysis

Thesis(Master) --KDI School:Master of Public Management,2018.This research paper aims to show improvement points of K-water overseas business. In other words, this study focused on suggesting ways to improve overseas business by reviewing the risk allocation and major document issues in K-water overseas project. This study examined the structure and major risks of overseas IPP business, as well as key issues of major contracts. IPP projects require extensive procedures and review processes from development to operation. In order to understand this, it is necessary to concretely summarize IPP business and it is necessary to organize the whole framework. In addition, based on a case study of K-water, I propose an optimized improvement plan for K-water overseas business. Therefore, this study tried to present a more realistic research plan through academic theory and practical case presentation.. Eventually, the most important thing in this study is to review the overseas IPP projects promoted by K-water, and to summarize the overseas IPP projects of K-water, which is a public corporation, based on the results. For this purpose, K-water's overseas business strategy was analyzed and SWOT analysis of K-water overseas business was conducted. Finally, completing an overseas project is a long-term process, complex contract document, long-term negotiation and collaboration of project stakeholders. The purpose of this study was not only to suggest ways to improve K-water overseas business but also to give help to the people in charge of K-water overseas business. In addition, I want to help understand the promotion of the overseas business of the public corporation.1. Introduction 2. Literature review 3. Concept, Type and Procedure of IPP 4. Risk of IPP business 5. IPP business major stakeholders and Major contract issues 6. K-water’s overseas business case analysis 7. Improvement plan of K-water’s overseas business 8. ConclusionmasterpublishedJeonghwan, LEE

MR 유도 유방 바늘 중재시술 로봇을 위한 한정된 자유도 안에서 바늘 스티어링 전략

학위논문 (석사)-- 서울대학교 대학원 : 기계항공공학부, 2017. 2. 이건우.The MR-guided needle-based procedure is commonly performed for breast diagnosis and treatment. Accurate needle tip placement is important for the success of the procedure, because misplacement of the needle tip can lead to unsuccessful treatment and misdiagnosis. In addition, developing a needle steering robotic system with high precision and dexterity is required to avoid important organs, minimizing patients trauma. However, due to the strong magnetic field and relatively small MRI bore size, developing a high degrees of freedom (DOFs) robotic system is challenging. This work proposes a needle steering scheme that can be effectively utilized in an MR-guided breast needle intervention robot under limited space of MRI bore with minimizing system size increase. To overcome the space limitation and avoid critical structures in front of the lesion, a pivot is used to change the needle insertion direction. We devise the needle pivoting breast plate to increase needle tips DOFs and an estimation model of the needle deflection with a pivoted super-elastic flexible needle made of Nitinol. This computational model is based on large deflection beam theory and is employed for robot control. Open-loop needle targeting experiments under infrared tracking cameras are performed to verify the proposed scheme. The average targeting error and the standard deviation is 4.42 ± 2.58 mm.Chapter 1. Introduction 1 Chapter 2. Materials 4 2.1. MR-guided breast needle intervention robot system 4 2.2. Needle pivoting breast plate 7 Chapter 3. Methods 10 3.1. Needle Steering Procedure 10 3.2. Robot pose estimation 12 3.2.1. Large deflection beam theory 13 3.2.2. Estimation of external force 18 3.2.3. Measurement of bending stiffness 19 3.2.4. Define the robot movement direction 25 3.3. Optimal path selection scenario 27 Chapter 4. Results 30 4.1. In vitro test 30 4.1.1. Experiment setup 30 4.1.2. Target error 32 Chapter 5. Discussion 36 Bibliography 40 Abstract in Korean 43Maste