• ICROS
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• v.20 no.4
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• pp.37-43
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• 2014

소형 무인항공기가 발달함에 따라 영상센서의 활용이 증가하였다. 특히 발전된 컴퓨팅 파워와 소형화된 영상센서의 발달로 무겁고 값비싼 레이더 장비의 기술을 영상센서로 구현하는 연구가 활발히 진행 중이다. 영상 이동표적표시(Moving Target Indication MTI) 기법은 이런 시대의 흐름에 따라 발달된 기술이며 현재 미군의 소형무인항공기 RQ-11 Raven에 상용화 되었다. 본 논문에서는 소형 무인항공기용 영상 MTI 기법의 원리를 설명하고 영상 MTI에서 주로 사용하는 카메라 운동 보 정 기법인 매개변수/비매개변수 방식의 영상정합의 접근법을 위주로 설명하였다. 또한 소형 무인항공기용 영상감시시스템 구현에서 가장 큰 문제점인 시차/항공기 진동 보정에 대한 진행 중인 연구논문도 소개하였다.

• Journal of the Society of Naval Architects of Korea
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• v.44 no.6
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• pp.572-578
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• 2007

A Rigid Inflatable Boat (RIB) is now widely used for commercial and military purpose. In this paper, it is supposed that seven-meter-class RIB be used as an unmanned target ship for naval training. In order to develop many tactical maneuvering patterns of a target ship, a simple horizontal maneuvering model of a RIB is needed. Therefore, models of speed and yaw rate are constructed as the first-order differential equations based on Lewandowski#s empirical formula for steady turning circle diameter of a conventional planning hull. Some parameters in the models are determined using the results of sea trial tests. Finally, proposed models are validated through the comparison of the simulation result with the sea trial result for a specific scenario. Even though a simple model does not represent the horizontal motion of a RIB precisely, however, it can be used enough to develop tactical trajectory patterns.

• Journal of the Korea Society for Simulation
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• v.27 no.2
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• pp.1-10
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• 2018

This paper presents an autonomous detection and aiming point computation of a battle tank by using RGB images. Maximally stable extremal regions algorithm was implemented to find features of the tank, which are matched with images extracted from streaming video to figure out the region of interest where the tank is present. The median filter was applied to remove noises in the region of interest and decrease camouflage effects of the tank. For the tank segmentation, k-mean clustering was used to autonomously distinguish the tank from its background. Also, both erosion and dilation algorithms of morphology techniques were applied to extract the tank shape without noises and generate the binary image with 1 for the tank and 0 for the background. After that, Sobel's edge detection was used to measure the outline of the tank by which the aiming point at the center of the tank was calculated. For performance measurement, accuracy, precision, recall, and F-measure were analyzed by confusion matrix, resulting in 91.6%, 90.4%, 85.8%, and 88.1%, respectively.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.1
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• pp.222-229
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• 2016

Active synthetic aperture sonar on the small UUV is generated several trajectory disturbances under the influences of underwater environments, and causing a large error in the synthetic aperture processing. In this paper, we analyzed the effects of azimuth resolution for the phase mismatch of the synthetic aperture focus processing when the periodic or random trajectory disturbances was generated on the side direction. The simulation results show that ghost targets are generated and azimuth resolution is very deteriorated when disturbance amplitude is greater than $0.3{\lambda}$ and disturbance period is greater than $2L_{sa}$ in the periodic trajectory disturbances environments. And detection performance on the seabed small objects by the synthetic aperture processing is shown that there is a significant effects on the azimuth resolution depending on the types and conditions of the platform trajectory disturbance variations.

• Korean Security Journal
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• no.58
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• pp.35-58
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• 2019

Drone was originally developed for air force aircraft or missile exercise shooting targets, and is being considered as the entire unmanned aircraft to the public. The core concept of a drone can be divided into 'unmanned' and 'aircraft'. However, there are many questions about whether the Fourth Industrial Revolution, expressed as a convergence scientific innovation, is appropriate at a time when smart cities are proposed as a concept of new urban spatial formation, and the role of self-driving vehicles, including drones, is being emphasized within the new urban integrated transport system. In this study, the concept of the existing drones was analyzed for the development process, definitions in each country's laws, and the results of the preceding research to present a concept suitable for future society and a unified term. It is not desirable to define a drone for the purpose of a country, an institution, or an operating entity, depending on the circumstances of the era. It is more reasonable to find the concept of a drone based on human life than in the traditional way, and more reasonable considering the development of the drones in the future. Subsequent studies should be more detailed, more data and research results analyzed, and discussed areas that were not covered in this study. Based on this, research should also be conducted on a variety of topics, including legislation, preparation of operational regulations, and related industrial processes and regulations.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2015.05a
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• pp.548-549
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• 2015

무인 잠수정은 자율 무인잠수정(이하 'AUV' 또는 '자율무인잠수정'을 혼용)과 원격조정잠수정(이하 'ROV'로 지칭)으로 분류를 할 수 있다. ROV는 테더 게이블로 인한 작업 범위의 한계와 운동성능 효율이 떨어지는 단점을 지니고 있어, 테더 케이블이 필요 없는 AUV에 대한 필요성이 증대되고 있다. 추측 항법 시스템인 관성 항법 시스템(inertial navigation system, 이하 'INS'로 지칭)은 외부 도움없이 관성측정 장치(inertial measurement unit, 이하 'IMU'로 지칭)를 활용하여 구성된 시스템을 말한다. IMU는 자이로 스코프(gyroscope), 가속도계(accelerometer), 지자기(magnetic)센서로 구성된 측정 장치로 3개의 센서를 사용하여 상호 보정을 통한 기동 체의 위치, 속도 및 자세 정보를 제공한다. 복합항법시스템은 추측항법시스템이 가지는 누적오차와 측위 항법시스템이 가지는 외부환경에 대한 단점을 상호 보완하는 방법으로 연구가 진행 중이다. 하지만 심해서 또는 해양의 특성에 따라 측위 시스템이 사용되지 못하기 때문에 추측 항법시스템의 다양한 관성 센서를 활용한 상로 보완과 신호처리 방법을 통한 연구 개발이 진행 중이다. 다양한 센서 정보를 통합하는 목적으로 칼만 필터와 같은 최적 필터기법이 보편적으로 사용되고 있다. 칼만 필터는 확률 선형 시스템에 대하여 공정잡음 및 측정 잡음이 가우시안 확률 분포를 따를 때 최적의 추정자가 된다. 또한 가우시안 조건을 만족하지 않는 경우에도 선형 추정자 중에 추정 오차의 분산이 가장 작은 추정자이다. 칼만 필터가 최상의 성능을 발휘 하려면 공정잡음과 측정 잡음의 실제 값을 정확히 알아내는 것이 중요하다. 잡음 수준에 대한 정보가 부정확 할 경우 칼만 필터는 발산 할 수 있기 때문에 시스템에서 잡음 수준의 공산은 칼만 필터의 최적 이득을 결정하는 중요한 요소로 추정치에 큰 영향을 준다. 따라서 칼만 필터를 추측항법시스템에 적용 시킬 경우 실제 모텔의 잡음 공분산을 정확히 추정할 수 있는 기법이 요구된다. 추측항법시스템은 다양한 센서를 활용하기 때문에 움직이는 기동 표적에 적용시 잡음공분상이 변하기 때문에 항법시스템이 저하 될 수 있다. 본 연구에서는 다양한 센서를 융합하여 해양 생체 로봇의 정밀 자세 제어가 가능한 시스템을 제안하고자 한다.

• Development and Reproduction
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• v.11 no.3
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• pp.179-185
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• 2007

The estrogens and estrogenic endocrine disrupting chemicals(EDCs) function through a steroid nuclear receptor-mediated process and subsequently regulate the transcription of mRNA for a number of target proteins. The estrogen receptor-related receptors(ERRs), which are structurally similar to estrogen receptors, are members of orphan nuclear receptor in the nuclear receptor superfamily and their functions are known to be involved in the formation of extra-embryonic ectoderm. To investigate effects of EDCs on early embryogenesis and ERR gene expression in marine invertebrates, we examined morphological changes and the mRNA expression of $ERR{\beta}$ like 1 in sea urchin Strongylocentrotus nudus exposed to estradiol-$17{\beta}(E_2)$ or nonylphenol(NP). The $E_2$ and NP-exposed embryos showed a delayed development compared to control embryos. Furthermore, they showed abnormal embryonic developments at late stages, i.e., blastular, gastrula and plutei stages. The mRNA level of $ERR{\beta}$ like 1 at the gastrula stage was significantly lower in $E_2$ and NP-exposed embryos than those of control group. These results suggest that NP and $E_2$ are potent chemicals causing abnormal embryonic development of S. nudus through at least in part down-regulated $ERR{\beta}$ like 1.

• Proceedings of the Korean Society for Food Science of Animal Resources Conference
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• 1999.06a
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• pp.97-117
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• 1999

This study was performed to investigate the effect of pork on the cadmium detoxification in rats. Ninety male Sprague-Dawley rats weighing $125.3{\pm}1.4g$ were divided into five groups based on cadmium treatment(0, 25, 50, 100, 250ppm) and five levels of Cd in AIN-76 purified diet had been fed for 8 weeks. Cadmium was supplemented with a form of $CdCl_2$.. During following 8 weeks of intoxication, casein was replaced by pork and the effect of pork on cadmium- detoxification was compared with casein. After 8 weeks of Cd intake had resulted in apparent cadmium intoxication; reduced growth rate, enlarged kidney and testis, decreased hematocrit value and hemoglobin content in response to the supplemented Cd levels in the diets. Discontinuing cadmium feeding, the body weights were relieved. Pork-fed groups seemed to have higher body weight than casein-fed groups. Hemoglobin content and hematocrit value became normal range at detoxification stage. The weights of liver, kidney, and testis were decreased along with cadmium intake. However, organ weight ratio was not affected by cadmium. Cadmium accumulation in liver and kidney showed a tendency to increase in the cadmium-exposed groups. The levels of metallothionein were also significantly elevated in the tissues of liver in response to the levels of Cd supplemented(p<0.05). Cadmium concentration in kidney was two times higher than that in liver. Cadmium removal rate of liver was higher than that of kidney. Cadmium accumulation of the pork-fed group was lower than that of casein. Especially, the factors which affected the cadmium contents in kidney were $Cd^{***}$ and $Cd{\times}pork^{***}$. Metallothionein(MT) was increased with cadmium, and MT was not likely to be affected by pork. Based on the findings from gross lesion, rats fed 250ppm of Cd were externally emaciated, had exposed penis and observed atrophies of kidney and testis. Histopathological observation seemed that the liver of groups feeding Cd supplemented diets showed cellular degeneration and accumulation of eosinophilic materials in the capillaries. In kidney, rats fed Cd diets had shown tubular epithelium degeneration and lesions of basophilic materials, while testis were weakened in numbers of spermatid and sporadically enlarged of giant cells. But the rats administered cadmium-detoxified diet supplemented pork for 7 weeks were shown individually decreased lesions compared with the rats supplied with casein diet.

• Nuclear Medicine and Molecular Imaging
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• v.42 no.3
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• pp.235-245
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• 2008

Purpose: The HSV1-tk gene has been extensively studied as a type of reporter gene. In hepatocellular carcinoma (HCC), only a small proportion of patients are eligible for surgical resection and there is limitation in palliative options. Therefore, there is a need for the development of new treatment modalities and gene therapy is a leading candidate. In the present study, we investigated the usefulness of substrate, 2'-fluoro-2'-deoxy-1-${\beta}$-D-arabino-furanosyi-5-[$^{124/125}I$]iodo- uracil ([$I^{124/125}I$]FIAU) as a non-invasive imaging agent for HSV1-tk gene therapy in hepatoma model using small animal PET. Material and Methods: With the Morris hepatoma MCA cell line and MCA-tk cell line which was transduced with the HSV1-tk gene, in vitro uptake and correlation study between [$^{125}I$]FIAU uptake according to increasing numeric count of percentage of MCA-tk cell were performed. The biodistribution data and small animal PET images with [$^{124}I$]FIAU were obtained with Balb/c-nude mice bearing both MCA and MCA-tk tumors. Results:, Specific accumulation of [[$^{125}I$]FIAU was observed in MCA-tk cells but uptake was low in MCA cells. Uptake in MCA-tk cells was 15 times higher than that of MCA cells at 480 min. [$^{125}I$]FIAU uptake was linearly correlated (R2 =0.964, p =0.01) with increasing percentage of MCA-tk numeric cell count. Biodistribution results showed that [$^{125}I$]FIAU was mainly excreted via the renal system in the early phase. Ratios of MCA-tk tumor to blood acting were 10, 41, and 641 at 1 h, 4 h, and 24 h post-injection, respectively. The maximum ratio of MCA-tk to MCA tumor was 192.7 at 24 h. Ratios of MCA-tk tumor to liver were 13.8, 66.8, and 588.3 at 1 h, 4 h, and 24 h, respectively. On small animal PET, [$^{124}I$]FIAU accumulated in substantial higher levels in MCA-tk tumor and liver than MCA tumor. Conclusion: FIAU shows selective accumulation to HSV1-tk expressing hepatoma cell tumors with minimal uptake in normal liver. Therefore, radiolabelled FIAU is expected to be a useful substrate for non-invasive imaging of HSV1-tk gene therapy and therapeutic response monitoring of HCC.

• The Journal of Korean Society for Radiation Therapy
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• v.28 no.2
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• pp.171-178
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• 2016

Purpose : In order to minimize the dose of femoral head as an appropriate treatment plan for rectal cancer radiation therapy, we compare and evaluate the usefulness of 3-field 3D conformal radiation therapy(below 3fCRT), which is a universal treatment method, and 5-field 3D conformal radiation therapy(below 5fCRT), and Volumetric Modulated Arc Therapy (VMAT). Materials and Methods : The 10 cases of rectal cancer that treated with 21EX were enrolled. Those cases were planned by Eclipse(Ver. 10.0.42, Varian, USA), PRO3(Progressive Resolution Optimizer 10.0.28) and AAA(Anisotropic Analytic Algorithm Ver. 10.0.28). 3fCRT and 5fCRT plan has $0^{\circ}$, $270^{\circ}$, $90^{\circ}$ and $0^{\circ}$, $95^{\circ}$, $45^{\circ}$, $315^{\circ}$, $265^{\circ}$ gantry angle, respectively. VMAT plan parameters consisted of 15MV coplanar $360^{\circ}$ 1 arac. Treatment prescription was employed delivering 54Gy to recum in 30 fractions. To minimize the dose difference that shows up randomly on optimizing, VMAT plans were optimized and calculated twice, and normalized to the target V100%=95%. The indexes of evaluation are D of Both femoral head and aceta fossa, total MU, H.I.(Homogeneity index) and C.I.(Conformity index) of the PTV. All VMAT plans were verified by gamma test with portal dosimetry using EPID. Results : D of Rt. femoral head was 53.08 Gy, 50.27 Gy, and 30.92 Gy, respectively, in the order of 3fCRT, 5fCRT, and VMAT treatment plan. Likewise, Lt. Femoral head showed average 53.68 Gy, 51.01 Gy and 29.23 Gy in the same order. D of Rt. aceta fossa was 54.86 Gy, 52.40 Gy, 30.37 Gy, respectively, in the order of 3fCRT, 5fCRT, and VMAT treatment plan. Likewise, Lt. Femoral head showed average 53.68 Gy, 51.01 Gy and 29.23 Gy in the same order. The maximum dose of both femoral head and aceta fossa was higher in the order of 3fCRT, 5fCRT, and VMAT treatment plan. C.I. showed the lowest VMAT treatment plan with an average of 1.64, 1.48, and 0.99 in the order of 3fCRT, 5fCRT, and VMAT treatment plan. There was no significant difference on H.I. of the PTV among three plans. Total MU showed that the VMAT treatment plan used 124.4MU and 299MU more than the 3fCRT and 5fCRT treatment plan, respectively. IMRT verification gamma test results for the VMAT plan passed over 90.0% at 2mm/2%. Conclusion : In rectal cancer treatment, the VMAT plan was shown to be advantageous in most of the evaluation indexes compared to the 3D plan, and the dose of the femoral head was greatly reduced. However, because of practical limitations there may be a case where it is difficult to select a VMAT treatment plan. 5fCRT has the advantage of reducing the dose of the femoral head as compared to the existing 3fCRT, without regard to additional problems. Therefore, not only would it extend survival time but the quality of life in general, if hospitals improved radiation therapy efficiency by selecting the treatment plan in accordance with the hospital's situation.