• The Journal of Korea Robotics Society
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• v.18 no.3
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• pp.330-336
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• 2023

In this paper, a novel line-based simultaneous localization and mapping (SLAM) using a loss function of vanishing point measurements is proposed. In general, the Huber norm is used as a loss function for point and line features in feature-based SLAM. The proposed loss function of vanishing point measurements is based on the unit sphere model. Because the point and line feature measurements define the reprojection error in the image plane as a residual, linear loss functions such as the Huber norm is used. However, the typical loss functions are not suitable for vanishing point measurements with unbounded problems. To tackle this problem, we propose a loss function for vanishing point measurements. The proposed loss function is based on unit sphere model. Finally, we prove the validity of the loss function for vanishing point through experiments on a public dataset.

• Transactions of the Korean Society of Automotive Engineers
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• v.23 no.5
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• pp.463-470
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• 2015

When a camera installed on a vehicle is used, estimation of the camera pose including tilt, roll, and pan angle with respect to the world coordinate system is important to associate camera coordinates with world coordinates. Previous approaches using huge calibration patterns have the disadvantage that the calibration patterns are costly to make and install. And, previous approaches exploiting multiple vanishing points detected in a single image are not suitable for automotive applications as a scene where multiple vanishing points can be captured by a front camera is hard to find in our daily environment. This paper proposes a camera pose estimation method. It collects multiple images of lane markings while changing the horizontal angle with respect to the markings. One vanishing point, the cross point of the left and right lane marking, is detected in each image, and vanishing line is estimated based on the detected vanishing points. Finally, camera pose is estimated from the vanishing line. The proposed method is based on the fact that planar motion does not change the vanishing line of the plane and the normal vector of the plane can be estimated by the vanishing line. Experiments with large and small tilt and roll angle show that the proposed method outputs accurate estimation results respectively. It is verified by checking the lane markings are up right in the bird's eye view image when the pan angle is compensated.

• Tuberculosis and Respiratory Diseases
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• v.59 no.3
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• pp.306-310
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• 2005

Hyponatremia which is due to excessive sodium loss in the urine and decrease in extracellular fluid volume following an acute or chronic central nervous system injury, has been conjunctively described as cerebral salt wasting syndrome (CSWS). This syndrome is often confused with dilutional hyponatremia due to inappropriate secretion of antidiuretic hormone. Accurate diagnosis and management are mandatory for improvement of the course of the disease. This report describes a case of a 31-year-old male patient with CSWS associated with tuberculous meningitis. The patient exhibited hyponatremia, polyuria, excessive natriuresis, volume depletion, and hypotension. He was diagnosed to manifest CSWS and was treated by administration of fluids, salt, and fludrocortisone. After the respective treatments, symptoms of polyuria and hypotension were gradually resolved and hyponatremia was corrected.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.45 no.3
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• pp.20-31
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• 2008

In this paper, we propose a single view-based technique for the estimation of human height and position. Conventional techniques for the estimation of 3D geometric information are based on the estimation of geometric cues such as vanishing point and vanishing line. The proposed technique, however, back-projects the image of moving object directly, and estimates the position and the height of the object in 3D space where its coordinate system is designated by a marker. Then, geometric errors are corrected by using geometric constraints provided by the marker. Unlike most of the conventional techniques, the proposed method offers a framework for simultaneous acquisition of height and position of an individual resident in the image. The accuracy and the robustness of our technique is verified on the experimental results of several real video sequences from outdoor environments.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.29 no.12C
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• pp.1652-1659
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• 2004

In this paper, we propose the algorithm that automatically measures the height of the object to move on the base plane by using the geometric information. To extract a moving object from real-time images creates the background image and each pixel is modeled by the three values. The extracted region is represented by cardboard model and calculates the coordinate center in the each part. The top and bottom point of an object are extracted by the calculated coordinate center and an iterative computation. The two points, top and bottom, are used for measuring the height. Given the vanishing line of the ground plane, the vertical vanishing point, and at least one reference height in the scene; then the height of any point from the ground may be computed by specifying the image of the point and the image of the vertical intersection with the ground plane at that point. Through a confidence valuation of the height to be measured, we confirmed similar actual height and result in the simulation experiment.

• Journal of Veterinary Clinics
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• v.27 no.2
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• pp.175-178
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• 2010

A 5-year-old male Cocker spaniel was presented with an abrupt seizure episode. The dog was moderately dehydrated, hypersalivation and loss of consciousness at the presentation. Tentative diagnosis was made through history taking, clinical signs, physical examination, neurologic examination, basic laboratory examinations, radiological examination and cytologic examination. In addition, serum alpha-fetoprotein (AFP) value was measured to diagnose in this case. The serum AFP concentration was marked elevated (1513.5 ng/ml). The patient was suspected as HCC and medical therapy was initiated to control hypoglycemic-associated seizure. However, the dog was euthanized because of the owner's request. It was diagnosed as hepatocellular carcinoma (HCC) based on the histopathologic examination. This case indicates that AFP measurement might be valuable to diagnose HCC in dogs.

• Proceedings of the Korean Vacuum Society Conference
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• 2014.02a
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• pp.323-323
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• 2014

기존의 태양전지 기술은 기술 장벽이 매우 낮고 대량 생산을 통한 단가 절감하는 구조를 가지고 있어 대규모 자본을 가진 후발 기업에게 잠식되기 쉽다. 그러나, III-V족 화합물 반도체를 이용한 집광형 고효율 태양전지는 기술 장벽이 매우 높은 기술 집약 산업이므로 독자적인 기술을 확보하게 되면 독점적인 시장을 확보 할 수 있어 미래 고부가 가치 산업으로 적합하다. 특히 III-V족 화합물 반도체 태양전지는 III족 원소(In, Ga, Al)와 V족 원소(As, P)의 조합으로 0.3 eV~2.5 eV까지 밴드갭을 가지는 다양한 박막 제조가 가능하여 다양한 흡수 대역을 가지는 태양전지 제조가 가능하기 때문에 다중 접합 태양전지 제작이 가능하다. 또한 III-V 화합물 반도체는 고온 특성이 우수하여 온도 안정성 및 신뢰성이 우수하고, 또한 집광 시 효율이 상승하는 특성이 있어 고배율 집광형 태양광 발전 시스템에 가장 적합하다. Si 태양전지의 경우 100배 이하의 집광에서 사용하나, III-V 화합물 반도체 태양전지의 경우 500~1000배 정도의 고집광이 가능하다. 이러한 특성으로 III-V 화합물 반도체 태양전지 모듈 가격을 낮출 수 있고, 따라서 Si 태양전지 시스템과 비교하여 발전 단가 면에서 경쟁력을 확보할 수 있다. III-V 화합물 반도체는 다양한 밴드갭 에너지를 가지는 박막 제조가 용이하고, 직접천이(direct bandgap) 구조를 가지고 있어 실리콘에 비해 광 흡수율이 높다. 또한 터널정션(tunnel junction)을 이용하면 광학적 손실과 전기적 소실을 최소화 하면서 다양한 밴드갭을 가지는 태양전지를 직렬 연결이 가능하여 한 번의 박막 증착 공정으로 넓은 흡수대역을 가지며 효율이 높은 다중접합 태양전지 제작이 가능하다. 이에 걸맞게 본연구에서는 화학기상증착장치(MOCVD)를 이용하여 InAsP 나노선을 코어 쉘 구조로 성장하여 태양전지를 제작하였다. P-type Dopant로는 Disilane (Si2H6)을 전구체로 사용하였다. 또한 Benzocyclobutene (BCB) 폴리머를 이용하여 Dielectric을 형성하였고 Sputtering 방법으로 증착한 ZnO을 투명 전극으로 사용하여 나노선 끝부분과 실리콘 기판에 메탈 전극을 형성하였다. 이를 통해 제작한 태양전지는 솔라시뮬레이터로 측정했을때 최고 7%에 달하는 변환효율을 나타내었다.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.41 no.10
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• pp.1247-1255
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• 2016

The safety and autonomous flight function of micro UAV or drones is crucial to its commercial application. The requirement of own building stable drones is still a non-trivial obstacle for researchers that want to focus on the intelligence function, such vision and navigation algorithm. The paper present a GCS using commercial drone and hardware platforms, and open source software. The system follows modular architecture and now composed of the communication, UI, image processing. Especially, lane-keeping algorithm. are designed and verified through testing at a sports stadium. The designed lane-keeping algorithm estimates drone position and heading in the lane using Hough transform for line detection, RANSAC-vanishing point algorithm for selecting the desired lines, and tracking algorithm for stability of lines. The flight of drone is controlled by 'forward', 'stop', 'clock-rotate', and 'counter-clock rotate' commands. The present implemented system can fly straight and mild curve lane at 2-3 m/s.

• Parasites, Hosts and Diseases
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• v.31 no.3
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• pp.277-284
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• 1993

Leishmaniasis is one of the important tropical diseases in the world. Although it is not prevalent In Korea, imported cases have been recorded. The karyotype of Leishmcnic sp. has been observed to be variable by localities or by strains, but the karyotype of a strain is known to be stable. This study was performed to observe if the karyotype of a Leishmonio sp. would be changed under some stressful conditions. The karyotype, analyzed by pulsed Held gradient gel electrophoresis, was not grossly changed by heat shock, chemotherapeutics, UV illumination, and gamma irradiation. Radiation destroyed the chromosomes mechanically but subcultured organisms after irradiation showed unaffected karyotype. The present findings suggest that the karyotype of a Leishmnnia strain is so stable that it is not altered by temporary stimulation with heat, drugs, and radiation.

• Korean Journal of Microbiology
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• v.37 no.4
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• pp.305-311
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• 2001

Antifungal bacterium, Bacillus subtilis YS1 was isolated from Yusong hot spring showed broad antifungal spectrum against 12 kinds of plant pathogenic fungi and Candida albicans, animal pathogen. From the gamma($Co^{60}$) radiation sensitivity test, $D_10$ value was 2.08 kGy and it survived above 20 kGy of radiation dose. Several mutants were induced by gamma radiation. Among them, YS1-1009 mutant showed resistance against tebuconazole of herbicide, increased activity against Botryoshaeria dothidea and ligninase activity. YS67 mutant was antifungal deficient auxotrophic mutants(trp-pro-or arg-ura-). From this results, it suggested that gamma irradiation could be useful method for mutant induction.