• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.11 no.6
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• pp.207-214
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• 2011

In this paper, using Zigbee-based wireless sensor networks and Lego MindStorms NXT robot, a remote monitoring and navigation system for mobile robot has been developed. Mobile robot can estimate its position using encoder values of its motor, but due to the existing friction and shortage of motor power etc., error occurs. To fix this problem and obtain more accurate position of mobile robot, a ultrasound module on wireless sensor networks has been used in this paper. To overcome disadvantages of ultrasound which include straightforwardness and narrow detection coverage, we rotate moving node attached to mobile robot by $360^{\circ}$ to measure each distance from four fixed nodes. Then location of mobile robot is estimated by triangulation using measured distance values. In addition, images are sent via a network using a USB Web camera to smart phone. On smart phones we can see location of robot, and images around places where robot navigates. And remote monitoring and navigation is possible by just clicking points at the map on smart phones.

• Journal of Korean Society of Forest Science
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• v.97 no.4
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• pp.445-451
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• 2008

This study was carried out to develop Tablet PC based customizing system for fine mapping of forest cover type. The major contents and characteristics of FIS developed in this study were as follows. Field Investigation System (FIS) has a merit of accessibility to display exact location in various spatial data with position information received from the GPS. FIS can be used to record and manage many field information on which field investigation is done, with the help of the memo tool, field-sheet tool, calculating distance and area with measuring tool as well as editing forest type. It is possible to do field investigation effectively using FIS developed in this study. Accordingly, investigation and time costs can be reduced and field-work productivity will be improved.

• Journal of the Korea Institute of Military Science and Technology
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• v.20 no.3
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• pp.315-327
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• 2017

In this paper, we present a method for estimating of position and velocity of a moving target by using the range and the bearing measurements from multiple sensors of aiming unit. In many cases, conventional low cost gyro sensor and a portable laser range finder(LRF) degrade the accuracy of estimation. To enhance these problems, we propose two methods. The first is background image tracking and the other is principal component analysis (PCA). The background tracking is used to assist the low cost gyro censor. And the PCA is used to cope with the problems of a portable LRF. In this paper, we prove that our method is robust with respect to low-frequency, biased and noisy inputs. We also present a comparison between our method and the extended Kalman filter(EKF).

• KIPS Transactions on Software and Data Engineering
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• v.6 no.1
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• pp.23-28
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• 2017

Shape from focus (SFF) is a technique used to reconstruct 3D shape of objects from a sequence of images obtained at different focus settings of the lens. In this paper, a new shape from focus method for 3D reconstruction of microscopic objects is described, which is based on gradient operator in Mathematical Morphology. Conventionally, in SFF methods, a single focus measure is used for measuring the focus quality. Due to the complex shape and texture of microscopic objects, single measure based operators are not sufficient, so we propose morphological operators with multi-structuring elements for computing the focus values. Finally, an optimal focus measure is obtained by combining the response of all focus measures. The experimental results showed that the proposed algorithm has provided more accurate depth maps than the existing methods in terms of three-dimensional shape recovery.

• The Journal of the Korea Contents Association
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• v.15 no.10
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• pp.1-9
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• 2015

In this paper, a study on facial movements are analyzed in terms of opposite emotion stimuli by image processing of Kinect facial image. To induce two opposite emotion pairs such as "Sad - Excitement"and "Contentment - Angry" which are oppositely positioned onto Russell's 2D emotion model, both visual and auditory stimuli are given to subjects. Firstly, 31 main points are chosen among 121 facial feature points of active appearance model obtained from Kinect Face Tracking SDK. Then, pixel changes around 31 main points are analyzed. In here, local minimum shift matching method is used in order to solve a problem of non-linear facial movement. At results, right and left side facial movements were occurred in cases of "Sad" and "Excitement" emotions, respectively. Left side facial movement was comparatively more occurred in case of "Contentment" emotion. In contrast, both left and right side movements were occurred in case of "Angry" emotion.

• Journal of Broadcast Engineering
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• v.21 no.6
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• pp.957-964
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• 2016

Acquisition of reliable depth maps is a critical requirement in many applications such as 3D videos and free-viewpoint TV. Depth information can be obtained from the object directly using physical sensors, such as infrared ray (IR) sensors. Recently, Time-of-Flight (ToF) range camera including KINECT depth camera became popular alternatives for dense depth sensing. Although ToF cameras can capture depth information for object in real time, but are noisy and subject to low resolutions. Recently, filter-based depth up-sampling algorithms such as joint bilateral upsampling (JBU) and noise-aware filter for depth up-sampling (NAFDU) have been proposed to get high quality depth information. However, these methods often lead to texture copying in the upsampled depth map. To overcome this limitation, we formulate a convex optimization problem using higher order regularization for depth map upsampling. We decrease the texture copying problem of the upsampled depth map by using edge weighting term that chosen by the edge information. Experimental results have shown that our scheme produced more reliable depth maps compared with previous methods.

• Journal of the Institute of Electronics and Information Engineers
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• v.54 no.5
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• pp.133-137
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• 2017

The purpose of this study was to validate for GATE (Geant4 Application for Tomographic Emission) simulation by comparing the results of GATE simulation and experiment in real SPECT system. Futhermore, we want to prove that it is possible that the quantitative research of gamma camera/SPECT imaging for therapeutic radio isotope by using GATE simulation. In this study, the SPECT system on simulation referred to the parameters of Stream-R Forte version 1.2 (Philips Medical System, Best and Heerlen, Netherlands). To understand the I-131 image of gamma camera/SPECT system, we acquired the energy spectrum and measured the full width at half maximum (FWHM) which comes from line spread function (LSF) with and without scatter material in real SPECT system. And to compare with experiment, we also measured the FWHM and acquired the energy spectrum without scatter material in GATE simulation. As a result, without scatter material, the energy peak was almost same location, which are located nearby 364 keV, and other spectrum factors are same tendency in both cases. The FWHM was increased by increasing the distance of source to detector, and the error rate was approximately 3.8%. When we used the line source with scatter material, energy spectrum also indicated similar tendency in both cases. As you confirmed earlier, GATE simulation included real instrument and radioisotope characters for therapeutic radioisotope. Therefore this result that it was possible that various quantitative study for therapeutic radioisotope imaging in gamma camera/SPECT using GATE simulation.

• Progress in Medical Physics
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• v.27 no.1
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• pp.31-36
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• 2016

The paper discusses radiation dose of dual energy CT on which copper modulation layer, is mounted in order to improve diagnostic performance of the dual energy CT. The radiation dose is estimated using MCNPX and its results are compared with that of the conventional dual energy CT system. CT X-ray spectra of 80 and 120 kVp, which are usually used for thorax, abdominal, head, and neck CT scans, were generated by the SPEC78 code and were used for the source specification 'SDEF' card for MCNPX dose modeling. The copper modulation layer was located 20 cm away from a source covering half of the X-ray window. The radiation dose was measured as changing its thickness from 0.5 to 2.0 mm at intervals of 0.5 mm. Since the MCNPX tally provides only normalized values to a single particle, the dose conversion coefficients of F6 tally for the modulation layer-based dual energy CBCT should be calculated for matching the modeling results into the actual dose. The dose conversion coefficient is $7.2*10^4cGy/output$ that is obtained from dose calibration curve between F6 tally and experimental results in which GAFCHORMIC EBT3 films were exposed by an already known source. Consequently, the dose of the modulation layer-based dual energy cone beam CT is 33~40% less than that of the single energy CT system. On the basis of the results, it is considered that scattered dose produced by the copper modulation layer is very small. It shows that the modulation layer-based dual energy CBCT system can effectively reduce radiation dose, which is the major disadvantage of established dual energy CT.

• The Journal of Korean Society for Radiation Therapy
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• v.29 no.2
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• pp.83-91
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• 2017

Objectives: The purpose of this study was to evaluate the error of the leaf position accuracy of the MLC due to the gravity effect according to the gantry angle by using picket fence test using EPID and GafChromic EBT3 film. Materials and Methods: A 5 cm solid phantom was placed on the table and the SAD was set to 100 cm. The EBT3 film was placed exactly over the solid phantom and covered a 1.5 cm solid phantom and the picket fence test was performed. The EPID was measured under the same conditions as the EBT3 film at SID 100 cm. The gantry angles were measured at $0^{\circ}$, $90^{\circ}$, $180^{\circ}$ and $270^{\circ}$ in order to evaluate the position of the MLC according to the gantry angle. For the geometric evaluation of the MLC, the leaf position accuracy of the MLC was analyzed using the analysis program. Results: In case of EPID, when the gantry angle was changed to $0^{\circ}$, $90^{\circ}$, $180^{\circ}$, $270^{\circ}$, the difference of the position errors of the leaves was 0.18 mm, 0.31 mm, 0.20 mm, 0.26 mm on the average and the maximum values of the errors were respectively 0.44 mm, 0.54 mm, 0.34 mm, 0.44 mm. In case of EBT3 film, when the gantry angle was changed to $0^{\circ}$, $90^{\circ}$, $180^{\circ}$, $270^{\circ}$, the difference of the position errors of the leaves was 0.19 mm, 0.21 mm, 0.19 mm, 0.31 mm on the average and the maximum values of the errors were respectively 0.35 mm, 0.45 mm, 0.36 mm, 0.48 mm. Conclusion: In this study, we analyzed the position error of the leaf of the MLC according to the gantry angle, and confirmed the position error of the leaf by gravity effect. As a result of comparing the leaf position accuracy using EPID and EBT3 film according to the variation of gantry angle, a larger error occurred in the error analysis method using EPID than that of EBT3 film. Therefore, in the case of IMRT based on MLC, as well as verification of accurate dosimetry should be conducted, it is considered that the quality control and verification for the precise operation of the MLC will be needed. and it is necessary to compare and verify the method of analysis.