• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.5
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• pp.444-450
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• 2015

The accuracy of small and low cost CCD camera is insufficient to provide data for precisely tracking unmanned aerial vehicles(UAVs). This study shows how UAV can hover on a human targeted tracking object by using CCD camera rather than imprecise GPS data. To realize this, UAVs need to recognize their attitude and position in known environment as well as unknown environment. Moreover, it is necessary for their localization to occur naturally. It is desirable for an UAV to estimate of his attitude by environment recognition for UAV hovering, as one of the best important problems. In this paper, we describe a method for the attitude of an UAV using image information of a maker on the floor. This method combines the observed position from GPS sensors and the estimated attitude from the images captured by a fixed camera to estimate an UAV. Using the a priori known path of an UAV in the world coordinates and a perspective camera model, we derive the geometric constraint equations which represent the relation between image frame coordinates for a marker on the floor and the estimated UAV's attitude. Since the equations are based on the estimated position, the measurement error may exist all the time. The proposed method utilizes the error between the observed and estimated image coordinates to localize the UAV. The Kalman filter scheme is applied for this method. its performance is verified by the image processing results and the experiment.

• Journal of Korea Water Resources Association
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• v.35 no.1
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• pp.25-36
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• 2002

Window Probability Matching Method(WPMM) is achieved by matching identical probability density of rain intensities and radar reflectivities taken only from small window centered about the gage. The equation of $Z_{e}-R$ relationship is obtained and compared with data between a DWSR-88C radar and high density rain gage networks within 150km from radar site in summer season, 1998. The probability density of radar effective reflectivity is distributed with high frequency near 15dBZ. The frequency distribution of rain intensities shows that rain intensity is lower than 10mm/hr in most part of radar coverage area. As the result of $Z_{e}-R$ relationship using WPMM, curved line has shown to the log scale spatially and it can be explained more flexible than any straight-line power laws at the transformation to the rainfall amount from $Z_e$ value. During 3 months, total radar cumulative rainfall amount estimated by $Z=200R^{1.6}$ and WPMM relationships are 44 and 80 percentages of total raingage amount, respectively. Therefore, $Z_{e}-R$ relationships by WPMM may be widely needed a statistical method for the computation of accumulated precipitation.

• Journal of the Korean Geotechnical Society
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• v.40 no.1
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• pp.15-28
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• 2024

This paper proposes a method to acquire image data inside tunnel structures and a method to structure the acquired image data. By improving the conditions by which image data are acquired inside the tunnel structure, high-quality image data can be obtained from area type tunnel scanning. To improve the data acquisition conditions, a longitudinal rail of the tunnel can be installed on the tunnel ceiling, and image data of the entire tunnel structure can be acquired by moving the installed rail. This study identified 0.5 mm cracked simulation lines under a distance condition of 20 m at resolutions of 3,840 × 2,160 and 720 × 480 pixels. In addition, the proposed image-data-structuring method could acquire image data in image tile units. Here, the image data of the tunnel can be structured by substituting the application factors (resolution of the acquired image and the tunnel size) into a relationship equation. In an experiment, the image data of a tunnel with a length of 1,000 m and a width of 20 m were obtained with a minimum overlap rate of 0.02% to 8.36% depending on resolution and precision, and the size of the local coordinate system was found to be (14 × 15) to (36 × 34) pixels.

• Radiation Oncology Journal
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• v.26 no.4
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• pp.280-288
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• 2008

Purpose: To identify the inter-fractional shift pattern and to assess an adequate treatment margin in the radiotherapy of a liver tumor using mega-voltage computed tomography (MVCT) of a tomotherapy unit. Materials and Methods: Twenty-six patients were treated for liver tumors by tomotherapy from April 2006 to August 2007. The MVCT images of each patient were analyzed from the $1^{st}$ to the $10^{th}$ fraction for the assessment of the daily liver shift by four groups based on Couinard's proposal. Daily setup errors were corrected by bony landmarks as a prerequisite. Subsequently, the anterior-, posterior-, right-, and left shifts of the liver edges were measured by maximum linear discrepancies between the kilo-voltage computed tomography (KVCT) image and MVCT image. All data were set in the 2-dimensional right angle coordinate system of the transverse section of each patient's body. Results: The liver boundary shift had different patterns for each group. In group II (segment 2, 3, and 4), the anterior mean shift was $2.80{\pm}1.73\;mm$ outwards, while the left mean shift was $2.23{\pm}1.37\;mm$ inwards. In group IV (segment 7 and 8), the anterior-, posterior-, right-, and left mean shifts were $0.15{\pm}3.93\;mm$ inwards, $3.15{\pm}6.58\;mm$ inwards, $0.60{\pm}3.58\;mm$ inwards, and $4.50{\pm}5.35\;mm$ inwards, respectively. The reduced volume in group II after MVCT reassessment might be a consequence of stomach toxicity. Conclusion: Inter-fractional liver shifts of each group based on Couinard's proposal were somewhat systematic despite certain variations observed in each patient. The geometrical deformation of the liver by respiratory movement can cause shrinkage in the left margins of liver. We recommend a more sophisticated approach in free-breathing mode when irradiating the left lobe of liver in order to avoid stomach toxicity.

• Korean Journal of Applied Biomechanics
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• v.12 no.2
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• pp.159-177
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• 2002

The purpose of this study was to investigate the relations between the segments of the body, the three dimensional anatomical angle and the angular velocity of the air born phase and understand the control mechanism of the high-bar movement, the somersault, the double somersault, the double somersault with full twist. For this study seven well trained university gymnastic volunteered, Zatsiorky and Seluyanov(1983, 1985)'s sixteen segment system anatomical model was used for this study. For the movement analysis three dimensional cinematographical method(Arial Performance Analysis System : APAS) was used and for the calculation of the kinematic variables a self developed program was used with the LabVIEW 5.1 graphical profromming(Johnson, 1999) program. By using Eular's equations the three dimensional anatomical Cardan angles of the joint and angular velocity were defined. As a result of this study 1. As the rotation of the body increased in the air born phase the projection angle of the CM of the total increased, this resulted the increased of the max hight of the CM. 2. In three dimensional angular velocity the Z axis(vertical direction) projection angular velocity increased as the rotation of the body increased in the airborn phase, but the Y axis and the X axis projection angular velocity did not show significant differences. 3. As the rotation of the body increased in the air born phase the angular movement of the shoulder and the hip showed significant change. These movement act as the starter in the preparation phase. 4. The somersault angle, the twist angle, the tilt angle of the upper body related to the global reference frame in the releas phase the average somersault angle of the three types of high-bar movement was $57.7^{\circ}$, $38.8^{\circ}$, $39.7^{\circ}$, the average tilt angle was $-1.5^{\circ}$, $-5.4^{\circ}$, $-8.4^{\circ}$, the average twist angle was $13.4^{\circ}$, $10.6^{\circ}$, $23.3^{\circ}$. This result showed that the somersault with full twist had the largest movement.