• Journal of Ocean Engineering and Technology
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• v.38 no.3
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• pp.115-123
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• 2024

USBL systems are essential for providing accurate positions of autonomous underwater vehicles (AUVs). On the other hand, the accuracy can be degraded by outliers because of the environmental conditions. A failure to address these outliers can significantly impact the reliability of underwater localization and navigation systems. This paper proposes a novel outlier rejection algorithm for AUV localization using Voronoi diagrams and query point calculation. The Voronoi diagram divides data space into Voronoi cells that center on ultra-short baseline (USBL) data, and the calculated query point determines if the corresponding USBL data is an inlier. This study conducted experiments acquiring GPS and USBL data simultaneously and optimized the algorithm empirically based on the acquired data. In addition, the proposed method was applied to a sensor fusion algorithm to verify its effectiveness, resulting in improved pose estimations. The proposed method can be applied to various sensor fusion algorithms as a preprocess and could be used for outlier rejection for other 2D-based location sensors.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.37 no.3
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• pp.122-128
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• 2014

When evaluating effectiveness of a program, there is a tendency to simply compare the performances of the treated before and after the program or to compare the differences in the performances of the treated and the untreated before-after the program. However, these ways of evaluating effectiveness have problems because they can't account for environmental changes affecting the treated and/or effects coming from the differences between the treated and the untreated. Therefore, in this paper, panel data analysis (fixed effects model) is suggested as a means to overcome these problems and is utilized to evaluate the effectiveness of fusion technology program conducted by Ministry of Trade, Industry and Energy, Korea. As a result, it turns out that the program has definitely positive impacts on the beneficiary in terms of sales, R&D expenditure, and employment.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.12 no.6
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• pp.605-611
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• 2019

3D Vision system has many applications recently but popularization have many problems that need to be overcome. Volumetric display may process a amount of visual data and design the high efficient vision system for display. In case of stereo system for volumetric display, disparity vectors from the stereoscopic sequences and residual images with the reference images has been transmitted, and the reconstructed stereoscopic sequences have been displayed at the receiver. So central issue for the design of efficient volumetric vision system lies in selecting an appropriate stereo matching and robust vision system. In this paper, we propose high efficient vision system with the reduction of rectification error which can perform the 3D data extraction efficiently with low computational complexity. In experimental results with proposed vision system, the proposed method can perform the 3D data extraction efficiently with reducing rectification error and low computational complexity.

• Korean Journal of Remote Sensing
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• v.26 no.1
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• pp.39-45
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• 2010

This study used the keypoint observed simultaneously on two images and on twodimensional intensity image data, which was obtained along with the two point clouds data that were approached for automatic focus among points on terrestrial LiDAR data, and selected matching point through SIFT algorithm. Also, for matching error diploid, RANSAC algorithm was applied to improve the accuracy of focus. As calculating the degree of three-dimensional rotating transformation, which is the transformation-type parameters between two points, and also the moving amounts of vertical/horizontal, the result was compared with the existing result by hand. As testing the building of College of Science at Konkuk University, the difference of the transformation parameters between the one through automatic matching and the one by hand showed 0.011m, 0.008m, and 0.052m in X, Y, Z directions, which concluded to be used as the data for automatic focus.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.36 no.3
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• pp.117-126
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• 2018

Due to intelligent transport systems, location-based applications, and augmented reality, demand for image maps and 3D (Three-Dimensional) maps is increasing. As a result, data acquisition using UAV (Unmanned Aerial Vehicles) has flourished in recent years. However, even though orthophoto map production and research using UAVs are flourishing, few studies on 3D modeling have been conducted. In this study, orthophoto and 3D modeling research was performed using various angle images acquired by a UAV. For orthophotos, accuracy was evaluated using a GPS (Global Positioning System) survey that employed VRS (Virtual Reference Station) acquired checkpoints. 3D modeling was evaluated by calculating the RMSE (Root Mean Square Error) of the difference between the outline height values of buildings obtained from the GPS survey to the corresponding 3D modeling height values. The orthophotos satisfied the acceptable accuracy of NGII (National Geographic Information Institute) for a 1/500 scale map from all angles. In the case of 3D modeling, models based on images taken at 45 degrees revealed better accuracy of building outlines than models based on images taken at 30, 60, or 75 degrees. To summarize, it was shown that for orthophotos, the accuracy for 1/500 maps was satisfied at all angles; for 3D modeling, images taken at 45 degrees produced the most accurate models.

• The Journal of Korea Robotics Society
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• v.1 no.2
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• pp.180-187
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• 2006

This paper presents a new sensor system, CALOS, for motion estimation and 3D reconstruction. The 2D laser sensor provides accurate depth information of a plane, not the whole 3D structure. On the contrary, the CCD cameras provide the projected image of whole 3D scene, not the depth of the scene. To overcome the limitations, we combine these two types of sensors, the laser sensor and the CCD cameras. We develop a motion estimation scheme appropriate for this sensor system. In the proposed scheme, the motion between two frames is estimated by using three points among the scan data and their corresponding image points, and refined by non-linear optimization. We validate the accuracy of the proposed method by 3D reconstruction using real images. The results show that the proposed system can be a practical solution for motion estimation as well as for 3D reconstruction.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.3
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• pp.243-250
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• 2012

This paper proposes a 3D map-building algorithm using one LRF (Laser Range Finder) while a mobile robot is navigating on the slanted surface. There are several researches on 3D map buildings using the LRF. However most of them are performing the map building only on the flat surface. While a mobile robot is moving on the slanted surface, the view angle of LRF is dynamically changing, which makes it very difficult to build the 3D map using encoder data. To cope with this dynamic change of the view angle in build 3D map, IMU and balance filters are fused to correct the unstable encoder data in this research. Through the real navigation experiments, it is verified that the fusion of multiple sensors are properly performed to correct the slope angle of the slanted surface. The effectiveness of the balance filter are also checked through the hill climbing navigations.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.6
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• pp.28-34
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• 2020

This paper proposes an approach to the fusion of two heterogeneous sensors with two different fields-of-view (FOV): LIDAR and an RGB camera. Registration between data captured by LIDAR and an RGB camera provided the fusion results. Registration was completed once a depthmap corresponding to a 2-dimensional RGB image was generated. For this fusion, RPLIDAR-A3 (manufactured by Slamtec) and a general digital camera were used to acquire depth and image data, respectively. LIDAR sensor provided distance information between the sensor and objects in a scene nearby the sensor, and an RGB camera provided a 2-dimensional image with color information. Fusion of 2D image and depth information enabled us to achieve better performance with applications of object detection and tracking. For instance, automatic driver assistance systems, robotics or other systems that require visual information processing might find the work in this paper useful. Since the LIDAR only provides depth value, processing and generation of a depthmap that corresponds to an RGB image is recommended. To validate the proposed approach, experimental results are provided.

• Smart Structures and Systems
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• v.20 no.6
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• pp.683-696
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• 2017

In this study, the reliability of nonlinear ultrasonic modulation based fatigue crack detection is improved using a feature-level data fusion approach. When two ultrasonic inputs at two distinct frequencies are applied to a specimen with a fatigue crack, modulation components at the summation and difference of these two input frequencies appear. First, the spectral amplitudes of the modulation components and their spectral correlations are defined as individual features. Then, a 2D feature space is constructed by combining these two features, and the presence of a fatigue crack is identified in the feature space. The effectiveness of the proposed fatigue crack detection technique is experimentally validated through cyclic loading tests of aluminum plates, full-scale steel girders and a rotating shaft component. Subsequently, the improved reliability of the proposed technique is quantitatively investigated using receiver operating characteristic analysis. The uniqueness of this study lies in (1) improvement of nonlinear ultrasonic modulation based fatigue crack detection reliability using feature-level data fusion, (2) reference-free fatigue crack diagnosis without using the baseline data obtained from the intact condition of the structure, (3) application to full-scale steel girders and shaft component, and (4) quantitative investigation of the improved reliability using receiver operating characteristic analysis.

• Journal of Microbiology and Biotechnology
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• v.13 no.6
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• pp.976-983
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• 2003

Seven Escherichia coli cells defective with aerobic growth were isolated by the insertion of ${\lambda}placMu53$, a hybrid bacteriophage of ${\lambda}$ and Mu, which created a transcriptional fusion to lacZY. These insertion mutant cells were tested on an XG ($5-bromo-4-chloro-3-indolyl-{\beta}-D-galactopyranoside$) medium for anaerobic expression of lacZ by fusion to a promoter. The chromosomal DNA from these strains were digested by EcoRI, and the EcoRI fragments that contained the fused gene and lacZ sequence were identified by Southern hybridization, using lacZ containing plasmid as a probe. The EcoRI fragment from each strain was cloned and sequenced. The sequence data were compared with the GenBank database. The mutated gene of three strains, CYT4, CYT5, and OS11, was found to be identical, and it was nrdAB that encoded ribonucleoside diphosphate reductase. The gene nrdAB was at min 50.5 on the Escherichia coli linkage map and 2,348,084 on the physical map, and is involved in hemAe-related reduction-oxidation reaction. OS6 and OS14 mutant strains had insertion at min 8.3 and the mutated gene was hemB. The hemB encodes 5-aminolevulinate dehydratase or porphobilinogen synthase. The OS3 mutant had insertion in cydB at min 16.6. The cydAB encodes cytochrome d oxidase. In the case of OS1, the fusion was made with sucA, the E1 component of ${\alpha}-ketoglutarate$ dehydrogenase.