• The Journal of Korea Robotics Society
• /
• v.7 no.3
• /
• pp.171-181
• /
• 2012

Outdoor mobile robots are faced with various terrain types having different characteristics. To run safely and carry out the mission, mobile robot should recognize terrain types, physical and geometric characteristics and so on. It is essential to control appropriate motion for each terrain characteristics. One way to determine the terrain types is to use non-contact sensor data such as vision and laser sensor. Another way is to use contact sensor data such as slope of body, vibration and current of motor that are reaction data from the ground to the tire. In this paper, we presented experimental results on terrain classification using contact sensor data. We made a mobile robot for collecting contact sensor data and collected data from four terrains we chose for experimental terrains. Through analysis of the collecting data, we suggested a new method of terrain feature extraction considering physical characteristics and confirmed that the proposed method can classify the four terrains that we chose for experimental terrains. We can also be confirmed that terrain feature extraction method using Fast Fourier Transform (FFT) typically used in previous studies and the proposed method have similar classification performance through back propagation learning algorithm. However, both methods differ in the amount of data including terrain feature information. So we defined an index determined by the amount of terrain feature information and classification error rate. And the index can evaluate classification efficiency. We compared the results of each method through the index. The comparison showed that our method is more efficient than the existing method.

• Analytical Science and Technology
• /
• v.20 no.2
• /
• pp.115-123
• /
• 2007

The heterocyclic amines (HAs) are a family of mutagenic/carcinogenic chemicals formed from the cooking of muscle meats such as beef, meat, fowl, and fish. A major draw back in the analysis of HAs from foods is their very low level of concentration (ng/g) and a number of matrix interferences in samples. Solid-phase extraction (SPE) is one of the procedures widely used for the extraction and purification of HAs in food samples. In this study, several SPE procedures of HAs determination were performed. Recoveries of the HAs were obtained from comparing a matrix such as a standard methanolic solution and pre-cooked meat extracts. Recovery values were ranging between 25.3 and 93.0 % at a concentration of 25.0 ng/g. HAs were determined with high sensitivity by micro-HPLC (${\mu}$-HPLC) analysis with electrospray ionization mass spectrometry (ESI-MS). Another developed method, which is freezing filtration method, shows better extraction recoveries and good precisions. The established method will be applicable to monitoring of heterocyclic amines from the cooked meat.

• Korean Journal of Computational Design and Engineering
• /
• v.18 no.4
• /
• pp.275-282
• /
• 2013

This paper proposes a method for human identification using teeth contours extracted from dental images that are captured from the frontal views of subjects each of who opens his or her mouth slightly. Each dental image has a black-colored region containing the subject's teeth contours which are usually different from subject to subject. This means that this black-colored region has bio-mimetic information useful for human identification. The basic idea of the method is to extract the upper and lower teeth contours from the dental image of each subject and to encode their geometric patterns using a back-propagation neural network model. After acquiring 400 teeth images form 10 university students, we used 300 images for the training data of the neural network model and 100 images for its verification. Experimental results have shown that the proposed neural network-based method can be used as an alternative solution for identification among a small group of humans with a low cost and simple setup.

• Proceedings of the Korean Radioactive Waste Society Conference
• /
• 2004.02a
• /
• pp.150-164
• /
• 2004

According to the Korean long-term plan for nuclear technology development, KAERI is conducting a few R&D projects related to the proliferation-resistant back-end fuel cycle. The R&D activities for the back-end fuel cycle are reviewed in this work, especially focusing on the study of the partitioning and transmutation(P&T) of long-lived radionuclides. The P&T study is currently being carried out in order to develop key technologies in the areas of partitioning and transmutation. The partitioning study is based on the development of pyroprocessing such as electrorefining and electrowinning because they can be adopted as proliferation-resistant technologies in the fuel cycle. In this study, various behaviors of the electrodeposition of uranium and rare earth elements in the LiCl-KCl electrorefining system have been examined through fundamental experimental work. As for the transmutation system, KAERI is studying the HYPER (HYbrid Power Extraction Reactor), a kind of subcritical reactor which will be connected with a proton accelerator. Up to now, a conceptual study has been carried out for the major elemental systems of the subcritical reactor such as core, transuranic fuel, long-lived fission product target, and the Pb-Bi cooling system, etc. In order to enhance the transmutation efficiency of the transuranic elements as well as to strengthen the reactor safety, the reactor core was optimized by determining its most suitable subcriticality, the ratio of height/diameter, and by introducing the concepts of optimum core configuration with a transuranic enrichment as well as a scattered reloading of the fuel assemblies.

• Journal of Food Hygiene and Safety
• /
• v.8 no.1
• /
• pp.17-23
• /
• 1993

In an attempt to quantitate and qualitate residual antibiotics and antibacterial agents n meat simultaneously, we studied a gas chromatogrphy-mass spectrometry (GC/MS) analysis. For a simultaneous analysis of macrolide antibiotics such as erythromycin and tylosin in meat, the homogenization with MeOH, defatting with n-hexane, extraction with CHCl3, elution with CHCl3 : MeOH=2:1 from Sep-Pak silica cartridge, acid gydrolysis, back extraction with CHCl3, and quantitation by selected ion monitoring(SIM) mode after trimethylsilyl derivatization were performed. The recoveries of erythromycin and tylosin (CV,%) at 10 ppm fortification level were 90.59(4.89) and 45.91(0.20) , and the detection limits of those were 0.02 and 2.0 $\mu\textrm{g}$/g beef, respectively. From these results, the developed analytical method using GC/MS-SIM mode allows excellent detection and quantitation of residual macrolide antibiotics in meats, using complementary method with bio-assay.

• Journal of Pharmaceutical Investigation
• /
• v.9 no.3
• /
• pp.22-26
• /
• 1979

This report was carried out toxicity test for the mosquito coil made of Ginseng leaf and the residue after extraction of Ginseng root. This results are as follows: In the first group, was not shown any special difference on the body weight, the motion and dissection. In the second group, was not shown any Special difference on the body weight, considerable difference on the motion and considerable loss of appetite besides very slight loss, but came cack soon again to normal state by change of air after a moment. In the third group, the body weight and appetite was depressed very slightly and the motion was shown very slightly difference, but came back soon again to normal state by chenge of air after a moment too. No one was died, and all the animal were the normal state on the reslt of dessection, Therefore, we have positive evidence that this mosquito coil powder is applied to animals without any toxicity.

• Proceedings of the Korean Society for Agricultural Machinery Conference
• /
• 1993.10a
• /
• pp.1230-1242
• /
• 1993

In a case of mushroom (Lentinus Edodes L.) , visual features are crucial for grading and the quantitative evaluation of the growth state. The extracted quantitative visual features can be used as a performance index for the drying process control or used for the automatic sorting and grading task. First, primary external features of the front and back sides of mushroom were analyzed. And computer vision based algorithm were developed for the extraction and measurement of those features. An automatic thresholding algorithm , which is the combined type of the window extension and maximum depth finding was developed. Freeman's chain coding was modified by gradually expanding the mask size from 3X3 to 9X9 to preserve the boundary connectivity. According to the side of mushroom determined from the automatic recognition algorithm size thickness, overall shape, and skin texture such as pattern, color (lightness) ,membrane state, and crack were quantified and measured. A portion of t e stalk was also identified and automatically removed , while reconstructing a new boundary using the Overhauser curve formulation . Algorithms applied and developed were coded using MS_C language Ver, 6.0, PC VISION Plus library functions, and VGA graphic function as a menu driven way.

• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.8
• /
• pp.818-823
• /
• 2008

In this paper, we propose a feature extraction method which extracts directional features of handwritten numerals by using the projection runlength. Our directional featrures are obtained from four directional images, each of which contains horizontal, vertical, right-diagonal and left-diagonal lines in entire numeral shape respectively. A conventional method which extracts directional features by using Kirsch masks generates edge-shaped double line directional images for four directions, whereas our method uses the projections and their runlengths for four directions to produces single line directional images for four directions. To obtain the directional projections for four directions from a numeral image, some preprocessing steps such as thinning and dilation are required, but the shapes of resultant directional lines are more similar to the numeral lines of input numerals. Four [$4{\times}4$] directional features of a numeral are obtained from four directional line images through a zoning method. By using a hybrid feature which is made by combining our feature with the conventional features of a mesh features, a kirsch directional feature and a concavity feature, higher recognition rates of the handwrittern numerals can be obtained. For recognition test with given features, we use a multi-layer perceptron neural network classifier which is trained with the back propagation algorithm. Through the experiments with the handwritten numeral database of Concordia University, we have achieved a recognition rate of 97.85%.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.13 no.6
• /
• pp.710-715
• /
• 2003

In this paper, we propose the new emotion recognition method for intelligently recognizing the human's emotion using the template vector and neural network. In the proposed method, human's emotion is divided into four emotion (surprise, anger, happiness, sadness). The proposed method is based on the template vector extraction and the template location recognition by using the color difference. It is not easy to extract the skin color area correctly using the single color space. To solve this problem, we propose the extraction method using the various color spaces and using the each template vectors. And then we apply the back-propagation algorithm by using the template vectors among the feature points). Finally, we show the practical application possibility of the proposed method.

• Archives of Pharmacal Research
• /
• v.19 no.6
• /
• pp.475-479
• /
• 1996

Diethylcarbamazine (DEC, 1-diethylcarbamyl-4-methylpiperazine) is an antiparasitic piperazine derivative used in the treatment of lymphatic filariasis caused by Wuchereria bancrofti, Brugia malayi or grugia timori. DEC-N-oxide is a major metabolite in humans and has antifilarial activity. In carrying out pharmacokinetic studies, gas chromatographic analysis of DEC in plasma can be complicated by the presence of the metabolite, since the thermally unstable DEC-N-oxide is converted back to a material which coelutes with DEC under the conditions of the analysis. We now report a method to separate DEC-N-oxide from DEC in plasma using solid phase extraction with subsequent gas chromatographic analysis using a nitrogen specific detector. One-diethylcarbamyl-4-ethylpiperazine (E-DEC) was the internal standard. The standard curve of DEC was linear in the range of 10 to 200 ng/ml as described by Y=0.0350+0.0128X, $R^2=0.999$. The limit of quantitation was 4 ng/mL. Reproducibility at 10, 100 and 200 ng/mL concentration points of the standard curve gave coefficient variations of 6.1%, 7.8% and 1.6%, respectively. The recovery following solid phase extraction was 99.3% for DEC and 94.8% for the internal standard. This sensitive and specific analytical method is suitable for pharmacokinetic studies of DEC.