• 로봇학회논문지
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• 제18권2호
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• pp.135-142
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• 2023

Light detection and ranging (LiDAR) sensors have been most widely used in terrestrial robotic applications because they can provide dense and precise measurements of the surrounding environments. However, the reliability of LiDAR measurements can considerably vary due to the different reflectivities of laser beams to the reflecting surface materials. This study presents a robust LiDAR-based mapping method for the varying laser reflectivities in indoor environments using the framework of simultaneous localization and mapping (SLAM). The proposed method can minimize the performance degradations in the SLAM accuracy by checking and discarding potentially unreliable LiDAR measurements in the SLAM front-end process. The gaps in point-cloud maps created by the proposed approach are filled by a Gaussian process regression method. Experimental results with a mobile robot platform in an indoor environment are presented to validate the effectiveness of the proposed methodology.

• 천문학회보
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• 제43권1호
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• pp.45.1-45.1
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• 2018

Formation of filaments and subsequent dense cores in ISM is one of the essential questions to address in star formation. To investigate this scenario in detail, we recently started a molecular line survey namely 'Filaments, the Universal Nursery of Stars (FUNS)' toward nearby filamentary clouds in Gould Belt using TRAO 14m single dish telescope equipped with a 16 multi-beam array. In the present work, we report the first look results of kinematics of a low mass star forming region L1478 of California molecular cloud. This region is found to be consisting of long filaments with a hub-filament structure. We performed On-The-Fly mapping observations covering ~1.1 square degree area of this region using C18O(1-0) as a low density tracer and 0.13 square degree area using N2H+(1-0) as a high density tracer, respectively. CS (2-1) and SO (32-21) were also used simultaneously to map ~290 square arcminute area of this region. We identified 10 filaments applying Dendrogram technique to C18O data-cube and 13 dense cores using FellWalker and N2H+ data set. Basic physical properties of filaments such as mass, length, width, velocity field, and velocity dispersion are derived. It is found that filaments in L~1478 are velocity coherent and supercritical. Especially the filaments which are highly supercritical are found to have dense cores detected in N2H+. Non-thermal velocity dispersions derived from C18O and N2H+ suggest that most of the dense cores are subsonic or transonic while the surrounding filaments are transonic or supersonic. We concluded that filaments in L~1478 are gravitationally unstable which might collapse to form dense cores and stars. We also suggest that formation mechanism can be different in individual filament depending on its morphology and environment.

• 방송공학회논문지
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• 제24권4호
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• pp.633-642
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• 2019

최근, 단일 이미지 초해상도 복원 기법(super-resolution)에서 컨볼루션 신경망 모델은 매우 성공적이다. 잔여 학습 기법은 컨볼루션 신경망 훈련의 안전성과 성능을 향상시킬 수 있다. 본 논문은 저해상도 입력 이미지에서 고해상도 목표 이미지로 비선형 매핑 학습을 위해 고밀도 스킵 연결(dense skip-connection)을 통한 재귀 잔차 구조를 이용한 단일 이미지 초해상도 복원 기법을 제안한다. 제안하는 단일 이미지 초해상도 복원 기법은 고밀도 스킵 연결 방식을 통해 재귀 잔차 학습 방법을 채택해서 깊은 신경망에서 학습이 어려운 문제를 완화하고 더 쉽게 최적화하기 위해 신경망 안에 불필요한 레이어를 제거한다. 제안하는 방법은 매우 깊은 신경망의 사라지는 변화도(vanishing gradient) 문제를 완화할 뿐만 아니고 낮은 복잡성으로 뛰어난 성능을 얻음으로써 단일 이미지 초해상도 복원 기법의 성능을 향상시킨다. 실험 결과를 통해 제안하는 알고리듬이 기존의 알고리듬 보다 결과가 더 우수함을 보인다.

• 천문학회보
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• 제39권1호
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• pp.62.1-62.1
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• 2014

We present preliminary results on the chemical differentiation of two dense gas tracers CS and $N_2H^+$ in five 'evolved' starless cores, L1544, L1552, L1689B, L694-2 and L1197, using our mapping observations in $C^{34}S$(J=2-1) and $N_2H^+$(J=1-0) with Nobeyama 45-m telescope. We compared the intensity maps of two molecular lines with 850 ${\mu}m$ continuum data which precisely trace the density distribution of the dense cores, finding that all of our targets show the central depletion holes in CS distribution, but the similar distribution in $N_2H^+$ to the one in dust continuum. Our data confirm the claim that CS molecule generally deplete out in the central region in starless cores, while $N_2H^+$ keep abundant as they get evolved. The detailed quantitative analysis on CS depletion in the dense cores, for example, the size of CS depletion area and radial (or gas density) dependence of CS depletion, is underway and will be presented in the meeting.

• 대한수학회보
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• 제39권2호
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• pp.333-346
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• 2002

Let $F={F^v:S^1->S^1,v\in\; V$ and $g={G^v:S^1->S^1,v\in\; V$ be disjoint flows defined on the unit circle $S^1$, that is such flows that each their element either is the identity mapping or has no fixed point ((V, +) is a 2-divisible nontrivial abelian group). The aim of this paper is to give a necessary and sufficient codition for topological conjugacy of disjoint flows i.e., the existence of a homeomorphism $\Gamma:S^1->S^1$ satisfying $$\Gamma\circ\ F^v=G^v\circ\Gamma,\; v\in\; V$$ Moreover, under some further restrictions, we determine all such homeomorphisms.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2003년도 Proceedings of ACRS 2003 ISRS
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• pp.295-297
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• 2003

The coastal provinces of South China have been uniquely shaped by various tectonic events. During the midlate Mesozoic tectono-thermal event, the oblique subduction of the Paleo Kula-Pacific plate beneath the Eurasian plate has created a complicated tectonic setting for the whole region. However, the mechanism of this event is not completely understood. In this paper, we discuss the advantages of using LANDSAT TM satellite imagery over a small part of the region - the Mirs Bay Basin which is largely covered by dense vegetation and where limited outcrops is seen. The use of satellite imagery complements field mapping and the result shows a prominent sinistral offset along the eastern margin of the Mirs Bay Basin, which was not previously recognized on the ground.

• 대한원격탐사학회지
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• 제23권3호
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• pp.153-160
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• 2007

Forest cover density studies using high resolution satellite data and object oriented classification are limited in India. This article focuses on the potential use of QuickBird satellite data and object oriented classification in forest density mapping. In this study, the high-resolution satellite data was classified based on NDVI/pixel based and object oriented classification methods and results were compared. The QuickBird satellite data was found to be suitable in forest density mapping. Object oriented classification was superior than the NDVI/pixel based classification. The Object oriented classification method classified all the density classes of forest (dense, open, degraded and bare soil) with higher producer and user accuracies and with more kappa statistics value compared to pixel based method. The overall classification accuracy and Kappa statistics values of the object oriented classification were 83.33% and 0.77 respectively, which were higher than the pixel based classification (68%, 0.56 respectively). According to the Z statistics, the results of these two classifications were significantly different at 95% confidence level.

• 방송공학회논문지
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• 제25권2호
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• pp.242-251
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• 2020

최근 단일 영상 초해상도에 깊은 합성 곱 신경망을 적용한 알고리듬이 많이 연구되었다. 현존하는 딥러닝 기반 초해상도 기법들은 네트워크의 후반부에 해상도를 업샘플링 하는 구조를 가진다. 이러한 구조는 저해상도에서 고해상도로 한 번에 매핑을 하기에 많은 정보를 예측하는 높은 확대율에서 비효율적인 구조를 가진다. 본 논문에서는 반복적인 업-다운 샘플링 구조를 기반으로 하여 채널 집중 잔여 밀집 블록을 이용한 단일 영상 초해상도 기법을 제안한다. 제안한 알고리듬은 저해상도와 고해상도의 매핑 관계를 효율적으로 예측하여 높은 확대율에서 기존의 알고리듬에 비해 최대 0.14dB 성능 향상과 개선된 주관적 화질을 보여준다.

• Smart Structures and Systems
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• 제30권6호
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• pp.687-701
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• 2022

Inevitable response loss under complex operational conditions significantly affects the integrity and quality of measured data, leading the structural health monitoring (SHM) ineffective. To remedy the impact of data loss, a common way is to transfer the recorded response of available measure point to where the data loss occurred by establishing the response mapping from measured data. However, the current research has yet addressed the structural condition changes afterward and response mapping learning from a small sample. So, this paper proposes a novel data driven structural response reconstruction method based on a sophisticated designed generating adversarial network (UAGAN). Advanced deep learning techniques including U-shaped dense blocks, self-attention and a customized loss function are specialized and embedded in UAGAN to improve the universal and representative features extraction and generalized responses mapping establishment. In numerical validation, UAGAN efficiently and accurately captures the distinguished features of structural response from only 40 training samples of the intact structure. Besides, the established response mapping is universal, which effectively reconstructs responses of the structure suffered up to 10% random stiffness reduction or structural damage. In the experimental validation, UAGAN is trained with ambient response and applied to reconstruct response measured under earthquake. The reconstruction losses of response in the time and frequency domains reached 16% and 17%, that is better than the previous research, demonstrating the leading performance of the sophisticated designed network. In addition, the identified modal parameters from reconstructed and the corresponding true responses are highly consistent indicates that the proposed UAGAN is very potential to be applied to practical civil engineering.

• 천문학회보
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• 제44권1호
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• pp.70.3-70.3
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• 2019

Understanding how the filamentary structure affects the formation of the prestellar cores and stars is a key issue to challenge. We use the Heterodyne Array Receiver Program (HARP) of the James Clerk Maxwell Telescope (JCMT) to obtain molecular line mapping data for two prestellar cores in different environment, L1544 in filamentary cloud and L694-2 in a small cloud isolated. Observing lines are $^{13}CO$ and $C^{18}O$ (3-2) line to find possible flow motions along the filament, $^{12}CO$ (3-2) to search for any radial accretion (or infalling motions) toward the cores of gas material from their surrounding regions, and $HCO^+$ (4-3) lines to find at which density and which region in the core gases start to be in gravitational collapse. In the 1st moment maps of $^{13}CO$ and $C^{18}O$, velocity gradient patterns implying the flow of material were found at the cores and its surrounding filamentary clouds. The infall asymmetry patterns of HCO+ and $^{13}CO$ line profiles were detected to be good enough to analyze the infalling motions toward the cores. We will report further analysis results on core formation in the filamentary cloud at this meeting.