• Journal of Institute of Control, Robotics and Systems
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• v.11 no.4
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• pp.304-313
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• 2005

The robots that will be needed in the near future are human-friendly robots that are able to coexist with humans and support humans effectively. To realize this, robot need to recognize his position and direction for intelligent performance in an unknown environment. And the mobile robots may navigate by means of a number of monitoring systems such as the sonar-sensing system or the visual-sensing system. Notice that in the conventional fusion schemes, the measurement is dependent on the current data sets only. Therefore, more of sensors are required to measure a certain physical parameter or to improve the accuracy of the measurement. However, in this research, instead of adding more sensors to the system, the temporal sequence of the data sets are stored and utilized for the accurate measurement. As a general approach of sensor fusion, a UT -Based Sensor Fusion(UTSF) scheme using Unscented Transformation(UT) is proposed for either joint or disjoint data structure and applied to the landmark identification for mobile robot navigation. Theoretical basis is illustrated by examples and the effectiveness is proved through the simulations and experiments. The newly proposed, UT-Based UTSF scheme is applied to the navigation of a mobile robot in an unstructured environment as well as structured environment, and its performance is verified by the computer simulation and the experiment.

• IEIE Transactions on Smart Processing and Computing
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• v.2 no.2
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• pp.45-56
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• 2013

The precise identification of vehicle positions, known as the vehicle localization problem, is an important requirement for building intelligent vehicle ad-hoc networks (VANETs). To solve this problem, two categories of solutions are proposed: stand-alone and data fusion approaches. Compared to stand-alone approaches, which use single information including the global positioning system (GPS) and sensor-based navigation systems with differential corrections, data fusion approaches analyze the position information of several vehicles from GPS and sensor-based navigation systems, etc. Therefore, data fusion approaches show high accuracy. With the position information on a set of vehicles in the preprocessing stage, data fusion approaches is used to estimate the precise vehicular location in the local map building stage. This paper proposes an efficient local map building scheme, which increases the accuracy of the estimated vehicle positions via V2V communications. Even under the low ratio of vehicles with communication modules on the road, the proposed local map building scheme showed high accuracy when estimating the vehicle positions. From the experimental results based on the parameters of the practical vehicular environments, the accuracy of the proposed localization system approached the single lane-level.

• Journal of Korea Spatial Information System Society
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• v.6 no.1 s.11
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• pp.87-100
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• 2004

When spatial data which a user requests are stored various data servers in web mapping environment, it is necessary to access one more map servers to gain data and then integrate them. This paper designs and implements a fusion map server for web mapping. The proposed fusion map server has three characteristics. First, it has customizing metadata which reflect various user's requests. Second, it provides fusion services which integrate spatial and non-spatial data. Last, it uses the dynamic liking method to support the fusion services efficiently. We design and implement a publisher client, a map server and a fusion map server for proposed map server.

• Nuclear Engineering and Technology
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• v.55 no.1
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• pp.222-228
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• 2023

This study aimed to analyze the applicability of the improved median filter in positron emission tomography (PET)/magnetic resonance (MR) fusion images based on parallel imaging using generalized autocalibrating partially parallel acquisition (GRAPPA). In this study, a PET/MR fusion imaging system based on a 3.0T magnetic field and ¹⁸F radioisotope were used. An improved median filter that can set a mask of the median value more efficiently than before was modeled and applied to the acquired image. As quantitative evaluation parameters of the noise level, the contrast to noise ratio (CNR) and coefficient of variation (COV) were calculated. Additionally, no-reference-based evaluation parameters were used to analyze the overall image quality. We confirmed that the CNR and COV values of the PET/MR fusion images to which the improved median filter was applied improved by approximately 3.32 and 2.19 times on average, respectively, compared to the noisy image. In addition, the no-reference-based evaluation results showed a similar trend for the noise-level results. In conclusion, we demonstrated that it can be supplemented by using an improved median filter, which suggests the problem of image quality degradation of PET/MR fusion images that shortens scan time using GRAPPA.

• Journal of Auto-vehicle Safety Association
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• v.3 no.2
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• pp.28-33
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• 2011

This paper presents driving path estimation algorithm for adaptive cruise control system and advanced emergency braking system using multi-sensor fusion. Through data collection, yaw rate filtering based road curvature and vision sensor road curvature characteristics are analyzed. Yaw rate filtering based road curvature and vision sensor road curvature are fused into the one curvature by weighting factor which are considering characteristics of each curvature data. The proposed driving path estimation algorithm has been investigated via simulation performed on a vehicle package Carsim and Matlab/Simulink. It has been shown via simulation that the proposed driving path estimation algorithm improves primary target detection rate.

• International Journal of Contents
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• v.3 no.4
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• pp.22-25
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• 2007

This paper presents a technology of information data fusion between radar and ELINT electronic intelligence system. adar get the information of the range, direction and velocity of targets, and ELINT system get the information of the direction and angular velocity of the same targets at the same place and at the same time. Since we have some common information data of targets from radar and ELINT system, we can find the target on radar is same or not on ELINT system using the information data fusions. If the target on the radar is verified with the same target on ELINT system, we get more information of the target. e can analysis and identify the target exactly and reduce an ambiguity error of unknown targets.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.5 no.2
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• pp.157-163
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• 2005

In this paper, we present the multimodal system based on the fusion of two user-friendly biometric modalities: Iris and Face. In order to reach robust identification and verification we are going to combine two different biometric features. we specifically apply 2-D discrete wavelet transform to extract the feature sets of low dimensionality from iris and face. And then to obtain Reduced Joint Feature Vector(RJFV) from these feature sets, Direct Linear Discriminant Analysis (DLDA) is used in our multimodal system. In addition, the Synergetic Neural Network(SNN) is used to obtain matching score of the preprocessed data. This system can operate in two modes: to identify a particular person or to verify a person's claimed identity. Our results for both cases show that the proposed method leads to a reliable person authentication system.

• Proceedings of the Korean Vacuum Society Conference
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• 2009.02a
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• pp.239-239
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• 2009

• Proceedings of the Korean Vacuum Society Conference
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• 2006.08a
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• pp.217-217
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• 2006

• Journal of Microbiology and Biotechnology
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• v.17 no.10
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• pp.1607-1615
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• 2007

We investigated the applicability of the TEM-l ${\beta}$-lactamase fragment complementation (BFC) system to develop a strategy for the screening of protein-protein interactions in bacteria. A BFC system containing a human Fas-associated death domain (hFADD) and human Fas death domain (hFasDD) was generated. The hFADD-hFasDD interaction was verified by cell survivability in ampicillin-containing medium and the colorimetric change of nitrocefin. It was also confirmed by His pull-down assay using cell lysates obtained in selection steps. A coiled-coil helix coiled-coil domain-containing protein 5 (CHCH5) was identified as an interacting protein of human uracil DNA glycosylase (hUNG) from the bacterial BFC cDNA library strategy. The interaction between hUNG and CHCH5 was further confirmed with immunoprecipitation using a mammalian expression system. CHCH5 enhanced the DNA glycosylase activity of hUNG to remove uracil from DNA duplexes containing a U/G mismatch pair. These results suggest that the bacterial BFC cDNA library strategy can be effectively used to identify interacting protein pairs.