• 제어로봇시스템학회논문지
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• 제11권4호
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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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• 제2권2호
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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.

• 한국공간정보시스템학회 논문지
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• 제6권1호
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• pp.87-100
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• 2004

웹 매핑 환경에서 사용자가 요구하는 공간 데이터가 다수의 데이터 서버에 저장되어 있는 경우에, 하나 이상의 맵서버로 접근하여 데이터를 획득하고 그 결과를 통합해야 한다. 본 논문에서는 이와 같은 웹 매핑을 위해 융합 맵서버를 설계하고 구현한다. 제안된 융합 맵서버는 다음과 같은 세 가지의 특징을 가진다. 첫째, 다양한 사용자의 요구를 반영하기 위해 메타데이터를 개별화한다. 이를 이용하여 사용자는 자신이 원하는 형태의 통합 데이터를 획득할 수 있다. 둘째, 공간 데이터와 비공간 데이터의 통합을 지원하기 위하여 융합 서비스 개념을 도입한다. 마지막으로 이러한 융합 서비스를 보다 효율적으로 지원하기 위하여 동적 링킹 방법을 사용하여 실체화한다. 제안된 맵서버의 구현을 위하여 Publisher 클라이언트 맵서버 융합 맵서버를 각각 설계하고 구현하였으며 그 결과를 보인다.

• Nuclear Engineering and Technology
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• 제55권1호
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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.

• 자동차안전학회지
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• 제3권2호
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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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• 제3권4호
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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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• 제5권2호
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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.

• 한국진공학회:학술대회논문집
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• 한국진공학회 2009년도 제36회 동계학술대회 초록집
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• pp.239-239
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• 2009

• 한국진공학회:학술대회논문집
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• 한국진공학회 2006년도 제31회 학술논문발표회 초록집
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• pp.217-217
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• 2006

• Journal of Microbiology and Biotechnology
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• 제17권10호
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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.